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[Optimization of end-tool parameters based on robot hand-eye calibration].
Lilong Zhang1, Tong Cao1, Da Liu2
1School of Mechanical Engineering, USTB, Beijing 100083, P.R.China.
Summary
A novel one-time registration method simplifies surgical robot hand-eye calibration. This approach optimizes end-tool parameters, enhancing positioning accuracy for clinical applications.
Area of Science:
- Robotics
- Surgical Technology
- Computer Vision
Context:
- Surgical robot hand-eye calibration is crucial for precision.
- Existing methods can be time-consuming and complex.
- Accurate calibration is essential for minimally invasive procedures.
Purpose:
- To develop a simplified one-time registration method for surgical robot hand-eye calibration.
- To introduce a practical method for optimizing surgical robot end-tool parameters.
- To enhance the efficiency and accuracy of surgical robot calibration.
Summary:
- A novel one-time registration method uses a fixed binocular camera to recognize an end-tool marker, calculating its position and orientation via robot joint parameters.
- This establishes the relationship between camera and robot base coordinate systems for calibration.
- An error equation, considering manufacturing and assembly inaccuracies, is used with numerical optimization to refine end-tool parameters.
Impact:
- The one-time registration method significantly improves calibration efficiency over existing techniques.
- Parameter optimization enhances the absolute positioning accuracy of the calibration method.
- The improved accuracy meets the stringent requirements for clinical surgical applications.
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