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精度是血管介入手术机器人系统的重要指标之一,受到图像导航精度,介入机器人系统精度和随机误差的综合影响。基于实验室开发的血管介入手术机器人推进机构,开展了一系列精度试验,并对试验结果进行分析,结果证明所开发的血管介入手术机器人推进机构满足精度设计要求,而后对机构的精度和误差来源进行了分析,得出了提高精度的若干措施,为此类机构的设计和改进提供了依据。
Accuracy is one of the most important indicators of the vascular interventional robotic system and is affected by the combined effects of image navigation precision, robot system interventional precision and random error. A series of precision tests were carried out based on laboratory-developed robotic propulsion mechanisms for vascular interventional robots. The results of the experiments were analyzed. The results showed that the developed robotic propulsion robot met the precision design requirements, and then the accuracy and error sources Carried out the analysis, obtained a number of measures to improve the accuracy of such agencies provide the basis for the design and improvement.