Calibration device, calibration method, computer readable storage medium and computer device

Abstract

This application relates to a calibration device, method, computer-readable storage medium, and computer equipment. The calibration device includes: a mounting platform and a calibration unit disposed on the mounting platform, wherein the mounting platform includes a first platform having at least degrees of freedom of movement in the up-down, left-right, and front-back directions; the calibration unit includes at least three non-collinear first optical positioning marks and calibration parts disposed on the first platform, the distance between the calibration parts and each of the first optical positioning marks being fixed. When recalibration of the target is required, it can be quickly performed on-site using optical navigation equipment.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a calibration device and calibration method, a computer-readable storage medium, and a computer device. Background Technology

[0002] Targets are typically used to assist in the positioning of surgical instruments, tracking their position and navigating them during use. Before use, the target needs to be calibrated, meaning the relative positions of the part to be calibrated on the target and the optical positioning markers within the target are determined.

[0003] Current technologies mostly use coordinate measuring machines (CMMs) for calibration in laboratories, which is time-consuming and limited by location. Furthermore, targets inevitably experience accuracy changes during use (e.g., due to transportation, repeated sterilization, multiple operations, or replacement of different reflective spheres). When the target's accuracy or type changes, existing calibration methods require recalibration in the laboratory, resulting in high time and economic costs. High-precision targets can reduce the likelihood of recalibration, but increase the cost of target manufacturing and storage. Summary of the Invention

[0004] Therefore, it is necessary to provide a calibration device that can adapt to the needs of rapid target recalibration. Furthermore, a calibration method, a computer-readable storage medium, and a computer device are also proposed.

[0005] A calibration device includes: a mounting platform and a calibration unit disposed on the mounting platform, wherein the mounting platform includes a first platform having at least degrees of freedom of movement in the up-down, left-right, and front-back directions; the calibration unit includes at least three non-collinear first optical positioning marks and a calibration part disposed on the first platform, wherein the distance between the calibration part and each of the first optical positioning marks is fixed.

[0006] In some embodiments, the installation platform further includes a second platform, wherein the first platform and the second platform are disposed vertically and connected by a floating mechanism, wherein the first platform has at least degrees of freedom of movement relative to the second platform in the vertical, horizontal and back directions via the floating mechanism.

[0007] In some embodiments, the first platform and the second platform are connected by an elastic element, and / or the floating mechanism further includes an electromagnetic drive assembly configured to generate a magnetic force supporting the first platform's levitation relative to the second platform.

[0008] In some embodiments, the electromagnetic drive assembly includes an electromagnet and a magnetic element disposed between the first platform and the second platform and used in pairs, wherein the electromagnet is disposed on one of the first platform and the second platform, and the magnetic element is disposed on the other of the first platform and the second platform; or, the electromagnetic drive assembly includes two electromagnets used in pairs, wherein the two electromagnets are respectively disposed on the first platform and the second platform.

[0009] In some embodiments, the at least three non-collinear first optical positioning marks and the calibration part are located on the same side of the first platform.

[0010] In some embodiments, the calibration device further includes a carrier that is detachably disposed on the first platform, wherein at least three non-collinear first optical positioning marks and the calibration portion are disposed on the surface of the carrier.

[0011] In some embodiments, the calibration section includes a calibration hole and / or a calibration probe.

[0012] In some embodiments, the calibration hole is a blind hole including a tapered bottom hole.

[0013] In some embodiments, the calibration hole further includes a circular hole segment and a chamfer, the circular hole segment connecting the chamfer to the tapered bottom hole, and the chamfer being located at the entrance of the calibration hole.

[0014] In some embodiments, the first optical positioning mark is an active light-emitting element or a reflective element.

[0015] A calibration method, applied to any of the calibration devices described above, includes the following steps:

[0016] The part to be calibrated on the overlapping target and the calibration part in the calibration device;

[0017] The optical navigation device establishes a first coordinate system based on the pose information of the first optical positioning mark, and calculates the first pose information of the calibration unit in the first coordinate system; and establishes a second coordinate system based on the pose information of the second optical positioning mark on the target.

[0018] Obtain the transformation relationship between the first coordinate system and the second coordinate system in the coordinate system of the optical navigation device;

[0019] Calculate the second pose information of the part to be calibrated in the second coordinate system based on the first pose information and the transformation relationship; and...

[0020] Based on the second pose information and the pose information of the second optical positioning mark, a relative pose relationship is established between the part to be calibrated and any of the second optical positioning marks.

[0021] In some embodiments, the relative pose relationships are stored to form a calibration file.

[0022] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method of any of the above embodiments.

[0023] A computer device includes a computer-readable storage medium and a processor, wherein the computer-readable storage medium stores a computer program, and the processor executes the computer program to implement the method of any of the above embodiments.

[0024] In this application, when target recalibration is required, an optical navigation device can be used on-site to establish a first coordinate system based on the calibration device and a second coordinate system based on the target, using a first optical positioning marker. Then, the target to be calibrated and the calibration device are aligned to obtain the transformation relationship between the first and second coordinate systems in the navigation device's coordinate system. Subsequently, based on the first pose information and the transformation relationship, the second pose information of the target in the second coordinate system is calculated. Finally, based on the second pose information and the pose information of the second optical positioning marker, the relative pose relationship between the target and any of the second optical positioning markers is established. This process can be quickly completed on-site using optical navigation equipment, meeting the need for rapid target recalibration. Attached Figure Description

[0025] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a three-dimensional structural schematic diagram of the calibration device according to an embodiment of the present invention;

[0028] Figure 2 This is an application scenario diagram of the calibration device according to an embodiment of the present invention;

[0029] Figure 3 A schematic diagram illustrating the calibration device for performing tip target calibration according to an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram illustrating the calibration of the base target using the calibration device according to an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram illustrating the calibration device of the present invention performing planar target calibration.

[0032] Figure 6 This is a schematic diagram of the mounting platform in the calibration device according to an embodiment of the present invention;

[0033] Figure 7 This is a structural diagram of the first platform on the installation platform according to an embodiment of the present invention;

[0034] Figure 8 This is a structural diagram of the calibration probe installed on the first platform according to an embodiment of the present invention;

[0035] Figures 9 to 11 The different stages of the working process of the calibration device in this embodiment of the invention are illustrated.

[0036] Figure 12 This is a schematic diagram illustrating the principle of establishing the first coordinate system based on the calibration device.

[0037] Figure 13 This is a schematic diagram of the structure of a tip target;

[0038] Figure 14 This is a schematic diagram of the base target structure;

[0039] Figure 15 This is a schematic diagram of the structure of a planar target;

[0040] Figure 16 This is a flowchart of the calibration method for the device to be calibrated according to an embodiment of the present invention. Detailed Implementation

[0041] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0042] like Figure 1 As shown, according to an exemplary embodiment of the present invention, a calibration device 1 is applied to a scenario in which a target is rapidly calibrated using the navigation system of a surgical robot.

[0043] like Figure 1As shown, the calibration device 1 includes a mounting platform 100 and a calibration unit 200 disposed on the mounting platform 100. The calibration unit 200 includes at least three non-collinear first optical positioning marks 210 and a calibration section (e.g., the calibration section includes a calibration hole 220 and / or a calibration probe 230). The at least three non-collinear first optical positioning marks 210 are configured to establish a first coordinate system based on the calibration device 1. The distance between the calibration section and each of the first optical positioning marks 210 is fixed; that is, a known geometrical positional relationship exists between the calibration section and any of the first optical positioning marks 210. (Reference) Figure 3 The calibration hole 220 is used for calibrating the tip target 5, whose receiving calibration part is the tip 510. (Reference) Figure 5 The calibration probe 230 is used for the target whose receiving calibration part is a conical hole 8.

[0044] refer to Figure 2 and Figure 3 As shown, Figure 2 This illustrates an application scenario of the aforementioned calibration device 1. (See also...) Figure 1 and Figure 2 When target calibration is required, taking the tip target 5 as an example, the mounting platform 100 can be installed on the operating table 2. The optical navigation device 3 is responsible for identifying the poses of the first optical positioning mark 210 on the calibration device 1 and the second optical positioning mark 520 on the target to obtain their pose information. The pose information includes coordinates, angles, and other information.

[0045] The end of the robotic arm 4 is equipped with a calibration fixture 410, which holds the tip target 5's clamping part 530 (see...) Figure 13 Clamping. Through the movement of the robotic arm 4, the part to be calibrated (specifically the tip 510) of the tip target 5 is aligned with the calibration hole 220 of the calibration device 1, and the tip target 5 is calibrated according to a pre-set program, thereby obtaining the configuration file of the tip target 5. The configuration file of the tip target 5 refers to the relative pose relationship between the part to be calibrated 510 of the tip target 5 and a reference point (such as the second optical positioning mark 520) on the tip target 5. For convenient and rapid installation, the mounting platform 100 includes a quick-release interface (not shown). For example, the quick-release interface is a snap-fit ​​structure that can be quickly fastened to the operating table 2. The quick-release interface can be located at the bottom of the mounting platform 100.

[0046] Since the calibration unit 200 is equipped with both calibration holes 220 and calibration probes 230, it is possible to calibrate targets of different types on-site.

[0047] like Figures 3 to 5 The diagram shows a schematic of different types of target calibration using the aforementioned calibration device 1. These targets can be tip targets 5, base targets 6, and planar targets 7.

[0048] Specifically, Figure 3 This is a schematic diagram illustrating the calibration of the tip target 5 using the calibration device 1. The part of the tip target 5 to be calibrated is the tip 510. When the calibration device 1 calibrates the tip target 5, the clamp 410 holds the tip target 5 at a specific position. After secure clamping, the robotic arm 4 moves the tip target 5 above the calibration hole 220. Then, the robotic arm 4 slowly descends, causing the tip 510 of the tip target 5 to slowly insert into the calibration hole 220 in the calibration device 1.

[0049] In addition, to avoid the robotic arm 4 obstructing the first optical positioning mark 210 and the second optical positioning mark 520, the posture of the robotic arm 4 can be adjusted so that at least three of the second optical positioning marks 520 on the tip target 5 are used to acquire posture information and establish a second coordinate system by the acquisition unit in the optical navigation device 3; and the posture of the robotic arm 4 can be adjusted so that at least three of the first optical positioning marks 210 on the calibration platform 100 are used to acquire posture information and establish a first coordinate system by the acquisition unit in the optical navigation device 3.

[0050] Furthermore, in other embodiments of this application, the operator may hold the tip target 5 so that the tip 510 and the bottom of the calibration hole 220 come into contact. Figure 4 This is a schematic diagram illustrating the calibration of the base target 6 using the calibration device 1. The part of the base target 6 to be calibrated is a tapered hole 8 that can mate with the tip 231 of the calibration probe 230 (see reference). Figure 14 When the calibration device 1 calibrates the base target 6, the clamp 410 holds the base target 6 at a specific position. After the clamp is firmly held, the robotic arm 4 moves the base target 6 above the calibration probe 230. Then the robotic arm 4 slowly descends, so that the tip 231 of the calibration probe 230 is slowly inserted into the conical hole 8 in the base target.

[0051] Figure 5 This is a schematic diagram illustrating the calibration of a planar target 7 using calibration device 1. The planar target 7 to be calibrated consists of one or more conical holes 8, capable of engaging with the tip 231 of calibration probe 230. When calibration device 1 calibrates the planar target 7, clamp 410 holds the planar target 7 at a specific position. After secure clamping, robotic arm 4 moves the planar target 7 above calibration probe 230. Then, robotic arm 4 slowly descends, causing the tip 231 of calibration probe 230 to slowly insert into the conical hole 8 in the planar target 7. In practice, to confirm the required target plane, the above steps can be repeated three times, measuring different conical holes 8 to determine the position of the target plane. Figure 6As shown, in some embodiments, the mounting platform 100 includes a first platform 110 and a second platform 120 arranged vertically and connected by a floating mechanism 130. The first platform 110 has at least degrees of freedom of movement relative to the second platform 120 in the vertical, horizontal, and front-back directions via the floating mechanism 130. A calibration unit 200 is disposed on the first platform 110. Thus, when the calibration hole 220 and calibration probe 230 of the calibration unit 200 are aligned with the part of the target to be calibrated, the first platform 110 moves, causing the calibration hole 220 to align with the tip 510 of the target, ensuring that the bottom center of the calibration hole 220 is aligned with the tip 510. This ensures that the part of the target to be calibrated is finally aligned with the calibration hole 220 or the calibration probe 230, thereby improving calibration accuracy. Figure 6 As shown in the diagram, the X direction is up and down, the Y direction is left and right, and the Z direction is forward and backward.

[0052] In other embodiments, the first platform 110 may achieve the aforementioned degrees of freedom of motion without the floating mechanism 130. For example, the first platform 110 may be configured to automatically undergo recoverable deformation. Specifically, it may deform and store energy when subjected to force, thus exhibiting a tendency to automatically return to its original shape. In this way, when the calibration hole 220 and calibration probe 230 of the calibration unit 200 are aligned with the part of the target to be calibrated, the first platform 110 may move, thereby aligning and engaging the calibration hole 220 with the tip 510 of the target.

[0053] Please refer to the above. Figure 2 , Figure 3 , Figure 6 As shown, taking the calibration of the tip 510 of the target 5 as an example, the clamp 410 clamps the target 5, and the robotic arm 4 moves downward and inserts the tip 510 of the target 5 into the calibration hole 220 in the calibration unit 200. During this process, when the first platform 110 is subjected to a downward force, it can adjust its position relative to the second platform 120 in the X, Y and Z directions, thereby ensuring that the calibration hole 220 and the tip 510 of the target are completely coincident, that is, the lowest position of the calibration hole 220 is aligned with the tip 510, thus ensuring the accuracy of the calibration.

[0054] The floating mechanism 130 can be implemented in various ways. In some embodiments of the invention, the floating mechanism 130 includes an electromagnetic drive assembly configured to generate a magnetic field force that supports the first platform 110 in levitation relative to the second platform 120.

[0055] For example, such as Figure 6As shown, the electromagnetic drive assembly includes an electromagnet 131 and a magnetic element 132 positioned between the first platform 110 and the second platform 120 and used in pairs, and an elastic element 133 connecting the first platform 110 and the second platform 120. The electromagnet 131 is disposed in one of the first platform 110 and the second platform 120, and the magnetic element 132 is disposed in the other of the first platform 110 and the second platform 120.

[0056] The first platform 110 includes a first lower surface 111 and a first upper surface 112 disposed opposite to each other. The second platform 120 includes a second lower surface 121 and a second upper surface 122 disposed opposite to each other. The first lower surface 111 of the first platform 110 faces the second upper surface 122 of the second platform 120. For example, an electromagnet 131 is disposed on the second upper surface 122 of the second platform 120, and a magnetic element 132 is disposed on the first lower surface 111 of the first platform 110. The magnetic poles of the electromagnet 131 when energized are opposite to those of the magnetic element 132. When the tip 510 of the tip target 5 is inserted into the calibration hole 220, the electromagnet 131 is energized to generate a magnetic field and exert a repulsive force on the magnetic element 132. The elastic element 133 provides an elastic force to keep the first platform 110 in its original position. When the first platform 110 is subjected to an external force, it can overcome the magnetic field force and move in the X, Y, and Z directions. The elastic element 133 can drive the first platform 110 to move after the external force disappears, so that the calibration hole 220 and the tip 510 of the target are aligned and engaged with each other, ensuring that the center of the calibration hole 220 is aligned with the tip 510.

[0057] Therefore, when the tip 510 of the target 5 is inserted into the calibration hole 220, if the tip 510 and the calibration hole 220 do not coincide, the calibration unit 200 can float with the first platform 110 to adjust its position under the pressure transmitted from the tip 510 to the calibration hole 220. Then, under the elastic force of the elastic member 133, the first platform 110 is displaced, thereby aligning and mating the calibration hole 220 and the tip 510 of the target, ensuring that the center of the calibration hole 220 is aligned with the tip 510.

[0058] In addition, when the electromagnet 131 is energized, it can also apply an attractive force to the magnetic component 132. At this time, under the pressure transmitted to the calibration hole 220 when the tip 510 of the tip target 5 is inserted into the calibration hole 220, the calibration unit 200 can also float together with the first platform 110 to adjust its position.

[0059] In the above scheme, the magnetic component 132 is mounted on the first platform 110. Alternatively, the magnetic component 132 can be integrally formed with the first platform 110, meaning that a portion of the first platform 110 is made of magnetic material.

[0060] In other embodiments, the floating mechanism 130 includes two electromagnets 131 positioned between the first platform 110 and the second platform 120 and used in pairs, and an elastic element 133 connecting the first platform 110 and the second platform 120. The two electromagnets 131 are respectively disposed on the first platform 110 and the second platform 120. When the tip 510 of the target 5 is inserted into the calibration hole 220, both electromagnets 131 generate magnetic fields that repel or attract each other when energized. The elastic element 133 provides an elastic force to maintain the first platform 110 in its original position. Under the pressure transmitted to the calibration hole 220 when the tip 510 of the target 5 is inserted into the calibration hole 220, the calibration unit 200 can float along with the first platform 110 to adjust its position, thereby ensuring that the calibration hole 220 and the tip 510 of the target 5 are completely aligned.

[0061] The type of elastic element 133 is not limited. Preferably, the elastic element 133 is an easily obtainable spring. Multiple elastic elements 133 can be provided. For example, four elastic elements 133 can be arranged at intervals along the circumference of the second upper surface 122 of the second platform 120. Specifically, the second platform 120 is rectangular, and the four elastic elements 133 are all springs, each disposed at a corner of the upper surface of the second platform 120. The two ends of the springs can be fixed in positioning holes (not shown) opened on the second platform 120 and the first platform 110, respectively.

[0062] In the above scheme, the magnetic field generated when the electromagnet 131 is energized supports the first platform 110 and allows the first platform 110 to float; the elastic element 133 is used to reset the first platform 110 to ensure that the calibration hole 220 is completely aligned with the tip 510 of the tip target 5. Compared with complex multi-degree-of-freedom structures (such as multi-axis platforms that can rotate on multiple axes), the above scheme is simple and practical.

[0063] In other embodiments, the first platform 110 and the second platform 120 are connected only by an elastic member 133. The alignment and mating of the calibration hole 220 and the target tip 510 are achieved by relying on the self-recovering deformation property of the elastic member 133. That is, no electromagnetic drive assembly is provided; the alignment and mating of the calibration hole 220 and the target tip 510 are achieved solely by the elastic member 133.

[0064] The calibration unit 200 is located on the first platform 110. Preferably, it is also referred to... Figure 1 , Figure 6 and Figure 7 The first optical positioning mark 210, calibration hole 220, and calibration probe 230 in the calibration unit 200 are all disposed on the first upper surface 112 of the first platform 110. The first upper surface 112 of the first platform 110 faces away from the second platform 120.

[0065] Both the calibration hole 220 and the calibration probe 230 are disposed on the upper surface of the first platform 110. In this way, when calibrating different types of targets, the targets can be placed above the first upper surface 112 of the first platform 110 without changing the position of the targets, which facilitates rapid target calibration.

[0066] During target calibration, it is necessary to use optical navigation equipment 3 to illuminate multiple second optical positioning markers 520 on the target (see reference). Figure 3 Since the first optical positioning mark 210 is also located on the first upper surface 112 of the first platform 110, the second optical positioning mark 520 and the first optical positioning mark 210 are located on the same side of the first platform 110 (i.e., both are located above the first platform 110). The optical navigation device 3 only needs to illuminate the first platform 110, which places relatively low demands on the structure and performance of the optical navigation device 3.

[0067] In the above embodiments, the first optical positioning mark 210, calibration hole 220, and calibration probe 230 of the calibration unit 200 are all directly disposed on the first upper surface 112 of the first platform 110. In other embodiments, the calibration device 1 may further include a carrier (not shown), which is detachably disposed on the mounting platform 100, and the first optical positioning mark 210, calibration hole 220, and calibration probe 230 are all disposed on the surface of the carrier. The carrier is detachably mounted on the first platform 110. When it is necessary to calibrate targets of different specifications on-site, the carrier can be removed from the mounting platform 100, and then other suitable calibration units 200 can be replaced, thereby facilitating the replacement of the first optical positioning mark 210, calibration hole 220, and calibration probe 230, and enabling rapid target calibration.

[0068] The first optical positioning marker 210 can be either an active or passive optical positioning marker. For example, an active optical positioning marker can have active light emission capabilities, and the light emitted can be collected by the optical navigation device 3. A passive optical positioning marker can include multiple reflective spheres that can reflect light, and the reflected light can be collected by the optical navigation device 3.

[0069] like Figure 1 As shown, exemplarily, the number of first optical positioning markers 210 is at least four, which are active light-emitting elements, specifically self-illuminating spheres. Figure 7 As shown, the first upper surface 112 of the first platform 110 has a mounting hole 113. The aforementioned self-illuminating sphere is embedded in the mounting hole 113 and protrudes from the first upper surface 112 of the first platform 110.

[0070] Three of the first optical positioning markers 210 form a triangle, preferably with unequal side lengths. This allows the optical navigation device 3 to establish a first coordinate system based on the calibration device 1, using the aforementioned triangle. The distances between the remaining first optical positioning markers 210 and any one of the three first optical positioning markers 210 are all determined and can be used to verify the first coordinate system.

[0071] It should be noted that the method for establishing the first coordinate system is not limited to the above-described approach. Any suitable method for establishing an XYZ three-coordinate system in the prior art can be applied to the embodiments of the present invention to establish the first coordinate system.

[0072] like Figure 7 As shown, in some embodiments of the present invention, the calibration hole 220 is a blind hole including a tapered bottom hole 221. Further, the calibration hole 220 also includes a circular hole segment 222 and a chamfer 223, the circular hole segment 222 connecting the chamfer 223 and the tapered bottom hole 221, and the chamfer 223 being located at the entrance of the calibration hole 220.

[0073] The tapered bottom hole 221 can effectively position the matching tip 510. When the angle of the tip 510 of the target 5 matches the angle of the tapered hole, it ensures that the tip 510 and the tapered hole can be perfectly aligned. Matching angles means that the tapers of the two are the same. The tapered bottom hole 221 should be as smooth as possible. The circular hole section 222 matches the diameter of the target tip 510, preventing the target tip 510 from tipping over in the calibration hole 220. The chamfer 223 is formed between the circular hole section 222 and the first upper surface 112 of the first platform 110, facilitating the rapid insertion of the target tip 510 into the calibration hole 220.

[0074] During the process of inserting the tip 510 of the tip target 5 into the calibration hole 220, the tip 510 can first slide quickly into the calibration hole 220 under the guidance of the chamfer 223; then the tip 510 of the tip target 5 is constrained by the circular hole section 222 and will not tilt, and can then smoothly enter the conical bottom hole 221 and coincide with the conical bottom hole 221, and the apex of the tip 510 of the tip target 5 contacts the bottom point of the conical bottom hole 221.

[0075] like Figure 8 As shown, the calibration probe 230 includes a tip 231 and a connecting portion 232 connected to the tip 231. The tip 231 is used to mate with the tapered hole 8 of the base target 6 or the planar target 7 to calibrate these two targets. The connecting portion 232 is detachably fixed to the mounting platform 100 so that the tip 231 is located on one side of the mounting platform 100.

[0076] In specific implementation, such as Figure 7As shown, the surface of the mounting platform 100 has a fixing hole 114. The connecting part 232 is engaged in the fixing hole 114. The connecting part 232 and the fixing hole 114 are detachably coupled.

[0077] In this application, the calibration portion of the target is not limited to the tip 510 and the conical hole 8 as exemplified above. For example, the calibration portion of the target can also be a plate-like portion (e.g., a disc), a circular hole, etc. Correspondingly, the calibration portion of the calibration device 1 is not limited to the calibration hole 220 including the conical bottom hole 22 and the calibration probe 210 as exemplified above. For example, when the calibration portion of the target is a disc, the calibration portion of the calibration device 1 can be a circular hole adapted to the size of the disc. As another example, when the calibration portion of the target is a circular hole, the calibration portion of the calibration device 1 can be a cylinder adapted to the size of the circular hole.

[0078] The optical navigation device 3 is used to establish a first coordinate system based on the calibration device 1 according to the first optical positioning mark 210, and to establish a second coordinate system based on the target according to the second optical positioning mark on the target.

[0079] For example, the second optical positioning mark 520 on the target is a reflective sphere. In a specific embodiment, the second optical positioning mark includes at least four reflective spheres, and the lines connecting three of the at least four reflective spheres form triangles with unequal side lengths. This allows the optical navigation device 3 architecture to establish a second coordinate system based on the target using these triangles. The distance between the remaining reflective spheres and any one of the three reflective spheres is determined and can be used to verify the second coordinate system. It should be noted that the first optical positioning mark 210 used to establish the second coordinate system is not limited to the above method. Any suitable method for establishing an XYZ three-coordinate system in the prior art can be applied to the embodiments of the present invention to establish the second coordinate system.

[0080] The robotic arm 4 includes a gripper 410 for holding a target. The gripper 410 may be configured with a quick-change structure, allowing for rapid assembly and disassembly. The gripper 410 can be replaced as needed to hold different types of targets. The gripper 410 is capable of gripping specific locations on the target; its specific type is not limited. For example, such as... Figure 3 As shown, the clamp 410 includes a pair of pneumatically driven grippers 411.

[0081] The advantages of the calibration device 1 in this embodiment of the invention will be further illustrated below by describing the process of calibrating different types of targets using the calibration device 1 described above. Figures 9 to 11 This illustrates the usage process of calibration device 1.

[0082] Taking the calibration of the tip target 5 as an example. Figure 9As shown, once the calibration process begins, the optical navigation device 3 will establish a first coordinate system based on the calibration device 1 by collecting the positions of at least four first optical positioning markers 210 (specifically, self-illuminating spheres) on the calibration device 1. Then, based on the pre-measured relative positions of the calibration hole 220, calibration probe 230, and self-illuminating spheres, the coordinates of the calibration hole 220 and calibration probe 230 in the first coordinate system are calculated. The relative positions of the calibration hole 220, calibration probe 230, and self-illuminating spheres are determined by the geometric data of the calibration device 1, which can be specifically measured in advance using existing equipment.

[0083] like Figure 10 As shown, the robotic arm 4 clamps the tip target 5 at a specific position using a gripper 410. After secure clamping, the optical navigation device 3 illuminates multiple second optical positioning marks 520 on the tip target 5. The second optical positioning marks 520 are specifically reflective spheres, each of which can be considered a second optical positioning marker point. The optical navigation device 3 obtains the positions of these reflective spheres, i.e., the pose information of the second optical positioning marks 520, and establishes a second coordinate system based on the target using these reflective spheres.

[0084] like Figure 11 As shown, in conjunction with reference Figure 4 By moving the robotic arm 4 downwards and the first platform 110 floating in the mounting platform, the tip 510 of the target 5 is ensured to be completely aligned with the tapered bottom hole 221 of the calibration hole 220. The relative positions of the calibration hole 220, the calibration probe 230, and the first optical positioning mark 210 (self-illuminating sphere) are fixed; therefore, the coordinates of the calibration hole 220 in the first coordinate system are known. Thus, when the tip 510 of the target 5 is completely aligned with the tapered bottom hole 211, the position of the tip 510 (the part to be calibrated) of the target 5 in the first coordinate system is also known.

[0085] In embodiments of the present invention, for the tip target 5, the coordinates of the part to be calibrated specifically refer to the coordinates of the tip 510 of the tip target 5. The coordinates of the tip 510 can be represented using the coordinates of the vertex of the tip 510. This vertex is used to contact the bottom point of the tapered bottom hole 211. The bottom point refers to the foremost point in the tapered bottom hole 211 along the direction of insertion calibration hole 220.

[0086] Specifically, the tip 510 of the target 5 completely coincides with the conical bottom hole 211, and the apex of the tip 510 coincides with the bottom point of the conical bottom hole 211. The relative position of the calibration hole 220 and the self-illuminating sphere is fixed. The coordinates of the bottom point of the conical bottom hole 211 in the first coordinate system are known. Therefore, since the tip 510 of the target 5 completely coincides with the conical bottom hole 211, the position of the apex of the target tip 510 in the second coordinate system is also known, that is, it is the same as the coordinates of the bottom point of the conical bottom hole 211 in the first coordinate system. In this way, the first pose information of the target tip 510 in the first coordinate system is obtained.

[0087] The optical navigation device acquires the transformation relationship between the first coordinate system and the second coordinate system in the coordinate system of the navigation device.

[0088] Then, based on the first pose information of the target tip 510 in the first coordinate system, its second pose information in the second coordinate system can be calculated. Subsequently, based on the second pose information and the pose information of the second optical positioning mark 520, the relative pose relationship between the target tip 510 and any of the second optical positioning marks 520 can be established.

[0089] The specific method of the relative positional relationship here is not limited. For example, it can be the coordinate transformation matrix of the tip 510 and the second optical positioning mark 520 in the second coordinate system; or it can be the equation of the coordinate relationship between the tip 510 and the second optical positioning mark 520 in the second coordinate system.

[0090] For the base target 6 or the planar target 7, the coordinates of the part to be calibrated refer to the coordinates of the conical hole 8 of the base target 6 or the planar target 7. The coordinates of the conical hole 8 are represented by the coordinates of the contact point of the conical hole 8 that contacts the tip 231 of the probe. This contact point is the bottom point of the conical hole 8. The bottom point refers to the foremost point in the conical hole 8 along the direction of insertion into the conical hole 8.

[0091] like Figure 12 As shown, an example of establishing the first coordinate system is as follows:

[0092] The four self-illuminating spheres of calibration device 1 are named self-illuminating sphere A, self-illuminating sphere B, self-illuminating sphere C, and self-illuminating sphere D. The center of self-illuminating sphere A is taken as the origin of the coordinate system, the line connecting the centers of spheres A and B is taken as the x-axis, and the line connecting the centers of spheres AD is taken as the y-axis. According to the right-hand rule, the z-axis of this coordinate system passes through the center of sphere A and is perpendicular to the paper and pointing upwards. In an embodiment of the present invention, the right-hand rule can be: the thumb, index finger, and middle finger are perpendicular to each other and used to indicate the Z-axis, x-axis, and y-axis, respectively. Thus, a first coordinate system based on calibration device 1 is established.

[0093] Figure 12 In the diagram, point E represents the position of calibration probe 230, and point F represents the position of calibration hole 220. Since the relative positions of points E and F on calibration device 1 are known, the coordinates of points E and F in the first coordinate system can be obtained.

[0094] refer to Figure 13 , Figure 13 This diagram illustrates one scenario when establishing a second coordinate system with a pointed target 5 as the target. The pointed target 5 has four reflective spheres, designated as reflective sphere A1, B1, C1, and D1. In establishing the second coordinate system, the center of reflective sphere A1 is taken as the origin, and the line parallel to the line connecting the centers of spheres B1 and C1 is taken as the X-axis. The positive direction of the X-axis points from the center of reflective sphere B1 to the center of reflective sphere C1. An XY plane can be defined by the centers of reflective spheres A1, B1, and C1. According to the right-hand rule, the Y-axis is perpendicular to the X-axis in the XY plane, and the positive direction of the Y-axis can also be determined by the right-hand rule. Once the XY plane, the positive X-axis, and the positive Y-axis are determined, the Z-axis and its positive direction can be determined. The Z-axis is omitted from the diagram.

[0095] refer to Figure 14 , Figure 14 This diagram illustrates one scenario when establishing a second coordinate system with the target being the base target 6. The tip target 5 has four reflective spheres, designated as reflective sphere A2, B2, C2, and D2. The center of reflective sphere A2 is taken as the origin of the second coordinate system, and the line parallel to the line connecting the centers of reflective spheres B2 and C2 is taken as the X-axis, with the positive direction of the X-axis pointing from the center of reflective sphere B2 to the center of reflective sphere C2. An XY plane can be defined by the centers of reflective spheres A2, B2, and C2. According to the right-hand rule, the Y-axis is perpendicular to the X-axis in the XY plane, and the positive direction of the Y-axis can also be determined by the right-hand rule. Once the XY plane, the positive X-axis, and the positive Y-axis are determined, the Z-axis and its positive direction can be determined. The Z-axis is omitted from the diagram.

[0096] refer to Figure 15 , Figure 15 This diagram illustrates one scenario when establishing a second coordinate system for a planar target (7). The planar target (7) has four reflective spheres, designated as reflective sphere A3, B3, C3, and D3. The center of reflective sphere A3 is taken as the origin of the second coordinate system. The line parallel to the line connecting the centers of reflective spheres B3 and C3 is taken as the X-axis, with the positive direction of the X-axis pointing from the center of reflective sphere B3 to the center of reflective sphere C3. An XY plane can be defined by the centers of reflective spheres A3, B3, and C3. According to the right-hand rule, the Y-axis is perpendicular to the X-axis in the XY plane, and the positive direction of the Y-axis can also be determined by the right-hand rule. Once the XY plane, the positive X-axis, and the positive Y-axis are determined, the Z-axis and its positive direction can be determined. The Z-axis is omitted from the diagram.

[0097] In the above embodiments, the target can be quickly recalibrated on-site using the optical navigation device 3, eliminating the need to return to the laboratory for calibration. Furthermore, the simultaneous provision of a calibration hole 220 and a calibration probe 230 allows for on-site adaptation to different types of targets. Additionally, the floating nature of the first platform 110 in the mounting platform 100 ensures complete alignment between the calibration hole 220 and the tip 510 of the pointed target 5, and complete alignment between the tip 231 of the calibration probe 230 and the conical hole 8 on the base target 6 or the planar target 7. This ensures the accuracy of coordinate information acquisition from the tip 510 or the conical hole 8, guaranteeing calibration accuracy.

[0098] An embodiment of the present invention also proposes a calibration method for a device to be calibrated, applied to the calibration device 1 of the above embodiment, for calibrating a target. The target includes a second optical positioning mark 520 and a part to be calibrated, the part to be calibrated being, for example, a tip 510 or a conical hole 8. The implementation of the calibration method for the device to be calibrated will be described below using the tip target 5 and the tip 510 as an example.

[0099] like Figure 16 As shown, the calibration method for the device to be calibrated includes the following steps:

[0100] S100, the part to be calibrated on the target and the calibration part in the calibration device. Specifically, the tip 510 is aligned with the calibration hole 220.

[0101] S200: The optical navigation device establishes a first coordinate system based on the pose information of the first optical positioning mark, and calculates the first pose information of the calibration unit in the first coordinate system.

[0102] For example, the method for establishing the first coordinate system can be referred to Figure 12 The principle shown and its relation to the previous text Figure 12 Explanation.

[0103] S300. Establish a second coordinate system based on the pose information of the second optical positioning mark on the target.

[0104] For example, the method for establishing the second coordinate system can be referred to Figure 13 The principle shown and its relation to the previous text Figure 12 Explanation.

[0105] S400: Obtain the transformation relationship between the first coordinate system and the second coordinate system in the coordinate system of the optical navigation device.

[0106] For example, the transformation relationship matrix between the first coordinate system and the coordinate system of the optical navigation device, and the transformation relationship matrix between the second coordinate system and the coordinate system of the optical navigation device can be obtained respectively. The transformation relationship between the first coordinate system and the second coordinate system under the coordinate system of the optical navigation device can be obtained by multiplying the two transformation relationship matrices.

[0107] S500: Calculate the second pose information of the part to be calibrated in the second coordinate system based on the first position and the transformation relationship.

[0108] Furthermore, the method includes step S600, storing the relative pose relationship to form a calibration file. The calibration file is not specifically limited. For example, it can be a coordinate transformation matrix between the part to be calibrated and the second optical positioning mark in the second coordinate system; or it can be an equation representing the coordinate relationship between the part to be calibrated and the second optical positioning mark in the second coordinate system.

[0109] Using the above calibration method, the device to be calibrated can be quickly recalibrated on-site, and the resulting calibration file can be saved to the image carriage of the surgical robot system, avoiding the need to separately store and copy the calibration file to the image carriage of the surgical robot, which is a separate process for individual calibration.

[0110] In some embodiments, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the calibration method of the calibration device of any of the above embodiments.

[0111] In some embodiments, a computer device is provided, including a computer-readable storage medium and a processor. The computer-readable storage medium stores a computer program, and the processor executes the computer program to implement the calibration method of the calibration device of any of the above embodiments. The computer device may be a terminal. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected via a system bus. The processor of the computer device provides computing and control capabilities. The readable storage medium of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The network interface of the computer device is used for communication with an external terminal via a network connection.

[0112] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0113] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0114] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0115] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0116] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A calibration device, characterized in that, The calibration device includes: a mounting platform and a calibration unit disposed on the mounting platform, wherein... The installation platform includes a first platform having at least degrees of freedom of movement in the up-down, left-right, and front-back directions. The installation platform also includes a second platform. The first platform and the second platform are arranged vertically and connected by a floating mechanism. The first platform has at least degrees of freedom of movement in the up-down, left-right, and front-back directions relative to the second platform through the floating mechanism. The floating mechanism also includes an electromagnetic drive component configured to generate a magnetic force that supports the first platform to levitate relative to the second platform. The calibration unit includes at least three non-collinear first optical positioning marks and calibration parts disposed on the first platform, and the distance between the calibration parts and each of the first optical positioning marks is fixed.

2. The calibration device according to claim 1, characterized in that, The electromagnetic drive assembly includes an electromagnet and a magnetic component placed between the first platform and the second platform and used in pairs. The electromagnet is disposed on one of the first platform and the second platform, and the magnetic component is disposed on the other of the first platform and the second platform; or, the electromagnetic drive assembly includes two electromagnets used in pairs, with the two electromagnets respectively disposed on the first platform and the second platform.

3. The calibration device according to claim 1, characterized in that, The at least three non-collinear first optical positioning marks and the calibration unit are located on the same side of the first platform.

4. The calibration device according to claim 1, characterized in that, The calibration device further includes a carrier, which is detachably mounted on the first platform, and at least three non-collinear first optical positioning marks and the calibration part are all located on the surface of the carrier.

5. The calibration device according to claim 1, characterized in that, The calibration section includes calibration holes and / or calibration probes.

6. The calibration device according to claim 5, characterized in that, The calibration hole is a blind hole that includes a tapered bottom hole.

7. The calibration device according to claim 6, characterized in that, The calibration hole further includes a circular hole section and a chamfer. The circular hole section connects the chamfer to the tapered bottom hole, and the chamfer is located at the entrance of the calibration hole.

8. The calibration device according to claim 1, characterized in that, The first optical positioning mark is an active light-emitting element or a reflective element.

9. The calibration device according to claim 1, characterized in that, The first optical positioning marker is a self-illuminating sphere.

10. The calibration device according to claim 1, characterized in that, The first optical positioning mark is a reflective ball.

11. A calibration method, characterized in that, The calibration apparatus as described in any one of claims 1-10 includes the following steps: The part to be calibrated on the overlapping target and the calibration part in the calibration device; The optical navigation device establishes a first coordinate system based on the pose information of the first optical positioning mark, and calculates the first pose information of the calibration unit in the first coordinate system; And, based on the pose information of the second optical positioning mark on the target, a second coordinate system is established; Obtain the transformation relationship between the first coordinate system and the second coordinate system in the coordinate system of the optical navigation device; Calculate the second pose information of the part to be calibrated in the second coordinate system based on the first pose information and the transformation relationship; as well as, Based on the second pose information and the pose information of the second optical positioning mark, a relative pose relationship is established between the part to be calibrated and any of the second optical positioning marks.

12. The calibration method according to claim 11, characterized in that, The relative pose relationships are stored to form a calibration file.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method of claim 11 or 12.

14. A computer device comprising a computer-readable storage medium and a processor, wherein the computer-readable storage medium stores a computer program, characterized in that, When the processor executes the computer program, it implements the method of claim 11 or 12.

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