Calibration method and device of robot

Abstract

The present invention provides a calibration method and device of a robot, wherein the calibration method includes the steps of: determining the parameter associated with each quantity to be calibrated and the standard value of each parameter, and collecting the measured values of each quantity to be calibrated and the measured values of the parameters of the robot during moving according to a preset frequency; for any parameter, calibrating the measured value of the parameter according to the multi-dimensional particle swarm optimization algorithm and the standard value of the parameter, forany quantity to be calibrated, obtaining other quantities to be calibrated and each parameter according to the constraint equation, and obtaining a calculated value of the quantity to be calibrated according to the measured values after the calibration of each parameter and the other standard quantity that has been calibrated, and according to the multi-dimensional particle swarm optimization algorithm and the measured value of this quantity to be calibrated, calibrating the calculated value of this quantity. The method has the advantages of fast convergent speed and low local extreme value, which can effectively solve the multi-dimensional complex relationship parameter calibration.

Description

technical field [0001] The present invention relates to the technical field of robots, and more particularly, to a robot calibration method and device. Background technique [0002] In deep vein puncture surgery, there are problems such as large surgical demand, low success rate of doctors' first puncture, many complications, and long training time for medical staff. In recent years, in order to solve these problems, many doctors have adopted ultrasound-guided deep vein puncture. This puncture method can greatly improve the success rate of a puncture and reduce surgical complications to a certain extent. However, there are still the following problems: first, the position of the puncture needle after it enters the body cannot be predicted before the puncture operation, so the accuracy and success rate of puncture largely depends on the doctor's clinical experience, and it is still necessary to make sure that the doctor performing the operation Do long training sessions. Se...

AI Technical Summary

Problems solved by technology

However, there are still the following problems: first, the position of the puncture needle after it enters the body cannot be predicted before the puncture operation, so the accuracy and success rate of puncture largely depends on the doctor's clinical experience, and it is still necessary to make sure that the doctor performing the operation long training

Second, sometimes the puncture needle is not in the same plane as the probe because of the puncture angle, light reflection, and the puncture needle, and it is often impossible to see the puncture needle during the puncture process

These methods are not applicable to the puncture robot navigation system, cannot automatically calibrate the puncture guide line in a short time, and the cost of higher-precision measuring instruments for detection is expensive

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