Table 3 D–H parameters of the robot kinematics.
From: MRI guided HIFU robotic system application in feasibility study for treating uterine fibroids
Marker | Target | Actual | Dist. Error | ||
|---|---|---|---|---|---|
x | y | x | y | 0.8 (0.5) | |
S1 | − 20 | 15 | − 20.2 (0.3) | 15.3 (0.9) | 0.9 (0.5) |
S2 | − 20 | 0 | − 20.8 (0.5) | 0.1 (0.3) | 0.8 (0.5) |
S3 | − 20 | − 15 | − 19.8 (1.3) | − 15.1 (0.1) | 0.9 (0.4) |
S4 | 0 | − 15 | 0.7 (0.4) | − 14.9 (0.4) | 1.0 (0.4) |
S5 | 20 | − 15 | 20.4 (1.2) | − 14.9 (0.3) | 1.1 (0.5) |
S6 | 20 | 0 | 21.0 (0.5) | 0.5 (0.3) | 1.0 (0.3) |
S7 | 20 | 15 | 20.5 (0.9) | 14.7 (0.2) | 0.8 (0.2) |
S8 | 0 | 15 | 0.3 (0.1) | 14.4 (0.5) | 0.8 (0.5) |
Ave | 0.9 (0.4) | ||||
