Methods, systems, media, and equipment for calibrating the telecentric fixed point of a fundus surgical robot

Abstract

This invention relates to telecentric fixed-point calibration technology for fundus surgical robots, and discloses a method, system, medium, and equipment for telecentric fixed-point calibration of fundus surgical robots. The method includes: controlling the movement of a third joint to bring a test fixture at the end of the third joint into the measurement space of the test equipment, and acquiring the displacement of the third joint; controlling the movement of a first joint motor and a second joint motor respectively, and acquiring the range of motion angles of the first and second joints within the measurement space; controlling the first and second joint motors to move simultaneously according to the range of motion angles of the first and second joints, and acquiring image data streams of the test fixture; acquiring the radius of the spherical motion trajectory of the test fixture based on the image data stream, and calculating the difference between the radius and the displacement of the third joint to obtain the telecentric fixed-point structural parameters. This invention can effectively improve the absolute positioning accuracy of the robot's end effector, and enhance the safety and accuracy of surgical operations.

Description

Technical Field

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

[0002] Fundus surgery robots are designed to meet the needs of fundus surgery, replacing surgeons' hands in related surgical procedures. Due to the delicate structure of the human eye, ensuring surgical precision and avoiding damage to the eye requires robotic arm control accuracy at the micrometer level. While high-precision joint motors and encoders can easily meet the repeatability requirements of the robotic arm, manufacturing errors in its structural components make it difficult to achieve the required absolute positioning accuracy without calibration. Therefore, high-precision calibration of its structural parameters is necessary.

[0003] Currently, robotic arms can be calibrated using cameras. By utilizing image information captured by the camera and solving homogeneous equations or fitting neural networks, robot parameters can be determined to achieve the purpose of robotic arm parameter calibration. However, the parameter accuracy of this method is limited by camera resolution, making it difficult to meet the stringent micrometer-level precision requirements of precision medical devices. Furthermore, in dynamic environments, factors such as optical interference, reflection, and occlusion can further affect image quality, leading to instability in the calibration results.

[0004] Laser trackers can also be used to capture the coordinates of the robotic arm's end effector in three-dimensional space. By establishing an error model of the robotic arm and using algorithms to solve for the structural errors, parameter calibration can be achieved. While this method offers high accuracy, its high cost significantly increases product development expenses, putting pressure on startups and limiting the widespread application of the technology. Summary of the Invention

[0005] To address the technical problems of poor calibration result stability and high cost in existing robotic arm calibration methods, this invention discloses a method for calibrating the telecentric fixed point of a fundus surgery robot. The fundus surgery robot includes a first joint, a second joint at the end of the first joint, and a third joint at the end of the second joint. The first and second joints perform deflection angle movements (or deflection motions). A test fixture is provided at the end of the third joint, which is used to replace the syringe needle tip. The third joint performs linear needle advance and retraction movements. The method includes the following steps:

[0006] S102. When the fundus surgery robot is in the initial position, control the movement of the third joint so that the third joint drives the test fixture at its end into the measurement space of the test equipment to obtain the movement displacement of the third joint.

[0007] S103. Control the movement of the first joint motor and the second joint motor respectively to obtain the first joint yaw range and the second joint pitch range of the test fixture without exceeding the measurement space range.

[0008] S104. Based on the first joint yaw range and the second joint pitch range, control the first joint motor and the second joint motor to move simultaneously, and collect the image data stream of the test fixture.

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

[0010] Optionally, in step S102 above, when the fundus surgery robot is in its initial position, the movement of the third joint is controlled so that the third joint drives the test fixture at its end into the measurement space of the test equipment to obtain the displacement of the third joint, including:

[0011] S1021. When the fundus surgery robot is in 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.

[0012] S1022. Read the reading of the third joint motor and calculate the motion displacement of the third joint based on the reading.

[0013] Optionally, in step S103 above, controlling the movement of the first joint motor and the second joint motor respectively to obtain the first joint yaw range and the second joint pitch range of the test fixture without exceeding the measurement space range includes:

[0014] S1031. When the second joint is at zero position, the first joint motor is controlled to move. The first joint drives the test fixture to deflect within the measurement space through the second joint and the third joint. The deflection range of the first joint is calculated based on 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 within the measurement space through the third joint. The pitch range of the second joint is calculated based on the reading of the second joint motor.

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

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

[0018] S1052. Calculate the radius of the spherical motion trajectory based on the coordinates of the sphere's center.

[0019] In an improved embodiment, the above-described method for calibrating the distal fixed point of a fundus surgical robot further includes:

[0020] S101. Based on the measurement conditions of the test fixture, adjust the position of the test equipment to form a measurement space.

[0021] Optionally, in step S101 above, adjusting the pose of the testing equipment to form a measurement space based on the measurement conditions of the testing fixture includes:

[0022] S1011. Establish measurement conditions for the test fixture, the measurement conditions including the test fixture identification accuracy threshold, the test fixture motion space, and the measurement angle;

[0023] S1012. Adjust the test equipment parameters according to the test fixture recognition accuracy threshold;

[0024] S1013. Adjust the position of the test equipment according to the motion space of the test fixture, so that the test equipment is located outside the motion space of the test fixture, and the measurement direction of the test equipment faces the motion space of the test fixture.

[0025] S1014. Adjust the angle of the test equipment according to the measurement angle so that the test equipment is parallel to the calibration platform to form the measurement space.

[0026] This invention also provides a telecentric fixed point calibration system for a fundus surgery robot. The system includes a motion displacement acquisition module, a motion angle range acquisition module, a motion control module, testing equipment, and a telecentric fixed point structural parameter calculation module.

[0027] The motion displacement acquisition module 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 fixture at its end into the measurement space of the test equipment to acquire the motion displacement of the third joint.

[0028] The motion angle range acquisition module is used to control the movement of the first joint motor and the second joint motor respectively, and to acquire the first joint yaw range and the second joint pitch range of the test fixture without exceeding 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 based on the first joint yaw range and the second joint pitch range.

[0030] The testing equipment is used to acquire image data streams 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 based on 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.

[0032] Optionally, the system further includes a measurement space construction module, which is used to adjust the pose of the test equipment to form a measurement space based on the measurement conditions of the test fixture.

[0033] This 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, thereby solving the technical problems of poor calibration result stability and high cost in existing robotic arm calibration methods.

[0034] This invention also provides a computer-readable storage medium storing a computer program that executes any of the above-described methods for calibrating the telecentric fixed point of a fundus surgical robot, thereby solving the technical problems of poor calibration result stability 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 following: The method of the present invention first controls the movement of the third joint when the fundus surgery robot is in the initial position, so that the third joint drives the test fixture at its end into 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 the zero position, the movement angle range of the first joint and the second joint when the test fixture is always in the measurement space is obtained respectively; then, according to 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 according to 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.

[0036] The telecentric fixed point calibration method for fundus surgical robots of the present invention can calibrate the structural parameters of the telecentric fixed point without obtaining the coordinate system transformation relationship between the test equipment and the fundus surgical robot. This method can effectively improve the absolute positioning accuracy of the robot end effector, thereby enhancing the safety and accuracy of surgical operations. Furthermore, the system designed based on the method of the present invention has low cost, ensuring the feasibility of the calibration process. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a flowchart of the method for calibrating the distal fixed point of a fundus surgical robot disclosed in an embodiment of the present invention;

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

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

[0041] Among them, 201 is the motion displacement acquisition module; 202 is the motion angle range acquisition module; 203 is the motion control module; 204 is the testing equipment; 205 is the telecentric fixed point structural parameter calculation module; 206 is the measurement space construction module; 301 is the memory; and 302 is the processor. Detailed Implementation

[0042] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0043] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. This application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, in the absence of conflict, the following embodiments and features of the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] In this invention, the calibrated fundus surgery robot includes three joints connected in sequence. The first and second joints perform angular rotation (or deflection movement), and the end of the second joint is connected to a third joint. The third joint performs linear movement to advance and retract the injection needle mounted on it. In this embodiment of the invention, because the injection needle tip is relatively small and inconvenient for image recognition by the testing equipment, a testing fixture is used to replace the syringe needle tip. The testing fixture can be a small ball or other easily identifiable structure.

[0045] This invention discloses a method for calibrating the distal fixed point of a fundus surgical robot. See [link to relevant documentation]. Figure 1 As shown, the method includes the following steps:

[0046] S102. When the fundus surgery robot is in the initial position, control the movement of the third joint so that the third joint drives the test fixture at its end into the measurement space of the test equipment to obtain the movement displacement of the third joint.

[0047] S103. Control the movement of the first joint motor and the second joint motor respectively to obtain the first joint yaw range and the second joint pitch range of the test fixture without exceeding the measurement space range.

[0048] S104. Based on the first joint yaw range and the second joint pitch range, control the first joint motor and the second joint motor to move simultaneously, and collect the image data stream of the test fixture.

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

[0050] Optionally, in step S102 above, when the fundus surgery robot is in its initial position, the movement of the third joint is controlled so that the third joint drives the test fixture at its end into the measurement space of the test equipment to obtain the displacement of the third joint, including:

[0051] S1021. When the fundus surgery robot is in 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.

[0052] S1022. Read the reading of the third joint motor and calculate the motion displacement of the third joint based on the reading.

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

[0054] Optionally, in step S103 above, controlling the movement of the first joint motor and the second joint motor respectively to obtain the first joint yaw range and the second joint pitch range of the test fixture without exceeding the measurement space range includes:

[0055] S1031. When the second joint is at zero position, the first joint motor is controlled to move. The first joint drives the test fixture to deflect within the measurement space through the second joint and the third joint. The deflection range of the first joint is calculated based on 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 within the measurement space through the third joint. The pitch range of the second joint is calculated based on the reading of the second joint motor.

[0057] It should be noted that, due to the limitations 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 angular range. The purpose of determining these ranges is to ensure that the test fixture does not move outside the measurement space during subsequent image data streaming. For example, after testing, 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 step S105 above, obtaining the radius of the spherical motion trajectory of the test fixture based on the image data stream includes:

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

[0060] S1052. Calculate the radius of the spherical motion trajectory based on the coordinates of the sphere's center.

[0061] Generally, when only the first and second joints yaw within their respective yaw and pitch ranges, the motion trajectory of the test fixture should lie on a sphere. The radius of this sphere (theoretically a sphere) is calculated by fitting the TCP position. The difference between the third joint displacement in step S102 and the sphere radius is obtained; this difference is the calibrated telecentric fixed-point structural parameter, which is the distance the third joint motor travels from zero to the fixed point. This correction to the third joint structural parameter completes the robot's parameter calibration.

[0062] In practice, the radius of the spherical motion trajectory is calculated as follows:

[0063] S10511. Calculate the mean of the three-dimensional coordinates:

[0064] 1. Calculate the first mean ( , , ):

[0065] ;

[0066] 2. Calculate the quadratic mean ( , , ):

[0067] ;

[0068] 3. Calculate the average of the cross terms ( , , ):

[0069] ;

[0070] 4. Calculate the mean of the cubic terms ( , , , , , , ):

[0071]

[0072]

[0073]

[0074] Where n is the number of images in the image data stream, x i y i , z i Let be the three-dimensional coordinates of the i-th image.

[0075] S10512. Construct a linear equation using the first-order mean, second-order mean, cross-term mean, and cubic mean. These are the coordinates of the sphere's center that need to be solved.

[0076] ;

[0077] ;

[0078] S10513. Solve the linear equation using the A and b values ​​calculated in step S10512:

[0079] Obtain the coordinates of the sphere's center. .

[0080] Calculate the radius r using the coordinates of the sphere's center:

[0081] .

[0082] In an improved embodiment, see Figure 1 As shown, the above-mentioned method for calibrating the distal fixed point of the fundus surgery robot also includes:

[0083] S101. Based on the measurement conditions of the test fixture, adjust the position of the test equipment to form a measurement space.

[0084] Optionally, in step S101 above, adjusting the pose of the testing equipment to form a measurement space based on the measurement conditions of the testing fixture includes:

[0085] S1011. Establish measurement conditions for the test fixture. The measurement conditions include a test fixture recognition accuracy threshold, a test fixture motion space, and a measurement angle. The test fixture recognition accuracy threshold is used to obtain the accurate position of the test fixture when recognizing the image. The test fixture motion space is to avoid interference from the test equipment to the test fixture during movement. The measurement angle is to keep the test equipment horizontal.

[0086] S1012. Adjust the test equipment parameters according to the test fixture recognition accuracy threshold;

[0087] S1013. Adjust the position of the test equipment according to the motion space of the test fixture, so that the test equipment is located outside the motion space of the test fixture, and the measurement direction of the test equipment faces the motion space of the test fixture.

[0088] S1014. Adjust the angle of the test equipment according to the measurement angle so that the test equipment is parallel to the calibration platform to form the measurement space.

[0089] Based on the same inventive concept, this invention also provides a telecentric fixation system for a fundus surgical robot, as described in the following embodiments. Since the principle by which the telecentric fixation system solves the problem is similar to the telecentric fixation method for the fundus surgical robot described above, the implementation of the telecentric fixation system can refer to the implementation of the telecentric fixation method, and repeated details will not be elaborated further. As used below, the terms "unit" or "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0090] Figure 2This is a structural block diagram of a telecentric fixed-point calibration system for a fundus surgical robot disclosed in an embodiment of the present invention, as shown below. 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 testing device 204, and a telecentric fixed point structural parameter calculation module 205. The structure is described below.

[0091] The motion displacement acquisition module 201 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 fixture at its end into the measurement space of the test equipment to acquire the motion displacement of the third joint.

[0092] The motion angle range acquisition module 202 is used to control the movement of the first joint motor and the second joint motor respectively, and to acquire the first joint yaw range and the second joint pitch range of the test fixture without exceeding the measurement space range.

[0093] The motion control module 203 is used to control the first joint motor and the second joint motor to move simultaneously based on the first joint yaw range and the second joint pitch range.

[0094] The testing device 204 is used to acquire image data streams of the testing fixture when the first joint motor and the second joint motor move simultaneously. The testing device 204 can be a camera or a video camera; for example, it can be composed of four cameras. The four cameras are fixed to a common base and cannot be disassembled. The four cameras form a measurement space and are on the same plane.

[0095] The telecentric fixed point structural parameter calculation module 205 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 motion displacement of the third joint to obtain the telecentric fixed point structural parameters.

[0096] Optionally, see Figure 2 As shown, the system also includes a measurement space construction module 206, which is used to adjust the pose of the test equipment to form a measurement space based on the measurement conditions of the test fixture.

[0097] The method of this invention first controls the movement of the third joint when the fundus surgery robot is in its initial position, so that the third joint drives the test fixture at its end into the measurement space of the test equipment, and obtains the displacement of the third joint; secondly, when the first joint or the second joint is in the zero position, the range of motion angles of the first joint and the second joint when the test fixture is always in the measurement space are obtained respectively; then, based on the range of motion angles 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, based on 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 displacement of the third joint is calculated to obtain the telecentric fixed point structural parameters.

[0098] The telecentric fixed point calibration method for fundus surgical robots of the present invention can calibrate the structural parameters of the telecentric fixed point without obtaining the coordinate system transformation relationship between the test equipment and the fundus surgical robot. This method can effectively improve the absolute positioning accuracy of the robot end effector, thereby enhancing the safety and accuracy of surgical operations. Furthermore, the system designed based on the method of the present invention has low cost, ensuring the feasibility of the calibration process.

[0099] 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. When the processor executes the computer program, it implements any of the above-described data storage methods.

[0100] Specifically, the computer device can be a computer terminal, a server, or a similar computing device.

[0101] In this embodiment, a computer-readable storage medium is provided, which stores a computer program that performs any of the above-described data storage methods.

[0102] Specifically, computer-readable storage media, including both permanent and non-permanent, removable and non-removable media, can store information using 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable storage media does not include transient media, such as modulated data signals and carrier waves.

[0103] Obviously, those skilled in the art should understand that the modules or steps of the above-described embodiments of the present invention can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the embodiments of the present invention are not limited to any particular hardware and software combination.

[0104] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, various modifications and variations can be made to the embodiments of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for calibrating the telecentric fixed point of a fundus surgical robot, the fundus surgical robot comprising a first joint, a second joint at the end of the first joint, and a third joint at the end of the second joint, characterized in that... The method includes: When the fundus surgery robot is in the initial position, the movement of the third joint is controlled so that the third joint drives the test fixture at its end into the measurement space of the test equipment to obtain the movement displacement of the third joint. This includes: when the fundus surgery robot is in the initial position, controlling the movement of the third joint motor to drive the test fixture to move linearly so that the test fixture enters the measurement space; reading the reading of the third joint motor and calculating the movement displacement of the third joint based on the reading. Controlling the movement of the first joint motor and the second joint motor respectively to obtain the first joint yaw range and the second joint pitch range of the test fixture without exceeding the measurement space includes: controlling the first joint motor to move when the second joint is at zero position, the first joint drives the test fixture to deflect within the measurement space through the second joint and the third joint, and calculating the first joint yaw range based on the reading of the first joint motor; controlling the second joint motor to move when the first joint is at zero position, the second joint drives the test fixture to deflect within the measurement space through the third joint, and calculating the second joint pitch range based on the reading of the second joint motor. Based on 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 the image data stream of the test fixture is acquired. Based on 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, including: processing each image in the image data stream to obtain the three-dimensional coordinates of the test fixture, linearly fitting the three-dimensional coordinates of all images to obtain the center coordinates of the spherical motion trajectory; and calculating the radius of the spherical motion trajectory based on the center coordinates.

2. The method for calibrating the distal fixed point of a fundus surgical robot according to claim 1, characterized in that, Also includes: Based on the measurement conditions of the test fixture, the position and orientation of the test equipment are adjusted to form a measurement space.

3. The method for calibrating the distal fixed point of a fundus surgical robot according to claim 1, characterized in that, Based on the measurement conditions of the test fixture, the pose of the test equipment is adjusted to form a measurement space, including: Establish measurement conditions for the test fixture, including a test fixture recognition accuracy threshold, test fixture motion space, and measurement angle; Adjust the test equipment parameters according to the recognition accuracy threshold of the test fixture; Adjust the position of the testing equipment according to the motion space of the testing fixture, so that the testing equipment is located outside the motion space of the testing fixture, and the measurement direction of the testing equipment faces the motion space of the testing fixture; Adjust the angle of the testing equipment according to the measurement angle so that the testing equipment is parallel to the calibration platform to form the measurement space.

4. A telecentric fixed point calibration system for a fundus surgical robot, characterized in that, The system for performing the method according to any one of claims 1 to 3, the system comprising: The motion displacement acquisition module 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 fixture at its end into the measurement space of the test equipment to acquire the motion displacement of the third joint. The motion angle range acquisition module is used to control the movement of the first joint motor and the second joint motor respectively, and to acquire the first joint yaw range and the second joint pitch range of the test fixture without exceeding the measurement space range. A motion control module is used to control the first joint motor and the second joint motor to move simultaneously based on the first joint yaw range and the second joint pitch range. The testing equipment is used to acquire image data streams of the testing fixture when the first joint motor and the second joint motor move simultaneously; The 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 motion displacement of the third joint to obtain the telecentric fixed point structural parameters.

5. The telecentric fixed point calibration system for fundus surgery robots according to claim 4, characterized in that, It also includes a measurement space construction module, which is used to adjust the pose of the test equipment to form a measurement space based on the measurement conditions of the test fixture.

6. 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, it implements the method for calibrating the telecentric fixed point of the fundus surgical robot as described in any one of claims 1 to 3.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that performs the method for calibrating the telecentric fixed point of a fundus surgical robot according to any one of claims 1 to 3.

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