A tool and method for providing gripper tip registration

Abstract

The application belongs to the technical field of medical devices, and discloses a tool and method for providing registration of gripper tip registration points, comprising an end effector fixing device, wherein the end effector fixing device comprises an effector assembly, a clamping fixing assembly, a gripper positioning assembly and an effector positioning assembly; the effector assembly and the clamping fixing assembly are axially locked through threaded sleeve and sleeve cap, and the clamping fixing assembly and the gripper positioning assembly are positioned and locked through a gripper bolt. Through the high-precision dynamic acquisition function of an optical positioner, the application breaks through the dependence of traditional registration tools on machining precision, significantly improves the measurement precision of the position and direction of a needle tip through real-time acquisition of multiple sets of point data and a dynamic fitting algorithm, and ensures the accuracy of the final result through mean value calculation and error filtering during the positioning process, thereby achieving higher precision at a lower cost.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically a tool and method for registering the registration point of a gripper tip. Background Technology

[0002] In dental surgery, to improve the accuracy and safety of the procedure, robots with high precision and flexible adjustment capabilities are often used to perform the surgery on patients. The high-definition imaging technology and precision robotic arms of the robotic system enable doctors to observe the surgical site with greater clarity and three-dimensionality, while performing more delicate and stable operations. This not only reduces surgical risks, tissue trauma and postoperative complications, but also speeds up the patient's recovery and improves the overall treatment effect.

[0003] The gripper is a type of end effector for robots, playing a crucial role in grasping and fixing workpieces in robotics. The precise alignment of the gripper tip registration point is a key step in achieving precise robot operation. This process requires the robot to accurately identify and locate the gripper tip position to ensure precise control of the gripper's movements during task execution.

[0004] Traditional gripper tip registration methods rely on specific registration tools. However, the accuracy of this method is limited by the machining accuracy of the registration tool itself, especially the accuracy of the needle length and direction, which has a direct and significant impact on the final registration result. Under high machining costs, it may still be impossible to guarantee that the registration tool has a manufacturing level that meets high precision requirements. This leads to larger navigation errors in practical applications, affecting the accuracy and efficiency of robot operation. Therefore, it is necessary to improve and optimize it. Summary of the Invention

[0005] The purpose of this invention is to provide a tool and method for registering the registration point of the gripper tip, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a tool and method for registering a gripper tip registration point, comprising an end effector fixing device, wherein the end effector fixing device includes an actuator assembly, a gripping fixing assembly, a gripper positioning assembly, and an actuator positioning assembly, wherein the actuator assembly is composed of a sleeve cap, a mobile phone bend, a sleeve front end, and a retaining spring, wherein the mobile phone bend and the sleeve front end are welded and fixed, a retaining spring is provided 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 snap ring, a positioning pin, a large snap ring, a wire clip, and a fixing bolt. The clamp positioning assembly includes a clamp tracer, a first optical reference point, a first reflector, and a clamp bolt. The actuator positioning assembly includes an actuator tracer, a needle tip, a second optical reference point, and a second reflector.

[0008] The actuator assembly and the clamping and fixing assembly are axially locked together by a sleeve and a sleeve cap threaded connection. The clamping and fixing assembly and the clamping and positioning assembly are positioned and locked together by clamping bolts. The actuator assembly and the actuator positioning assembly are assembled and fixed together by a mobile phone elbow and a needle tip.

[0009] Preferably, one end of the sleeve is snapped with a sleeve insert, and the other end of the sleeve is fixedly provided with a small retaining spring and a cover plate. The sleeve insert and the sleeve are locked together by bolts. The screw cap and the sleeve insert are internally threaded, and the outer wall of the hand-tightening bolt is externally threaded.

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

[0011] Preferably, the bracket has a positioning pin on its rear side, and a screw cap is sleeved on the rear side of the bracket, with the bracket and the screw cap being fixed together by a large retaining spring.

[0012] Preferably, a first optical reference point is threaded onto the outer wall of the clamp tracer, a first reflector is attached to the top of the first optical reference point, and the clamp tracer and the bracket are locked and fixed together by clamp bolts.

[0013] Preferably, each of the four top corners of the actuator tracer is threaded with a second optical reference point, and a second reflector is attached to the top of the second optical reference point. Needle tips are fixedly installed on both the upper and lower sides of the middle part of the actuator tracer, and the actuator tracer and the mobile phone bend are fixed together by the thread of the needle tips.

[0014] Preferably, the clamp tracer is bent at 120°, and there are two sets of first optical reference points, with four first optical reference points in each set. The two sets of first optical reference points are respectively set on two planes of the clamp tracer, and the spacing between each pair of first optical reference points is different.

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

[0016] Preferably, the method includes drill bit length registration and drill bit direction registration, wherein the specific steps for drill bit length registration are as follows:

[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, When the positioner can simultaneously identify the registration tool and the robotic arm tracker, the actuator positioning component rotates the registration tool and collects 50 sets of registration tool marker data m1'~m through the positioner. 50 ';

[0019] A3, filter out 30 sets of data with large positioning errors, and keep 20 sets m1~m 20 ;

[0020] A4, for m1~m 20 Spherical fitting calculations were performed using 20 sets of 4 coordinate points to obtain the position of the sphere's center (c1~c2). 20 );

[0021] A5, for m1~m 20 Plane fitting calculations were performed on 20 sets of 4 coordinate points to obtain 20 sets of plane normal vectors (n1~n...). 20 );

[0022] A6, for c1~c 20 The mean value is taken as the final center position C0 of the ball, and the formula is:

[0023] ;

[0024] A7, for n1~n 20 The mean value 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 pre-measurement, with the upper tip being l0 and the lower tip being l1;

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

[0028] A10, Calculate the needle tip position P tip =P tail -l dril *N0, where l dirl This represents the current drill bit length.

[0029] Preferably, the specific steps for registering the drill bit direction are as follows:

[0030] B1. First, let the first optical reference point on one side of the gripper tracer be the passive infrared optical reference point A, B, C and D, and let the first optical reference point on the other side of the gripper tracer be the passive infrared optical reference point 1, 2, 3 and 4.

[0031] B2, position P of the needle tail tail Transform to the coordinate system of the gripper positioning component, and then let all transformation matrices in m1~m20 be t1~t20 respectively. 20 Calculate the transformed coordinates as p1' respectively. ~ p 20 ', where p n ' = P tail* t n ; For p1' ~ p 20 'Calculate the average value to obtain the final needle tail position P' tail ';

[0032] B3, position the needle tip P tip Transform to the coordinate system of the gripper positioning component, and calculate the transformed coordinates as p1''~p 20 '', where p n ''=P tip *t n For p1''~p 20 The final needle tail position P is obtained by averaging the values. tip '.

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

[0034] 1. This invention overcomes the dependence of traditional registration tools on processing precision by utilizing the high-precision dynamic acquisition function of an optical positioning instrument. Through real-time acquisition of multiple sets of point data and dynamic fitting algorithms, it significantly improves the measurement accuracy of needle tip position and direction. In particular, during the positioning process, the accuracy of the final result is ensured through mean calculation and error filtering, achieving higher precision at a lower cost. At the same time, when facing different surgical needs, the actuator and clamping and fixing components can achieve multi-angle rotation and locking, making it flexible to adapt to various complex scenarios and meet surgical requirements.

[0035] 2. By optimizing the calculation process, this invention significantly reduces the dependence on hardware processing precision, achieving higher positioning accuracy at a lower manufacturing cost. Compared with traditional tools that rely on high-precision processing, this invention uses innovative data processing and registration methods, replacing cumbersome processing techniques with real-time acquisition and algorithm fitting, thus reducing the limitations of complex processing in registration tools.

[0036] 3. The registration method proposed in this invention not only combines the needle tip position and the needle tail position, but also registers 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 positioning instrument, which greatly improves the overall accuracy of the drill bit registration. Furthermore, through automated data acquisition and processing, it not only reduces the error caused by manual intervention, but also improves the efficiency of the registration operation and reduces the workload of the staff. Attached Figure Description

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

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

[0039] Figure 3 This is an exploded view of the actuator assembly of the present invention;

[0040] Figure 4 This is an exploded view of the clamping and fixing component of the present invention.

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

[0042] Figure 6 This is an exploded view of the gripper positioning component of the present invention;

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

[0044] In the diagram: 1. Actuator assembly; 101. Sleeve cap; 102. Mobile phone bend; 103. Sleeve front end; 104. Snap ring; 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 snap ring; 209. Positioning pin; 210. Large snap ring; 211. Cable clip; 212. Fixing bolt; 3. Clamping device positioning assembly; 301. Clamping device tracer; 302. First optical reference point; 303. First reflector; 304. Clamping device bolt; 4. Actuator positioning assembly; 401. Actuator tracer; 402. Needle tip; 403. Second optical reference point; 404. Second reflector. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] like Figures 1 to 7 As shown, this embodiment of the invention provides a tool and method for registering the registration point of the gripper tip, including an end effector fixing device. The end effector fixing device includes an actuator assembly 1, a gripping fixing assembly 2, a gripper positioning assembly 3, and an actuator positioning assembly 4. The actuator assembly 1 is composed of a sleeve cap 101, a mobile phone bend 102, a sleeve front end 103, and a retaining spring 104. The mobile phone bend 102 and the sleeve front end 103 are welded and fixed. A retaining spring 104 is provided 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 plate 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 snap ring 208, a positioning pin 209, a large snap ring 210, a wire clip 211, and a fixing bolt 212. The clamp positioning assembly 3 includes a clamp tracer 301, a first optical reference point 302, a first reflector 303, and a clamp 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 the threaded connection of the sleeve 203 and the sleeve cap 101, the clamping and fixing assembly 2 and the clamping positioning assembly 3 are positioned and locked by the clamping 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] By leveraging the high-precision dynamic acquisition function of the optical positioning instrument, the tool overcomes the dependence of traditional registration tools on processing precision. Through real-time acquisition of multiple sets of point data and dynamic fitting algorithms, it significantly improves the measurement accuracy of needle tip position and direction. In particular, during the positioning process, the accuracy of the final result is ensured through mean calculation and error filtering, achieving higher precision at a lower cost. Furthermore, when facing different surgical needs, the actuator and clamping and fixing components can achieve multi-angle rotation and locking, enabling it to flexibly adapt to various complex scenarios and meet surgical requirements.

[0050] One end of the sleeve 203 is engaged with the sleeve insert 202, and the other end of the sleeve 203 is fixedly provided with a small snap ring 208 and a cover plate 201. The sleeve insert 202 and the sleeve 203 are locked together by bolts 207. The screw cap 206 and the sleeve insert 202 are internally threaded, and the outer wall of the hand-tightening bolt 205 is externally threaded.

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

[0052] The bracket 204 has a positioning pin 209 on its rear side, and a screw cap 206 is sleeved on the rear side of the bracket 204. The bracket 204 and the screw cap 206 are fixed together by a large snap ring 210.

[0053] The outer wall of the clamp tracer 301 is threaded with a first optical reference point 302, and a first reflector 303 is attached to the top of the first optical reference point 302. The clamp tracer 301 and the bracket 204 are locked and fixed together by clamp bolts 304.

[0054] The actuator tracer 401 has a second optical reference point 403 threaded onto each of its four top corners. A second reflector 404 is attached to the top of the second optical reference point 403. A needle tip 402 is fixedly installed on both the upper and lower sides of the middle part of the actuator tracer 401. The actuator tracer 401 and the mobile phone bend 102 are fixed together by the needle tip 402 thread.

[0055] The gripper tracer 301 is bent at 120°. There are two sets of first optical reference points 302, and each set has four first optical reference points 302. The two sets of first optical reference points 302 are respectively set on two planes of the gripper tracer 301 to improve the accuracy of optical positioning. The spacing between each pair of first optical reference points 302 is different.

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

[0057] This includes drill bit length registration and drill bit direction registration. The specific steps for drill bit length registration are as follows:

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

[0059] A2, Actuator positioning component 4, when the positioning device can simultaneously identify the registration tool and the robotic arm tracker, rotates the registration tool and collects 50 sets of registration tool marker data m1'~m through the positioning device. 50 ';

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

[0061] A3. Filter out 30 sets of data with large positioning errors (ErrorCm values) (to reduce the overall error in the data acquisition process), and retain 20 sets of data from m1 to m2. 20 ;

[0062] A4, for m1~m 20 20 sets of 4 coordinate points are used for spherical fitting calculation (standard algorithm) to obtain the position of the sphere center (c1~c2). 20 );

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

[0064] A6, for c1~c 20 The mean value is taken as the final center position C0 of the ball, and the formula is:

[0065] ;

[0066] A7, for n1~n 20 The mean value 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 pre-measurement, with the upper tip being l0 and the lower tip being l1;

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

[0070] A10, Calculate the needle tip position P tip =P tail -ldril *N0, where l dirl This is the current drill bit length (the precise length as measured).

[0071] This invention significantly reduces the reliance on hardware processing precision by optimizing the calculation process, achieving higher positioning accuracy at a lower manufacturing cost. Compared to traditional tools that rely on high-precision processing, this invention uses innovative data processing and registration methods, replacing cumbersome processing techniques with real-time acquisition and algorithm fitting, thus reducing the limitations of complex processing in registration tools.

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

[0073] B1. First, let the first optical reference point 302 on one side of the gripper tracer 301 be a passive infrared optical reference point A, B, C and D. Let the first optical reference point 302 on the other side of the gripper tracer 301 be a passive infrared optical reference point 1, 2, 3 and 4.

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

[0075] B3, position the needle tip P tip Transform to the coordinate system on the gripper positioning component 3, and calculate the transformed coordinates as p1''~p 20 '', where p n ''=P tip *t n For p1''~p 20 The final needle tail position P is obtained by averaging the values. tip '.

[0076] The registration method proposed in this invention not only combines the needle tip position and the needle tail position, but also performs full-process registration of the needle tip direction. During registration, the point information of the needle tip registration tool is dynamically collected with the help of an optical positioning instrument, which greatly improves the overall accuracy of the drill bit registration. Furthermore, through automated data acquisition and processing, it not only reduces the error caused by manual intervention, but also improves the efficiency of the registration operation and reduces the workload of the staff.

[0077] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

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

Claims

1. A tool for registering a gripper tip registration point, characterized in that: The device includes an end effector fixing device, which includes an actuator assembly (1), a clamping fixing assembly (2), a clamping positioning assembly (3) and an actuator positioning assembly (4). The actuator assembly (1) is composed of a sleeve cap (101), a mobile phone bend (102), a sleeve front end (103) and a retaining ring (104). The mobile phone bend (102) and the sleeve front end (103) are welded and fixed. A retaining ring (104) is provided inside the sleeve cap (101). One end of the sleeve front end (103) passes through the sleeve cap (101) and is fixed by the retaining ring (104). The clamping and fixing assembly (2) includes a cover plate (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 snap ring (208), a positioning pin (209), a large snap ring (210), a wire clip (211), and a fixing bolt (212). The clamp positioning assembly (3) includes a clamp tracer (301), a first optical reference point (302), a first reflector (303), and a clamp 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). The actuator assembly (1) and the clamping and fixing assembly (2) are axially locked by threaded connection of sleeve (203) and sleeve cap (101), the clamping and fixing assembly (2) and the clamping positioning assembly (3) are positioned and locked by clamping bolt (304), and the actuator assembly (1) and the actuator positioning assembly (4) are assembled and fixed by mobile phone elbow (102) and needle tip (402).

2. The tool for registering the registration point of the gripper tip according to claim 1, characterized in that: One end of the sleeve (203) is snapped with a sleeve insert (202), and the other end of the sleeve (203) is fixedly provided with a small snap ring (208) and a cover plate (201). The sleeve insert (202) and the sleeve (203) are locked together by bolts (207). The screw cap (206) and the sleeve insert (202) are internally threaded, and the outer wall of the hand-tightening bolt (205) is externally threaded. One end of the hand-tightening bolt (205) passes through the bracket (204) and the sleeve (203) and is locked and fixed by the sleeve insert (202) thread. The front side of the bracket (204) is provided with a wire clip (211), and the wire clip (211) and the bracket (204) are locked and fixed by a fixing bolt (212).

3. The tool for registering the registration point of the gripper tip according to claim 1, characterized in that: The bracket (204) is provided with a positioning pin (209) on the rear side, and a screw cap (206) is sleeved on the rear side of the bracket (204). The bracket (204) and the screw cap (206) are fixed together by a large snap ring (210).

4. The tool for registering the registration point of the gripper tip according to claim 1, characterized in that: The outer wall of the clamp tracer (301) is threaded with a first optical reference point (302), and a first reflector (303) is glued to the top of the first optical reference point (302). The clamp tracer (301) and the bracket (204) are locked and fixed together by clamp bolts (304).

5. A tool for registering a gripper tip registration point according to claim 1, characterized in that: The actuator tracer (401) has a second optical reference point (403) threaded onto each of its four top corners. A second reflector (404) is attached to the top of the second optical reference point (403). A needle tip (402) is fixedly installed on both the upper and lower sides of the middle part of the actuator tracer (401). The actuator tracer (401) and the mobile phone bend (102) are fixed together by the needle tip (402) thread.

6. The tool for registering the registration point of the gripper tip according to claim 1, characterized in that: The gripper tracer (301) is bent at 120°. There are two sets of first optical reference points (302), and each set has four first optical reference points (302). The two sets of first optical reference points (302) are respectively set on two planes of the gripper tracer (301), and the distance between each pair of first optical reference points (302) is different.

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

8. The application method of the clamp tip registration point alignment tool according to any one of claims 1-7, characterized in that: This includes drill bit length registration and drill bit direction registration, wherein the specific steps for drill bit length registration are as follows: A1, first set the four sets of second optical reference points (403) in the actuator positioning component (4) as passive infrared optical reference points A, B, C and D; A2, Actuator Positioning Component (4): When the positioning device can simultaneously identify the registration tool and the robotic arm tracer, rotate the registration tool and collect 50 sets of registration tool Marker data m1'~m through the positioning device. 50 '; A3, filter out 30 sets of data with large positioning errors, and keep 20 sets m1~m 20 ; A4, for m1~m 20 Spherical fitting calculations were performed using 20 sets of 4 coordinate points to obtain the positions of the sphere's center c1~c 20 ; A5, for m1~m 20 Plane fitting calculations were performed on 20 sets of 4 coordinate points to obtain 20 sets of plane normal vectors n1~n 20 ; A6, for c1~c 20 The mean value is taken as the final center position C0 of the ball, and the formula is: ； A7, for n1~n 20 The mean value is taken as the final needle tip vector N0, and the formula is: ； A8, the length of the registration tool tip is obtained by pre-measurement, with the upper tip being l0 and the lower tip being l1; A9, Calculate the needle tail position P tail =C0-L t *N0, where L t The needle length value for the registration tool is l0 for registration of the maxilla and l1 for registration of the mandible. A10, Calculate the needle tip position P tip =P tail -l dril *N0, where l dirl This represents the current drill bit length.

9. The method according to claim 8, characterized in that: The specific steps for registering the drill bit direction are as follows: B1. First, let the first optical reference point (302) on one side of the gripper tracer (301) be a passive infrared optical reference point A, B, C and D. Let the first optical reference point (302) on the other side of the gripper tracer (301) be a passive infrared optical reference point 1, 2, 3 and 4. B2, position P of the needle tail tail Transform to the coordinate system on the gripper positioning component (3), and then set all transformation matrices in m1~m20 as t1~t 20 Calculate the transformed coordinates as p1' respectively. ~ p 20 ', where p n ' = P tail* t n ; For p1' ~ p 20 'Calculate the average value to obtain the final needle tail position P' tail '; B3, position the needle tip P tip Transform to the coordinate system on the gripper positioning component (3), and calculate the transformed coordinates as p1''~p1''. 20 '', where p n ''=P tip *t n For p1''~p 20 The final needle tail position P is obtained by averaging the values. tip '.

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