Calibration method and system, robot, computer device and navigation system

A calibration method and robot technology, which can be used in computing, measuring devices, using optical devices, etc., and can solve problems such as time-consuming

Active Publication Date: 2021-03-19
杭州素问九州医疗科技有限公司
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  • Abstract
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  • Application Information

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Problems solved by technology

Appears extremely time-consuming during surgery

Method used

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  • Calibration method and system, robot, computer device and navigation system
  • Calibration method and system, robot, computer device and navigation system
  • Calibration method and system, robot, computer device and navigation system

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Embodiment Construction

[0040] Exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The exemplary embodiments described below and illustrated in the accompanying drawings are intended to teach the principles of the invention and enable those skilled in the art to implement and use the invention in a number of different environments and for a number of different applications. Therefore, the protection scope of the present invention is defined by the appended claims, and the exemplary embodiments are not intended and should not be considered as a limiting description of the protection scope of the present invention.

[0041] figure 1 A hand-eye calibration system suitable for a knee joint surgical robot according to the present invention is schematically shown.

[0042]

[0043] exist figure 1 Among them, the operating system used for eg knee joint surgery includes a surgical robot 1 fixed on a base 2, and a joint 4-type robot...

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Abstract

The invention provides a calibration method and system, a robot, a computer device and a navigation system so as to calibrate a hand-eye matrix and a swing saw end matrix of a knee joint surgical robot at the same time. A grinding gun is fixed to the tail end of a mechanical arm of the robot, a swing saw-shaped connecting rod is fixed to a grinding gun rotating head, namely the swing saw end, a target is fixed to the position, away from the swing saw end of the grinding gun, of the fixed camera, based on a nine-point calibration method, the fixed camera is used for shooting the target to obtain a calibration image, a rotation matrix Ri and a translation vector ti of a coordinate system {N} at the tail end of a mechanical arm relative to a base coordinate system {M}, a rotation matrix T anda translation vector e of a coordinate system {J} of a target relative to a swivel coordinate system {O} of a grinding gun, and a rotation matrix Rci and a translation vector tci of the coordinate system {J} relative to a coordinate system {L} of a fixed camera are obtained, and based on a multi-coordinate system conversion closed loop formed by all the coordinate systems, and the Rx matrix, thetx vector, the pt vector and the St matrix are solved by using a least square method.

Description

technical field [0001] The invention relates to a calibration method and system, especially for simultaneously calibrating the hand-eye matrix and the pendulum saw end matrix of a knee joint surgery robot, and a knee joint surgery robot, computer device, storage medium and surgical navigation system based thereon. Background technique [0002] Hand-eye calibration of robotic arms has been around for many years. According to the way the camera is installed, the hand-eye calibration of the robotic arm can be divided into two types: "eye-in-hand" and "eye-to-hand". [0003] The eye in the hand refers to: drive the robot arm to move, use a camera fixed on its end to photograph the checkerboard calibration board fixed on the outer space of the robot arm, and obtain the transformation matrices S1 and S2. Then calculate the hand-eye matrix X according to the positive kinematics matrix R1 and R2 of the robot arm itself. Finally, the hand-eye calibration equation can be obtained: R...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00G06T7/80
CPCG01B11/002G06T7/80
Inventor 林必贵
Owner 杭州素问九州医疗科技有限公司
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