Aiming at the 3-d laser measurement system and the joint-type measurement system, the paper put forward the technology of tracking measurement based on pre-scanning and signal separately.

并针对三维激光测量系统和关节式测量系统，分别提出了预扫描的随动测量技术和信号跟踪算法的随动测量技术。

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On the basis of the 5-DOF surgical framework's structure, its system of coordinates is set and its kinematics model based on D-H model is put forward.

在分析五自由度手术框架的结构特点的基础上，建立了五自由度手术框架坐标系并提出了基于D-H模型的五自由度手术框架运动学模型。

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