KINEMATICS, ERROR ANALYSIS, AND COMPENSATION OF A HIGH PRECISION TENDON-BASED MRI-COMPATIBLE ROBOT

In this paper, a high precision tendon-based magnetic resonance imaging-compatible robot for prostate needle-insertion surgery is introduced briefly, which is possessed of five degrees of freedom. What follows is the kinematic analysis together with the Jacobian analysis. Based on the forward kinematics, the reachable workspace of the robot is then calculated. The main contribution of this paper, an error model of the robot considering the input errors, form and position errors of the revolute joints, and main parts of the manipulator is then established. To obtain the backlash associated with the tendon-based transmission system, the statics analysis is conducted. Given a series of certain values of the error source mentioned above and a certain trajectory of the surgical needle tip, which is based on kinematics in the reachable workspace, the comparative result of the trajectory based on the error model is obtained. Finally, the experiment is conducted to verify the veracity of the error model.