Calibration method, system, terminal and storage medium of a dual-arm robot

Abstract

The present application relates to a dual-arm robot calibration method, system, terminal and storage medium. The method includes: establishing a needle point position calibration model, and calibrate the needle point position of the puncture needle tube according to the model; acquiring the needle tip ultrasonic image of the puncture needle tube through an ultrasonic probe; wherein, the ultrasonic probe and the puncture needle tube are respectively fixed on both arms On the end effectors of the left and right mechanical arms of the robot; according to the position of the needle tip and the ultrasonic image of the needle tip, a position registration model of the needle tip of the puncture needle tube and the needle tip in the ultrasonic image of the needle tip in the robot base coordinate system is established; The iterative closest point algorithm is used to solve the position registration model to obtain a coordinate transformation matrix from the ultrasonic image coordinate system to the robot end flange coordinate system, and the ultrasonic probe is calibrated according to the coordinate transformation matrix. This application does not need to use a third-party locator and model, which improves the calibration accuracy of the dual-arm robot.

Description

technical field [0001] The present application belongs to the technical field of robot calibration, and in particular relates to a dual-arm robot calibration method, system, terminal and storage medium. Background technique [0002] In recent years, with the rapid development of robot technology and image processing technology, the use of robots to assist or replace traditional manual medical operations has achieved good scientific research results and application prospects. In particular, the dual-arm robot system can not only control the ultrasound probe and the puncture needle tube separately, but also flexibly control the needle insertion angle and posture in a small surgical space. [0003] In the prior art, commonly used robot calibration methods include: [0004] 1. Ultrasonic probe calibration method using Locator and Phantom. This method fixes the marker corresponding to the locator (such as an optical magnetic locator) on the ultrasonic probe and the model, and t...

AI Technical Summary

Problems solved by technology

[0006] To sum up, the existing robot calibration methods usually require the use of third-party trackers or mechanism models, and these devices have certain errors in their positioning and size, which makes it difficult to guarantee the puncture accuracy of the robot

At the same time, existing methods are mainly used for the calibration of free-hand ultrasound-guided puncture and the calibration of single-arm robots for ultrasound-guided puncture, but have not been well applied to the calibration of dual-arm robots.

Images