The Location Error Analysis and Compensation for Needle Driven Robot

Minimally invasive operations are becoming increasingly popular due to the reduction in trauma to the patient, shorter recovery times, and lower overall costs. In this paper, a minimally invasive surgery robot of five degrees of freedom has been developed for assisting surgeons to realize high quality and precise operation in radio frequency ablation for patients with liver tumors. In the minimally invasive interventions, we need precise place the ablative tool based upon the five degree of freedom robot, the location precision is an important factor in the operation. The location precision is usually limited by the precision of manufacturing, assembly, calibration and mathematical models; therefore, analysis the location error of the medical robot and to compensate the error is an important technique for the assisted robot to reach higher location precision.