Auxiliary orthognathic surgery robot system and automatic calibration method

Abstract

The invention discloses an auxiliary orthognathic surgical robot system and an automatic calibration method, and belongs to the technical field of surgical robots. Comprising the steps of obtaining structural data of an end execution tool; constructing a tool coordinate system based on the structure data of the end execution tool; based on the tool coordinate system, a preset image coordinate system and a global camera coordinate system, determining a real-time attitude of the end execution tool in the global camera coordinate system; an automatic calibration motion path is constructed, the real-time posture of the tail end of the arm base coordinate of the robot is obtained, iterative optimization is carried out by taking calibration error minimization as a target based on the real-time posture of the tail end execution tool in the global camera coordinate system and the real-time posture of the tail end of the arm base coordinate of the robot, and an optimal conversion matrix is obtained. Automation of the whole calibration process of the surgical robot system is achieved, errors caused by manual operation are avoided, and the precision and stability of the system are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to an auxiliary orthognathic surgery robot system and an automatic calibration method. Background Art

[0002] The statements in this section merely mention background art related to the present invention and do not necessarily constitute prior art.

[0003] Orthognathic surgery is an important means of treating maxillofacial bone deformities. Traditional surgery relies on manual operation or 3D printed positioning guides, which have large operating errors and cannot meet the requirements of positioning accuracy. In the existing technology, with the help of robots with navigation and positioning functions, under the guidance of preoperative design data, the joints and maxillary positioning of orthognathic surgery can be assisted, which can effectively improve the accuracy and efficiency of orthognathic surgery.

[0004] Since the orthognathic surgical robot system includes multiple modules with their own coordinate systems, such as the preoperative design system based on 3D images, the intraoperative 3D stereo positioning navigation camera, the six-degree-of-freedom robotic arm and the personalized end-effector tool, "how to unify these coordinate systems" becomes the key to system integration. The process of unifying the coordinate systems is called system calibration.

[0005] The commonly used surgical robot calibration method usually requires the use of a calibration tool with a tip, and the calibration process is completed through human-computer interaction, which is easily affected by manual operation errors. In addition, due to the irregular shape of the execution tool (unstructured) and the high calibration accuracy requirements, the current conventional calibration method cannot be used for orthognathic surgical robot systems. Summary of the invention

[0006] In order to address the deficiencies of the prior art, the present invention provides an auxiliary orthognathic surgery robot system and an automatic calibration method, and provides a system calibration method specifically used for orthognathic surgery robots, thereby realizing the automation of the entire calibration process.

[0007] In a first aspect, the present invention provides an automatic calibration method for an assisted orthognathic surgery robot system;

[0008] An automatic calibration method for an auxiliary orthognathic surgery robot system, comprising:

[0009] Acquire structural data of the end-effector tool; construct a tool coordinate system based on the structural data of the end-effector tool;

[0010] Based on the tool coordinate system, the preset image coordinate system and the global camera coordinate system, determine the real-time posture of the end-effector tool in the global camera coordinate system;

[0011] An automatic calibration motion path is constructed to obtain the real-time posture of the end of the robot arm base coordinate system. Based on the real-time posture of the end-effector in the global camera coordinate system and the real-time posture of the end of the robot arm base coordinate system, iterative optimization is performed with the goal of minimizing the calibration error to obtain the optimal transformation matrix.

[0012] In some embodiments, constructing the tool coordinate system based on the structural data of the end effector tool specifically includes: constructing the tool coordinate system according to the positions of a plurality of marking balls on the flange of the end effector tool.

[0013] In some embodiments, determining the real-time posture of the end effector in the global camera coordinate system based on the tool coordinate system, the preset image coordinate system, and the global camera coordinate system specifically includes:

[0014] Based on the tool coordinate system and the image coordinate system, the real-time position and posture of the end-effector tool in the image coordinate system are calculated;

[0015] Construct the relationship between the positions of the end-effector tool in the image coordinate system and the global coordinate system, and calculate the transformation matrix between the image coordinate system and the global camera coordinate system;

[0016] According to the real-time pose and transformation matrix of the end-effector in the image coordinate system, the real-time pose of the end-effector in the global camera coordinate system is obtained.

[0017] In some implementations, the real-time pose of the end effector tool in the image coordinate system is calculated based on the tool coordinate system and the image coordinate system as follows:

[0018] Based on the position of the marker ball in the end-effector in the image coordinate system, the rotation matrix between the tool coordinate system and the image coordinate system is calculated. Combined with the translation, the real-time position and posture of the end-effector in the image coordinate system is obtained.

[0019] In some embodiments, the relationship between the positions of the end-effector tool in the image coordinate system and the global coordinate system is constructed, and the conversion matrix between the image coordinate system and the global camera coordinate system is calculated as follows:

[0020] The relationship between the positions of the end-effector tool in the image coordinate system and the global coordinate system is constructed and the corresponding geometric centers are defined respectively. Based on the geometric centers, the transformation matrix between the image coordinate system and the global camera coordinate system is calculated by the least squares method and singular value decomposition.

[0021] In some embodiments, the objective of minimizing the calibration error is expressed as:

[0022]

[0023]

[0024] In the formula, ε x represents the first transformation matrix calibration error, ε y represents the calibration error of the second transformation matrix, d represents the normalization parameter, A i represents the first intermediate parameter, B i Represents the second intermediate parameter, A* i Represents the third intermediate parameter, B* i represents the fourth intermediate parameter, represents the transformation matrix between the robot base and the global camera coordinate system, Represents the transformation matrix between the end effector and the robot base.

[0025] In a second aspect, the present invention provides an auxiliary orthognathic surgery robot system;

[0026] An auxiliary orthognathic surgery robot system, based on the above-mentioned auxiliary orthognathic surgery robot system automatic calibration method, comprises a control module, a robotic arm and an end effector tool arranged on the robotic arm, wherein the control module is used to perform the following steps:

[0027] Acquire structural data of the end-effector tool; construct a tool coordinate system based on the structural data of the end-effector tool;

[0028] Based on the tool coordinate system, the preset image coordinate system and the global camera coordinate system, determine the real-time posture of the end-effector tool in the global camera coordinate system;

[0029] An automatic calibration motion path is constructed to obtain the real-time posture of the end of the robot arm base coordinate system. Based on the real-time posture of the end-effector in the global camera coordinate system and the real-time posture of the end of the robot arm base coordinate system, iterative optimization is performed with the goal of minimizing the calibration error to obtain the optimal transformation matrix.

[0030] In a third aspect, the present invention provides an electronic device;

[0031] An electronic device comprises a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the above-mentioned automatic calibration method of an auxiliary orthognathic surgery robot system.

[0032] In a fourth aspect, the present invention provides a computer-readable storage medium;

[0033] A computer-readable storage medium stores a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned automatic calibration method for an auxiliary orthognathic surgery robot system.

[0034] In a fifth aspect, the present invention provides a computer program product;

[0035] A computer program product includes a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned automatic calibration method for an auxiliary orthognathic surgery robot system.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] 1. The technical solution provided by the present invention takes into account the non-orthogonality of the tool and the non-fixedness of the center point of the tool at the end of the actuator, improves the calibration algorithm of the assisted orthognathic surgery robot system, uses the graphic information of the preoperative design to reconstruct the hand-eye tool calibration equations in the robot system, and solves these equations with the help of the preoperative design data, thereby solving the calibration problem of the "unstructured surgical execution tool" of the assisted orthognathic surgery robot system and improving the calibration accuracy of the assisted orthognathic surgery robot system.

[0038] 2. The technical solution provided by the present invention automatically completes the system calibration operation process by means of path planning of the robot arm, thereby realizing the automation of the calibration process and avoiding errors caused by manual operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0040] Figure 1 A schematic diagram of a flow chart of an automatic calibration method for an auxiliary orthognathic surgery robot system provided in an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of the composition of an auxiliary orthognathic surgery robot system provided by an embodiment of the present invention;

[0042] Figure 3 A schematic diagram of the preparation process of an end-effector provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0043] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0044] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that the terms "include" and "have" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising 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 devices.

[0045] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0046] Embodiment 1

[0047] The existing calibration methods are not applicable to assisted orthognathic surgery robot systems with irregular shapes of end-effector tools, and both the calibration accuracy and efficiency need to be improved; therefore, the present invention provides an automatic calibration method for an assisted orthognathic surgery robot system, which uses preoperatively designed graphic information to reconstruct the hand-eye tool calibration equations in the robot system and solves them with the help of preoperative design data.

[0048] The robot-assisted orthognathic surgery system involves four sets of 3D spatial coordinate systems, including the image space of the preoperative virtual planning (image coordinate system, C CT ), the physical space where the surgery is performed (global camera coordinate system, C camera ), the robot arm motion space determined by its mechanical structure (robot base and robot end flange coordinate system, C base and C end ) and the free space of the surgical tool (i.e., the end-effector tool) (surgical tool object coordinate system, C tool ).

[0049] Next, combine Figure 1 , a method for automatically calibrating an auxiliary orthognathic surgery robot system disclosed in this embodiment is described in detail. The method for automatically calibrating an auxiliary orthognathic surgery robot system includes:

[0050] S1. Acquire structural data of an end-effector tool; and construct a tool coordinate system based on the structural data of the end-effector tool.

[0051] In this embodiment, the end effector tool includes a flange with four infrared marking balls and a connecting device that can be attached to the patient's teeth according to the occlusal relationship.

[0052] Based on the above end-effector tool, S1 specifically includes: establishing a tool coordinate system based on the infrared marker ball; converting the tool coordinate system Ctool The origin is defined as p0, that is, the four infrared marker balls are defined as p m1 、p m2 、p m3 , p0, then the tool coordinate system C tool The coordinate axes can be expressed as:

[0053]

[0054] In the formula, Represents the coordinate axes of the tool coordinate system.

[0055] S2. Based on the tool coordinate system, the preset image coordinate system and the global camera coordinate system, determine the real-time posture of the end-effector in the global camera coordinate system. Specifically including:

[0056] S201. Based on the tool coordinate system and the image coordinate system, calculate the real-time pose of the end-effector tool in the image coordinate system.

[0057] Specifically, suppose p0 and p mi (i=1,2,3,4) in the image coordinate system C CT The position in and According to the definition of the rotation matrix, the rotation part of the transformation can be expressed as:

[0058]

[0059] Known Then the above formula can be simplified to:

[0060]

[0061] Generally speaking, translation amount = target vector - rotated vector × rotation matrix. In this embodiment, the translation amount is (x p0 ,y p0 ,z p0 ).

[0062] Combined translation (X p0 ,Y p0 ,Z p0 ), the real-time pose of the end-effector in the image coordinate system can be obtained, which is expressed as:

[0063]

[0064] S202 , constructing the relationship between the positions of the end-effector tool in the image coordinate system and the global coordinate system, and calculating the transformation matrix between the image coordinate system and the global camera coordinate system.

[0065] The process of mapping the design data of the CT space to the surgical execution space (global camera coordinate system) is defined as the registration of the navigation system or the registration of preoperative and intraoperative images. In this embodiment, the four marker balls installed on the end-effector tool are directly used for registration reference.

[0066] As an implementation method, first, the position of the marker ball in the image coordinate system is expressed as The position of the marker ball in the global camera coordinate system is expressed as Then the relationship between the positions of the end-effector tool in the image coordinate system and the global coordinate system is expressed as:

[0067]

[0068] In the formula, and Indicates the optional and translation part. Represents the transformation matrix from the image coordinate system to the global camera coordinate system, n i is the error amount.

[0069] Then, define p mi and p' mi The geometric centers of are p and p', and let Then the least square method is used to solve get

[0070] set up And Perform singular value decomposition H = UΛV T ,get and The calculation process here is a classic method in this field, and no improvement is made to it in this embodiment, so it will not be repeated here.

[0071] Finally, C CT to C camera The transfer matrix is ​​expressed as:

[0072]

[0073] S203, according to the real-time position and transformation matrix of the end-effector in the image coordinate system, obtain the real-time posture of the end-effector in the global camera coordinate system. The real-time posture of the end-effector in the global camera coordinate system is expressed as:

[0074]

[0075] S3. Construct an automatic calibration motion path to obtain the real-time posture of the end of the robot arm base coordinate system. Based on the real-time posture of the end-effector in the global camera coordinate system and the real-time posture of the end of the robot arm base coordinate system, iteratively optimize the automatic calibration motion path with the goal of minimizing the calibration error to obtain the optimal transformation matrix.

[0076] Specifically, an automatic calibration motion path is constructed, and n sampling points are set in the automatic calibration motion path to collect the real-time posture of the end of the robot arm base coordinate And the real-time positions of the four marker balls in the camera coordinate system, the corresponding real-time pose can be obtained by the method described in S201. Based on this, the calibration problem is modeled as:

[0077]

[0078] In this embodiment, the automatic calibration motion path refers to a series of positions and postures that the end of the robotic arm needs to move to in order to complete the calibration, which can be constructed through the intraoperative navigation module.

[0079] Next, the real-time posture of the end of the robot arm base coordinate The real-time positions of the four marker balls in the camera coordinate system are used as inputs, and the calibration problem is iteratively optimized with the calibration error minimized using the calculation formulas in S2 and S3 to obtain the optimal transformation matrix between the robot base and the global camera coordinate system and the optimal transformation matrix between the end-effector and the robot base. The objective function is expressed as:

[0080]

[0081]

[0082] In the formula, ε x represents the first transformation matrix calibration error, ε y represents the calibration error of the second transformation matrix, d represents, A i represents the first intermediate parameter, B i represents the second intermediate parameter, A* i represents the third intermediate parameter, B* i represents the fourth intermediate parameter, represents the transformation matrix between the robot base and the global camera coordinate system, Represents the transformation matrix between the end effector and the robot base.

[0083] Embodiment 2

[0084] Combination Figure 2-Figure 3This embodiment discloses an auxiliary orthognathic surgery robot system, including a preoperative design module, an intraoperative navigation module, a control module, a six-degree-of-freedom robot arm and an end-effector, wherein the end-effector is mounted on the six-degree-of-freedom robot arm. The control module is used to perform the following steps:

[0085] Acquire structural data of the end-effector tool; construct a tool coordinate system based on the structural data of the end-effector tool;

[0086] Based on the tool coordinate system, the preset image coordinate system and the global camera coordinate system, determine the real-time posture of the end-effector tool in the global camera coordinate system;

[0087] An automatic calibration motion path is constructed to obtain the real-time posture of the end of the robot arm base coordinate system. Based on the real-time posture of the end-effector in the global camera coordinate system and the real-time posture of the end of the robot arm base coordinate system, iterative optimization is performed with the goal of minimizing the calibration error to obtain the optimal transformation matrix.

[0088] The preoperative design module is used to perform three-dimensional graphic modeling of the surgical area based on tomographic CT or MRI images, and can design and simulate the key steps of the surgical operation (such as measurement, osteotomy, bone repositioning, etc.) on the modeled images. It can also export the designed three-dimensional images and three-dimensional movement data to the intraoperative navigation module and control module.

[0089] The intraoperative navigation module includes a 3D stereo positioning camera and a 3D visualization display module. Its main function is to detect the positions of targets such as bone blocks, surgical tools, and robots in real time during the robot's execution of tasks, and to display their movement processes on the screen through a visualization interface. In addition, the intraoperative navigation module also has the function of planning the robot's target position and execution path based on preoperative design data.

[0090] In this embodiment, the preoperative design module uses existing preoperative design software, including but not limited to existing commercial or self-developed software; such as: Mimics, ProPlan CMF and some domestic self-developed software, which can realize surgical planning functions such as CT image three-dimensional reconstruction, three-dimensional image measurement, simulated osteotomy, and re-placement of bone blocks.

[0091] The intraoperative navigation module adopts the BrainLab system, which can realize real-time tracking of the patient and surgical instruments and real-time dynamic display of three-dimensional visualization during the operation.

[0092] The end effector is installed on a six-degree-of-freedom robotic arm, which is used to move the surgical tool to the target position according to the execution path planned by the navigation. It can hold the tool stably for a period of time until it cooperates with the doctor to complete the current surgical operation.

[0093] Furthermore, the end effector comprises a jaw fork having a connection interface, and a rigid structure having one end connected to the jaw fork through the connection interface and the other end connected to the six-degree-of-freedom robot arm.

[0094] In this embodiment, the jaw fork is a dental membrane support structure, and the dental membrane is a medical silica gel that can be placed in the patient's mouth to record the bite mark of the teeth and solidify into a rigid material after recording. The rigid structure is a flange with four infrared marking balls.

[0095] Combination Figure 2-Figure 3 The working process of the auxiliary orthognathic surgery robot system described in this embodiment is as follows:

[0096] Step 1: Make a personalized end-effector tool.

[0097] Specific, combined Figure 2 , the dental membrane is supported by the jaw fork, placed in the patient's mouth, the bite mark of the teeth is recorded, and after the recording is completed, it is solidified into a rigid material; then the jaw fork is installed on the flange.

[0098] Step 2: Import the patient's CT image into the preoperative planning software to complete three-dimensional reconstruction and three-dimensional osteotomy, maxillary repositioning and other simulation operations.

[0099] Step 3: Import the surgical simulation data (including the original position of the maxillary bone to be moved, the position after the movement, the three-dimensional visualization model, etc.) into the intraoperative navigation camera.

[0100] Step 3: Calibrate the assisted orthognathic surgery robot system according to the calibration method described in the first embodiment to complete the preoperative preparation work.

[0101] Step 4: Start the surgical execution program to enable the robotic arm to hold the maxillary bone and move it from the original position to the target position after repositioning.

[0102] Embodiment 3

[0103] Embodiment 3 of the present invention provides an electronic device, including a memory and a processor, and computer instructions stored in the memory and executed on the processor. When the computer instructions are executed by the processor, the steps of the above-mentioned automatic calibration method of the auxiliary orthognathic surgery robot system are completed.

[0104] Embodiment 4

[0105] Embodiment 4 of the present invention provides a computer-readable storage medium for storing computer instructions. When the computer instructions are executed by a processor, the steps of the above-mentioned automatic calibration method of the auxiliary orthognathic surgery robot system are completed.

[0106] Embodiment 5

[0107] Embodiment 5 of the present invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned automatic calibration method for an auxiliary orthognathic surgery robot system.

[0108] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0109] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0110] These computer program instructions can also be loaded onto a computer or other programmable data processing device, and a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0111] The description of each embodiment in the above embodiments has different emphases. For parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0112] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic calibration method for an assisted orthognathic surgery robot system, characterized in that: include: Obtaining structural data of the end-effector; Construct a tool coordinate system based on the structural data of the end-effector tool; Based on the tool coordinate system, the preset image coordinate system and the global camera coordinate system, determine the real-time posture of the end-effector tool in the global camera coordinate system; An automatic calibration motion path is constructed to obtain the real-time posture of the end of the robot arm base coordinate system. Based on the real-time posture of the end-effector in the global camera coordinate system and the real-time posture of the end of the robot arm base coordinate system, iterative optimization is performed with the goal of minimizing the calibration error to obtain the optimal transformation matrix.

2. The automatic calibration method for an assisted orthognathic surgery robot system according to claim 1, characterized in that: The constructing of the tool coordinate system based on the structural data of the end-effector tool specifically includes: constructing the tool coordinate system according to the positions of a plurality of marking balls on the flange of the end-effector tool.

3. The automatic calibration method for an assisted orthognathic surgery robot system according to claim 1, characterized in that: The determining of the real-time posture of the end effector in the global camera coordinate system based on the tool coordinate system, the preset image coordinate system and the global camera coordinate system specifically includes: Based on the tool coordinate system and the image coordinate system, the real-time position and posture of the end-effector tool in the image coordinate system are calculated; Construct the relationship between the positions of the end-effector tool in the image coordinate system and the global coordinate system, and calculate the transformation matrix between the image coordinate system and the global camera coordinate system; According to the real-time pose and transformation matrix of the end-effector in the image coordinate system, the real-time pose of the end-effector in the global camera coordinate system is obtained.

4. The automatic calibration method for an assisted orthognathic surgery robot system according to claim 3, characterized in that: The real-time pose of the end-effector tool in the image coordinate system is calculated based on the tool coordinate system and the image coordinate system as follows: Based on the position of the marker ball in the end-effector in the image coordinate system, the rotation matrix between the tool coordinate system and the image coordinate system is calculated. Combined with the translation, the real-time pose of the end-effector in the image coordinate system is obtained.

5. The automatic calibration method for an assisted orthognathic surgery robot system according to claim 3, characterized in that: The relationship between the positions of the end-effector tool in the image coordinate system and the global coordinate system is constructed, and the conversion matrix between the image coordinate system and the global camera coordinate system is calculated as follows: The relationship between the positions of the end-effector tool in the image coordinate system and the global coordinate system is constructed and the corresponding geometric centers are defined respectively. Based on the geometric centers, the transformation matrix between the image coordinate system and the global camera coordinate system is calculated by the least squares method and singular value decomposition.

6. The automatic calibration method for an assisted orthognathic surgery robot system according to claim 1, characterized in that: The objective of minimizing the calibration error is expressed as: In the formula, ε x represents the first transformation matrix calibration error, ε y represents the calibration error of the second transformation matrix, d represents the normalization parameter, A i represents the first intermediate parameter, B i Represents the second intermediate parameter, A * i Indicates the third intermediate parameter, B * i represents the fourth intermediate parameter, represents the transformation matrix between the robot base and the global camera coordinate system, Represents the transformation matrix between the end effector and the robot base.

7. An assisted orthognathic surgery robot system, based on the automatic calibration method for an assisted orthognathic surgery robot system according to any one of claims 1 to 6, characterized in that: The system comprises a control module, a mechanical arm and an end-effector arranged on the mechanical arm, wherein the control module is used to perform the following steps: Acquire structural data of the end-effector tool; construct a tool coordinate system based on the structural data of the end-effector tool; Based on the tool coordinate system, the preset image coordinate system and the global camera coordinate system, determine the real-time posture of the end-effector tool in the global camera coordinate system; An automatic calibration motion path is constructed to obtain the real-time posture of the end of the robot arm base coordinate system. Based on the real-time posture of the end-effector in the global camera coordinate system and the real-time posture of the end of the robot arm base coordinate system, iterative optimization is performed with the goal of minimizing the calibration error to obtain the optimal transformation matrix.

8. An electronic device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the automatic calibration method for an assisted orthognathic surgery robot system according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instruction is executed by a processor, the steps of the automatic calibration method of the auxiliary orthognathic surgery robot system described in any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the steps of the automatic calibration method of the auxiliary orthognathic surgery robot system described in any one of claims 1 to 6 are implemented.

Images