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为简化手术机器人的操作流程、缩短手术准备时间,本文提出一种新的快速手眼标定方法——一次注册法,并在分析该方法误差产生原因的基础上,又提出一种实用的手术机器人末端工具的参数优化方法。一次注册法利用空间固定的双目摄像机识别固定在机器人末端工具上的标记物,并由机器人关节参数可确定标记物的空间位姿,从而建立摄像机坐标系与机器人基坐标系的联系,完成手眼标定;但考虑到机器人末端工具的加工、装配误差,本文建立以机器人末端坐标系与末端工具坐标系之间的转换矩阵为变量的误差方程,运用数值优化方法实现了对机器人末端工具参数的优化。实验结果表明:一次注册法与现有方法相比可以显著地提高手术机器人的手眼标定效率,参数优化方法可以显著地提高一次注册法的绝对定位精度,使其满足临床手术的要求。
In order to simplify the procedure of surgical robots and shorten the preparation time, a new rapid eye calibration method, a registration method, is proposed in this paper. Based on the analysis of the error of the method, a practical surgical robot end Tool parameter optimization method. A registration method uses a binocular camera with a fixed space to identify the marker fixed on the end tool of the robot and determines the spatial pose of the marker by the joint parameters of the robot so as to establish the relationship between the camera coordinate system and the robot base coordinate system, However, considering the machining and assembly errors of the robot end tools, this paper establishes the error equation of the transformation matrix between the robot end coordinate system and the end tool coordinate system as variables, and optimizes the parameters of the robot end tool by using the numerical optimization method . The experimental results show that the single registration method can significantly improve the hand-eye calibration efficiency of the surgical robot compared with the existing methods. The parameter optimization method can significantly improve the absolute positioning accuracy of the single registration method to meet the requirements of clinical surgery.