基于单目视觉的中医诊疗机械手三维坐标定位和变换方法

Three-dimensional coordinate positioning and transformation method of traditional Chinese medicine diagnosis manipulator based on monocular vision

为了在按摩、针灸等中医相关诊疗过程中,高效率定位中医按诊所需腧穴。结合单目视觉标定与定位原理,提出了一种基于三维坐标系之间转换矩阵求取的中医诊疗机械手坐标定位和转换方法。通过进行相机标定得到相机内参数并建立相机三维世界坐标系,再基于可粘贴于机械手任意固定位置的自定义标签图像建立相机三维世界坐标系与机械手坐标系的转换关系,通过三维坐标点建立齐次方程,求解出最优齐次旋转矩阵(R)以及平移向量(T)。将RT齐次矩阵作为两坐标系的关键转换矩阵,通过数学运算点坐标数据和最优转换矩阵即可得到坐标点在基于标签平面所约定坐标系中的三维坐标,有助于完成机械手按诊位置的空间坐标转换和精准定位。以六芒星图为标签图,基于所提出的方法,通过仿真实验验证了本文所提方法有效性和准确性。

To efficiently locate the acupoint during massage,acupuncture as well as other related Chinese medicine diagnosis and treatment.Combining with the principle of monocular vision calibration and positioning,a method for positioning and conversion of traditional Chinese medical manipulator coordinates based on the conversion matrix between three-dimensional coordinate systems is proposed.Obtain the camera’s internal parameters by performing camera calibration and establish the camera’s three-dimensional world coordinate system firstly,establish the conversion relationship between the camera’s three-dimensional world coordinate system and the robot coordinate system based on the custom label image that can be pasted on any fixed position of the manipulator by establishing a homogeneous equation through the three-dimensional coordinate points and solving the optimal homogeneous rotation matrix(R)and translation vector(T).The RThomogeneous matrix is used as the key conversion matrix of the two coordinate systems,and the three-dimensional coordinates of the coordinate points in the coordinate system agreed on the label plane can be obtained through mathematical operation of the point coordinate data and the optimal conversion matrix,which is helpful to complete the manipulator According to the spatial coordinate conversion and precise positioning of the diagnosis position.Using the six-pointed star map as the label map based on the proposed method,the effectiveness and accuracy of the proposed method are verified by simulation experiments.