Calibration system and calibration method for assisting laser osteotomy robots

Abstract

The invention discloses a calibration system and calibration method for assisting laser osteotomy robots. The method includes obtaining a transfer matrix of a mechanical arm end coordinate system relative to a robot base coordinate system and the transfer matrix of a tracking device coordinate system relative to a camera coordinate system; solving the translation vector of a tool coordinate systemrelative to the mechanical arm end coordinate system, and establishing the transfer matrix of the tool coordinate system relative to the mechanical arm end coordinate system; obtaining the transfer matrix of the tool coordinate system relative to the robot base coordinate system so that the tool calibration of a robot can be realized; and solving the translation vector of the tool coordinate system relative to the tracking device coordinate system, obtaining two sets of three-dimensional point sets of tool coordinate system original points, and solving the transfer matrix of the robot base coordinate system relative to the camera coordinate system so that the hand-eye calibration of the robot can be realized.

Description

technical field [0001] The present disclosure relates to the field of robot calibration, in particular to a calibration system and a calibration method for an auxiliary laser osteotomy robot. Background technique [0002] In recent years, surgical robot technology has been more and more widely used clinically. Assisted laser osteotomy robot is a task-autonomous surgical robot that can help doctors automatically complete osteotomy according to preoperative planning. Compared with traditional osteotomy instruments, it has the advantages of precise controllability and less damage to surrounding tissues. Tool calibration and hand-eye calibration are important steps before the installation and operation of the assisted osteotomy robot, which directly determine the positioning accuracy of the robot and the surgical effect. [0003] The inventor found in the research and development process that the traditional calibration method mostly relies on advanced measurement equipment, t...

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Problems solved by technology

[0003] The inventor found in the research and development process that the traditional calibration method mostly relies on advanced measurement equipment, the calibration process is complicated, the cost of the measurement equipment is expensive, and the measurement accuracy largely depends on the accuracy of the measurement equipment, making it difficult to effectively apply in actual operation

However, the existing calibration methods relying on themselves, such as "four-point method" and "six-point method", have complicated operation processes and poor stability, which cannot meet the requirements of clinical operations.

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