Tool and method for providing registration of holder tip registration points

Abstract

The invention belongs to the technical field of medical apparatus and instruments, and discloses a tool and method for providing registration of a registration point of a tip end of a clamp holder, the tool comprises an end effector fixing device, the end effector fixing device comprises an effector assembly, a clamping and fixing assembly, a clamp holder positioning assembly and an effector positioning assembly; the actuator assembly and the clamping and fixing assembly are axially locked through threaded sleeving of a sleeve and a sleeve cap, and the clamping and fixing assembly and the clamping device positioning assembly are positioned and locked through a clamping device bolt. Through the high-precision dynamic acquisition function of the optical positioning instrument, the dependence of a traditional registration tool on the machining precision is broken through, the measurement precision of the position and the direction of the needle tip is remarkably improved through real-time acquisition of multiple groups of point location data and a dynamic fitting algorithm, and particularly in the positioning process, the measurement precision of the position and the direction of the needle tip is improved through mean value calculation and error filtering. The accuracy of a final result is ensured, and higher precision is obtained with lower cost.

Description

Technical Field

[0001] The invention belongs to the technical field of medical devices, and in particular relates to a tool and a method for providing registration point alignment for a clamp tip. Background Art

[0002] During dental surgery, in order to improve the accuracy and safety of the surgery, robots with high precision and flexible adjustment capabilities are usually used to perform surgery on patients. The robot system is equipped with high-definition imaging technology and precise mechanical arms, allowing doctors to observe the surgical site with higher clarity and three-dimensional perception, while performing more delicate and stable operations. This not only reduces surgical risks, tissue trauma and postoperative complications, but also speeds up patients' recovery and improves the overall treatment effect.

[0003] The gripper is a type of robot end effector and plays an important role in grasping and fixing workpieces in robotics technology. The precise matching of the registration point of the gripper tip is a key step in achieving precise robot operation. This process requires the robot to accurately identify and locate the position of the gripper tip to ensure that the gripper's movements can be precisely controlled when performing tasks.

[0004] The traditional gripper tip registration method relies on a specific registration tool. However, the accuracy of this method is limited by the processing accuracy of the registration tool itself, especially the accuracy of the needle's length and direction, which has a direct and significant impact on the final registration result. Under high processing costs, it may still not be possible to guarantee that the registration tool has a manufacturing level that meets high-precision requirements. This leads to large navigation errors in actual applications, affecting the accuracy and efficiency of robot operations, so it needs to be improved and optimized. Summary of the invention

[0005] The object of the present invention is to provide a tool and method for providing registration point alignment of the tip of a clamp, so as to solve the problems raised in the above-mentioned background technology.

[0006] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a tool and method for providing registration point alignment of a clamp tip, comprising an end effector fixing device, the end effector fixing device comprising an actuator assembly, a clamping fixing assembly, a clamper positioning assembly and an actuator positioning assembly, the actuator assembly is composed of a sleeve cap, a mobile phone elbow, a sleeve front end and a retaining spring, and the mobile phone elbow and the sleeve front end are welded and fixed, a retaining spring is arranged inside the sleeve cap, and one end of the sleeve front end passes through the sleeve cap and is fixed by the retaining spring;

[0007] The clamping and fixing assembly includes a cover plate, a sleeve insert, a sleeve, a bracket, a hand-tightening bolt, a screw cap, a bolt, a small retaining ring, a positioning pin, a large retaining ring, a wire clamp and a fixing bolt; the clamper positioning assembly includes a clamper tracer, a first optical reference point, a first reflector and a clamper bolt; the actuator positioning assembly includes an actuator tracer, a needle tip, a second optical reference point and a second reflector;

[0008] Among them, the actuator assembly and the clamping and fixing assembly are axially locked by threaded sleeve connection of a sleeve and a sleeve cap, the clamping and fixing assembly and the clamp positioning assembly are positioned and locked by a clamp bolt, and the actuator assembly and the actuator positioning assembly are fixed by a mobile phone elbow and a needle tip assembly.

[0009] Preferably, one end of the sleeve is clamped with a sleeve insert, the other end of the sleeve is fixedly provided with a small retaining spring and a cover plate, and the sleeve insert and the sleeve are locked and fixed by bolts, the inside of the rotary cover and the sleeve insert is tapped with internal threads, and the outer wall of the hand-tightening bolt is tapped with external threads;

[0010] One end of the hand-tightened bolt passes through the bracket and the sleeve and is locked and fixed by a threaded locking device in the sleeve. A wire clip is provided on the front side of the bracket, and the wire clip and the bracket are locked and fixed by a fixing bolt.

[0011] Preferably, a positioning pin is provided on the rear side of the bracket, and a rotary cover is sleeved on the rear side of the bracket, and the bracket and the rotary cover are fixed by a large retaining spring.

[0012] Preferably, a first optical reference point is threadedly mounted on the outer wall of the clamp tracer, a first reflective sheet is adhered to the top of the first optical reference point, and the clamp tracer and the bracket are fastened and fixed by a clamp bolt.

[0013] Preferably, the four top corners of the actuator tracer are all threaded with a second optical reference point, the top of the second optical reference point is adhered to a second reflective sheet, needle tips are fixedly installed on the upper and lower sides of the middle part of the actuator tracer, and the actuator tracer and the mobile phone elbow are fixed by the needle tip thread.

[0014] Preferably, the clamp tracer is bent at 120°, there are two groups of first optical reference points, and each group has four first optical reference points. The two groups of first optical reference points are respectively arranged on two planes of the clamp tracer, and the distance between each two first optical reference points is different.

[0015] Preferably, the sleeve and the bracket can be rotated to any angle and then locked and fixed by hand-tightening bolts.

[0016] Preferably, it includes drill length registration and drill direction registration, wherein the specific steps of drill length registration are:

[0017] A, first assume that the four sets of second optical reference points in the actuator positioning assembly are passive infrared optical reference points A, B, C and D;

[0018] A2, the actuator positioning component rotates the registration tool when the locator can simultaneously identify the registration tool and the robot arm tracer, and collects 50 sets of registration tool marker data m1'~m through the locator. 50 ';

[0019] A3, filter 30 groups of data with large positioning errors and retain 20 groups of m1~m 20 ;

[0020] A4, for m1~m 20 20 groups of 4 coordinate points are used for spherical fitting calculation to obtain the center position of the sphere (c1~c 20 );

[0021] A5, for m1~m 20 20 groups of 4 coordinate points are used for plane fitting calculation to obtain 20 groups of plane normal vectors (n1~-n 20 );

[0022] A6, for c1~c 20 The average is taken as the final sphere center position C0, and the formula is:

[0023]

[0024] A7, for n1~n 20 The mean is taken as the final needle tip vector N0, and the formula is:

[0025]

[0026] A8, the length of the registration tool tip is obtained by measuring in advance, and the upper tip is l0 and the lower tip is l1;

[0027] A9, calculate the needle tail position P tail =C0-L t *N0, where L t is the needle length of the registration tool. The value is l0 for upper jaw registration and l1 for lower jaw registration.

[0028] A10, calculate the needle tip position P tip =P tail -l dril *N0, where l dirl The length of the drill bit currently in use.

[0029] Preferably, the specific steps of registering the drill bit direction are:

[0030] B1, first assume that the first optical reference points on one surface of the gripper tracer are passive infrared optical reference points A, B, C and D, and assume that the first optical reference points on the other surface of the gripper tracer are passive infrared optical reference points 1, 2, 3 and 4;

[0031] B2, set the needle tail position P tail Convert to the coordinate system of the gripper positioning assembly, and then assume that all transformation matrices in m1 to m20 are t1 to t 20 , respectively calculate the transformed coordinates as p1' ～ p 20 ', where p n ' ＝ P tail* t n ; for p1' ～ p 20 'Calculate the average value to get the final needle tail position P tail ';

[0032] B3, position the needle tip to P tip Convert to the coordinate system of the gripper positioning assembly and calculate the converted coordinates as p1”~p 20 ”, where p n =P tip *t n , for p1"~p 20 "Average the final needle tail position P tip '.

[0033] The beneficial effects of the present invention are as follows:

[0034] 1. The present invention breaks through the reliance of traditional registration tools on processing accuracy through the high-precision dynamic acquisition function of the optical locator, and significantly improves the measurement accuracy of the needle tip position and direction through real-time acquisition of multiple sets of point data and dynamic fitting algorithms. In particular, during the positioning process, the accuracy of the final result is ensured through mean calculation and error filtering, and higher accuracy is achieved at a lower cost. At the same time, when facing different surgical needs, the actuator and clamping and fixing components of the tool can achieve multi-angle rotation and locking, so that it can flexibly adapt to various complex scenarios and meet surgical needs.

[0035] 2. The present invention significantly reduces the dependence on hardware processing accuracy by optimizing the calculation process, and achieves higher positioning accuracy at a lower manufacturing cost. Compared with traditional tools that rely on high-precision processing, the present invention uses innovative data processing and alignment methods, and replaces cumbersome processing techniques with real-time acquisition and algorithm fitting, thereby reducing the limitations of complex processing of registration tools.

[0036] 3. The registration method proposed in the present invention not only combines the needle tip position and the needle tail position, but also can register the needle tip direction throughout the entire process. During registration, the optical locator is used to dynamically collect the point information of the needle tip registration tool, which greatly improves the overall accuracy of drill bit registration. In addition, through automated data collection and processing, it not only reduces the errors caused by manual intervention, but also improves the efficiency of the registration operation and reduces the operating burden of the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic structural diagram of the fixing device of the end effector of the present invention;

[0038] Figure 2 It is an exploded view of the fixing device of the end effector of the present invention;

[0039] Figure 3 An exploded view of the actuator assembly of the present invention;

[0040] Figure 4 Exploded view of the clamping and fixing assembly of the present invention

[0041] Figure 5 This is a side exploded view of the clamping and fixing assembly of the present invention;

[0042] Figure 6 An exploded view of the clamp positioning assembly of the present invention;

[0043] Figure 7 This is an exploded view of the actuator positioning assembly of the present invention.

[0044] In the figure: 1. actuator assembly; 101. sleeve cap; 102. mobile phone elbow; 103. sleeve front end; 104. retaining spring; 2. clamping and fixing assembly; 201. cover plate; 202. sleeve insert; 203. sleeve; 204. bracket; 205. hand-tightening bolt; 206. screw cap; 207. bolt; 208. small retaining spring; 209. positioning pin; 210. large retaining spring; 211. wire clamp; 212. fixing bolt; 3. clamper positioning assembly; 301. clamper tracer; 302. first optical reference point; 303. first reflector; 304. clamper bolt; 4. actuator positioning assembly; 401. actuator tracer; 402. needle tip; 403. second optical reference point; 404. second reflector. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] like Figures 1 to 7 As shown, an embodiment of the present invention provides a tool and method for providing registration point alignment of a clamp tip, including an end effector fixing device, the end effector fixing device including an actuator assembly 1, a clamping fixing assembly 2, a clamper positioning assembly 3 and an actuator positioning assembly 4, the actuator assembly 1 is composed of a sleeve cap 101, a mobile phone elbow 102, a sleeve front end 103 and a retaining spring 104, and the mobile phone elbow 102 and the sleeve front end 103 are welded and fixed, a retaining spring 104 is arranged inside the sleeve cap 101, and one end of the sleeve front end 103 passes through the sleeve cap 101 and is fixed by the retaining spring 104;

[0047] The clamping and fixing assembly 2 includes a cover sheet 201, a sleeve insert 202, a sleeve 203, a bracket 204, a hand-tightening bolt 205, a screw cap 206, a bolt 207, a small retaining ring 208, a positioning pin 209, a large retaining ring 210, a wire clamp 211 and a fixing bolt 212. The clamper positioning assembly 3 includes a clamper tracer 301, a first optical reference point 302, a first reflector 303 and a clamper bolt 304. The actuator positioning assembly 4 includes an actuator tracer 401, a needle tip 402, a second optical reference point 403 and a second reflector 404.

[0048] Among them, the actuator assembly 1 and the clamping and fixing assembly 2 are axially locked by threaded sleeve connection of the sleeve 203 and the sleeve cap 101, the clamping and fixing assembly 2 and the clamper positioning assembly 3 are positioned and locked by the clamper bolt 304, and the actuator assembly 1 and the actuator positioning assembly 4 are assembled and fixed by the mobile phone elbow 102 and the needle tip 402.

[0049] The high-precision dynamic acquisition function of the optical locator breaks through the reliance of traditional registration tools on processing accuracy. The real-time acquisition of multiple sets of point data and dynamic fitting algorithms significantly improves the measurement accuracy of the needle tip position and direction. Especially in the positioning process, the accuracy of the final result is ensured through mean calculation and error filtering, and higher accuracy is achieved at a lower cost. At the same time, when facing different surgical needs, the actuator and clamping and fixing components of the tool can achieve multi-angle rotation and locking, so that it can flexibly adapt to various complex scenarios and meet surgical needs.

[0050] One end of the sleeve 203 is clamped with the sleeve insert 202, and the other end of the sleeve 203 is fixed with a small retaining spring 208 and a cover sheet 201. The sleeve insert 202 and the sleeve 203 are locked and fixed by a bolt 207. The inside of the rotary cover 206 and the sleeve insert 202 are tapped with internal threads, and the outer wall of the hand-tightening bolt 205 is tapped with external threads.

[0051] One end of the hand-tightening bolt 205 passes through the bracket 204 and the sleeve 203 and is threadedly locked and fixed by the sleeve insert 202. A line clip 211 is provided on the front side of the bracket 204, and the line clip 211 and the bracket 204 are locked and fixed by a fixing bolt 212.

[0052] A positioning pin 209 is provided on the rear side of the bracket 204 , and a rotary cover 206 is sleeved on the rear side of the bracket 204 . The bracket 204 and the rotary cover 206 are fixed by a large retaining spring 210 .

[0053] The outer wall of the clamp tracer 301 is threadedly mounted with a first optical reference point 302 , the top of the first optical reference point 302 is adhered with a first reflective sheet 303 , and the clamp tracer 301 and the bracket 204 are locked and fixed by a clamp bolt 304 .

[0054] Among them, the four top corners of the actuator tracer 401 are all threaded with a second optical reference point 403, the top of the second optical reference point 403 is adhered with a second reflective sheet 404, the upper and lower sides of the middle of the actuator tracer 401 are fixedly installed with a needle tip 402, and the actuator tracer 401 and the mobile phone elbow 102 are threadedly fixed by the needle tip 402.

[0055] Among them, the clamp tracer 301 is bent into 120°, there are two groups of first optical reference points 302, and the number of first optical reference points 302 in each group is four. The two groups of first optical reference points 302 are respectively arranged on two planes of the clamp tracer 301 to improve the accuracy of optical positioning, and the distance between each two first optical reference points 302 is different.

[0056] The sleeve 203 and the bracket 204 can be rotated to any angle and then locked and fixed by hand-tightening the bolts 205 .

[0057] The process includes drill length registration and drill direction registration. The specific steps of drill length registration are as follows:

[0058] A1, first assume that the four groups of second optical reference points 403 in the actuator positioning assembly 4 are passive infrared optical reference points A, B, C and D;

[0059] A2, actuator positioning component 4 rotates the registration tool when the locator can simultaneously identify the registration tool and the robot arm tracer, and collects 50 sets of registration tool Marker data m1'~m through the locator. 50 ';

[0060] Any set of data m n 'Contains the following information: registration tool Marker spatial coordinates Pos it ions (4 three-dimensional coordinate points [x1, y1, z1] ~ [x4, y4, z4]); registration tool Marker real-time error ErrorCm (unit mm); locator coordinate system to tracer Marker coordinate system conversion matrix OpToRm;

[0061] A3, filter 30 groups of data with large positioning errors (ErrorCm values) (to reduce the overall error in the data collection process), and retain 20 groups of m1~m 20 ;

[0062] A4, for m1~m 20 20 groups of 4 coordinate points are used for spherical fitting calculation (standard algorithm) to obtain the center position of the sphere (c1~c 20 );

[0063] A5, for m1~m 20 20 groups of 4 coordinate points are used for plane fitting calculation (standard algorithm) to obtain 20 groups of plane normal vectors (n1~-n 20 );

[0064] A6, for c1~c 20 The average is taken as the final sphere center position C0, and the formula is:

[0065]

[0066] A7, for n1~n 20 The mean is taken as the final needle tip vector N0, and the formula is:

[0067]

[0068] A8, the length of the registration tool tip is obtained by measuring in advance, and the upper tip is l0 and the lower tip is l1;

[0069] A9, calculate the needle tail position P tail =C0-L t *N0, where L t is the needle length of the registration tool. The value is l0 for upper jaw registration and l1 for lower jaw registration.

[0070] A10, calculate the needle tip position P tip =P tail-l dril *N0, where l dirl The length of the drill currently in use (precise length measured).

[0071] The present invention significantly reduces the dependence on hardware processing accuracy by optimizing the calculation process, and achieves higher positioning accuracy at a lower manufacturing cost. Compared with traditional tools that rely on high-precision processing, the invention uses innovative data processing and alignment methods, replaces cumbersome processing techniques with real-time acquisition and algorithm fitting, and reduces the limitations of complex processing of registration tools.

[0072] The specific steps of registering the drill bit direction are as follows:

[0073] B1, first assume that the first optical reference points 302 on one surface of the clamp tracer 301 are passive infrared optical reference points A, B, C and D, and assume that the first optical reference points 302 on another surface of the clamp tracer 301 are passive infrared optical reference points 1, 2, 3 and 4.

[0074] B2, set the needle tail position P tail Convert to the coordinate system on the gripper positioning component 3, and then set all the transformation matrices (OpToRm values) in m1~m20 to be t1~t 20 , respectively calculate the transformed coordinates as p1' ～ p 20 ', where p n ' ＝ P tail* t n ; for p1' ～ p 20 'Calculate the average value to get the final needle tail position P tail ';

[0075] B3, position the needle tip to P tip Convert to the coordinate system of the clamp positioning component 3, and calculate the converted coordinates as p1"~p 20 ”, where p n =P tip *t n , for p1"~p 20 "Average the final needle tail position P tip '.

[0076] The registration method proposed in the present invention not only combines the needle tip position and the needle tail position, but also can register the needle tip direction throughout the entire process. During registration, the point information of the needle tip registration tool is dynamically collected with the help of an optical locator, which greatly improves the overall accuracy of drill bit registration. In addition, through automated data collection and processing, it not only reduces the errors caused by manual intervention, but also improves the efficiency of the registration operation and reduces the operating burden of the staff.

[0077] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0078] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A tool for providing registration point alignment of a holder tip, characterized in that: The invention comprises an end effector fixing device, wherein the end effector fixing device comprises an actuator assembly (1), a clamping and fixing assembly (2), a clamping and positioning assembly (3) and an actuator positioning assembly (4); the actuator assembly (1) is composed of a sleeve cap (101), a mobile phone elbow (102), a sleeve front end (103) and a retaining spring (104); the mobile phone elbow (102) and the sleeve front end (103) are fixed by welding; a retaining spring (104) is arranged inside the sleeve cap (101); and one end of the sleeve front end (103) passes through the sleeve cap (101) and is fixed by the retaining spring (104); The clamping and fixing assembly (2) comprises a cover sheet (201), a sleeve insert (202), a sleeve (203), a bracket (204), a hand-tightening bolt (205), a rotary cover (206), a bolt (207), a small retaining ring (208), a positioning pin (209), a large retaining ring (210), a wire clamp (211) and a fixing bolt (212); the clamper positioning assembly (3) comprises a clamper tracer (301), a first optical reference point (302), a first reflective sheet (303) and a clamper bolt (304); and the actuator positioning assembly (4) comprises an actuator tracer (401), a needle tip (402), a second optical reference point (403) and a second reflective sheet (404); The actuator assembly (1) and the clamping and fixing assembly (2) are axially locked by threaded sleeve connection of a sleeve (203) and a sleeve cap (101), the clamping and fixing assembly (2) and the clamper positioning assembly (3) are positioned and locked by a clamper bolt (304), and the actuator assembly (1) and the actuator positioning assembly (4) are assembled and fixed by a mobile phone elbow (102) and a needle tip (402).

2. A tool for providing registration point alignment of a holder tip according to claim 1, characterized in that: One end of the sleeve (203) is clamped with a sleeve insert (202), and the other end of the sleeve (203) is fixedly provided with a small retaining spring (208) and a cover plate (201), and the sleeve insert (202) and the sleeve (203) are locked and fixed by a bolt (207), the inside of the rotary cover (206) and the sleeve insert (202) are tapped with internal threads, and the outer wall of the hand-tightening bolt (205) is tapped with external threads; One end of the hand-tightened bolt (205) passes through the bracket (204) and the sleeve (203) and is threadedly locked and fixed by the sleeve insert (202); a wire clip (211) is provided on the front side of the bracket (204), and the wire clip (211) and the bracket (204) are locked and fixed by a fixing bolt (212).

3. A tool for providing registration point alignment of a holder tip according to claim 1, characterized in that: A positioning pin (209) is provided on the rear side of the bracket (204), and a rotary cover (206) is sleeved on the rear side of the bracket (204), and the bracket (204) and the rotary cover (206) are fixed by a large retaining spring (210).

4. A tool for providing registration point alignment of a holder tip according to claim 1, characterized in that: The outer wall of the clamp tracer (301) is threadedly mounted with a first optical reference point (302), the top of the first optical reference point (302) is adhered with a first reflective sheet (303), and the clamp tracer (301) and the bracket (204) are locked and fixed by a clamp bolt (304).

5. A tool for providing registration point alignment of a holder tip according to claim 1, characterized in that: The four corners of the top of the actuator tracer (401) are all threadedly sleeved with a second optical reference point (403), the top of the second optical reference point (403) is adhered with a second reflective sheet (404), the upper and lower sides of the middle of the actuator tracer (401) are fixedly installed with a needle tip (402), and the actuator tracer (401) and the mobile phone elbow (102) are threadedly fixed through the needle tip (402).

6. A tool for providing registration point alignment of a holder tip according to claim 1, characterized in that: The clamp tracer (301) is bent at 120 degrees, and there are two groups of first optical reference points (302), and the number of first optical reference points (302) in each group is four. The two groups of first optical reference points (302) are respectively arranged on two planes of the clamp tracer (301), and the distance between each two first optical reference points (302) is different.

7. A tool for providing registration point alignment of a holder tip according to claim 1, characterized in that: The sleeve (203) and the bracket (204) can be rotated to any angle and then locked and fixed by hand-tightening bolts (205).

8. The method for providing a registration point alignment tool for a holder tip according to any one of claims 1 to 7, characterized in that: It includes drill length registration and drill direction registration, wherein the specific steps of drill length registration are: A1, first assume that the four groups of second optical reference points (403) in the actuator positioning assembly (4) are passive infrared optical reference points A, B, C and D; A2, actuator positioning component (4) When the locator can simultaneously identify the registration tool and the robot arm tracer, rotate the registration tool and collect 50 sets of registration tool marker data m1'~m through the locator. 50 '; A3, filter 30 groups of data with large positioning errors and retain 20 groups of m1~m 20 ; A4, for m1~m 20 20 groups of 4 coordinate points are used for spherical fitting calculation to obtain the center position of the sphere (c1~c 20 ); A5, for m1~m 20 20 groups of 4 coordinate points are used for plane fitting calculation to obtain 20 groups of plane normal vectors (n1~-n 20 ); A6, for c1~c 20 The average is taken as the final sphere center position C0, and the formula is: A7, for n1~n 20 The mean is taken as the final needle tip vector N0, and the formula is: A8, the length of the registration tool tip is obtained by measuring in advance, and the upper tip is l0 and the lower tip is l1; A9, calculate the needle tail position P tail =C0-L t *N0, where L t is the needle length of the registration tool. The value is l0 for upper jaw registration and l1 for lower jaw registration. A10, calculate the needle tip position P tip =P tail -l dril *N0, where l dirl The length of the drill bit currently in use.

9. The method according to claim 8, characterized in that: The specific steps of the drill direction registration are: B1, first assume that the first optical reference points (302) on one surface of the clamp tracer (301) are passive infrared optical reference points A, B, C and D, and assume that the first optical reference points (302) on another surface of the clamp tracer (301) are passive infrared optical reference points 1, 2, 3 and 4; B2, set the needle tail position P tail Transform to the coordinate system of the gripper positioning assembly (3), and then assume that all transformation matrices in m1 to m20 are t1 to t 20 , respectively calculate the transformed coordinates as p1' ～ p 20 ', where p n ' ＝ P tail* t n ; for p1' ～ p 20 'Calculate the average value to get the final needle tail position P tail '; B3, change the needle tip position P tip Convert to the coordinate system of the clamp positioning assembly (3), and calculate the converted coordinates as p1" to p 20 ”, where p n =P tip *t n , for p1"~p 20 "Average the final needle tail position P tip '.

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