Image guided robotic navigation systems often rely on reference based geometric perception pipelines, where accurate spatial mapping is established through multi stage estimation processes. In biplanar X ray guided navigation, such pipelines are widely used due to their real time capability and geometric interpretability. However, navigation reliability can be constrained by an overlooked system level failure mechanism in which installation induced structural perturbations introduced at the perception stage are progressively amplified along the perception reconstruction execution chain and dominate execution level error and tail risk behavior. This paper investigates this mechanism from a system level perspective and presents a unified error propagation modeling framework that characterizes how installation induced structural perturbations propagate and couple with pixel level observation noise through biplanar imaging, projection matrix estimation, triangulation, and coordinate mapping. Using first order analytic uncertainty propagation and Monte Carlo simulations, we analyze dominant sensitivity channels and quantify worst case error behavior beyond mean accuracy metrics. The results show that rotational installation error is a primary driver of system level error amplification, while translational misalignment of comparable magnitude plays a secondary role under typical biplanar geometries. Real biplanar X ray bench top experiments further confirm that the predicted amplification trends persist under realistic imaging conditions. These findings reveal a broader structural limitation of reference based multi stage geometric perception pipelines and provide a framework for system level reliability analysis and risk aware design in safety critical robotic navigation systems.

翻译：图像引导的机器人导航系统通常依赖于基于参考的几何感知流程，其中通过多阶段估计过程建立精确的空间映射。在双平面X射线引导导航中，此类流程因其实时能力和几何可解释性而被广泛使用。然而，导航可靠性可能受到一种被忽视的系统级失效机制的限制：在感知阶段引入的安装引起的结构扰动，会沿着感知-重建-执行链逐步放大，并主导执行级误差和尾部风险行为。本文从系统级视角研究该机制，提出了一个统一的误差传播建模框架，用于刻画安装引起的结构扰动如何通过双平面成像、投影矩阵估计、三角测量和坐标映射进行传播，并与像素级观测噪声耦合。利用一阶解析不确定性传播和蒙特卡洛模拟，我们分析了主导的敏感度通道，并量化了超出平均精度指标的最坏情况误差行为。结果表明，旋转安装误差是系统级误差放大的主要驱动因素，而在典型的双平面几何配置下，同等量级的平移错位则起次要作用。真实双平面X射线台架实验进一步证实，预测的放大趋势在实际成像条件下依然存在。这些发现揭示了基于参考的多阶段几何感知流程更广泛的结构性局限，并为安全关键机器人导航系统的系统级可靠性分析和风险感知设计提供了一个框架。