End tool calibration method, electronic device, and storage medium

Abstract

The application relates to an end tool calibration method, an electronic device and a storage medium. The end tool calibration method comprises the following steps: inserting a probe end into a slot. An origin is obtained in a plane formed by tracking points, and a tracking coordinate system is established. A probe coordinate system is established with the probe end as the origin. A first conversion relationship between the tracking coordinate system and the probe coordinate system is obtained. Tracking points are recognized by tracking a structure, and a pose state of the tracking coordinate system is obtained. Then, a second conversion relationship of the tracking coordinate system converted to a tracking structure coordinate system of the tracking structure is obtained. Control information of a control mechanical arm is obtained, a mechanical arm end coordinate system is obtained, and then a third conversion relationship of the mechanical arm end coordinate system converted to the tracking structure coordinate system is obtained. According to the first conversion relationship, the second conversion relationship and the third conversion relationship, a conversion relationship between the probe coordinate system and a mechanical arm coordinate system is obtained, and a relative state between the two is obtained.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a method for calibrating an end-effector, an electronic device, and a storage medium. Background Technology

[0002] In related technologies, dynamic navigation technology is increasingly being used in surgical fields such as dental surgery. In surgical robots, a reflective array is typically fixed to the robotic arm so that a binocular camera can capture the robotic arm's pose data in real time. However, the relative pose relationship between the surgical tools used for mounting and the robotic arm is unknown and generally requires calibration to obtain.

[0003] In surgical navigation, when calibrating surgical tools with slot structures, the points to be calibrated are located inside the slots. Since the probe tip typically cannot reach these points, two points need to be calibrated on the surfaces at both ends of the slot structure. Then, based on the relative positions of these two points, complex calculations are used to determine the relative pose between the slot structure of the surgical tool and the end effector of the robotic arm. Therefore, improving both the efficiency and accuracy of calibration and registration simultaneously becomes a pressing issue. Summary of the Invention

[0004] To address the aforementioned problems, according to a first aspect of this application, an end-effector calibration method is provided. The end-effector is used to be mounted on the end of a robotic arm and has a slot. The aforementioned end-effector calibration method includes a calibration plate; the calibration plate includes a contact probe and a tracer; the two opposite ends of the contact probe include a probe connection end and a probe end, the probe end being used to extend into the slot of the end-effector, and the probe connection end being used to connect with the tracer; the tracer has at least three tracking points arranged in an array, and the tracking points are all located on different straight lines.

[0005] The end-effector calibration method includes:

[0006] The probe tip is inserted into the slot. An origin is obtained in the plane formed by the tracking points, and a tracer coordinate system is established. A probe coordinate system is established with the probe tip as the origin. Then, based on the mechanical parameters of the calibration plate, the first transformation relationship between the tracer coordinate system and the probe coordinate system is obtained.

[0007] The tracking point is identified through the tracking structure, and the pose state of the calibration plate is obtained based on the state of the identified tracking point; the pose state of the tracer coordinate system is obtained based on the pose state of the calibration plate, and a second transformation relationship is obtained from the tracer coordinate system to the tracking structure coordinate system of the tracking structure based on the obtained pose state of the tracer coordinate system.

[0008] By acquiring control information of the robotic arm, the pose state of the robotic arm is obtained, and the coordinate system of the robotic arm end effector is obtained based on the pose state of the robotic arm end effector; based on the pose state of the coordinate system of the robotic arm end effector, a third transformation relationship is obtained to transform the coordinate system of the robotic arm end effector into the coordinate system of the tracking structure.

[0009] Based on the first transformation relationship, the second transformation relationship, and the third transformation relationship, the transformation relationship between the probe coordinate system and the robotic arm coordinate system is obtained; and based on the transformation relationship between the probe coordinate system and the robotic arm coordinate system, the relative state between the slot of the end tool and the end of the robotic arm is obtained.

[0010] With the configuration method described in the above embodiments, the calibration and registration of the end-effector's slot can be directly achieved through a specific calibration plate and a corresponding calibration and registration method. Thus, the accuracy of calibration and registration can be effectively improved by inserting the calibration plate into the slot. At the same time, directly implementing the calibration and registration method through the calibration plate can also effectively reduce the computational complexity. Therefore, the accuracy and efficiency of calibration and registration of the end-effector's slot can be effectively improved simultaneously.

[0011] According to a second aspect of the embodiments of this application, an electronic device is provided, including a memory and a processor; the memory stores computer-executable instructions non-transitory; the processor is configured to run the computer-executable instructions; the computer-executable instructions, when run by the processor, implement any of the aforementioned end-tool calibration methods.

[0012] According to a third aspect of the embodiments of this application, a non-transitory computer-readable storage medium is provided, the non-transitory computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement any of the aforementioned end-tool calibration methods.

[0013] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0014] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0015] Figure 1 This is a flowchart illustrating an end-effector calibration method according to an embodiment of this application.

[0016] Figure 2 This is a schematic diagram of the structure of an end effector according to an embodiment of this application.

[0017] Figure 3This is a schematic diagram of the calibration plate structure according to an embodiment of this application.

[0018] Figure 4 This is a schematic diagram of the calibration plate from another angle, according to an embodiment of this application.

[0019] Figure 5 This is a planar schematic diagram of the tracer unit according to an embodiment of this application. Detailed Implementation

[0020] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0021] In existing methods, during surgical navigation, the calibration of the slot structure of surgical tools is primarily achieved by contacting the probe tip with the surfaces of the surgical tool corresponding to both ends of the slot—that is, with the surface around the slot opening and with the surface on the opposite side corresponding to the bottom of the slot. The slot is calibrated by calibrating these two surfaces. However, this method is limited by structural obstructions, making it difficult to accurately determine the relationship between the surface corresponding to the bottom of the slot and the bottom of the slot itself, inevitably leading to significant errors in the resulting calibration. Furthermore, since the slot is not directly calibrated and registered but rather indirectly determined through the calibration results of the surfaces corresponding to both ends of the slot, the computational process becomes complex, hindering improvements in computational efficiency. Therefore, simultaneously improving the efficiency and accuracy of calibration and registration has become a pressing issue.

[0022] To address the aforementioned problems, this application provides an end-tool calibration method. Figure 1 The flowchart shown is for the end-effector calibration method. Figure 2 The diagram shown is a structural schematic of the end tool 20, as follows: Figure 3 The diagram shown is a structural schematic of calibration plate 10.

[0023] The end-effector calibration method provided in this application is based on the end-effector 20, such as... Figure 2As shown, the end effector 20 is mounted on the end of a robotic arm and is provided with a slot 21. The slot 21 allows for the selection of instruments to be mounted according to the needs of the surgery. The end effector 20 is specifically mounted on the end of the robotic arm via a mounting platform 22. Since the end effector 20 undergoes pose changes relative to the end of the robotic arm during operation, an end effector array 23 can be selected. The tracking structure determines the pose state of the end effector array 23 by recognizing it, and then determines the pose state of the end effector 20 based on the state of the end effector array 23. The end effector array 23 can actively emit signals, such as visible light and radio waves, to allow the tracking structure to recognize and determine its pose, or it can passively reflect signals, allowing the tracking structure to recognize and determine its pose by recognizing the signals reflected by the end effector array 23, such as reflected visible light and radio waves.

[0024] The end-effector calibration method provided in this application also provides a calibration plate 10, such as... Figure 3 As shown, the calibration plate 10 includes a contact probe 11 and a tracer 12. The contact probe 11 has a probe connection end 111 and a probe end 112 at opposite ends. The probe end 112 is used to extend into the slot 21 of the end effector 20, and the probe connection end 111 is used to connect with the tracer 12. The tracer 12 has at least three tracking points 121 arranged in an array, and the tracking points 121 are all located on different straight lines.

[0025] Among them, the tracking points 121 are all located on different straight lines. That is, any two tracking points 121 form a straight line, and the other tracking points 121 are all located outside the range extended by this straight line.

[0026] The tracer unit 12 has at least three arrayed tracking points 121, or it may have three arrayed tracking points 121, or it may have four arrayed tracking points 121, or it may have five arrayed tracking points 121, or it may have six arrayed tracking points 121, or it may have seven arrayed tracking points 121, but it is not limited to these. The tracer unit 12 may also have other numbers of tracking points 121 that meet the aforementioned requirements.

[0027] Using the aforementioned calibration plate 10 and based on the aforementioned end-effector 20, the end-effector calibration method provided in this application is as follows: Figure 1 As shown, it includes steps S110 to S140.

[0028] In step S110, the probe end 112 is inserted into the slot. An origin is obtained within the plane formed by the tracking points 121, and a tracer coordinate system is established. A probe coordinate system is established with the probe end 112 as the origin. Then, based on the mechanical parameters of the calibration plate 10, a first transformation relationship between the tracer coordinate system and the probe coordinate system is obtained.

[0029] For details, please refer to Figure 4 The diagram shows another angle of the calibration plate 10. Since the calibration plate 10 is prepared in advance, its specific mechanical parameters are all directly obtainable parameters. The origin point is obtained within the plane formed by the tracking points 121, which can be randomly selected within the aforementioned plane. Specifically, it can be as follows... Figure 4 The example shows obtaining the origin O1 and establishing a tracer coordinate system. However, establishing a probe coordinate system with the probe end 112 as the origin can be done as follows: Figure 4 As shown, obtain the origin P and establish the probe coordinate system.

[0030] In step S120, the tracking point 121 is identified through the tracking structure, and the pose state of the calibration plate 10 is obtained based on the state of the identified tracking point 121. The pose state of the tracer coordinate system is obtained based on the pose state of the calibration plate 10, and a second transformation relationship is obtained from the tracer coordinate system to the tracking structure coordinate system of the tracking structure based on the obtained pose state of the tracer coordinate system.

[0031] Specifically, the tracking structure identifies the tracking point 121 by either actively emitting signals, such as visible light and radio waves, to enable the tracking structure to identify and determine its pose, or by passively reflecting signals, enabling the tracking structure to identify and determine its pose by reflecting signals, such as reflected visible light and radio waves.

[0032] In step S130, the control information for the robotic arm is acquired to obtain the pose state of the robotic arm, and the end effector coordinate system of the robotic arm is obtained based on the pose state of the robotic arm. A third transformation relationship is then obtained from the end effector coordinate system to the tracking structure coordinate system based on the pose state of the end effector coordinate system.

[0033] In step S140, the transformation relationship between the probe coordinate system and the robotic arm coordinate system is obtained based on the first transformation relationship, the second transformation relationship, and the third transformation relationship. The relative state between the end effector slot and the end effector of the robotic arm is also obtained based on the transformation relationship between the probe coordinate system and the robotic arm coordinate system.

[0034] Specifically, through the first and second transformation relationships—that is, the transformation relationships from the tracer coordinate system to the probe coordinate system and from the tracer coordinate system to the tracking structure coordinate system, respectively—the transformation relationship between the probe coordinate system and the tracking structure coordinate system can be obtained via the tracer coordinate system. Then, through the third transformation relationship—that is, the transformation relationship from the robot arm end-effector coordinate system to the tracking structure coordinate system—the required transformation relationship between the probe coordinate system and the robot arm end-effector coordinate system can be finally obtained via the tracking structure coordinate system; that is, the relative state between the end-effector's slot and the robot arm end.

[0035] By using the configuration described in the foregoing embodiments, the calibration and registration of the slot 21 of the end tool 20 can be directly achieved via a specific calibration plate 10 and a corresponding calibration and registration method. Thus, the accuracy of calibration and registration can be effectively improved by inserting the calibration plate 10 into the slot 21. At the same time, directly using the calibration plate 10 and implementing the calibration and registration method can also effectively reduce the computational complexity. Consequently, the accuracy and efficiency of calibration and registration of the slot 21 of the end tool 20 can be effectively improved simultaneously.

[0036] In some embodiments, the tracer 12 has an array of tracking points 121 facing different sides. The two sets of tracking points 121 facing different sides respectively constitute a first tracking surface and a second tracking surface.

[0037] Specifically, such as Figure 3 and Figure 4 As shown, the first tracking surface and the second tracking surface, which are formed by two sets of tracking points 121 facing different directions, can respectively correspond to the side of the tracer 12 facing the contact probe 11 and the side of the tracer 12 facing away from the contact probe 11.

[0038] The end-effector calibration method further includes: obtaining origins in the first tracking surface and the second tracking surface respectively, based on the mechanical parameters of the calibration plate 10, and establishing a first tracer coordinate system and a second tracer coordinate system respectively. Then, based on the mechanical parameters of the calibration plate 10, obtaining a first branch transformation relationship between the first tracer coordinate system and the probe coordinate system, and a second branch transformation relationship between the second tracer coordinate system and the probe coordinate system.

[0039] Similarly, such as Figure 4 As shown, since the calibration plate 10 is prepared in advance, its specific mechanical parameters are all directly obtainable parameters. The origin point is obtained within the plane formed by the tracking points 121, which can be randomly selected within the aforementioned plane. Specifically, it can be as follows: Figure 4 As shown, origins O1 and O2 are obtained in the first and second tracking surfaces respectively, and a tracer coordinate system is established.

[0040] When obtaining the relative state between the slot 21 of the end effector 20 and the end effector of the robotic arm, the first tracking surface or the second tracking surface is identified according to the tracking structure, and the first branch transformation relationship or the second branch transformation relationship is obtained accordingly. After selecting the first branch transformation relationship or the second branch transformation relationship, the transformation relationship between the probe coordinate system and the robotic arm coordinate system is obtained simultaneously according to the second transformation relationship and the third transformation relationship.

[0041] By using the aforementioned configuration, the tracking structure can effectively identify the plane formed by the tracking points 121 in more directions. That is, by setting the first and second tracking surfaces, the tracking structure can obtain the desired results in more directions and angles. This means that both the first and second tracer coordinate systems obtained are the desired results, enabling subsequent steps in the end-effector calibration method. Furthermore, by setting two tracking surfaces, the effective identification range of the tracking structure can be significantly increased while ensuring the simplification of the calibration board 10 structure, avoiding the structural and computational complexity issues associated with setting more tracking surfaces. Therefore, the accuracy of calibration registration can be further improved while simultaneously reducing computational complexity, thereby further improving the accuracy and efficiency of calibration registration of the slot 21 of the end-effector 20.

[0042] In some embodiments, such as Figure 3 and Figure 4 As shown, the tracer unit 12 includes at least three array arms 122. Each of the at least three array arms 122 includes a connecting end 123, and all the connecting ends 123 are interconnected. The at least three array arms 122 extend in different directions on the same plane. Each array arm 122 has a tracking point 121 at one end opposite the connecting end 123 for identification by the tracking structure. The tracking points 121 are located on both sides of the end of each array arm 122 facing the plane containing the array arm 122.

[0043] By using the configuration described in the foregoing embodiments, the specific calibration board 10, combined with the aforementioned end-effector calibration method, can effectively increase the range that the tracking structure can effectively identify while ensuring the simplification of the calibration board 10 structure. This avoids the structural complexity and computational complexity caused by setting more tracking surfaces. Therefore, the accuracy of calibration registration can be further improved while simultaneously reducing computational complexity. Consequently, the accuracy and efficiency of calibration registration of the slot 21 of the end-effector 20 can be further improved simultaneously.

[0044] In some embodiments, such as Figure 3 and Figure 4 As shown, the length of each of the array arms 122 is different.

[0045] For details, please refer to Figure 5 The schematic diagram of the tracer unit 12 shown is in... Figure 5 In the embodiment shown, the calibration plate 10 includes four array arms 122, with lengths l1, l2, l3, and l4, respectively. Figure 5 As shown, the lengths of l1, l2, l3 and l4 are all different.

[0046] By configuring all array arms 122 to have different lengths, the parameters of the first and second tracking surfaces can be completely different. This allows the tracking structure to more easily and quickly determine whether the identified tracking point 121 belongs to the first or second tracking surface. Specifically, this is achieved through the aforementioned specific calibration plate 10, combined with the aforementioned end-effector calibration method. This effectively increases the range that the tracking structure can effectively identify, while ensuring the simplification of the calibration plate 10 structure, further improving the efficiency and accuracy of the tracking structure in identifying the first and second tracking surfaces. Therefore, the accuracy of calibration registration can be further improved, while simultaneously reducing computational complexity. Consequently, the accuracy and efficiency of calibration registration of the slot 21 of the end-effector 20 can be further improved.

[0047] In some embodiments, such as Figure 3 and Figure 4 As shown, the contact probe 11 is perpendicular to the first tracking surface and the second tracking surface.

[0048] By setting the vertical relationship as described in the above embodiments, it is easier to determine the relative positional relationship between the probe end 112 and the first and second tracking surfaces. This can further improve the accuracy of calibration and registration while reducing the computational complexity. Consequently, it can further improve the accuracy and efficiency of calibration and registration of the slot 21 of the end tool 20.

[0049] In some embodiments, obtaining the first transformation relationship between the tracer coordinate system and the probe coordinate system based on the mechanical parameters of the calibration plate 10 includes:

[0050] The first transformation relationship is obtained by calculating the following matrix:

[0051] ;

[0052] Wherein, t1, t2 and t3 are the coordinates (t1, t2, t3) of the origin obtained in the plane formed by the tracking points 121 in the probe coordinate system.

[0053] Through the configuration of the aforementioned embodiments, the first transformation relationship can be specifically obtained through a specific calculation equation. Thus, it is possible to effectively improve the accuracy of calibration registration by extending the calibration plate 10 into the slot 21. At the same time, directly implementing the calibration registration method through the calibration plate 10 can also effectively reduce the computational complexity. Therefore, it is possible to simultaneously and effectively improve the accuracy and efficiency of calibration registration of the slot 21 of the end tool 20.

[0054] In some embodiments, before obtaining the first transformation relationship, the second transformation relationship, and the third transformation relationship, the method further includes:

[0055] The length of the contact probe 11 is obtained based on mechanical parameters, and the depth of the slot 21 of the end tool 20 is compared. If the length of the contact probe 11 is less than the depth of the slot 21, a compensation difference is obtained. When obtaining the first conversion relationship, the compensation difference is added to obtain the compensated first conversion relationship.

[0056] Specifically, such as Figure 2 and Figure 4 The content shown, Figure 2 The image specifically shows the depth h of the slot 21 of the end tool 20. Figure 4 The length l of the contact probe 11 is shown in detail. The length of the contact probe 11 is less than the depth of the slot 21, that is, the length l is less than the depth h.

[0057] By using the configuration described in the aforementioned embodiment, compensation can be effectively implemented when the length of the contact probe is less than the depth of the slot, thus avoiding adverse effects on the obtained first conversion relationship result. As a result, the accuracy of calibration registration can be better improved by extending the calibration plate 10 into the slot 21. At the same time, directly implementing the calibration registration method through the calibration plate 10 can also effectively reduce the computational complexity. Furthermore, the accuracy and efficiency of calibration registration of the slot 21 of the end tool 20 can be further improved simultaneously.

[0058] In some embodiments, the compensation difference is calculated using the following equation:

[0059] .

[0060] in, The compensation difference is given by l, where l is the length of the calibration probe and h is the depth of the slot.

[0061] After obtaining the compensation difference, the first transformation relationship is calculated using the following equation:

[0062] .

[0063] Wherein, t1, t2 and t3 are the origin points obtained in the plane formed by the obtained tracking points 121, and their coordinates (t1, t2, t3) in the probe coordinate system.

[0064] Through the configuration of the aforementioned embodiments, the compensation difference can be specifically obtained through a specific calculation equation, and the calculation formula for obtaining the first transformation relationship can be specifically compensated through another calculation equation. Thus, it is possible to effectively improve the accuracy of calibration registration by extending the calibration plate 10 into the slot 21. At the same time, directly implementing the calibration registration method through the calibration plate 10 can also effectively reduce the complexity of calculation. Therefore, it is possible to further improve the accuracy and efficiency of calibration registration of the slot 21 of the end tool 20.

[0065] This application also provides an electronic device, including a memory and a processor. The memory stores computer-executable instructions non-transitoryly. The processor is configured to execute the computer-executable instructions. The computer-executable instructions, when executed by the processor, implement any of the aforementioned end-tool calibration methods.

[0066] This application also provides a non-transitory computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement any of the aforementioned end-tool calibration methods.

[0067] The above embodiments of this application can complement each other without causing conflict.

[0068] It should be noted that the dimensions of layers and regions may be exaggerated in the accompanying drawings for clarity. Furthermore, it is understood that when an element or layer is referred to as being "on" another element or layer, it can be directly on the other element, or there may be intermediate layers. Additionally, it is understood that when an element or layer is referred to as being "below" another element or layer, it can be directly below the other element, or there may be more than one intermediate layer or element. Furthermore, it is also understood that when a layer or element is referred to as being "between" two layers or two elements, it can be the only layer between the two layers or two elements, or there may be more than one intermediate layer or element. Similar reference numerals throughout indicate similar elements.

[0069] The term “multiple” means two or more, unless otherwise expressly defined.

[0070] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0071] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. An end tool calibration method, the end tool being used for being mounted at a distal end of a robot arm and being provided with a slot, characterized by, The device includes a calibration plate; the calibration plate includes a contact probe and a tracer; the two opposite ends of the contact probe include a probe connection end and a probe end, the probe end is used to extend into the slot of the end tool, and the probe connection end is used to connect with the tracer; the tracer has at least three tracking points arranged in an array, and the tracking points are all located on different straight lines. The end-effector calibration method includes: Insert the probe end into the slot; obtain the origin and establish a tracer coordinate system in the plane formed by the tracking points, and establish a probe coordinate system with the probe end as the origin; then obtain the first transformation relationship between the tracer coordinate system and the probe coordinate system according to the mechanical parameters of the calibration plate. The tracking point is identified through the tracking structure, and the pose state of the calibration plate is obtained based on the state of the identified tracking point; the pose state of the tracer coordinate system is obtained based on the pose state of the calibration plate, and a second transformation relationship is obtained from the tracer coordinate system to the tracking structure coordinate system of the tracking structure based on the obtained pose state of the tracer coordinate system. By acquiring control information of the robotic arm, the pose state of the robotic arm is obtained, and the coordinate system of the robotic arm end effector is obtained based on the pose state of the robotic arm end effector; based on the pose state of the robotic arm end effector coordinate system, a third transformation relationship is obtained to transform the robotic arm end effector coordinate system into the tracking structure coordinate system. Based on the first transformation relationship, the second transformation relationship, and the third transformation relationship, the transformation relationship between the probe coordinate system and the robotic arm coordinate system is obtained; and based on the transformation relationship between the probe coordinate system and the robotic arm coordinate system, the relative state between the slot of the end tool and the end of the robotic arm is obtained.

2. The end tool calibration method of claim 1, wherein, The tracer has arrayed tracking points on both sides facing different directions; the two sets of tracking points facing different directions respectively form a first tracking surface and a second tracking surface; The end-effector calibration method further includes: obtaining the origin in the first tracking surface and the second tracking surface respectively according to the mechanical parameters of the calibration plate, and establishing a first tracer coordinate system and a second tracer coordinate system; Then, based on the mechanical parameters of the calibration plate, the first branch transformation relationship between the first tracer coordinate system and the probe coordinate system, and the second branch transformation relationship between the second tracer coordinate system and the probe coordinate system are obtained; When obtaining the relative state between the slot of the end tool and the end of the robotic arm, the first tracking surface or the second tracking surface is identified according to the tracking structure, and the first branch transformation relationship or the second branch transformation relationship is obtained accordingly; and after selecting the first branch transformation relationship or the second branch transformation relationship, the transformation relationship between the probe coordinate system and the robotic arm coordinate system is obtained simultaneously according to the second transformation relationship and the third transformation relationship.

3. The end tool calibration method of claim 2, wherein, The tracer unit includes at least three array arms; each of the at least three array arms includes a connection end, and all the connection ends are interconnected; the at least three array arms extend in different directions on the same plane; each array arm has a tracking point at one end opposite to the connection end for the tracking structure to be identified; the tracking points are provided on both sides of the end of each array arm facing the plane in which the array arm is located.

4. The end tool calibration method of claim 3, wherein, The length of each of the array arms is different.

5. The end tool calibration method of claim 4, wherein, The contact probe is perpendicular to the first tracking surface and the second tracking surface.

6. The end tool calibration method of claim 1, wherein, Based on the mechanical parameters of the calibration plate, the first transformation relationship between the tracer coordinate system and the probe coordinate system is obtained, including: The first transformation relationship is obtained by calculating the following matrix: ； Where t1, t2, and t3 are the coordinates (t1, t2, t3) of the origin obtained in the plane formed by the tracking points in the probe coordinate system.

7. The end tool calibration method of claim 1, wherein, Before obtaining the first transformation relationship, the second transformation relationship, and the third transformation relationship, the process further includes: The length of the contact probe and the depth of the slot of the end tool are obtained according to the mechanical parameters; the length of the contact probe and the depth of the slot are compared; if the length of the contact probe is less than the depth of the slot, a compensation difference between the length of the contact probe and the depth of the slot is obtained; when obtaining the first conversion relationship, the compensation difference is added to obtain the compensated first conversion relationship.

8. The end tool calibration method of claim 7, wherein, The compensation difference is calculated using the following equation: ； wherein, is the compensation difference, l is the length of the calibration probe, and h is the depth of the slot. After obtaining the compensation difference, the first transformation relationship is calculated using the following equation: ； Wherein, t1, t2 and t3 are the origin points obtained in the plane formed by the tracking points, and their coordinates (t1, t2, t3) in the probe coordinate system.

9. An electronic device, comprising: The method includes a memory and a processor; the memory stores computer-executable instructions non-transitory; the processor is configured to run the computer-executable instructions; the computer-executable instructions are executed by the processor to implement the end-tool calibration method according to any one of claims 1-8.

10. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium stores computer-executable instructions that, when executed by a processor, implement the end-tool calibration method according to any one of claims 1-8.

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