A robotic neuro-surgery system and its calibration by using a motion tracking system

A robotic neuro-surgery system based on a parallel manipulator is introduced and a system calibration method by virtue of a motion tracking system is described. The calibration is conducted for its base and tool transformations. Error model for calibration is constructed using differential geometry method. The pose error is obtained based on pose measurement results of OPTOTRAK 3020, a commercial 3D position measurement system. An iterative least squares procedure is used to identify the error parameters in the base and tool transformations. Experiment results are presented to demonstrate the effectiveness of the method for transformation matrices calibration.