CN113547515B - Coordinate calibration method based on ultrasonic servo surgical robot - Google Patents
Coordinate calibration method based on ultrasonic servo surgical robot Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
The invention belongs to the technical field of surgical robots and discloses a coordinate calibration method based on an ultrasonic servo surgical robot, which comprises the following steps: arranging a stereoscopic vision high-precision positioning camera at the operation execution tail end and obliquely above the probe, and acquiring a camera coordinate system; the method comprises the steps of adopting a stereoscopic vision high-precision positioning camera to photograph a guide frame, a probe, a mechanical arm tail end and an operation execution tail end respectively to obtain a guide frame coordinate system, a probe coordinate system, a mechanical arm coordinate system and an operation execution tail end coordinate system under a camera coordinate system, further obtaining transformation relations between the probe and the guide frame, between the guide frame and a mechanical arm base and between the operation execution tail end and the mechanical arm tail end coordinate system respectively, multiplying the transformation relations, and transforming step by step to obtain a transformation relation between the probe coordinate system and the operation execution tail end coordinate system. The coordinate calibration method and the coordinate calibration device can realize coordinate calibration of the detection end and the operation execution end intuitively and quickly, and realize unification of coordinates of the detection end and the operation execution end.
Description
Technical Field
The invention belongs to the technical field of surgical robots, and particularly relates to a coordinate calibration method based on an ultrasonic servo surgical robot.
Background
Benign prostatic hyperplasia and the most common causes of urinary dysfunction in men are shown, the benign prostatic disease has the highest incidence among the elderly, and statistics show that the morbidity of the benign prostatic disease is about 16-25% in 50-65-year-old men; the prevalence rate of the male over 70 years old reaches 30% -46%, the increase of the prevalence rate is along with the increase of the age, transurethral prostate electrotomy is the main mode of treating prostatic hyperplasia at present, but the operation has the problems of safety, effectiveness, consistency and the like. With the gradual maturity of the surgical robot technology, the prostate surgical robot provides a brand new idea for the treatment of prostatic hyperplasia, but in the prior art, an ultrasonic probe is used for detecting images in real time, the two surgical robots cannot be synchronized well during the operation, the detected images cannot be timely fed back to the robot execution tail end, and the operation of the surgical robot is slower.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides the coordinate calibration method based on the ultrasonic servo surgical robot, which can intuitively and quickly realize the coordinate calibration of the detection end and the surgical execution tail end and realize the unification of the coordinates of the detection end and the surgical execution tail end.
To achieve the above object, according to one aspect of the present invention, there is provided a coordinate calibration method based on an ultrasonic servo surgical robot, the ultrasonic servo surgical robot including a robot arm, a surgical execution end disposed at an end of the robot arm, a guide frame, a motor disposed on the guide frame, and a probe, the motor driving the probe to rotate, the method including: s1: arranging a stereoscopic vision high-precision positioning camera at the operation execution tail end and obliquely above the probe, and acquiring a coordinate system of the stereoscopic vision high-precision positioning camera, namely a camera coordinate system; s2: and the stereoscopic vision high-precision positioning camera is adopted to photograph the guide frame, the probe, the tail end of the mechanical arm and the operation execution tail end respectively, a guide frame coordinate system, a probe coordinate system, a mechanical arm coordinate system and an operation execution tail end coordinate system under a camera coordinate system are obtained, the transformation relations between the probe coordinate system and the guide frame coordinate system, between the guide frame coordinate system and the mechanical arm base coordinate system, between the operation execution tail end coordinate system and the mechanical arm tail end coordinate system are further obtained respectively, and the transformation relations are multiplied step by step to obtain the transformation relations between the probe coordinate system and the operation execution tail end coordinate system.
Preferably, the method further comprises: s3: and acquiring a transformation relation between a two-dimensional image coordinate system and the probe coordinate system, wherein the two-dimensional image coordinate system is superposed with a coordinate plane of the probe coordinate system, and multiplying the transformation relation between the probe coordinate system and the operation execution tail end coordinate system and the transformation relation between the two-dimensional image coordinate system and the probe coordinate system to obtain the transformation relation between the two-dimensional image coordinate system and the operation execution tail end coordinate system.
Preferably, the step S2 includes: s21: the stereoscopic vision high-precision positioning camera is adopted to photograph the probe and the guide frame to obtain a probe coordinate system under any pose under a camera coordinate system
And a guide frame coordinate system
Wherein T is a 4 × 4 homogeneous matrix; s22: based on the probe coordinate system
And a guide frame coordinate system
Obtaining the transformation relation between the probe coordinate system and the guide frame coordinate system
S23: the stereoscopic vision high-precision positioning camera is adopted to photograph the tail end of the mechanical arm to obtain the transformation relation between the camera coordinate system and the mechanical arm base coordinate system
Further obtaining the transformation relation between the mechanical arm base coordinate system and the guide frame coordinate system
S24: adopting the stereoscopic vision high-precision positioning camera to photograph the operation execution tail endObtaining the surgical performing tip coordinate system
Obtaining a transformation relation between the coordinate system of the surgical execution end and the coordinate system of the end of the mechanical arm
Wherein,
directly acquiring a transformation relation between a mechanical arm tail end coordinate system and a mechanical arm base coordinate system according to the geometric structure of the mechanical arm; s25: according to the above
Then obtaining the transformation relation between the coordinate system of the probe and the coordinate system of the operation executing end
Preferably, the step S3 includes: defining the coincidence of a coordinate plane of the two-dimensional image coordinate system and the probe coordinate system, and then obtaining the transformation relation between the two-dimensional image coordinate system and the probe coordinate system
Multiplying the transformation relation between the probe coordinate system and the surgical operation execution tail end coordinate system and the transformation relation between the two-dimensional image coordinate system and the probe coordinate system to obtain the transformation relation between the two-dimensional image coordinate system and the surgical operation execution tail end coordinate system
Preferably, step S21 specifically includes: step 1, respectively arranging a first reflective target ball and a second reflective target ball on the probe and the guide frame; step 2, keeping the guide frame not moving back and forth, starting a motor to drive the probe to rotate for a circle, and simultaneously recording the first reflected light by adopting the stereoscopic vision high-precision positioning cameraA plurality of points on the motion trail of the target ball are recorded by the stereoscopic vision high-precision positioning camera, and the positions of the first reflective target ball and the second reflective target ball are recorded after the target ball rotates; step 3, fitting the plurality of points to obtain a circle center serving as an origin of the guide frame coordinate system and the initial probe coordinate system, wherein a circle axis obtained by fitting is a Z axis of the guide frame coordinate system and the initial probe coordinate system; obtaining a probe coordinate system under any pose under a camera coordinate system by combining the positions of the first reflective target sphere and the second reflective target sphere after rotation
And a guide frame coordinate system
Preferably, the probe coordinate system in any pose under the camera coordinate system is obtained by combining the positions of the first reflective target ball and the second reflective target ball after rotation in the step 3
And a guide frame coordinate system
The method specifically comprises the following steps: obtaining an initial probe coordinate system of the probe according to the original point, the Z axis and the positions of the first reflective target ball and the second reflective target ball
And a guide frame coordinate system
According to the initial probe coordinate system
And a guide frame coordinate system
Acquiring the initial position of the probeInitial rotation angles of a probe coordinate system and a guide frame coordinate system; when the probe moves to a certain pose, acquiring the motion variables of the forward and backward movement and the rotation around the Z axis of the probe, and correcting the motion variables by adopting the initial rotation angle to obtain a probe coordinate system of the probe in any pose
Preferably, step S23 specifically includes: arranging a third light reflecting target ball at the tail end of the mechanical arm, photographing the third light reflecting target ball at the tail end of the mechanical arm by using the stereoscopic vision high-precision positioning camera to obtain the coordinate of the tail end of the mechanical arm in a camera coordinate system, and simultaneously obtaining the transformation relation between the camera coordinate system and a mechanical arm base coordinate system according to the transformation relation between the mechanical arm tail end coordinate system and the mechanical arm base coordinate system
Transforming the camera coordinate system and the mechanical arm base coordinate system
And a guide frame coordinate system
Multiplying to obtain the transformation relation between the base coordinate system of the mechanical arm and the coordinate system of the guide frame
Preferably, step S24 is specifically: setting a fourth reflective target ball at the operation execution tail end, and photographing the fourth reflective target ball at the operation execution tail end by using the stereoscopic vision high-precision positioning camera to obtain an operation execution tail end coordinate system of the operation execution tail end in the camera coordinate system
Coordinate system of the surgical performing end
And
and
converting to obtain the transformation relation between the coordinate system of the operation executing end and the coordinate system of the mechanical arm end
Generally, compared with the prior art, the coordinate calibration method based on the ultrasonic servo surgical robot provided by the invention has the following beneficial effects:
1. the camera is arranged in the working space of the robot, the coordinate system of the camera is used as a reference, the coordinate systems of different positions of different surgical robots are collected by the camera to be converted with each other, and then the coordinate calibration of the probe and the execution tail end can be obtained.
2. Because the two-dimensional image coordinate system is overlapped with a plane of the probe coordinate system, the change relation between the two-dimensional image and the operation execution tail end can be easily obtained according to the transformation relation between the probe and the execution tail end, so that the unified calibration of the two-dimensional image coordinate system and the operation execution tail end coordinate system is realized.
Drawings
FIG. 1 is a schematic diagram of coordinate calibration of an ultrasonic servo-based surgical robot according to the present embodiment;
FIG. 2 is a step diagram of a coordinate calibration method based on an ultrasonic servo surgical robot according to the present embodiment;
fig. 3 is a schematic diagram of the coordinate calibration method according to the embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, the present invention provides a coordinate calibration method based on an ultrasonic servo surgical robot, where the ultrasonic servo surgical robot includes a mechanical arm, a surgical execution end disposed at the end of the mechanical arm, a guide frame, a motor disposed on the guide frame, and a probe, and the motor drives the probe to rotate during operation. The calibration coordinate system of the present application relates to a two-dimensional IMAGE coordinate system (IMAGE), a PROBE coordinate system (PROBE), a GUIDE frame coordinate system (GUIDE), a robot BASE coordinate system (BASE), a robot END coordinate system (END), a continuum execution coordinate system (WORK), and a CAMERA coordinate system (CAMERA), and the relationship between the coordinate systems is shown in fig. 1 below. The two-dimensional image coordinate system and the three-dimensional probe coordinate system YZ plane or XZ plane are superposed, so that the two-dimensional image coordinate system and the three-dimensional probe coordinate system are not directly marked in the figure.
As shown in FIG. 2, the method includes the following steps S1-S2.
S1: and arranging a stereoscopic vision high-precision positioning camera obliquely above the operation execution tail end and the probe, and acquiring a coordinate system of the stereoscopic vision high-precision positioning camera, namely a camera coordinate system.
The camera coordinate system is set to an absolute coordinate system.
S2: the stereoscopic vision high-precision positioning camera is adopted to photograph the guide frame, the probe, the tail end of the mechanical arm and the tail end of the operation execution respectively, a guide frame coordinate system, a probe coordinate system, a mechanical arm coordinate system and a tail end coordinate system of the operation execution under a camera coordinate system are obtained, the transformation relations between the probe coordinate system and the guide frame coordinate system, between the guide frame coordinate system and the mechanical arm base coordinate system, between the tail end coordinate system of the operation execution and the tail end coordinate system of the mechanical arm are further obtained respectively, and the transformation relations are multiplied step by step to obtain the transformation relations between the probe coordinate system and the tail end coordinate system of the operation execution.
Specifically, the method comprises steps S21-S25.
S21: the stereoscopic vision high-precision positioning camera is adopted to photograph the probe and the guide frame to obtain a probe coordinate system under any pose under a camera coordinate system
And a guide frame coordinate system
Where T is a 4 × 4 homogeneous matrix. The method specifically comprises the following steps 1-3.
Step 1, respectively arranging a first reflective target ball and a second reflective target ball on the probe and the guide frame;
step 2, keeping the guide frame from moving back and forth, starting a motor to drive the probe to rotate for a circle, simultaneously recording a plurality of points on the motion trail of the first reflective target ball by using the stereoscopic vision high-precision positioning camera, and recording the positions of the first reflective target ball and the second reflective target ball after rotation by using the stereoscopic vision high-precision positioning camera;
step 3, fitting the plurality of points to obtain a circle center serving as an origin of the guide frame coordinate system and the initial probe coordinate system, wherein a circle axis obtained by fitting is a Z axis of the guide frame coordinate system and the initial probe coordinate system; obtaining a probe coordinate system under any pose under a camera coordinate system by combining the positions of the first reflective target ball and the second reflective target ball after rotation
And a guide frame coordinate system
Specifically, an initial probe coordinate system of the probe is obtained according to the original point, the Z axis and the positions of the first reflective target ball and the second reflective target ball
And a guide frame coordinate system
Because the position of the origin-determined reflective target ball is determined, and the Z axis is determined, the initial probe coordinate system of the probe can be determined
And a guide frame coordinate system
According to the initial probe coordinate system
And a guide frame coordinate system
Acquiring initial rotation angles of an initial probe coordinate system and a guide frame coordinate system when the probe is in an initial pose;
when the probe moves to a certain pose, acquiring the motion variables of the forward and backward movement and the rotation around the Z axis of the probe, and correcting the motion variables by adopting the initial rotation angle to obtain a probe coordinate system of the probe in any pose
S22: based on the probe coordinate system
And a guide frame coordinate system
Obtaining a transformation relation between a probe coordinate system and a guide frame coordinate system
S23: adopt the stereoscopic vision high accuracyThe positioning camera shoots the tail end of the mechanical arm to obtain the transformation relation between the camera coordinate system and the mechanical arm base coordinate system
Further obtaining the transformation relation between the mechanical arm base coordinate system and the guide frame coordinate system
Specifically, a third reflective target ball is arranged at the tail end of the mechanical arm, the stereoscopic vision high-precision positioning camera is adopted to photograph the third reflective target ball at the tail end of the mechanical arm to obtain the coordinate of the tail end of the mechanical arm in a camera coordinate system, and meanwhile, the transformation relation between the camera coordinate system and a mechanical arm base coordinate system is obtained according to the transformation relation between the mechanical arm tail end coordinate system and the mechanical arm base coordinate system
Transforming the camera coordinate system and the mechanical arm base coordinate system
And a guide frame coordinate system
Multiplying to obtain the transformation relation between the base coordinate system of the mechanical arm and the coordinate system of the guide frame
S24: the stereoscopic vision high-precision positioning camera is adopted to photograph the operation execution tail end to obtain the coordinate system of the operation execution tail end
Obtaining a transformation relation between the coordinate system of the surgical execution end and the coordinate system of the mechanical arm end
Wherein,
the method is characterized in that the transformation relation between a mechanical arm tail end coordinate system and a mechanical arm base coordinate system is directly obtained according to the connecting rod parameters of the mechanical arm.
Specifically, a fourth reflective target ball is arranged at the operation execution end, and the stereoscopic vision high-precision positioning camera is adopted to photograph the fourth reflective target ball at the operation execution end to obtain an operation execution end coordinate system of the operation execution end in the camera coordinate system
Coordinate system of the surgical execution terminal
And
and
converting to obtain the transformation relation between the coordinate system of the operation execution end and the coordinate system of the end of the mechanical arm
S25: according to the above
Then obtaining the transformation relation between the coordinate system of the probe and the coordinate system of the operation executing end
The method of the present application further includes transforming the transformation relationship between the probe coordinate system and the surgical performing tip coordinate system into a transformation relationship between the two-dimensional image coordinate system and the surgical performing tip coordinate system, i.e., as follows, step S3.
S3: and acquiring a transformation relation between a two-dimensional image coordinate system and the probe coordinate system, wherein the two-dimensional image coordinate system is superposed with a coordinate plane of the probe coordinate system, and multiplying the transformation relation between the probe coordinate system and the operation execution tail end coordinate system and the transformation relation between the two-dimensional image coordinate system and the probe coordinate system to obtain the transformation relation between the two-dimensional image coordinate system and the operation execution tail end coordinate system.
The present application calibrates coordinate system transformation relationships by means of representations of the same point in different coordinate systems. As shown in FIG. 3, the specific method is to know two coordinate systems A and B, and respectively record the coordinates of N same spatial points in A, B coordinate system
And
i is 1 … N, the recorded point set is used for constructing an auxiliary coordinate system C, and the transformation relation between the coordinate system A, B and the auxiliary coordinate system C can be obtained from the mapping relation of the point set
And
according to the formula
Can obtain
The transformation relation between the coordinate systems A and B can be calibrated
After a certain point in a two-dimensional image coordinate system is obtained through medical images, the point can be converted into a coordinate system of an operation execution tail end by using the calibration method, and then the operation execution tail end is guided to complete a corresponding operation.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (5)
1. A coordinate calibration method based on an ultrasonic servo surgical robot is characterized in that the ultrasonic servo surgical robot comprises a mechanical arm, a surgical execution tail end arranged at the tail end of the mechanical arm, a guide frame, a motor arranged on the guide frame and a probe, wherein the motor drives the probe to rotate, and the method comprises the following steps:
s1: arranging a stereoscopic vision high-precision positioning camera at the operation execution tail end and obliquely above the probe, and acquiring a coordinate system of the stereoscopic vision high-precision positioning camera, namely a camera coordinate system;
s2: the method comprises the following steps of adopting the stereoscopic vision high-precision positioning camera to respectively photograph the guide frame, the probe, the tail end of the mechanical arm and the operation execution tail end to obtain a guide frame coordinate system, a probe coordinate system, a tail end coordinate system of the mechanical arm and a coordinate system of the operation execution tail end under a camera coordinate system, further respectively obtaining a transformation relation between a probe coordinate system and the guide frame coordinate system, a guide frame coordinate system and a mechanical arm base coordinate system, and a coordinate system of the operation execution tail end and a coordinate system of the tail end of the mechanical arm, multiplying the transformation relations, and transforming step by step to obtain a transformation relation between the probe coordinate system and the tail end coordinate system of the operation execution, and specifically comprising the following steps:
s21: the stereoscopic vision high-precision positioning camera is adopted to photograph the probe and the guide frame to obtain a probe coordinate system under any pose under a camera coordinate system
And a guide frame coordinate system
Wherein T is a 4 × 4 homogeneous matrix; step S21 specifically includes:
step 1, respectively arranging a first reflective target ball and a second reflective target ball on the probe and the guide frame;
step 2, keeping the guide frame from moving back and forth, starting a motor to drive the probe to rotate for a circle, simultaneously recording a plurality of points on the motion trail of the first reflective target ball by using the stereoscopic vision high-precision positioning camera, and recording the positions of the first reflective target ball and the second reflective target ball after rotation by using the stereoscopic vision high-precision positioning camera;
step 3, fitting the plurality of points to obtain a circle center serving as an origin of the guide frame coordinate system and the initial probe coordinate system, wherein a circle axis obtained by fitting is a Z axis of the guide frame coordinate system and the initial probe coordinate system; obtaining a probe coordinate system under any pose under a camera coordinate system by combining the positions of the first reflective target ball and the second reflective target ball after rotation
And a guide frame coordinate system
S22: based on the probe coordinate system
And a guide frame coordinate system
Obtaining a transformation relation between a probe coordinate system and a guide frame coordinate system
S23: the stereoscopic vision high-precision positioning camera is adopted to photograph the tail end of the mechanical arm to obtain the transformation relation between the camera coordinate system and the mechanical arm base coordinate system
Further obtaining the transformation relation between the mechanical arm base coordinate system and the guide frame coordinate system
S24: the stereoscopic vision high-precision positioning camera is adopted to photograph the operation execution tail end to obtain the coordinate system of the operation execution tail end
Obtaining a transformation relation between the coordinate system of the surgical execution end and the coordinate system of the end of the mechanical arm
Wherein,
directly acquiring the transformation relation between a mechanical arm tail end coordinate system and a mechanical arm base coordinate system according to the connecting rod parameters of the mechanical arm;
s25: according to the above
Obtaining the transformation relation between the coordinate system of the probe and the coordinate system of the operation executing end
S3: and acquiring a transformation relation between a two-dimensional image coordinate system and the probe coordinate system, wherein the two-dimensional image coordinate system is superposed with a coordinate plane of the probe coordinate system, and multiplying the transformation relation between the probe coordinate system and the operation execution tail end coordinate system and the transformation relation between the two-dimensional image coordinate system and the probe coordinate system to obtain the transformation relation between the two-dimensional image coordinate system and the operation execution tail end coordinate system.
2. The method according to claim 1, wherein the step S3 includes:
defining the coincidence of a coordinate plane of the two-dimensional image coordinate system and the probe coordinate system, and then obtaining the transformation relation between the two-dimensional image coordinate system and the probe coordinate system
Multiplying the transformation relation between the probe coordinate system and the surgical operation execution tail end coordinate system and the transformation relation between the two-dimensional image coordinate system and the probe coordinate system to obtain the transformation relation between the two-dimensional image coordinate system and the surgical operation execution tail end coordinate system
3. The method according to claim 1, wherein the probe coordinate system in any pose under the camera coordinate system is obtained in the step 3 by combining the positions of the first and second retro-reflective target balls after rotation
And a guide frame coordinate system
The method specifically comprises the following steps:
obtaining an initial probe coordinate system of the probe according to the original point, the Z axis and the positions of the first reflective target ball and the second reflective target ball
And a guide frame coordinate system
According to the initial probe coordinate system
And a guide frame coordinate system
Acquiring initial rotation angles of an initial probe coordinate system and a guide frame coordinate system when the probe is in an initial pose;
when the probe moves to a certain pose, acquiring the motion variables of the probe moving back and forth and rotating around the Z axis, and correcting the motion variables by adopting the initial corner to obtain the probe coordinate system of the probe in any pose
4. The method according to claim 1, wherein step S23 specifically comprises:
arranging a third light reflecting target ball at the tail end of the mechanical arm, photographing the third light reflecting target ball at the tail end of the mechanical arm by using the stereoscopic vision high-precision positioning camera to obtain the coordinate of the tail end of the mechanical arm in a camera coordinate system, and simultaneously obtaining the transformation relation between the camera coordinate system and a mechanical arm base coordinate system according to the transformation relation between the mechanical arm tail end coordinate system and the mechanical arm base coordinate system
Transforming the camera coordinate system and the mechanical arm base coordinate system
And a guide frame coordinate system
Multiplying to obtain the transformation relation between the base coordinate system of the mechanical arm and the coordinate system of the guide frame
5. The method according to claim 1, wherein step S24 is specifically:
setting a fourth reflective target ball at the operation execution tail end, and photographing the fourth reflective target ball at the operation execution tail end by using the stereoscopic vision high-precision positioning camera to obtain an operation execution tail end coordinate system of the operation execution tail end in the camera coordinate system
Coordinate system of the surgical performing end
And
and
converting to obtain the transformation relation between the coordinate system of the operation execution end and the coordinate system of the end of the mechanical arm
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| CN115153782A (en) * | 2022-08-12 | 2022-10-11 | 哈尔滨理工大学 | Puncture robot space registration method under ultrasonic guidance |
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