摘要
提出了一种标定患者手术切口位置相对机器人基础坐标系坐标的方法。在机器人小臂的下方安装两个不同倾角的激光源,通过几何关系间接获得患者切口的坐标,为机器人提供必要的腹腔镜姿态信息。利用MATLAB对标定系统误差及切口位置标定误差进行了分析,通过切口标定实验对标定方法及误差分析进行了验证。
A method to calibrate the relative position of patient＇ s cut to the basic coordinate system of the robot was propose in this paper. Two laser lights of different inclinations were installed below the small arm, through the geometric relationship the coordinate of patient＇s cut was measured, and offered the essential laparoscope posture information for the robot control. The accuracy of calibration was analyzed by the use of MATLAB, the method and error analysis were validated by the calibration experiment.
出处
《机械设计与研究》
CSCD
北大核心
2008年第5期34-38,共5页
Machine Design And Research
