An Investigation of Errors in Fluoroscopic Navigation for Robot-Assisted Orthopedic Surgery

In surgical robot systems, the main part of the error is caused by navigation system. Practically, the error changes under different circumstances. To minimize the impact of navigation error, the factors associated with the errors need to be studied. The most widely used navigation is based on intraoperative two-dimensional fluoroscopy because of its low cost and straightforward operation. It consists of image correction and registration. In this article, the two main factors, positions of registration phantom and region of interest, is investigated. The results suggest that the error is linearly dependent on distance to C-arm's intensifier but not obviously associated with the position of registration phantom. The results provide guidance for clinical use that the treatment area should be put as close to the intensifier as possible.