A robot registration method, device, system and storage medium

By setting verification points and establishing a local coordinate system on the robotic arm flange, and combining optical probes and positioning cameras, the transformation matrix of multiple coordinate systems was calculated, which solved the problem of registration between the optical reference array coordinate system and the TCP coordinate system at the end of the robotic arm, improved the surgical positioning accuracy and reduced the dependence on the motion space.

CN116509546BActive Publication Date: 2026-04-24LANCET ROBOTICS CO LTD
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Patent Information

Application Number
CN202310389292.1
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-04-07
Publication Date
2026-04-24
Estimated Expiration
2043-04-07

AI Technical Summary

Technical Problem

In the operating room, the movement space of the robotic arm is limited, and existing technology makes it difficult to effectively align the transformation relationship between the optical reference array coordinate system at the end of the robotic arm and the TCP coordinate system at the end of the robotic arm, which affects the accuracy of surgical positioning.

Method used

By setting three verification points on the flange of the robotic arm, a local coordinate system is established, and the transformation matrices of multiple coordinate systems are collected by optical probes and positioning cameras. The transformation matrix from the base coordinate system to the base end reference array is calculated to form a closed-loop registration system, reducing the dependence on the free movement space of the robotic arm.

Benefits of technology

This enables registration to be completed without moving the robotic arm, improving the positioning accuracy of the robotic arm and reducing its dependence on the motion space.

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Abstract

The present application belongs to the technical field of mechanical arm control, and particularly provides a mechanical arm registration method, device, system and storage medium, the method is applied to the controller in the mechanical arm registration system, the controller is connected with the mechanical arm, the free end of the mechanical arm is connected with the flange, the flange is connected with the connecting block, three verification points are arranged on the connecting block, the connecting line of the three verification points is in triangular structure, the verification points are matched with the optical probe tip; the optical probe tip is defined with a probe coordinate system, the probe coordinate system can be recognized by a positioning camera, and one side of the end of the mechanical arm is provided with a mechanical arm end reference array which can be recognized by the positioning camera. The three verification points arranged on the connecting block are matched with the optical probe to collect the position of the verification point, the conversion matrix under multiple coordinate systems is transformed, so that the mechanical arm registration can be completed when the mechanical arm maintains the same pose, and the dependence of the mechanical arm registration on the free space is reduced.
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