Abstract: An apparatus for use in simulated image guided surgery comprises a positional transducer, clamping means located proximate to the transducer, and a processor. The transducer is responsive to a thin flexible member that can be manipulated by a user, and produces signals representative of displacement and rotation of the thin flexible member. The clamping means responds to a controlling signal to apply a predetermined variable clamping force to the flexible member. The processor receives these displacement and rotation signals, and is programmed to plot the path of the flexible member therefrom as it is manipulated by the user. Additionally, the processor produces the controlling signal to the clamping means in response to the instantaneous position along the path. The processor may be coupled to a display device for displaying an image of the instantaneous position of the flexible wire therealong, or other information. The invention also includes a related method for the simulation of image guided surgery.

Abstract: An error reduction and accommodation method and system can be used in an automated assembly environment. This method and system use a simple localized calibration process devised to improve similarity between an actual device and a simulated model when an off-line programming technique is used. The system uses grid-hole tables with modular fixtures holding the workpieces. The grid-hole table has round holes instead of screw holes or T-slots and allows modular fixtures with round pins to be placed on the grid-hole table with greater precision. A compliant coupling which is able to accommodate any small error in the system and when used with any end-tool, allows the assembly robot to carry out tasks within the modular system. The use of the grid-hole table and modular fixtures allows the robot, once taught the grid-hole table and the modular fixtures, to be subsequently programmed off-line to carry out any tasks with any standardized modular fixture placed any where on the grid-hole table.