Research on precision detection method of single port laparoscopy robot
As a minimally invasive surgical robot,single port laparoscopy robot has many advantages,such as More minimally invasive,quick recovery,cosmetic surgery.The accuracy of its position and posture plays an important role in the smooth operation.Using the C-Track three-dimensional laser scan-ner as the measurement standard,this paper gives different detection schemes,measurement process and data analysis.Such as the repeated positioning error of the positioning manipulator arm,the positio-ning error,the repeated positioning error,the posture error of the surgical execution arm and the point taking error of the Piercing device.At the same time,the measurement uncertainty of these methods is given,which proves the feasibility of the above methods.
measurementsingle port laparoscopypositioning errorposture errorpoint taking error
NETL
NSTL
万方数据
