Table 3 Error of virtual and real registration based on robot-assisted method (mm)

− 40.23

174.56

− 1307.03

− 38.16

174.90

− 1305.77

2.07

0.34

1.26

2.45

2.39

0.17

− 38.63

175.67

− 1305.53

1.60

1.11

1.50

2.46

− 38.75

175.77

− 1305.92

1.48

1.21

1.11

2.21

− 39.14

176.61

− 1306.33

1.09

2.05

0.70

2.42

− 45.69

192.38

− 1346.24

− 44.97

191.34

− 1345.01

0.72

1.04

1.23

2.36

2.52

− 47.02

190.53

− 1345.15

1.33

1.85

1.09

2.53

− 44.54

194.09

− 1347.67

1.15

1.71

1.43

2.51

− 47.43

190.73

− 1347.45

1.74

1.65

1.21

2.69

− 1.91

202.92

− 1280.62

− 2.98

204.28

− 1278.89

1.07

1.36

1.73

2.41

2.55

0.76

− 3.27

203.55

− 1278.36

1.36

0.63

2.26

2.71

− 2.94

201.79

− 1278.72

1.03

1.13

1.90

2.44

− 3.23

202.32

− 1282.79

1.32

0.60

2.17

2.61

− 26.07

149.31

− 1328.60

− 25.15

151.39

− 1328.22

0.92

2.08

0.38

2.31

2.58

− 27.53

147.45

− 1330.07

1.46

1.86

1.47

2.78

− 24.63

147.92

− 1330.41

1.44

1.39

1.81

2.57

− 26.65

146.86

− 1328.99

0.58

2.45

0.39

2.66