一种基于平面的手术机器人手眼标定方法

发布时间：2018-05-17 00:07

本文选题：手术机器人 + 手眼标定　；参考：《生物医学工程学杂志》2017年02期

【摘要】：本文针对机械臂末端安装激光测距仪的手术机器人的手眼标定,设计了基于平面模板标定的方法,给出了平面模板的数学模型并推导了求解方法。针对实际系统中存在的测量误差,提出了一种新的关于单平面数据优选的算法,可有效地剔除测量误差大的数据,提高标定精度;在此基础上,进一步提出使用立体正交平面改进标定精度的方法,应用非线性优化方法提高手眼标定精度。为验证精度,使用激光测距仪从不同角度、位置对空间中的某些固定点和一个长方体的表面进行测量。结果表明,单平面方法标定的精度为(1.37±0.24)mm,使用立体正交平面得到的标定精度为(0.37±0.05)mm;测量三维空间点的平均FRE为0.24 mm,平均TRE为0.26 mm;角度的测量偏差最大为0.4°。通过实验验证了本文方法的有效性,同时结果表明本方法的标定精度较高,能够满足手术机器人准确定位的需求。
[Abstract]:Aiming at the hand-eye calibration of the robot with laser rangefinder at the end of the manipulator, this paper designs the calibration method based on the plane template, gives the mathematical model of the plane template and deduces the solution method. In view of the measurement error existing in the actual system, a new algorithm for optimal selection of single plane data is proposed, which can effectively eliminate the data with large measurement error and improve the calibration accuracy. Furthermore, the method of improving calibration accuracy by using stereoscopic orthogonal plane and nonlinear optimization method is proposed to improve the calibration accuracy of hand and eye. To verify the accuracy, the laser rangefinder is used to measure some fixed points in space and the surface of a cuboid from different angles and positions. The results show that the calibration accuracy of single plane method is 1.37 卤0.24 mm, the calibration accuracy of three-dimensional orthogonal plane is 0.37 卤0.05 mm, the average FRE and TRE of three-dimensional space point are 0.24 mm and 0.26 mm, and the maximum angle deviation is 0.4 掳. The effectiveness of the proposed method is verified by experiments, and the results show that the calibration accuracy of this method is high, and it can meet the need of accurate localization of surgical robot.
【作者单位】：清华大学医学院生物医学工程系;华科精准(北京)医疗科技有限公司;
【基金】：国家重点研发计划项目(2016YFC010580) 北京市科技计划(Z151100003915079) 清华大学自主科研项目
【分类号】：TH77;TP242

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