A practical calibration method for spinal surgery robot

Abstract

Surgery robot for pedicle screw placement is explored based on parallel manipulator. To improve the accuracy of parallel manipulator, a practical calibration algorithm is mainly discussed. At the beginning, a novel measurement scheme for calibration is proposed. In order to construct the error model, the propagation of error is analyzed and the procedures for constructing error model are particularly developed. A new algorithm for identifications of parameters is proposed based on particle swarm method. Finally, experiment for calibration is conducted to verify the effectiveness of calibration algorithm. Experiment of pedicle screw placement with spine of pig is carried out to confirm the precision of manipulator after calibration.