Tool positioning device of a surgeon for the low-invasive surgery

The article considers the technical features of a digitizer which is to be used as a part of the system of intraoperative navigation. To reduce the costs for the manufacturing of a 3D-digitizer, we have shown the advantages of the special bench which provides the check of the values obtained by the shaft encoders used to record the positions of the manipulator depending on the actual dimensions of the basic elements of the device. The results of the mathematical experiment have shown that the calibration algorithm of the 3D-digitizer is fully functional and provides the opportunity to measure the actual dimensions of the basic elements of the device; to record the values of the shaft position encoder; to calibrate the values of the shaft position encoder taking into account the actual dimensions of the basic elements of the device.