Method, system, medium and equipment for calibrating telecentric fixed point of fundus surgical robot

Abstract

The invention relates to a fundus surgical robot telecentric fixed point calibration technology, and discloses a fundus surgical robot telecentric fixed point calibration method and system, a medium and equipment, and the method comprises the steps: controlling a third joint to move, enabling a test tool at the tail end of the third joint to enter a measurement space of the test equipment, and obtaining the movement displacement of the third joint; respectively controlling a first joint motor and a second joint motor to move, and acquiring the movement angle ranges of the first joint and the second joint, which do not exceed the measurement space range, of the test tool; controlling a first joint motor and a second joint motor to move at the same time according to the movement angle ranges of the first joint and the second joint, and collecting an image data stream of the test tool; and obtaining the radius of the spherical motion track of the test tool according to the image data stream, and calculating the difference value between the radius and the third joint motion displacement to obtain telecentric fixed point structure parameters. According to the method, the absolute positioning precision of the robot tail end can be effectively improved, and the safety and accuracy of surgical operation are improved.

Description

Technical Field

[0001] The present invention belongs to the field of fundus surgical robot design, and relates to a telecentric fixed point calibration technology of a fundus surgical robot, and specifically relates to a telecentric fixed point calibration method, system, medium and equipment for a fundus surgical robot. Background Art

[0002] The fundus surgery robot is designed for fundus surgery and replaces the doctor's hands to perform related surgical operations. Due to the delicate structure of the human eye, in order to ensure the accuracy of the surgical operation and avoid damage to the human eye, the robot arm control accuracy is required to be at the micron level. With high-precision joint motors and encoders, the repeatability of the robot arm can easily meet the accuracy requirements. However, due to the processing errors of the robot arm's structural components, its absolute positioning accuracy is difficult to meet the requirements without calibration. Therefore, it is necessary to calibrate its structural parameter errors with high precision.

[0003] At present, the robot arm can use the camera to calibrate the hand and eye of the robot arm. The image information captured by the camera is used to solve the homogeneous equation or the neural network fitting method to solve the robot parameters to achieve the purpose of robot arm parameter calibration. However, the parameter accuracy of this method is limited by the camera resolution and it is difficult to meet the strict requirements of precision medical equipment for micron-level accuracy. At the same time, in a dynamic environment, factors such as optical interference, reflection and occlusion will further affect the image quality, resulting in instability of the calibration results.

[0004] You can also use a laser tracker to capture the coordinates of the end of the robot in three-dimensional space, establish a robot error model, and use an algorithm to solve the robot structure error to achieve parameter calibration. Although this method provides higher accuracy, its high cost significantly increases product research and development expenses, which not only puts pressure on start-ups, but also limits the widespread application of technology. Summary of the invention

[0005] In order to solve the technical problems of poor stability of calibration results and high cost in the existing robot arm calibration method, the present invention discloses a telecentric fixed point calibration method for a fundus surgery robot, the fundus surgery robot comprises a first joint, a second joint is arranged at the end of the first joint, a third joint is arranged at the end of the second joint, the first joint and the second joint perform deflection angle movement (or deflection movement), a test fixture is arranged at the end of the third joint, the test fixture is used to replace the syringe needle tip, and the third joint performs linear advance and retreat needle movement, the method comprises the following steps:

[0006] S102, when the fundus surgical robot is in the initial position, controlling the third joint to move, so that the third joint drives the test tooling at its end to enter the measurement space of the test equipment, and obtaining the movement displacement of the third joint;

[0007] S103, respectively controlling the first joint motor and the second joint motor to move, to obtain a first joint yaw range and a second joint pitch range of the test fixture that do not exceed the measurement space range;

[0008] S104, controlling the first joint motor and the second joint motor to move simultaneously according to the first joint yaw range and the second joint pitch range, and collecting an image data stream of the test fixture;

[0009] S105 . Obtain the radius of the spherical motion trajectory of the test fixture according to the image data stream, and calculate the difference between the radius and the motion displacement of the third joint to obtain the telecentric fixed point structural parameters.

[0010] Optionally, in the above step S102, when the fundus surgery robot is at the initial position, controlling the third joint to move so that the third joint drives the test tool at its end to enter the measurement space of the test device, and obtaining the movement displacement of the third joint includes:

[0011] S1021, when the fundus surgical robot is in the initial position, controlling the third joint motor to drive the test fixture to move linearly, so that the test fixture enters the measurement space;

[0012] S1022, reading the reading of the third joint motor, and calculating the movement displacement of the third joint according to the reading.

[0013] Optionally, in the above step S103, respectively controlling the first joint motor and the second joint motor to move, and obtaining the first joint yaw range and the second joint pitch range of the test fixture that do not exceed the measurement space range, includes:

[0014] S1031, when the second joint is at zero position, controlling the first joint motor to move, the first joint drives the test fixture to deflect in the measurement space through the second joint and the third joint, and calculating the first joint deflection range according to the reading of the first joint motor;

[0015] S1032. When the first joint is at zero position, the second joint motor is controlled to move. The second joint drives the test fixture to deflect in the measurement space through the third joint. The pitch range of the second joint is calculated according to the reading of the second joint motor.

[0016] Optionally, in the above step S105, obtaining the radius of the spherical motion trajectory of the test fixture according to the image data stream includes:

[0017] S1051, processing each image in the image data stream to obtain the three-dimensional coordinates of the test fixture, and linearly fitting the three-dimensional coordinates of all images to obtain the coordinates of the center of the spherical motion trajectory;

[0018] S1052: Calculate the radius of the spherical motion trajectory according to the spherical center coordinates.

[0019] In an improved embodiment, the telecentric fixed point calibration method of the fundus surgery robot further includes:

[0020] S101 . According to the measurement conditions of the test fixture, adjust the posture of the test equipment to form a measurement space.

[0021] Optionally, in the above step S101, adjusting the posture of the test device to form a measurement space according to the measurement conditions of the test fixture includes:

[0022] S1011, establishing measurement conditions for the test tool, wherein the measurement conditions include a test tool recognition accuracy threshold, a test tool motion space, and a measurement angle;

[0023] S1012, debugging test equipment parameters according to the test tool recognition accuracy threshold;

[0024] S1013, adjusting the position of the test equipment according to the test equipment movement space, so that the test equipment is located outside the test equipment movement space, and the measurement direction of the test equipment faces the test equipment movement space;

[0025] S1014. Adjust the angle of the test device according to the measurement angle, so that the test device is parallel to the calibration platform, thereby forming the measurement space.

[0026] An embodiment of the present invention further provides a telecentric fixed point calibration system for a fundus surgery robot, the system comprising a motion displacement acquisition module, a motion angle range acquisition module, a motion control module, a testing device and a telecentric fixed point structural parameter calculation module.

[0027] The motion displacement acquisition module is used to control the motion of the third joint when the fundus surgery robot is in the initial position, so that the third joint drives the test tooling at its end to enter the measurement space of the test equipment, and acquire the motion displacement of the third joint;

[0028] The motion angle range acquisition module is used to control the motion of the first joint motor and the second joint motor respectively, and obtain the first joint yaw range and the second joint pitch range of the test fixture that do not exceed the measurement space range;

[0029] The motion control module is used to control the first joint motor and the second joint motor to move simultaneously according to the first joint yaw range and the second joint pitch range;

[0030] The testing device is used to collect the image data stream of the testing fixture when the first joint motor and the second joint motor move simultaneously;

[0031] The telecentric fixed point structural parameter calculation module is used to obtain the radius of the spherical motion trajectory of the test fixture according to the image data stream, and calculate the difference between the radius and the third joint motion displacement to obtain the telecentric fixed point structural parameter.

[0032] Optionally, the system further comprises a measurement space construction module, and the measurement space construction module is used to adjust the posture of the test device to form a measurement space according to the measurement conditions of the test fixture.

[0033] An embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any of the above-mentioned methods for calibrating the telecentric fixed point of a fundus surgical robot to solve technical problems such as poor stability of calibration results and high cost in existing robotic arm calibration methods.

[0034] An embodiment of the present invention also provides a computer-readable storage medium, which stores a computer program for executing any of the above-mentioned fundus surgery robot telecentric fixed point calibration methods to solve technical problems such as poor stability of calibration results and high cost in existing robotic arm calibration methods.

[0035] Compared with the prior art, the beneficial effects that can be achieved by at least one of the above-mentioned technical solutions adopted in the embodiments of this specification include at least: the method of the present invention, first, controls the movement of the third joint when the fundus surgical robot is in the initial position, so that the third joint drives the test tool at its end to enter the measurement space of the test equipment, and obtains the movement displacement of the third joint; secondly, when the first joint or the second joint is in zero position, obtains the movement angle range of the first joint and the second joint when the test tool is always in the measurement space; then, based on the movement angle range of the first joint and the second joint, controls the first joint motor and the second joint motor to move simultaneously, and collects the image data stream of the test tool; finally, obtains the radius of the spherical motion trajectory of the test tool based on the image data stream, and calculates the difference between the radius and the movement displacement of the third joint to obtain the telecentric fixed point structure parameters.

[0036] The telecentric fixed point calibration method of the fundus surgery robot of the present invention can realize the calibration of the telecentric fixed point structural parameters of the robot without obtaining the transformation relationship of the coordinate system between the test equipment and the fundus surgery machine. The method can effectively improve the absolute positioning accuracy of the robot end, thereby improving the safety and accuracy of the surgical operation. At the same time, the system designed according to the method of the present invention has low cost, ensuring the feasibility of the calibration process. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 It is a flow chart of the telecentric fixed point calibration method of the fundus surgery robot disclosed in the embodiment of the present invention;

[0039] Figure 2 This is an architecture diagram of a telecentric fixed point calibration system for a fundus surgery robot disclosed in an embodiment of the present invention;

[0040] Figure 3 A schematic diagram of a computer device disclosed in an embodiment of the present invention;

[0041] Among them, 201, motion displacement acquisition module; 202, motion angle range acquisition module; 203, motion control module; 204, test equipment; 205, telecentric fixed point structure parameter calculation module; 206, measurement space construction module; 301, memory; 302, processor. DETAILED DESCRIPTION

[0042] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0043] The following describes the implementation methods of the present application through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and the features of the embodiments can be combined with each other in the absence of conflict. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0044] In the present invention, the calibrated fundus surgery robot includes three joints connected in sequence, wherein the first joint and the second joint perform deflection angle movement (or deflection movement), the end of the second joint is connected to the third joint, and the third joint performs linear movement to realize the advance and retreat of the injection needle installed thereon. In the embodiment of the present invention, since the injection needle tip is relatively small, it is not convenient for the image recognition collected by the test equipment. Therefore, in the embodiment of the present invention, the test fixture is used to replace the syringe needle tip, wherein the test fixture can be replaced by a structure that is easy to identify, such as a small ball.

[0045] The embodiment of the present invention discloses a method for calibrating the telecentric fixed point of a fundus surgery robot. Figure 1 As shown, the method comprises the following steps:

[0046] S102, when the fundus surgical robot is in the initial position, controlling the third joint to move, so that the third joint drives the test tooling at its end to enter the measurement space of the test equipment, and obtaining the movement displacement of the third joint;

[0047] S103, respectively controlling the first joint motor and the second joint motor to move, to obtain a first joint yaw range and a second joint pitch range of the test fixture that do not exceed the measurement space range;

[0048] S104, controlling the first joint motor and the second joint motor to move simultaneously according to the first joint yaw range and the second joint pitch range, and collecting an image data stream of the test fixture;

[0049] S105 . Obtain the radius of the spherical motion trajectory of the test fixture according to the image data stream, and calculate the difference between the radius and the motion displacement of the third joint to obtain the telecentric fixed point structural parameters.

[0050] Optionally, in the above step S102, when the fundus surgery robot is at the initial position, controlling the third joint to move so that the third joint drives the test tool at its end to enter the measurement space of the test device, and obtaining the movement displacement of the third joint includes:

[0051] S1021, when the fundus surgical robot is in the initial position, controlling the third joint motor to drive the test fixture to move linearly, so that the test fixture enters the measurement space;

[0052] S1022, reading the reading of the third joint motor, and calculating the movement displacement of the third joint according to the reading.

[0053] After the motion displacement of the third joint is obtained, the third joint motor is locked so that the relative position of the third joint and the second joint will not change during subsequent calibration.

[0054] Optionally, in the above step S103, respectively controlling the first joint motor and the second joint motor to move, and obtaining the first joint yaw range and the second joint pitch range of the test fixture that do not exceed the measurement space range, includes:

[0055] S1031, when the second joint is at zero position, controlling the first joint motor to move, the first joint drives the test fixture to deflect in the measurement space through the second joint and the third joint, and calculating the first joint deflection range according to the reading of the first joint motor;

[0056] S1032. When the first joint is at zero position, the second joint motor is controlled to move. The second joint drives the test fixture to deflect in the measurement space through the third joint. The pitch range of the second joint is calculated according to the reading of the second joint motor.

[0057] It should be noted that due to the limitation of the measurement space, the yaw range of the first joint and the pitch range of the second joint may be smaller than their actual angle ranges. The purpose of determining them is also to prevent the test fixture from moving outside the measurement space during the subsequent image data flow. For example, after the test, the yaw range of the first joint is -60° to 60°, and the pitch range of the second joint is 0° to 90°.

[0058] Optionally, in the above step S105, obtaining the radius of the spherical motion trajectory of the test fixture according to the image data stream includes:

[0059] S1051, processing each image in the image data stream to obtain the three-dimensional coordinates (x, y, z) of the test fixture, and linearly fitting the three-dimensional coordinates of all images to obtain the coordinates of the center of the spherical motion trajectory;

[0060] S1052: Calculate the radius of the spherical motion trajectory according to the spherical center coordinates.

[0061] Generally speaking, when only the first joint and the second joint perform yaw motion within the yaw range of the first joint and the pitch range of the second joint, the motion trajectory of the test fixture should be on a spherical surface. By fitting the position of the TCP, the radius of the spherical surface (theoretically, it is a sphere) is solved. The difference between the position of the motor on the third joint in step 2 and the radius of the spherical surface is obtained. This difference is the calibrated telecentric fixed point structural parameter, that is, the distance parameter of the third joint motor moving from the zero point to the fixed point. The correction of the third joint structural parameters is obtained, and the parameter calibration of the robot is completed.

[0062] In specific implementation, the radius calculation process of the spherical motion trajectory is as follows:

[0063] S10511, calculating the mean of the three-dimensional coordinates:

[0064] 1. Calculate the mean once

[0065]

[0066] 2. Calculate the quadratic mean

[0067]

[0068] 3. Calculate the cross-term average

[0069]

[0070] 4. Calculate the mean of the cubic terms

[0071]

[0072]

[0073] Where n is the number of images in the image data stream, x i ,y i , z i is the 3D coordinate of the i-th image.

[0074] S10512, Constructing linear equations from the first mean, second mean, cross term mean and cubic term mean (x0, y0, z0) are the coordinates of the center of the sphere to be solved.

[0075] definition definition

[0076] S10513, solving the linear equation using the A value and b value calculated in step S10512: Get the coordinates of the center of the sphere (x0, y0, z0).

[0077] Calculate the radius r using the coordinates of the sphere center:

[0078]

[0079] In an improved embodiment, see Figure 1 As shown, the telecentric fixed point calibration method of the fundus surgery robot further includes:

[0080] S101 . According to the measurement conditions of the test fixture, adjust the posture of the test equipment to form a measurement space.

[0081] Optionally, in the above step S101, adjusting the posture of the test device to form a measurement space according to the measurement conditions of the test fixture includes:

[0082] S1011. Establish measurement conditions for the test jig, wherein the measurement conditions include a test jig recognition accuracy threshold, a test jig motion space, and a measurement angle. The test jig recognition accuracy threshold is used to obtain the accurate position of the test jig during image recognition. The test jig motion space is to avoid interference of the test equipment with the test jig during movement. The measurement angle is to keep the test equipment level.

[0083] S1012, debugging test equipment parameters according to the test tool recognition accuracy threshold;

[0084] S1013, adjusting the position of the test equipment according to the test equipment movement space, so that the test equipment is located outside the test equipment movement space, and the measurement direction of the test equipment faces the test equipment movement space;

[0085] S1014. Adjust the angle of the test device according to the measurement angle, so that the test device is parallel to the calibration platform, thereby forming the measurement space.

[0086] Based on the same inventive concept, an embodiment of the present invention also provides a telecentric fixed point calibration system for a fundus surgery robot, as described in the following embodiments. Since the principle of solving the problem by the telecentric fixed point calibration system is similar to the telecentric fixed point calibration method for the fundus surgery robot in the above-mentioned embodiment, the implementation of the telecentric fixed point calibration system can refer to the implementation of the telecentric fixed point calibration method, and the repeated parts will not be repeated. As used below, the term "unit" or "module" can be a combination of software and / or hardware that implements predetermined functions. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0087] Figure 2 is a structural block diagram of a telecentric fixed point calibration system for a fundus surgery robot disclosed in an embodiment of the present invention, such as Figure 2 As shown, the telecentric fixed point calibration system includes a motion displacement acquisition module 201, a motion angle range acquisition module 202, a motion control module 203, a test device 204 and a telecentric fixed point structural parameter calculation module 205, and the structure is described below.

[0088] The motion displacement acquisition module 201 is used to control the motion of the third joint when the fundus surgery robot is in the initial position, so that the third joint drives the test tooling at its end to enter the measurement space of the test equipment to acquire the motion displacement of the third joint.

[0089] The motion angle range acquisition module 202 is used to control the motion of the first joint motor and the second joint motor respectively, and obtain the first joint yaw range and the second joint pitch range of the test fixture that do not exceed the measurement space range.

[0090] The motion control module 203 is used to control the first joint motor and the second joint motor to move simultaneously according to the first joint yaw range and the second joint pitch range.

[0091] The test device 204 is used to collect the image data stream of the test fixture when the first joint motor and the second joint motor move simultaneously. The test device 204 can be a camera or a camera, for example, it can be composed of four cameras, the four cameras are fixed with a common base and will not be disassembled and placed, the four cameras form a measurement space, and the four cameras are on the same plane.

[0092] The telecentric fixed point structural parameter calculation module 205 is used to obtain the radius of the spherical motion trajectory of the test fixture according to the image data stream, and calculate the difference between the radius and the third joint motion displacement to obtain the telecentric fixed point structural parameter.

[0093] Alternatively, see Figure 2 As shown, the system further includes a measurement space construction module 206, and the measurement space construction module 206 is used to adjust the posture of the test device to form a measurement space according to the measurement conditions of the test fixture.

[0094] The method of the present invention first controls the movement of the third joint when the fundus surgical robot is located at the initial position, so that the third joint drives the test fixture at its end to enter the measurement space of the test equipment, and obtains the movement displacement of the third joint; secondly, when the first joint or the second joint is at zero position, the movement angle range of the first joint or the second joint when the test fixture is always located in the measurement space is obtained respectively; then, based on the movement angle range of the first joint and the second joint, the first joint motor and the second joint motor are controlled to move simultaneously, and the image data stream of the test fixture is collected; finally, the radius of the spherical motion trajectory of the test fixture is obtained based on the image data stream, and the difference between the radius and the movement displacement of the third joint is calculated to obtain the telecentric fixed point structural parameters.

[0095] The telecentric fixed point calibration method of the fundus surgery robot of the present invention can realize the calibration of the telecentric fixed point structural parameters of the robot without obtaining the transformation relationship of the coordinate system between the test equipment and the fundus surgery machine. The method can effectively improve the absolute positioning accuracy of the robot end, thereby improving the safety and accuracy of the surgical operation. At the same time, the system designed according to the method of the present invention has low cost, ensuring the feasibility of the calibration process.

[0096] In this embodiment, a computer device is provided, such as Figure 3 As shown, it includes a memory 301, a processor 302, and a computer program stored in the memory and executable on the processor, and the processor implements any of the above-mentioned data storage methods when executing the computer program.

[0097] Specifically, the computer device may be a computer terminal, a server or a similar computing device.

[0098] In this embodiment, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program for executing any of the above-mentioned data storage methods.

[0099] Specifically, computer-readable storage media include permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer-readable storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable storage media does not include transitory media such as modulated data signals and carrier waves.

[0100] Obviously, those skilled in the art should understand that the modules or steps of the above-mentioned embodiments of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. In this way, the embodiments of the present invention are not limited to any specific combination of hardware and software.

[0101] 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 embodiments of 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. A method for calibrating the telecentric fixed point of a fundus surgery robot, wherein the fundus surgery robot comprises a first joint, a second joint is disposed at the end of the first joint, and a third joint is disposed at the end of the second joint, wherein: The method comprises: When the fundus surgery robot is located at the initial position, the third joint is controlled to move, so that the third joint drives the test tool at its end to enter the measurement space of the test equipment, and the movement displacement of the third joint is obtained; Controlling the first joint motor and the second joint motor to move respectively, and obtaining the first joint swing range and the second joint pitch range of the test fixture that do not exceed the measurement space range; According to the yaw range of the first joint and the pitch range of the second joint, the first joint motor and the second joint motor are controlled to move simultaneously, and an image data stream of the test fixture is collected; According to the image data stream, the radius of the spherical motion trajectory of the test fixture is obtained, and the difference between the radius and the motion displacement of the third joint is calculated to obtain the telecentric fixed point structural parameters.

2. The telecentric fixed point calibration method of the fundus surgery robot according to claim 1, characterized in that: When the fundus surgery robot is located at the initial position, the third joint is controlled to move so that the third joint drives the test tool at its end to enter the measurement space of the test device, and the movement displacement of the third joint is obtained, including: When the fundus surgery robot is located at the initial position, the third joint motor is controlled to move to drive the test fixture to move linearly, so that the test fixture enters the measurement space; The reading of the third joint motor is read, and the motion displacement of the third joint is calculated based on the reading.

3. The telecentric fixed point calibration method of the fundus surgery robot according to claim 1, characterized in that: Controlling the first joint motor and the second joint motor to move respectively, obtaining the first joint yaw range and the second joint pitch range of the test fixture that do not exceed the measurement space range, including: When the second joint is at zero position, the motor of the first joint is controlled to move, the first joint drives the test fixture to deflect in the measurement space through the second joint and the third joint, and the deflection range of the first joint is calculated according to the reading of the motor of the first joint; When the first joint is at zero position, the second joint motor is controlled to move, and the second joint drives the test fixture to deflect in the measurement space through the third joint, and the pitch range of the second joint is calculated according to the reading of the second joint motor.

4. The telecentric fixed point calibration method of the fundus surgery robot according to claim 1, characterized in that: Acquiring the radius of the spherical motion trajectory of the test fixture according to the image data stream includes: Processing each image in the image data stream to obtain the three-dimensional coordinates of the test fixture, and linearly fitting the three-dimensional coordinates of all images to obtain the coordinates of the center of the spherical motion trajectory; The radius of the spherical motion trajectory is calculated according to the spherical center coordinates.

5. The telecentric fixed point calibration method of a fundus surgery robot according to any one of claims 1 to 4, characterized in that: Also includes: According to the measurement conditions of the test fixture, the posture of the test equipment is adjusted to form a measurement space.

6. The telecentric fixed point calibration method of the fundus surgery robot according to claim 1, characterized in that: According to the measurement conditions of the test fixture, the posture of the test device is adjusted to form a measurement space, including: Establishing measurement conditions for the test fixture, wherein the measurement conditions include a test fixture recognition accuracy threshold, a test fixture motion space, and a measurement angle; Debugging test equipment parameters according to the test tool recognition accuracy threshold; Adjust the position of the test device according to the test fixture movement space, so that the test device is located outside the test fixture movement space, and the measurement direction of the test device faces the test fixture movement space; The angle of the test device is adjusted according to the measuring angle so that the test device is parallel to the calibration platform to form the measuring space.

7. A telecentric fixed point calibration system for fundus surgery robot, characterized in that: include: A motion displacement acquisition module, which is used to control the movement of the third joint when the fundus surgery robot is in the initial position, so that the third joint drives the test tooling at its end to enter the measurement space of the test equipment, and obtain the motion displacement of the third joint; A motion angle range acquisition module, the motion angle range acquisition module is used to control the movement of the first joint motor and the second joint motor respectively, and obtain the first joint yaw range and the second joint pitch range of the test fixture that do not exceed the measurement space range; A motion control module, the motion control module is used to control the first joint motor and the second joint motor to move simultaneously according to the first joint yaw range and the second joint pitch range; A testing device, the testing device being used to collect an image data stream of the testing fixture when the first joint motor and the second joint motor move simultaneously; A telecentric fixed point structural parameter calculation module is used to obtain the radius of the spherical motion trajectory of the test fixture based on the image data stream, and calculate the difference between the radius and the third joint motion displacement to obtain the telecentric fixed point structural parameter.

8. The telecentric fixed point calibration system of the fundus surgery robot according to claim 1, characterized in that: It also includes a measurement space construction module, which is used to adjust the posture of the test equipment to form a measurement space according to the measurement conditions of the test fixture.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for calibrating the telecentric fixed point of a fundus surgery robot according to any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program for executing the telecentric fixed point calibration method for a fundus surgery robot according to any one of claims 1 to 6.

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