Tool center point indirect measurement method, robot navigation method and medium

Abstract

The invention discloses a tool center point indirect measurement method, a robot navigation method and a medium, and the method comprises the steps: arranging an optical positioning calibrator comprising a plurality of positioning ball faucets on a mechanical arm of a robot, and determining a coordinate system corresponding to the optical positioning calibrator as a first tool coordinate system, the first tool coordinate system takes a tool center point as an original point; obtaining an infrared coordinate eyep1 of the first positioning ball under the infrared coordinate system by using the infrared optical camera; based on a formula # imgabs0 #, determining a coordinate eyeptcp of a tool center point under an infrared coordinate system; # imgabs1 # is a rotation matrix from a first tool coordinate system to an infrared coordinate system; # imgabs2 is obtained according to the coordinates of the plurality of positioning balls in the first tool coordinate system and the coordinates of the positioning balls in the infrared coordinate system; toolC is a first compensation amount and represents the first compensation amount from the coordinate of the first positioning ball to the coordinate Toolptcp of the tool center point under the tool coordinate system, and the ToolC is obtained through pre-calibration. According to the invention, the coordinate of the tool center point under the infrared coordinate system can be efficiently and rapidly obtained.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a tool center point indirect measurement method, a robot navigation method and a medium. Background Art

[0002] In the working environment of a surgical robot based on visual feedback, due to the existence of multiple coordinate systems such as the infrared depth camera coordinate system, the reflective ball calibrator coordinate system, the tool coordinate system and the robot coordinate system, the actual design of the surgical robot control scheme involves the conversion between different coordinate systems and the positioning of the tool center point (TCP).

[0003] The faucet optical positioning calibrator is composed of an optical positioning ball and a rigid bracket and is directly installed on the end joint of the robot; the coordinates of TCP in the infrared depth camera coordinate system and the tool coordinate system are expressed as follows: eye p tcp =[ eye x tcp , eye y tcp , eye z tcp ] T,tool p tcp =[ tool x tcp , tool y tcp , tool z tcp ] T , based on these two coordinates, we can get the transformation matrix of the two coordinate systems That is, the above two coordinates satisfy the following transformation relationship The accuracy of the transformation matrix solution Affects the control accuracy of subsequent surgical robots, including eye p tcp It is difficult to obtain directly because during the actual operation, it is impossible to install a reflective ball at the TCP point or use other methods to accurately obtain the coordinates of the TCP.

[0004] To address the above problems, existing solutions include single constraint point calibration method and binocular stereo vision TCP detection calibration method. The existing methods for obtaining TCP coordinates have the following main shortcomings:

[0005] (1) The existing technology needs to be based on the fact that the manufacturing and installation of the faucet optical positioning calibrator are relatively accurate in order to obtain a more reliable TCP coordinate. eye p tcpHowever, due to the errors in the manufacturing, design drawings and installation of the faucet optical positioning calibrator, the tool coordinate system established based on the calibrator in the design drawings cannot completely match the actual tool coordinate system after manufacturing, so the TCP coordinates cannot be accurately obtained. eye p tcp ;

[0006] (2) In actual use, it is necessary to install an optical positioning ball at the TCP position to obtain the actual eye p tcp However, Figure 1 As shown in the figure, the TCP coordinates obtained by installing an optical positioning ball at the location of the TCP in the existing solution cannot reflect the real TCP coordinates. The reason is that the TCP coordinate positioning error is less than 3mm under high-precision positioning, and the radius of the optical positioning ball of 2.9mm cannot be ignored.

[0007] (3) The existing technical solutions, such as the one disclosed in the Chinese patent application number 2023113654120, need to simultaneously obtain the coordinate information of multiple small balls on the optical positioning calibrator and the robot arm posture information, and need to undergo complex calculations to obtain the TCP coordinates in the eye coordinate system. However, since the robot arm posture information and the coordinate information of multiple small balls are used, there are measurement errors in the measurement of these information, which will be magnified after complex calculations, resulting in inaccurate TCP coordinates.

[0008] The disclosure of the above background technology content is only used to assist in understanding the inventive concept and technical solution of the present invention. It does not necessarily belong to the prior art of this patent application, nor does it necessarily provide technical guidance. In the absence of clear evidence that the above content has been disclosed before the filing date of this patent application, the above background technology should not be used to evaluate the novelty and creativity of the present application. Summary of the invention

[0009] The object of the present invention is to provide a tool center point indirect measurement method, a robot navigation method and a medium, which can efficiently, quickly and accurately obtain the position of the tool center point.

[0010] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0011] A tool center point indirect measurement method comprises the following steps:

[0012] A faucet optical positioning calibrator is arranged on the robot arm, and a plurality of positioning balls are arranged on the faucet optical positioning calibrator. The coordinate system corresponding to the faucet optical positioning calibrator is determined to be a first tool coordinate system, and the first tool coordinate system takes the tool center point as the origin;

[0013] The infrared coordinates of the first positioning ball in the infrared coordinate system are obtained by measuring with an infrared optical camera. eye p1, the infrared coordinate system is the coordinate system corresponding to the infrared optical camera, and the first positioning ball is one of the plurality of positioning balls;

[0014] Based on the formula Determine the coordinates of the tool center point in the infrared coordinate system eye p tcp ;in, is a rotation matrix from the first tool coordinate system to the infrared coordinate system; Acquire according to the coordinates of the plurality of positioning balls in the first tool coordinate system and the coordinates in the infrared coordinate system; tool C is the first compensation value, which represents the coordinates of the first positioning ball to the center point of the tool in the first tool coordinate system. tool p tcp The first compensation amount, tool C is obtained by pre-calibration.

[0015] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, the first compensation amount tool C satisfies the following relationship:

[0016] tool p tcp = tool p1+ tool C;

[0017] in, tool p1 is the coordinate of the first positioning ball in the first tool coordinate system, tool p tcp is the coordinate of the tool center point in the first tool coordinate system.

[0018] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the first compensation amount is determined by the following method: tool C, including:

[0019] Pre-configure the robot arm to be in a first state, and determine the calibration value of the coordinates of the tool center point in the first state eye p tcp_s ;

[0020] In the first state, the first infrared coordinates of the first positioning ball are obtained by measuring with an infrared optical camera. eye p 1_s ;

[0021] Based on the formula Determine the first compensation amount tool C.

[0022] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the robot arm is pre-configured into multiple states, and the calibration value of the coordinates of the tool center point and the first infrared coordinates of the first positioning ball are determined in each state respectively;

[0023] According to the calibration value of the coordinates of the tool center point in each state and the first infrared coordinates of the first positioning ball, based on the formula Determine the first compensation amount tool C.

[0024] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, using one of the least squares method, linear regression method, average method, minimum absolute deviation method, and Laplace distribution method, with the calibration value of the coordinates of the center point of the tool in each state and the first infrared coordinates of the first positioning ball as input, based on the formula The first compensation amount is obtained by fitting tool C.

[0025] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the calibration value of the coordinates of the tool center point in the first state is determined by the following method: eye p tcp_s :

[0026] A standard optical positioning calibrator is pre-arranged at the end of the robot, the standard optical positioning calibrator comprises a frame, a plurality of small balls and a simulated needle track, the small balls are arranged on the frame, the simulated needle track is arranged below the frame, and the end of the simulated needle track coincides with the end of the real needle track;

[0027] Determine the coordinate system corresponding to the standard optical positioning calibrator as a second tool coordinate system, the second tool coordinate system takes the end of the simulated needle track as the origin, and determine the second tool coordinates of each of the small balls in the second tool coordinate system;

[0028] Using an infrared optical camera to measure and obtain the infrared coordinates of each of the small balls in an infrared coordinate system;

[0029] The calibration value of the coordinates of the center point of the tool is determined according to the second tool coordinates of each ball and the infrared ball eye p tcp_s .

[0030] Further, based on any one of the above-mentioned technical solutions or a combination of multiple technical solutions, the frame is a quadrilateral rigid frame; and / or,

[0031] The frame and the simulated needle track are an integrally formed structure.

[0032] Further, based on any one of the technical solutions or a combination of multiple technical solutions mentioned above, the number of the small balls is 4, and the 4 small balls are distributed on the frame in an asymmetric structure.

[0033] Further, based on any one of the above technical solutions or a combination of multiple technical solutions, the first compensation amount tool C satisfies the following relationship:

[0034]

[0035] in, eye C is the second compensation amount, which represents the compensation amount from the coordinates of the first positioning ball to the coordinates of the center point of the tool in the infrared coordinate system.

[0036] Further, based on any one of the technical solutions or a combination of multiple technical solutions mentioned above, the number of the positioning balls is 4, and the 4 positioning balls are distributed on the faucet optical positioning calibrator.

[0037] According to another aspect of the present invention, the present invention provides a robot navigation method, based on the coordinates of the tool center point in the infrared coordinate system determined by the tool center point indirect measurement method described in any one of the above technical solutions or a combination of multiple technical solutions eye p tcp Plan robot navigation paths.

[0038] According to another aspect of the present invention, the present invention provides a computer-readable storage medium for storing program instructions, wherein the program instructions are configured to call and execute the steps of the method described in any one of the above technical solutions or a combination of multiple technical solutions.

[0039] The beneficial effects brought by the technical solution provided by the present invention are as follows:

[0040] a. The tool center point indirect measurement method proposed in the present invention uses a predetermined first compensation amount tool The infrared coordinates of C and a positioning ball can determine the coordinates of TCP in the infrared coordinate system eye p tcp , not only does it not need to install an additional optical positioning ball during the actual surgical process, but it also has simple calculations, high accuracy and a wide range of applications;

[0041] b. The first compensation amount in the present invention tool C will not change with the installation position of the infrared optical camera. Specifically, once the faucet optical positioning calibrator is manufactured and installed, the first compensation amount tool C will not change, so the coordinates of TCP in the determined infrared coordinate system can be further improved.eye p tcp accuracy;

[0042] c. The present invention proposes to use a standard optical positioning calibrator with a simulated needle path to pre-calibrate and obtain a first compensation amount tool C. It can eliminate the errors caused by the manufacture and installation of the faucet optical positioning calibrator. It not only has high measurement accuracy of the tool center point, but also is robust to the manufacturing error and installation error of the optical calibrator. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 It is a schematic diagram of the principle of setting an optical positioning ball at the center point of a tool in the prior art;

[0045] Figure 2 A schematic flow chart of a tool center point indirect measurement method provided for an exemplary embodiment of the present invention;

[0046] Figure 3 A physical picture of a faucet optical positioning calibrator and a standard optical positioning calibrator provided for an exemplary embodiment of the present invention installed on a mechanical arm;

[0047] Figure 4 A schematic front view of a body of a standard optical positioning calibrator provided for an exemplary embodiment of the present invention;

[0048] Figure 5 A schematic side view of the body of a standard optical positioning marker provided for an exemplary embodiment of the present invention.

[0049] Among them, the figure numbers include: 11-frame, 111-first installation position, 112-second installation position, 113-third installation position, 114-fourth installation position, 12-simulated needle track. DETAILED DESCRIPTION

[0050] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0051] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0052] To facilitate understanding of the embodiments of the present invention, the symbols appearing in the embodiments of the present invention are defined as follows:

[0053] The first tool coordinate system corresponding to the faucet optical positioning calibrator: {tool},

[0054] The second tool coordinate system corresponding to the standard optical positioning calibrator: {tool_2},

[0055] The infrared coordinate system corresponding to the infrared optical camera: {eye},

[0056] Coordinates of the tool center point in the infrared coordinate system: eye p tcp =[ eye x tcp , eye y tcp , eye z tcp ] T ,

[0057] The coordinates of the i-th positioning ball in the infrared coordinate system: eye p i =[ eye x i eye y i , eye z i ] T , i=1,2,3,4……,

[0058] Coordinates of the tool center point in the first tool coordinate system: tool p tcp =[ tool x tcp , tool y tcp , tool z tcp ] T ,

[0059] The coordinates of the i-th positioning ball in the first tool coordinate system: tool p i =[ tool x i tool y i , tool z i ] T , i=1,2,3,4……,

[0060] The rotation matrix from the first tool coordinate system {tool} to the infrared coordinate system {eye}:

[0061] The translation vector from the first tool coordinate system {tool} to the infrared coordinate system {eye}:

[0062] The first positioning ball coordinates in the first tool coordinate system tool p1 to TCP coordinates tool p tcp The first compensation amount: tool C=[ tool C x , tool C y , tool C z ] T ,

[0063] The coordinates of the first positioning ball in the infrared coordinate system eye p1 to the coordinates of the tool center point eye p tcp The second compensation amount: eye C=[ eye C x , eye C y , eye C z ] T .

[0064] Based on the deficiencies of the prior art, the present invention provides an indirect measurement method for the tool center point, which can efficiently and accurately determine the coordinates of the tool center point in the infrared coordinate system corresponding to the infrared optical camera, and the algorithm is simple, easy to implement and has a wide range of applications.

[0065] See also Figure 2 In one embodiment of the present invention, a tool center point indirect measurement method is provided, comprising the following steps:

[0066] A faucet optical positioning calibrator is arranged on the robot arm, and a plurality of positioning balls are arranged on the faucet optical positioning calibrator. The coordinate system corresponding to the faucet optical positioning calibrator is determined to be a first tool coordinate system, and the first tool coordinate system takes the tool center point as the origin;

[0067] The infrared coordinates of the first positioning ball in the infrared coordinate system are obtained by measuring with an infrared optical camera. eye p1, the infrared coordinate system is the coordinate system corresponding to the infrared optical camera, and the first positioning ball is one of the plurality of positioning balls;

[0068] Based on the formula Determine the coordinates of the tool center point in the infrared coordinate system eye p tcp ;in, is a rotation matrix from the first tool coordinate system to the infrared coordinate system; Acquire according to the coordinates of the plurality of positioning balls in the first tool coordinate system and the coordinates in the infrared coordinate system; tool C is the first compensation value, which represents the coordinates of the first positioning ball to the center point of the tool in the first tool coordinate system. tool p tcp The first compensation amount, tool C is obtained by pre-calibration.

[0069] The first compensation amount tool C will not change with the installation position of the infrared optical camera, and once the faucet optical positioning calibrator is manufactured and installed, the first compensation amount tool Therefore, the tool center point indirect measurement method provided by the present invention can accurately obtain the coordinates of TCP in the infrared coordinate system without the need to install an additional optical positioning ball during the actual surgical process. eye p tcp , and is robust to the manufacturing error and installation error of the optical calibrator, the algorithm is simple and the measurement accuracy is high. In addition, the scheme is applicable to the manipulator in different postures.

[0070] Wherein, the faucet optical positioning calibrator is as follows Figure 3 The optical positioning calibrator with a curvature shown in the upper left corner of the figure is set at the end joint of the robot and does not need to be cancelled during the operation. It moves synchronously with the robot. The number of the positioning balls is preferably more than 3, and more preferably, the number of the positioning balls is Figure 3 More preferably, the faucet optical positioning calibrator comprises a rigid bracket and four asymmetrically arranged positioning balls fixedly mounted on the rigid bracket.

[0071] Preferably, based on the design drawings, tool design drawings and installation drawings of the faucet optical positioning calibrator, the first tool coordinate system {tool} is determined, wherein the position of the tool center point is defined as the origin of the first tool coordinate system {tool}, and the coordinates of each positioning ball in the first tool coordinate system are determined. tool p i =[ tool x i tool y i , tool z i ] T , i=1,2,3,4.

[0072] An infrared optical camera is installed outside the surgical robot. Preferably, an infrared optical camera of model fusion tracking 500 is used. The coordinates of each positioning ball in the first tool coordinate system are tool p i , i = 1, 2, 3, 4 and tool p tcp Import it into the application software corresponding to fusion tracking. For example, a commonly used application software is fusiontrack, which is based on the infrared coordinate system and the coordinates of each positioning ball collected in the infrared coordinate system. eye p i , i = 1, 2, 3, 4, during the software operation, the rotation matrix of the first tool coordinate system {tool} to the infrared coordinate system {eye} of the faucet optical positioning calibrator can be calculated in real time Of course, the coordinates of each positioning ball in the first tool coordinate system can also be used tool p i , i = 1, 2, 3, 4 and the coordinates of each positioning ball in the infrared coordinate system eye p i , i=1,2,3,4, manually calculate the rotation matrix It should be noted that the rotation matrix It will change depending on the placement of the infrared optical camera.

[0073] In this embodiment, the transformation relationship between the first tool coordinate system {tool} corresponding to the faucet optical positioning calibrator and the infrared coordinate system {eye} corresponding to the infrared optical camera is as follows:

[0074]

[0075] Therefore, the first compensation amount tool C satisfies the following relationship: tool p tcp = tool p1+ tool C; among them, tool p1 is the coordinate of the first positioning ball in the first tool coordinate system, tool p tcp is the coordinate of the tool center point in the first tool coordinate system.

[0076] Furthermore, the first compensation amount tool C also satisfies the following relationship: in, eye C is the second compensation amount, which represents the compensation amount from the coordinates of the first positioning ball to the coordinates of the tool center point in the infrared coordinate system. eye C satisfies the following relationship: eye p tcp = eye p1+ eye C. Among them, eye p tcp and eye p1 are respectively the coordinates of the center point of the tool and the coordinates of the first positioning ball in the infrared coordinate system at the same time / same robot state.

[0077] Based on the above first compensation tool C satisfies the relationship that the first compensation amount tool C can be obtained through a variety of calibration methods.

[0078] In one embodiment of the present invention, the first compensation amount is determined by: tool C, including:

[0079] Pre-configure the robot arm to be in a first state, and determine the calibration value of the coordinates of the tool center point in the first state eye p tcp_s It should be noted that the calibration value of the coordinates of the tool center point is eye p tcp_s is regarded as the real coordinate value of the center point of the tool;

[0080] In the first state, the first infrared coordinates of the first positioning ball are obtained by measuring with an infrared optical camera. eye p 1_s ;

[0081] Based on the formula Determine the first compensation amount tool C.

[0082] In order to increase the first compensation tool C accuracy, preferably, the robot arm is pre-configured into a plurality of states, and the calibration value of the coordinates of the tool center point and the first infrared coordinates of the first positioning ball are determined in each state, that is, the calibration value of the coordinates of the tool center point and the first infrared coordinates of the first positioning ball have a one-to-one correspondence, and each state determines a set of { eye p tcp_s , eye p 1_s}.

[0083] Using one of the least squares method, linear regression method, average method, minimum absolute deviation method, and Laplace distribution method, with the calibration value of the coordinates of the center point of the tool in each state and the first infrared coordinates of the first positioning ball as input, based on the formula The first compensation amount is obtained by fitting tool C.

[0084] In calibrating the first compensation amount tool C, determine the calibration value of the coordinates of the tool center point eye p tcp_s There are many ways to determine the calibration value of the coordinates of the tool center point in the first state. In a preferred embodiment of the present invention, the calibration value of the coordinates of the tool center point in the first state is determined by the following method: eye p tcp_s .

[0085] A standard optical positioning calibrator is pre-set at the end of the robot. The standard optical positioning calibrator includes a body and four small balls set on the body. Figure 4 and Figure 5, the main body includes an integrally formed frame 11 and a simulated needle path 12, and the simulated needle path 12 is arranged below the frame 11. When the standard optical positioning calibrator is installed at the end of the robot, the end of the simulated needle path 12 coincides with the end of the real needle path, and the end of the real needle path is the center point of the tool. Preferably, the extension direction and length of the simulated needle path 12 are consistent with those of the real needle path. The frame 11 is a quadrilateral rigid bracket with an asymmetric structure, and its four vertex corners are respectively provided with a first mounting position 111, a second mounting position 112, a third mounting position 113 and a fourth mounting position 114, and the four mounting positions are respectively used to install the four small balls used for optical positioning.

[0086] The coordinate system corresponding to the standard optical positioning calibrator is determined to be the second tool coordinate system {tool_2}. The second tool coordinate system {tool_2} takes the end of the simulated needle track, namely the center point of the tool, as the origin to determine the second tool coordinates of each of the small balls in the second tool coordinate system.

[0087] The infrared coordinates of each of the small balls in the infrared coordinate system are measured using an infrared optical camera.

[0088] The calibration value of the coordinates of the center point of the tool is determined according to the second tool coordinates of each ball and the infrared ball eye p tcp_s Specifically, it can be determined by manual calculation, or it can be directly obtained by using the application software corresponding to the fusion tracking described in the above embodiment, such as fusiontrack.

[0089] It should be noted that in other embodiments, the number of the balls may be 3, 5 or other numbers. The standard optical positioning calibrator may also have other structures. The structure of the standard optical positioning calibrator provided in this embodiment, i.e., the number of balls, is a preferred embodiment and does not limit the scope of protection of the present invention. Other structures that can obtain the real coordinates that can be regarded as the center point of the tool may be used. eye p tcp_s The method also falls within the protection scope of this application.

[0090] In the above, in the actual application of the tool center point indirect measurement method proposed by the present invention, there is no need to set an optical positioning ball at the tool center point. Only the coordinates of a positioning ball on the faucet optical positioning calibrator installed on the robot arm in the infrared coordinate system can be used to efficiently, quickly and accurately determine the coordinates of the tool center point in the infrared coordinate system. eye p tcp , is the subsequent transformation matrix Lay the foundation for calculation.

[0091] In one embodiment of the present invention, a robot navigation method is provided, wherein the coordinates of the tool center point in the infrared coordinate system are determined based on the tool center point indirect measurement method described in any of the above embodiments. eye p tcp Plan robot navigation paths.

[0092] In one embodiment of the present invention, a computer-readable storage medium is provided for storing program instructions, wherein the program instructions are configured to be called to execute the steps of the method described in any one of the above embodiments.

[0093] It should be noted that the above-mentioned robot navigation method, computer-readable storage medium and tool center point indirect measurement method embodiment belong to the same inventive concept, and the entire content of the tool center point indirect measurement method embodiment is incorporated into the robot navigation method and computer-readable storage medium embodiment by reference.

[0094] It should be noted that, in this article, relational terms such as are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0095] The above is only a specific implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for indirect measurement of a tool center point, characterized in that: The following steps are involved: A faucet optical positioning calibrator is arranged on the robot arm, and a plurality of positioning balls are arranged on the faucet optical positioning calibrator. The coordinate system corresponding to the faucet optical positioning calibrator is determined to be a first tool coordinate system, and the first tool coordinate system takes the tool center point as the origin; The infrared coordinates of the first positioning ball in the infrared coordinate system are obtained by measuring with an infrared optical camera. eye p1, the infrared coordinate system is the coordinate system corresponding to the infrared optical camera, and the first positioning ball is one of the plurality of positioning balls; Based on the formula Determine the coordinates of the tool center point in the infrared coordinate system eye p tcp ;in, is a rotation matrix from the first tool coordinate system to the infrared coordinate system; Acquire according to the coordinates of the plurality of positioning balls in the first tool coordinate system and the coordinates in the infrared coordinate system; tool C is the first compensation value, which represents the coordinates of the first positioning ball to the center point of the tool in the first tool coordinate system. tool p tcp The first compensation amount, tool C is obtained by pre-calibration.

2. The tool center point indirect measurement method according to claim 1, characterized in that: The first compensation tool C satisfies the following relationship: tool p tcp = tool p1+ tool C; in, tool p1 is the coordinate of the first positioning ball in the first tool coordinate system, tool p tcp is the coordinate of the tool center point in the first tool coordinate system.

3. The tool center point indirect measurement method according to claim 2, characterized in that: The first compensation amount is determined by: tool C, including: Pre-configure the robot arm to be in a first state, and determine the calibration value of the coordinates of the tool center point in the first state eye p tcp_s ; In the first state, the first infrared coordinates of the first positioning ball are obtained by measuring with an infrared optical camera. eye p 1_s ; Based on the formula Determine the first compensation amount tool C.

4. The tool center point indirect measurement method according to claim 3, characterized in that: Pre-configuring the mechanical arm of the robot to be in a plurality of states, and respectively determining the calibration value of the coordinates of the tool center point and the first infrared coordinates of the first positioning ball in each state; According to the calibration value of the coordinates of the tool center point in each state and the first infrared coordinates of the first positioning ball, based on the formula Determine the first compensation amount tool C.

5. The tool center point indirect measurement method according to claim 4, characterized in that: Using one of the least squares method, linear regression method, average method, minimum absolute deviation method, and Laplace distribution method, with the calibration value of the coordinates of the center point of the tool in each state and the first infrared coordinates of the first positioning ball as input, based on the formula The first compensation amount is obtained by fitting tool C.

6. The indirect measurement method of tool center point according to claim 3, characterized in that: The calibration value of the coordinates of the tool center point in the first state is determined by: eye p tcp_s : A standard optical positioning calibrator is pre-arranged at the end of the robot, the standard optical positioning calibrator comprises a frame, a plurality of small balls and a simulated needle track, the small balls are arranged on the frame, the simulated needle track is arranged below the frame, and the end of the simulated needle track coincides with the end of the real needle track; Determine the coordinate system corresponding to the standard optical positioning calibrator as a second tool coordinate system, the second tool coordinate system takes the end of the simulated needle track as the origin, and determine the second tool coordinates of each of the small balls in the second tool coordinate system; Using an infrared optical camera to measure and obtain the infrared coordinates of each of the small balls in an infrared coordinate system; The calibration value of the coordinates of the center point of the tool is determined according to the second tool coordinates of each ball and the infrared ball eye p tcp_s .

7. The indirect measurement method of tool center point according to claim 6, characterized in that: The frame is a quadrilateral rigid frame; and / or, The frame and the simulated needle track are an integrally formed structure.

8. The tool center point indirect measurement method according to claim 6, characterized in that: The number of the small balls is 4, and the 4 small balls are distributed on the frame in an asymmetrical structure.

9. The tool center point indirect measurement method according to claim 1, characterized in that: The first compensation tool C satisfies the following relationship: in, eye C is the second compensation amount, which represents the compensation amount from the coordinates of the first positioning ball to the coordinates of the center point of the tool in the infrared coordinate system.

10. The tool center point indirect measurement method according to claim 1, characterized in that: The number of the positioning balls is 4, and the 4 positioning balls are distributed on the faucet optical positioning calibrator.

11. A robot navigation method, characterized in that: The coordinates of the tool center point in the infrared coordinate system determined by the indirect measurement method of the tool center point according to any one of claims 1 to 10 eye p tcp Plan robot navigation paths.

12. A computer-readable storage medium for storing program instructions, characterized in that: The program instructions are configured to be called to execute the steps of the method according to any one of claims 1 to 11.

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