CN107219845A - The system and method that auxiliary robot realizes spatial registration can be manually operated - Google Patents
The system and method that auxiliary robot realizes spatial registration can be manually operated Download PDFInfo
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- CN107219845A CN107219845A CN201710667437.4A CN201710667437A CN107219845A CN 107219845 A CN107219845 A CN 107219845A CN 201710667437 A CN201710667437 A CN 201710667437A CN 107219845 A CN107219845 A CN 107219845A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The system and method that auxiliary robot realizes spatial registration is manually operated the invention discloses a kind of, including substrate, the surface markers of substrate have and the XYZ substrate coordinate systems on the basis of 0 point at 0 point, Calibration Column is housed in substrate surface, the upper end of Calibration Column is connected with demarcation seat, the top of seat is demarcated provided with cone groove, cone groove coordinates with bulb chaining pin；The lower end of bulb chaining pin is spherical diameter 5mm spherical shape ruby, and upper end is connected with excessive flange, and laser pen is provided with excessive flange, and excessive flange is connected with robot.Coordinate position of the entity point under XYZ space coordinate system is known and can verified by measuring；Coordinate position of the entity point under robot coordinate system can be read on the premise of not by other equipment by robot.By contrasting, calculating the coordinate of the group object point under the space coordinates and the coordinate under robot coordinate system, the function transformational relation of two coordinate systems is calculated, so as to realize spatial registration.It is manually operable, and it is easy to operate, easy to maintain, simple in construction, easy to spread.
Description
Technical field
The present invention relates to a kind of medical operating robot spatial registration technology, more particularly to one kind can be manually operated it is auxiliary
Robot is helped to realize the system and method for spatial registration.
Background technology
Registration arrangement can provide motion path as a kind of auxiliary positioning equipment for robot, the information such as target point.Mesh
Using vision or the method for photoelectric tracking more than the registration technique of preceding medical field, such method, which has, to be operated professional height, is difficult
Safeguard, the features such as cost is high, medical personnel are needed to carry out the training of long period before the use, and study could be grasped to operate and wanted
Neck, and once break down, generally require very big energy and be adjusted.
The content of the invention
System and side that auxiliary robot realizes spatial registration are manually operated it is an object of the invention to provide a kind of
Method.
The purpose of the present invention is achieved through the following technical solutions：
The present invention's is manually operated the system that auxiliary robot realizes spatial registration, including substrate, the substrate
Surface markers have and the XYZ substrate coordinate systems on the basis of 0 point at 0 point, process some screwed holes, the screw thread in substrate surface
Calibration Column is connected with hole, the upper end of the Calibration Column is connected with demarcation seat, and the top of the demarcation seat is provided with cone groove, the cone
Groove coordinates with bulb chaining pin；
The lower end of the bulb chaining pin is spherical diameter 5mm spherical shape ruby, and upper end is connected with excessive flange, described
Laser pen is provided with excessive flange, the excessive flange is connected with robot, the robot, bulb chaining pin and laser pen three
Axle center it is conllinear；
Also include the target disc of checking registration accuracy, there is the mark target groove of some concentric annulars the upper surface of the target disc.
The above-mentioned auxiliary robot that is manually operated of the present invention realizes that the system of spatial registration realizes spatial registration
Method, set up out the physical model of a space coordinates, and build wherein one group be used for spatial registration entity point；
The coordinate position of the group object point under the space coordinates is known and verified by measuring；
The coordinate position of the group object point under robot coordinate system can be by machine on the premise of not by other equipment
People reads；
By contrasting, calculating the coordinate of the group object point under the space coordinates and the seat under robot coordinate system
Mark, calculates the function transformational relation of two coordinate systems, so as to realize spatial registration.
As seen from the above technical solution provided by the invention, it is provided in an embodiment of the present invention be manually operated it is auxiliary
Robot is helped to realize the system and method for spatial registration, applied to the spatial registration of medical operating robot, hardware system is built
Go out one group of spatial coordinate location, it is known that and the point that can be read by robot, by contrasting, calculating the group point in hardware system coordinate
Coordinate under system and the coordinate under robot coordinate system, calculate the function transformational relation of two coordinate systems, so as to realize space
Registration.It is manually operable, and it is easy to operate, easy to maintain, simple in construction, easy to spread.
Brief description of the drawings
Fig. 1 is the structural representation of substrate in the embodiment of the present invention；
Fig. 2 a, Fig. 2 b are respectively acceptance of the bid of embodiment of the present invention reservation, Calibration Column, the structural representation and its A of substrate connection
Portion's enlarged diagram；
Fig. 3 is excessive flange, laser pen, the structural representation of bulb chaining pin connection in the embodiment of the present invention；
Fig. 4 a, Fig. 4 b are respectively that acceptance of the bid reservation of the embodiment of the present invention and its structural representation for boring groove and its amplification of B portions are shown
It is intended to；
Fig. 5 is bulb chaining pin and the schematic diagram of demarcation seat close contact effect in the embodiment of the present invention；
Fig. 6 is robot reading demarcation seat central point design sketch in the embodiment of the present invention；
Fig. 7 a, Fig. 7 b are respectively laser pen checking registration accuracy schematic diagram and its amplification signal of C portions in the embodiment of the present invention
Figure.
Embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on this
The embodiment of invention, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to protection scope of the present invention.
The present invention's is manually operated the system that auxiliary robot realizes spatial registration, its preferably specific embodiment party
Formula is：
Including substrate, the surface markers of the substrate have and the XYZ substrate coordinate systems on the basis of 0 point at 0 point, in substrate table
Face processes in some screwed holes, the screwed hole and is connected with Calibration Column, and the upper end of the Calibration Column is connected with demarcation seat, the mark
The top of reservation coordinates provided with cone groove, the cone groove with bulb chaining pin；
The lower end of the bulb chaining pin is spherical diameter 5mm spherical shape ruby, and upper end is connected with excessive flange, described
Laser pen is provided with excessive flange, the excessive flange is connected with robot, the robot, bulb chaining pin and laser pen three
Axle center it is conllinear；
Also include the target disc of checking registration accuracy, there is the mark target groove of some concentric annulars the upper surface of the target disc.
The above-mentioned auxiliary robot that is manually operated of the present invention realizes that the system of spatial registration realizes spatial registration
Method, its preferably embodiment is：
Setting up out the physical model of a space coordinates, and build one group wherein is used for the entity point of spatial registration；
The coordinate position of the group object point under the space coordinates is known and can verified by measuring；
The coordinate position of the group object point under robot coordinate system can be by machine on the premise of not by other equipment
People reads；
By contrasting, calculating the coordinate of the group object point under the space coordinates and the seat under robot coordinate system
Mark, calculates the function transformational relation of two coordinate systems, so as to realize spatial registration.
The present invention's is manually operated the system and method that auxiliary robot realizes spatial registration, applied to medical hand
The spatial registration of art robot.Hardware system build one group of spatial coordinate location, it is known that and the point that can be read by robot, lead to
Cross and contrast, calculate the coordinate of the group point under hardware system coordinate system and the coordinate under robot coordinate system, calculate two seats
The function transformational relation of system is marked, so as to realize spatial registration.It is manually operable, and easy to operate, easy to maintain, simple in construction,
It is easy to spread.
System is constituted：
| Sequence number | Title | Quantity | Material | Remarks |
| 1 | Substrate | 1 | Metal | Machine tooling is molded |
| 2 | Calibration Column | No less than 5 | Metal | Machine tooling is molded |
| 3 | Demarcate seat | Same Calibration Column | Metal | Machine tooling is molded |
| 4 | Bulb chaining pin | 1 | Purchase finished product | |
| 5 | Laser pen | 1 | Purchase finished product | |
| 6 | Target disc | 1 | Metal | Machine tooling is molded |
| 7 | Excessive flange | 1 | Metal | Machine tooling is molded |
Each component function：
Substrate：Provided on its surface and mark and X, Y direction at 0 point, by the right-hand rule, determine Z-direction, thus
In substrate surface, an entities coordinate system has been built, has below been referred to as the coordinate system " substrate coordinate system ".Using 0 point as base
Standard, some screwed holes are processed in substrate surface.
Fig. 1 is board structure figure.
Calibration Column：Quantity is some and height is different, bottom threading, can be arranged in backplate surface, top processing
Screw thread, can connect demarcation seat.
Demarcate seat：Bottom threading, can be arranged on Calibration Column surface, cone groove is arranged at top, for coordinating bulb chaining pin.
Fig. 2 a, Fig. 2 b are demarcation seat, Calibration Column, substrate connection schematic diagram.
Bulb chaining pin：For three-coordinates measuring machine accessory, end is spherical shape ruby, bulb diameter 5mm, and there is outer spiral shell end
Line, can be connected with excessive flange.After being in close contact with demarcation seat, the ruby centre of sphere is overlapped with planar central on demarcation seat.
Laser pen：Laser can be launched, play a part of verifying registration accuracy.
Fig. 3 is excessive flange, laser pen, bulb chaining pin connection diagram.
Target disc：Play a part of verifying registration accuracy, there is the mark target groove of some concentric annulars upper surface.
Excessive flange：For connecting robot, bulb chaining pin and laser pen, and the axle center of three can be made conllinear.
Principle：
After demarcation seat, target disc, Calibration Column, substrate are installed together, physical dimension, substrate coordinate system due to each part
0 point and coordinate direction be known, so under substrate coordinate system each demarcation seat central point, target disc central point coordinate it is equal
Can by calculate obtain (X, Y-coordinate be screw substrate surface location dimension, Z coordinate be Calibration Column, demarcation seat combination after
Height dimension).
Because the coordinate position of local Coordinate System lower end, and bulb chaining pin, the geometry of excessive flange can be read in robot
Size by translation calculation, it is known that therefore after bulb chaining pin, excessive flange are arranged on into robot end, can be obtained：
Coordinate position of the bulb chaining pin central point under robot coordinate system.
When chaining pin bulb is in close contact with demarcation seat cone groove, the cone groove designed according to Pythagorean theorem, it is ensured that bulb
It is closely contacted to from any direction after cone groove, the centre of sphere of the demarcation seat upper surface center all with bulb chaining pin is overlapped.
Fig. 4 a, Fig. 4 b are demarcation seat and its cone slot structure figure.
Fig. 5 is that bulb chaining pin is in close contact design sketch with demarcation seat.
After demarcation seat, target disc, Calibration Column, substrate are installed together, the central point of optional 4 demarcation seat is used as registration
Point, calculates its coordinate under substrate coordinate system, and read out its seat under robot coordinate system by robot respectively
Mark, it is as shown in the table.
After 4 o'clock coordinates under two coordinate systems have been obtained, according to principle of coordinate transformation, two coordinates can be calculated
Conversion formula between system, according to the formula, you can calculate under substrate coordinate system other coordinates under robot coordinate system,
Realize registration.
Specific embodiment：
Laser pen, bulb chaining pin, excessive flange are arranged on robot end.
Each Calibration Column is arranged on substrate.
A Calibration Column is chosen as the Calibration Column of checking registration accuracy, and target disc is arranged on its surface.
Demarcation seat is arranged on remaining Calibration Column surface.
Substrate is put into the position that robot can touch, and ensured in registration process, substrate is transfixion
's.
Hand guided robot motion, is in close contact the cone groove of chaining pin bulb and any one demarcation seat, records survey
Coordinate and correspondence demarcation seat upper surface center coordinate under substrate coordinate system of the pin bulb under robot coordinate system.
Any other three demarcation seat is chosen in addition, repeats aforesaid operations.
According to 4 groups of obtained coordinate values, the transfer function of two coordinate systems is calculated.
According to obtained transfer function, coordinate of the target disc central point under robot coordinate system is calculated.
Target disc center point coordinate is input in robot, will be target apart from the position of 30mm above target disc central point
Point, and posture of the robot in the target point is set, excessive flange center's line is passed through target point and target disc central point.
Remove bulb chaining pin.
Switch robot to automatic running state, it is moved to target location by preset posture.
Laser pen is opened, projected position of the laser on target disc surface is checked, the offset at projector distance center is that representative is matched somebody with somebody
Quasi- error.
Registration accuracy can be verified repeatedly by adjusting aiming spot.
Fig. 6 is that robot reads demarcation seat central point design sketch.
Fig. 7 a, Fig. 7 b are that laser pen verifies registration accuracy schematic diagram.
Through actual measurement, the registration error of the system has easy to operate within ± 2mm, it is easy to safeguard, simple in construction,
The features such as being easy to promote.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art is in the technical scope of present disclosure, the change or replacement that can be readily occurred in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Enclose and be defined.
Claims (2)
1. a kind of be manually operated the system that auxiliary robot realizes spatial registration, it is characterised in that described including substrate
The surface markers of substrate have and the XYZ substrate coordinate systems on the basis of 0 point at 0 point, and some screwed holes are processed in substrate surface, described
Calibration Column is connected with screwed hole, the upper end of the Calibration Column is connected with demarcation seat, and the top of the demarcation seat is provided with cone groove, institute
Cone groove is stated with bulb chaining pin to coordinate；
The lower end of the bulb chaining pin is spherical diameter 5mm spherical shape ruby, and upper end is connected with excessive flange, described excessive
Laser pen is provided with flange, the excessive flange is connected with robot, the axle of the robot, bulb chaining pin and laser pen three
The heart is conllinear；
Also include the target disc of checking registration accuracy, there is the mark target groove of some concentric annulars the upper surface of the target disc.
2. the auxiliary robot that is manually operated described in a kind of claim 1 realizes that the system of spatial registration realizes that space is matched somebody with somebody
Accurate method, it is characterised in that set up out the physical model of a space coordinates, and build one group wherein and match somebody with somebody for space
Accurate entity point；
The coordinate position of the group object point under the space coordinates is known and can verified by measuring；
The coordinate position of the group object point under robot coordinate system can be read on the premise of not by other equipment by robot
Take；
By contrasting, calculating the coordinate of the group object point under the space coordinates and the coordinate under robot coordinate system, meter
The function transformational relation of two coordinate systems is calculated, so as to realize spatial registration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710667437.4A CN107219845B (en) | 2017-08-07 | 2017-08-07 | System and method for realizing space registration by manually operating auxiliary robot |
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|---|---|---|---|
| CN201710667437.4A CN107219845B (en) | 2017-08-07 | 2017-08-07 | System and method for realizing space registration by manually operating auxiliary robot |
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| CN107219845B CN107219845B (en) | 2023-07-25 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108068122A (en) * | 2017-12-26 | 2018-05-25 | 中国科学院合肥物质科学研究院 | A kind of large ship groove face processing unit (plant) and localization method |
| CN108742846A (en) * | 2018-04-08 | 2018-11-06 | 上海联影医疗科技有限公司 | Operating robot space coordinates calibration equipment and apply its method of calibration |
| CN109848989A (en) * | 2019-01-25 | 2019-06-07 | 武汉理工大学 | A kind of robot execution end automatic Calibration and detection method based on ruby probe |
| CN112370171A (en) * | 2020-11-13 | 2021-02-19 | 山东中医药大学附属医院 | Parallel universal clamping device with calibration and use method thereof |
| CN114038582A (en) * | 2021-11-19 | 2022-02-11 | 中国科学院合肥物质科学研究院 | Measuring target holder for supporting and assembling of parts in vacuum chamber of future fusion reactor and using method thereof |
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| CN105058387A (en) * | 2015-07-17 | 2015-11-18 | 北京航空航天大学 | Industrial robot base coordinate system calibration method based on laser tracker |
| CN105509671A (en) * | 2015-12-01 | 2016-04-20 | 中南大学 | Method for calibrating central point of robot tool through employing plane calibration plate |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108068122A (en) * | 2017-12-26 | 2018-05-25 | 中国科学院合肥物质科学研究院 | A kind of large ship groove face processing unit (plant) and localization method |
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| CN108742846B (en) * | 2018-04-08 | 2020-06-19 | 武汉联影智融医疗科技有限公司 | Surgical robot space coordinate system calibration device and calibration method applying same |
| CN109848989A (en) * | 2019-01-25 | 2019-06-07 | 武汉理工大学 | A kind of robot execution end automatic Calibration and detection method based on ruby probe |
| CN109848989B (en) * | 2019-01-25 | 2021-03-16 | 武汉理工大学 | Robot execution tail end automatic calibration and detection method based on ruby probe |
| CN112370171A (en) * | 2020-11-13 | 2021-02-19 | 山东中医药大学附属医院 | Parallel universal clamping device with calibration and use method thereof |
| CN114038582A (en) * | 2021-11-19 | 2022-02-11 | 中国科学院合肥物质科学研究院 | Measuring target holder for supporting and assembling of parts in vacuum chamber of future fusion reactor and using method thereof |
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| CN107219845B (en) | 2023-07-25 |
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