基于三坐标测量机的机器人位姿精度检测方法

Method for Measuring Robot Pose Accuracy Based on Coordinate Measuring Machine

针对医疗场合导航引导下的手术机器人定位精度检测问题,提出了基于三坐标测量机的机器人位姿距离精度测量方法。该方法通过放置在一个平面上的三个标准球来实现三坐标测量机对姿态精度的测量,并参照机器人辅助外科手术系统的定位原理构建基于三坐标测量机的机器人位姿检测平台。在此基础上,依据国家标准规定的机器人性能检测方法和过程,完成机器人位姿距离精度的测量。通过该方法对研发的骨科手术定位机器人进行测量的结果表明,所设计机器人位置距离准确度和重复性分别在10^-1mm和10^-2mm级别,姿态距离准确度和重复性分别在10^-1度和10^-2度级别。最后将该机器人应用于前交叉韧带重建手术实验,结果表明通过这种方法检测的机器人能够满足手术场合要求。

A method for measuring robot pose distance accuracy is proposed to measure the positioning accuracy of the navigation guided surgical robot in medical occasion.The orientation accuracy is gained by measuring three standard balls placed on one plane with coordinate measuring machine,and the robot pose measurement platform is constructed according to the positioning principle of robot-assisted surgical system.Then the robot pose distance accuracy is measured according to the national robotic performance measurement standards.The results show that the position distance accuracy and repeatability of robot are at 10^-1 mm and 10^-2 mm respectively,the orientation distance accuracy and repeatability are at 10^-1 degree and 10^-2 degree respectively.Finally,the robot is applied to the anterior cruciate ligament reconstruction surgery and the result shows that the robot can meet the requirements of the surgical occasion.