title: The development and error analysis of a kinematic parameters based spatial positioning method for an orthopedic navigation robot system.
abstract: BACKGROUND
  Spatial positioning is the key function of a surgical navigation robot system, and accuracy is the most important performance index of such a system.
  
  
  METHODS
  The kinematic parameters of a six degrees of freedom (DOF) robot arm were used to form the transformation from intraoperative fluoroscopy images to a robot's coordinate system without C-arm calibration and to solve the redundant DOF problem. The influences of three typical error sources and their combination on the final navigation error were investigated through Monte Carlo simulation.
  
  
  RESULTS
  The navigation error of the proposed method is less than 0.6 mm, and the feasibility was verified through cadaver experiments. Error analysis suggests that the robot kinematic error has a linear relationship with final navigation error, while the image error and gauge error have nonlinear influences.
  
  
  CONCLUSIONS
  This kinematic parameters based method can provide accurate and convenient navigation for orthopedic surgeries. The result of error analysis will help error design and assignment for surgical robots.
authors.affiliation: School of Biological Science and Medical Engineering, Beihang University, China.
authors.forename: Baoqing
authors.initials: B
authors.lastname: Pei
authors.affiliation: School of Biological Science and Medical Engineering, Beihang University, China.
authors.forename: Gang
authors.initials: G
authors.lastname: Zhu
authors.affiliation: School of Biological Science and Medical Engineering, Beihang University, China.
authors.forename: Yu
authors.initials: Y
authors.lastname: Wang
authors.affiliation: School of Biological Science and Medical Engineering, Beihang University, China.
authors.forename: Huiting
authors.initials: H
authors.lastname: Qiao
authors.affiliation: School of Biological Science and Medical Engineering, Beihang University, China.
authors.forename: Xiangqian
authors.initials: X
authors.lastname: Chen
authors.affiliation: Beijing TINAVI Medical Technology Co., Ltd, China.
authors.forename: Binbin
authors.initials: B
authors.lastname: Wang
authors.affiliation: Beijing TINAVI Medical Technology Co., Ltd, China.
authors.forename: Xiaoyun
authors.initials: X
authors.lastname: Li
authors.affiliation: Beijing TINAVI Medical Technology Co., Ltd, China.
authors.forename: Weijun
authors.initials: W
authors.lastname: Zhang
authors.affiliation: School of Biological Science and Medical Engineering, Beihang University, China.
authors.forename: Wenyong
authors.identifier: http://orcid.org/0000-0002-0670-6261
authors.initials: W
authors.lastname: Liu
authors.affiliation: School of Biological Science and Medical Engineering, Beihang University, China.
authors.forename: Yubo
authors.initials: Y
authors.lastname: Fan
mesh_terms: D000465:Algorithms; D001696:Biomechanical Phenomena; D002102:Cadaver; D004867:Equipment Design; D005471:Fluoroscopy; D006801:Humans; D008953:Models, Anatomic; D016343:Monitoring, Intraoperative / Q000295:instrumentation / Q000379:methods / Q000706:statistics & numerical data; D009010:Monte Carlo Method; D009038:Motion; D019637:Orthopedic Procedures / Q000295:instrumentation / Q000379:methods* / Q000706:statistics & numerical data; D065287:Robotic Surgical Procedures / Q000295:instrumentation / Q000379:methods* / Q000706:statistics & numerical data; D025321:Surgery, Computer-Assisted / Q000295:instrumentation / Q000379:methods / Q000706:statistics & numerical data
keywords: Monte Carlo method; error analysis; orthopedic navigation robot; spatial positioning