Found a new link here
http://documents.scribd.com.s3.amazonaws.com/docs/50n7nq0bsw1eoe45.pdf?t=1329551876The Cyberknife is essentially an industrial car assembly robot. These robots are mechanically accurate to around +/- 0.05mm
The difference between Gammaknife and Cyberknife is the registration of the position of the tumour is only done once with Gammaknife, and then Gamma knife relies on the rigidity of the headframe, and the fixed nature of the Gamma Knife machine.
Cyberknife gets its accuracy from a feedback circuit, the xray cameras, the infrared scanner, and positional sensors on the robot are all used to locate where the robot is in space. The bony structures of the skull and are fed back into the robot. The robot adjusts on the fly as to where your skull is. Its the feed back mechanism that Gammaknife lacks that makes Cyberknife similarly accurate as Gammaknife.
Probably the best analogy is to look at the human body. Through feed back from our eyes, and through our bodies we know where our are fingers are in space and we can position them very accuratly too.. Yet there is nothing rigid about our body, yet we can position our fingers to within tenths of a millimetre too..