Physician-Friendly Tool Center Point Calibration Method for Robot-Assisted Puncture Surgery.
Physician-Friendly Tool Center Point Calibration Method for Robot-Assisted Puncture Surgery.
复制标题
适合医生使用的机器人辅助穿刺手术工具中心点校准方法
DOI：
10.3390/s21020366
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发表时间：
2021-01-07
期刊：
影响因子：
--
通讯作者：
Zhao J
中科院分区：
文献类型：
--
作者：
Zhang L;Li C;Fan Y;Zhang X;Zhao J
在每次更换机器人末端刀具后，必须执行刀具中心点(TCP)校准，以实现对末端刀具的精确控制。这一过程对于机器人辅助的穿刺术也是必不可少的。本文的目的是解决传统的TCP校准方法准确性差、稳定性差、操作依赖性强的问题，提出一种更适合医生使用的TCP校准方法。设计了一种特殊的双目视觉系统，提出了一种基于视觉的同时识别刀具中心点位置(TCPP)和刀具中心点框架(TCPF)的TCP标定算法。精度测试实验证明，所设计的专用双目系统的定位精度为±0.05 mm。实验研究表明，机器人构型集的大小是影响TCPP精度的关键因素。TCPF的精度对机器人构型集不敏感。对比实验表明，与传统方法相比，该方法耗时减少了82%，TCPP精度提高了65%，TCPF精度提高了52%。因此，与传统方法相比，本文提出的方法具有更高的精度、更好的稳定性、更少的时间消耗和对手术的更少依赖，对高精度机器人辅助穿刺术的临床应用具有积极的作用。
After each robot end tool replacement, tool center point (TCP) calibration must be performed to achieve precise control of the end tool. This process is also essential for robot-assisted puncture surgery. The purpose of this article is to solve the problems of poor accuracy stability and strong operational dependence in traditional TCP calibration methods and to propose a TCP calibration method that is more suitable for a physician. This paper designs a special binocular vision system and proposes a vision-based TCP calibration algorithm that simultaneously identifies tool center point position (TCPP) and tool center point frame (TCPF). An accuracy test experiment proves that the designed special binocular system has a positioning accuracy of ±0.05 mm. Experimental research shows that the magnitude of the robot configuration set is a key factor affecting the accuracy of TCPP. Accuracy of TCPF is not sensitive to the robot configuration set. Comparison experiments show that the proposed TCP calibration method reduces the time consumption by 82%, improves the accuracy of TCPP by 65% and improves the accuracy of TCPF by 52% compared to the traditional method. Therefore, the method proposed in this article has higher accuracy, better stability, less time consumption and less dependence on the operations than traditional methods, which has a positive effect on the clinical application of high-precision robot-assisted puncture surgery.
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