基于光学导航的手术辅助机器人快速自标定方法

Quick Self-calibration Method of Surgical Assistance Robot Based on Optical Navigation

机器人末端工具TCP点的标定是提高机器人末端工具绝对定位精度的基础,因此研究快速、准确的TCP自标定方法对于手术辅助机器人的顺利应用至关重要。以光学导航为基础,结合并联机构运动学及空间坐标系变换理论,提出了1种可用于手术辅助的机器人的快速自标定方法。该方法为非接触式测量,具有校准快速、操作简便、精度高等优点。结合课题对该方法进行实验验证,实验表明:经过该方法的标定,TCP点的绝对定位精度满足手术要求。

The calibration of the tool center point(TCP) on a robot is the foundation of the improvement of the absolute positioning accuracy. Therefore, a quick and accurate self-calibration of TCP is essential to the application of surgical assistance robot. In this paper a new quick self-calibration method which is based on the optical navigation system, parallel robot kinematic and spatial coordinate transform theory is presented. This method which has serval advantages of quick calibration, convenient operation and high accuracy is a non-contact measurement. Based ons the project, this method was verified and the result show that after the self-calibration of robot, the absolute positioning accuracy of TCP meet the requirement of surgery.