Supplemental Tables
Supplemental Table 1.Hardware and software of the system
Modules Hardware Software
Workstation CPU: Intel Core i7-8700 CPU (3.7GHz)
GPU: NVIDIA GeForce GTX
OS: Window 10
IDE: Visual Studio 2015 Navigation CBCT
NDI navigation Customized application based on the API of OpenGL (4.5) , VTK (6.3),Qt5.12
Robot KUKA iiwa med800 Customized application based on the API of Kuka,java
Supplemental Table 2. Drilling Accuracy Measurement
No.= Number,mm= millimeter, SD= Standard Deviation Model
No. Points Position error- upper surface(mm)
Position error- lower surface(mm)
01 1 0.34 1.6
2 1.59 0.12
3 0.67 0.79
4 1.17 0.42
Mean±SD 0.94± 0.55 0.73± 0.64
02 1 1.39 0.24
2 0.86 0.39
3 1.12 1.36
4 0.33 0.69
Mean±SD 0.93± 0.45 0.67± 0.49
03 1 0.19 1.02
2 1.61 0.21
3 0.78 1.56
4 0.56 0.62
Mean±SD 0.79± 0.60 0.85± 0.58
04 1 1.06 0.91
2 0.82 1.14
3 1.01 0.87
4 0.52 1.11
Mean±SD 0.85± 0.24 1.01± 0.14
05 1 0.29 1.57
2 0.18 0.37
3 1.29 0.15
4 1.13 0.39
Mean±SD 0.72± 0.57 0.62± 0.64 Total Mean±SD 0.85± 0.45 0.78± 0.49
Supplemental Table 3.Milling Accuracy Measurement
No.= Number, mm= millimeter, SD= Standard Deviation Model No.
Mean (mm) SD (mm)
01 0.98 0.51
02 0.89 0.51
03 0.91 0.52
04 0.93 0.49
05 0.95 0.54
Total 0.93 0.50
Supplemental Table 4.Overall skull window overlapped percentage
No.= Number, mm3= cubic millimeter, SD= Standard Deviation Model No.
Vactual(mm3) Vdesign(mm3)
O
verall skull window coincidencerate(%)
01 11799.01 12007.26 98.27
02 13653.61 14052.05 97.16
03 15909.68 16215.93 98.11
04 14882.96 15416.22 96.54
05 11980.57 12379.56 96.78
Mean±SD 13645.17±1791.61 14014.20±1838.11 97.37±0.78
