Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot

Table 1

The results of the registration accuracy test.

The target point	The registration error (mm)
	Group one	Group two	Group three	Group four	Group five	Group six	Mean ± SD
Right subtemporal	0.70	0.67	0.63	0.66	0.65	0.45	0.63 ± 0.08
Right foramen ovale	0.66	0.78	0.84	0.73	0.75	0.52	0.71 ± 0.10
External orifice of the right carotid artery	0.42	0.62	0.50	0.55	0.63	0.72	0.57 ± 0.10
Right jugular foramen	0.54	0.76	0.82	0.68	0.69	0.62	0.69 ± 0.09
Right styloid process	0.35	0.93	0.41	0.72	0.77	0.55	0.62 ± 0.20
Left subtemporal	0.51	0.86	0.73	0.35	0.59	0.77	0.64 ± 0.17
Left foramen ovale	0.68	0.78	0.69	0.71	0.87	0.68	0.74 ± 0.07
External orifice of the left carotid artery	0.72	0.79	0.71	0.62	0.65	0.38	0.65 ± 0.13
Left jugular foramen	0.54	0.66	0.95	0.45	0.92	0.81	0.72 ± 0.19
Left styloid process	0.72	0.57	0.63	0.54	0.59	0.92	0.66 ± 0.13
Mean ± SD	0.58 ± 0.13	0.74 ± 0.11	0.69 ± 0.15	0.60 ± 0.12	0.71 ± 0.11	0.64 ± 0.16	—