A Coordinate Registration Method Based on Integrated Surgical Robot

Abstract

The invention discloses a coordinate registration method based on an integrated surgical robot, which specifically includes the following steps: S1. Fix the scale at the end of the mechanical arm and move it to the imaging range of the C-arm; S2. Perform 3D scanning on the scale to obtain The center of each target point on the scale is based on the coordinates of the C-arm space volume data; S3, calculate the center of each target point on the scale based on the coordinates of the manipulator; S4, calculate the coordinate transformation between the three-dimensional imaging space of the C-arm and the base of the manipulator relationship; S5, self-cross-checking and verifying the scale. The present invention is based on an integrated design of the mobile C-arm and the mechanical arm. While completing the coordinate calibration of the two systems, it can also detect the applicability of the scale, test the positioning accuracy and optimize the parameters. The ruler device that integrates the functions of coordinate calibration and positioning accuracy realizes that the integrated robot can combine the data of images and mechanical structures, without the need for coordinate registration of the two systems during the operation, and the integration is completed from the software and hardware levels.

Description

technical field [0001] The invention belongs to the technical field of surgical robot calibration, in particular to a coordinate registration method based on an integrated surgical robot. Background technique [0002] The hand-eye calibration method widely used in traditional industries uses a camera to project the three-dimensional information of the calibration plate onto a two-dimensional image plane through an imaging lens. If this method is used, it is not applicable to the current integrated system: 1) It is necessary to install a camera at a certain point on the C-arm, and establish the conversion relationship between the 3D reconstruction data coordinates of the C-arm and the image coordinates of the camera . Such an operation is essentially superfluous, and does not make full use of the data of the three-dimensional scanning and reconstruction of the C-arm, and is also contrary to the original intention of the system design. 2) Due to the manufacturing precision o...

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Problems solved by technology

Such an operation is superfluous in nature, and does not make full use of the data of the C-arm 3D scanning and reconstruction, and is contrary to the original intention of the system design

2) Due to the manufacturing precision of the lens and the deviation of the assembly process in the imaging and projection process of the camera, distortion will be introduced, resulting in image distortion

In the process of realizing the correction, factors such as the accuracy of the modeling, the internal and external parameters of the camera, and the efficiency of the algorithm need to be considered, which increases a lot of workload

3) After the system coordinate registration is completed, the calibration board cannot be used for subsequent positioning accuracy tests

Moreover, the traditional ruler is only used for coordinate calibration of the imaging system and the robotic arm

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