精度是机器人辅助介入治疗系统的重要指标之一,受到图像导航子系统精度、介入机器人子系统精度和随机误差的综合影响。在对系统误差进行分析的基础上,一系列精度实验证明所开发的机器人辅助介入治疗系统的精度可以满足腹腔穿刺手术的医学要求。根据实验结果提出了提高系统精度的若干措施,为此类系统的设计和改进提供了依据。
Accuracy is an important index of robot-assisted interventional therapy system,and is influenced by the accuracies of image navigation subsystem and interventional robot subsystem,and random errors. Based on the analysis of system errors,a series of accuracy experiments validate that the robot-assisted system satirizes the required accuracy of the celiac puncture surgeries. Some methods to enhance the system accuracy are proposed for the system design and improvement.