In view of the characteristics of high risk and high accuracy in cranio-maxillofacial surgery, we present a novel surgical robot\nsystem that can be used in a variety of surgeries. The surgical robot system can assist surgeons in completing biopsy of skull base\nlesions, radiofrequency thermocoagulation of the trigeminal ganglion, and radioactive particle implantation of skull base malignant\ntumors. This paper focuses on modelling and experimental analyses of the robot system based on navigation technology. Firstly, the\ntransformation relationship between the subsystems is realized based on the quaternion and the iterative closest point registration\nalgorithm. The hand-eye coordination model based on optical navigation is established to control the end effector of the robot\nmoving to the target position along the planning path. The closed-loop control method, ââ?¬Å?kinematics + opticsââ?¬Â hybrid motion\ncontrol method, is presented to improve the positioning accuracy of the system. Secondly, the accuracy of the system model was\ntested by model experiments. And the feasibility of the closed-loop control method was verified by comparing the positioning\naccuracy before and after the application of the method. Finally, the skull model experiments were performed to evaluate the\nfunction of the surgical robot system. The results validate its feasibility and are consistent with the preoperative surgical planning.
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