Robot vision servo control device of binocular three-dimensional video camera and application method of robot vision servo control device

Abstract

The invention relates to the technical field of medical robots, in particular to a robot vision servo control device of a binocular three-dimensional video camera and an application method of the robot vision servo control device. The robot vision servo control device comprises a robot subsystem and a vision control subsystem. The robot subsystem comprises a robot controller and a knuckle type six-freedom-degree robot. The vision control subsystem comprises the binocular three-dimensional video camera and a vision controller. The output end of the robot controller is electrically connected with the input end of the knuckle type six-freedom-degree robot. The robot controller and the vision controller are connected through both-way communication. The output end of the binocular three-dimensional video camera is electrically connected with the input end of the vision controller. The relative position of the robot and a target is detected in real time through the fixed type binocular three-dimensional video camera, the position error is calculated, and following rapidness and accuracy of the robot are guaranteed. Collisions are avoided, the target tracking accuracy of the robot in the medical surgery is effectively improved, the surgery safety is ensured, and the risk coefficient of the surgery is lowered.

Description

technical field

[0001] The invention relates to the technical field of medical robots, and relates to a binocular stereo camera robot visual servo control device and a use method thereof. Background technique

[0002] At the present stage, the vision sensor is one of the most important sensors in the robot system. Its introduction has changed the requirement of the robot to accurately model the operating objects and the environment. Relying on the feedback of visual information, the robot can operate under dynamic conditions.

[0003] In the medical field, visual servoing technology assists doctors in complex surgical operations by obtaining the relative positional relationship between surgical instruments and patients. For example, when performing thoracic surgery and brain surgery, with the help of the characteristics of machine vision, ray fluoroscopy and MRI images can be used to analyze and locate the lesion in detail, and control the surgical knife at the end of the...

Examples

Embodiment 1

[0029] Embodiment one: as attached figure 1 , 2 As shown, the binocular stereo camera robot vision servo control device includes a robot subsystem and a vision control subsystem, and the robot subsystem includes a robot controller 1 and an articulated six-degree-of-freedom robot 2, and the vision control subsystem The system includes a binocular stereo camera 3 and a vision controller 4; the output end of the robot controller 1 is electrically connected to the input end of the articulated six-degree-of-freedom robot 2, and the two-way communication connection between the robot controller 1 and the vision controller 4 , the output end of the binocular stereo camera 3 is electrically connected to the input end of the vision controller 4 . In practical applications, the articulated six-degree-of-freedom robot 2 can be a UR5 robot produced by UniversalRobots in Denmark, which has a compact structure, light weight, and high safety; the robot controller 1 is developed based on ...

Embodiment 2

[0034] Embodiment two: if figure 1 , 2 , Shown in 3, a kind of method that uses above-mentioned binocular stereo camera robot visual servo control device, comprises the following steps:

[0035] Step 1: Start the robot subsystem and the vision control subsystem, adjust the position of the binocular stereo camera 3 to ensure that the optical target 5 of the end effector and the optical target 6 of the target moving body are both within the field of view of the binocular stereo camera 3, and then enter Step 2;

[0036] Step 2: Use the binocular stereo camera 3 to collect the position information images of the optical target 5 of the end effector and the optical target 6 of the target moving body in the initialization state, and calculate the position of the optical target 5 of the end effector in the camera coordinate system V according to the camera model homogeneous matrix expression The homogeneous matrix expression of the pose and orientation of the optical tar...

technical field

[0001] The invention relates to the technical field of medical robots, and relates to a binocular stereo camera robot visual servo control device and a use method thereof. Background technique

[0002] At the present stage, the vision sensor is one of the most important sensors in the robot system. Its introduction has changed the requirement of the robot to accurately model the operating objects and the environment. Relying on the feedback of visual information, the robot can operate under dynamic conditions.

[0003] In the medical field, visual servoing technology assists doctors in complex surgical operations by obtaining the relative positional relationship between surgical instruments and patients. For example, when performing thoracic surgery and brain surgery, with the help of the characteristics of machine vision, ray fluoroscopy and MRI images can be used to analyze and locate the lesion in detail, and control the surgical knife at the end of the...

Examples

Embodiment 1

[0029] Embodiment one: as attached figure 1 , 2 As shown, the binocular stereo camera robot vision servo control device includes a robot subsystem and a vision control subsystem, and the robot subsystem includes a robot controller 1 and an articulated six-degree-of-freedom robot 2, and the vision control subsystem The system includes a binocular stereo camera 3 and a vision controller 4; the output end of the robot controller 1 is electrically connected to the input end of the articulated six-degree-of-freedom robot 2, and the two-way communication connection between the robot controller 1 and the vision controller 4 , the output end of the binocular stereo camera 3 is electrically connected to the input end of the vision controller 4 . In practical applications, the articulated six-degree-of-freedom robot 2 can be a UR5 robot produced by UniversalRobots in Denmark, which has a compact structure, light weight, and high safety; the robot controller 1 is developed based on ...

Embodiment 2

[0034] Embodiment two: if figure 1 , 2 , Shown in 3, a kind of method that uses above-mentioned binocular stereo camera robot visual servo control device, comprises the following steps:

[0035] Step 1: Start the robot subsystem and the vision control subsystem, adjust the position of the binocular stereo camera 3 to ensure that the optical target 5 of the end effector and the optical target 6 of the target moving body are both within the field of view of the binocular stereo camera 3, and then enter Step 2;

[0036] Step 2: Use the binocular stereo camera 3 to collect the position information images of the optical target 5 of the end effector and the optical target 6 of the target moving body in the initialization state, and calculate the position of the optical target 5 of the end effector in the camera coordinate system V according to the camera model homogeneous matrix expression The homogeneous matrix expression of the pose and orientation of the optical tar...

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