CN109077822A - A kind of the dentistry plantation mobile phone calibration system and method for view-based access control model measurement - Google Patents
A kind of the dentistry plantation mobile phone calibration system and method for view-based access control model measurement Download PDFInfo
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- CN109077822A CN109077822A CN201810650314.4A CN201810650314A CN109077822A CN 109077822 A CN109077822 A CN 109077822A CN 201810650314 A CN201810650314 A CN 201810650314A CN 109077822 A CN109077822 A CN 109077822A
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- China
- Prior art keywords
- mobile phone
- optical markings
- dentistry
- location hole
- positional relationship
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C8/00—Means to be fixed to the jaw-bone for consolidating natural teeth or for fixing dental prostheses thereon; Dental implants; Implanting tools
- A61C8/0089—Implanting tools or instruments
Abstract
The present invention provides the dentistry plantation mobile phone calibration system and method for a kind of measurement of view-based access control model, system includes: dentistry plantation mobile phone, calibrating block, auxiliary fixing device, vision measurement system and processor；Several the first optical markings are installed on the dentistry plantation mobile phone, there are several second optical markings in the calibrating block；The processor is for obtaining position and attitude of first optical markings in the vision measurement systemAnd position and attitude of second optical markings in vision measurement systemAnd the positional relationship according to the second optical markings relative to location holeAnd it is describedWith it is describedObtain positional relationship of the location hole relative to the first optical markingsAccording to describedObtain location position result of the drill bit of dentistry plantation mobile phone end in dentistry plantation mobile phone optical markings coordinate system m1.The present invention can obtain location position result of the drill bit of accurate dentistry plantation mobile phone end in dentistry plantation mobile phone optical markings coordinate system.
Description
Technical field
The present invention relates to medical robot technical fields, and in particular to a kind of dentistry plantation mobile phone mark of view-based access control model measurement
Determine system and method.
Background technique
Traditional dentistry implant operation due to narrow space in patient oral cavity and to the factors such as doctors experience is more demanding,
Popularity at home is not high.And with the raising of the aggravation of aging of population and people's living standard, need kind of a tooth
People it is more and more.Therefore, assisted using optics/electromagnetic navigation equipment or medical robot doctor carry out the operation of kind of tooth at
For the hot spot of current research.
Operation guiding system, be by patient is preoperative or art on image data and operating bed differences in patient it is accurately right
It answers, surgical instrument is tracked in operation and the real-time update in the form of virtual probe is shown on patient's image by the position of surgical instrument
Show, keep doctor very clear with respect to the position of differences in patient to surgical instrument, makes surgical operation more rapidly, more accurately, more
Safety.
In order to carry out surgical navigational, it will usually specific mark point is fixed in surgical instrument, in order to navigation equipment into
Row tracking.What navigation equipment was tracked is the position of mark point rather than the position of actual operation instrument end (drill bit), is generally needed
Calibration is carried out to positional relationship between the two could obtain position and the posture of instrument end by coordinate system transformation.For
Precision controlling is extremely important for tooth-implanting operation, it is likely that because a lesser error results in operative failure.Therefore hand
The calibration of art instrument is a very crucial step.It is irregular that dentistry plants its shape of mobile phone, and processes and exist with assembling process
Error determines that the position of surgical instrument end may be inaccurate according to the size in drawing, and uses traditional measurement method
Also it is difficult to obtain accurate positional relationship.
Summary of the invention
For the defects in the prior art, the present invention provides a kind of dentistry plantation mobile phone calibration system of view-based access control model measurement
And method.
Specifically, the present invention the following technical schemes are provided:
In a first aspect, the present invention provides a kind of dentistry of view-based access control model measurement to plant mobile phone calibration system, comprising: dentistry
Plant mobile phone, calibrating block, auxiliary fixing device, vision measurement system and processor；
Dentistry plantation mobile phone end is equipped with drill bit, and location hole, the drill bit insertion are provided in the calibrating block
In the location hole；The dentistry plantation one end of mobile phone far from the drill bit is fixed by the auxiliary fixing device；
The location hole and the auxiliary fixing device make the dentistry plantation mobile phone be in stable state jointly；
Several the first optical markings are installed on the dentistry plantation mobile phone, there are several second light in the calibrating block
Learn label；
The processor is for obtaining position and attitude of first optical markings in the vision measurement systemAnd institute
State position and attitude of second optical markings in vision measurement systemAnd according to the second optical markings relative to location hole
Positional relationshipAnd it is describedWith it is describedObtain positional relationship of the location hole relative to the first optical markingsIts
In, the measuring accuracy of the vision measurement system is located in the first default accuracy range；
According to describedThe drill bit for obtaining dentistry plantation mobile phone end plants mobile phone optical markings coordinate system in the dentistry
Location position result in m1；
Wherein, m1 indicates that dentistry plants mobile phone optical markings coordinate system；M2 indicates calibrating block optical markings coordinate system；V table
Show vision measurement system coordinate system；Positional relationship of second optical markings relative to location holeIt, should for predetermined definite value
The accuracy of definite value is located in the second default accuracy range.
Further, positional relationship of the processor according to the second optical markings relative to location holeAnd it is describedWith it is describedObtain positional relationship of the location hole relative to the first optical markingsInclude:
Positional relationship of the processor according to the second optical markings relative to location holeAnd it is describedWith it is describedPositional relationship of the location hole relative to the first optical markings is obtained using following first relational model
Further, the auxiliary fixing device includes V-groove and pressing plate, and the dentistry plantation mobile phone is far from the drill bit
One end positioned and supported by the V-groove, and be fixed by the pressing plate.
Second aspect, the present invention also provides a kind of dentistry of view-based access control model measurement to plant mobile phone scaling method, comprising:
Obtain several positions of the first optical markings in preset vision measurement system being located on dentistry plantation mobile phone
Set postureAnd several position and attitudes of the second optical markings in the vision measurement system in calibrating blockWherein, dentistry plantation mobile phone end is equipped with drill bit, and location hole, the drill bit insertion are provided in the calibrating block
In the location hole；The dentistry plantation one end of mobile phone far from the drill bit is fixed by the auxiliary fixing device；
The location hole and the auxiliary fixing device make the dentistry plantation mobile phone be in position determination and stable state jointly；
Wherein, the measuring accuracy of the vision measurement system is located in the first default accuracy range；
Positional relationship according to the second optical markings relative to location holeAnd it is describedWith it is describedIt is fixed to obtain
Positional relationship of the position hole relative to the first optical markings
According to describedThe drill bit for obtaining dentistry plantation mobile phone end plants mobile phone optical markings coordinate system in the dentistry
Location position result in m1；
Wherein, m1 indicates that dentistry plants mobile phone optical markings coordinate system；M2 indicates calibrating block optical markings coordinate system；V table
Show vision measurement system coordinate system；Positional relationship of second optical markings relative to location holeFor predetermined definite value,
The accuracy of the definite value is located in the second default accuracy range.
Further, the positional relationship according to the second optical markings relative to location holeAnd it is describedAnd institute
It statesObtain positional relationship of the location hole relative to the first optical markingsInclude:
Positional relationship according to the second optical markings relative to location holeAnd it is describedWith it is describedUnder utilization
The first relational model of face obtains positional relationship of the location hole relative to the first optical markings
Further, the auxiliary fixing device includes V-groove and pressing plate, and the dentistry plantation mobile phone is far from the drill bit
One end positioned and supported by the V-groove, and be fixed by the pressing plate.
The third aspect, the present invention also provides a kind of electronic equipment, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, it realizes when the processor executes described program and is based on as described in second aspect
The dentistry of vision measurement plants the step of mobile phone scaling method.
Fourth aspect, the present invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, should
The dentistry for realizing that the view-based access control model as described in second aspect measures when computer program is executed by processor plants mobile phone scaling method
The step of.
As shown from the above technical solution, the dentistry of view-based access control model measurement provided by the invention plants mobile phone calibration system, packet
Include: dentistry plants mobile phone, calibrating block, auxiliary fixing device, vision measurement system and processor；The dentistry plants mobile phone end
Drill bit is installed, location hole is provided in the calibrating block, the drill bit is inserted in the location hole；The dentistry plants hand
The one end of machine far from the drill bit is fixed by the auxiliary fixing device；The location hole and the auxiliary fixing device are total
Stable state is in making the dentistry plant mobile phone；Several the first optics marks are installed on the dentistry plantation mobile phone
Remember there are several the second optical markings in the calibrating block；The processor is for obtaining the first optical markings in the vision
Position and attitude in measuring systemAnd position and attitude of second optical markings in vision measurement systemAnd root
Positional relationship according to the second optical markings relative to location holeAnd it is describedWith it is describedObtain location hole relative to
The positional relationship of first optical markingsAccording to describedThe drill bit of dentistry plantation mobile phone end is obtained in the dentistry kind
Plant the location position result in mobile phone optical markings coordinate system m1.As it can be seen that due toIt is determined that when being calibrating block design processing
, andWithAll be measured according to vision measurement system come value, thus calibrated error depends mainly on the size of calibrating block
Machining accuracy and vision measurement system measurement accuracy, thus the essence that the equipment of the calibrating block is processed in control can be passed through
The measurement accuracy of close degree and vision measurement system, by calibrated error control in lesser range, to obtain compared with subject to
True calibration result, namely the drill bit of accurate dentistry plantation mobile phone end is obtained in dentistry plantation mobile phone optics mark
Remember the location position result in coordinate system m1.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is the structural representation of the dentistry plantation mobile phone calibration system for the view-based access control model measurement that one embodiment of the invention provides
Figure；
Fig. 2 is the schematic diagram that dentistry plantation mobile phone is fixed far from one end of the drill bit for V-groove；
Fig. 3 be another embodiment of the present invention provides view-based access control model measurement dentistry plantation mobile phone scaling method process
Figure；
Fig. 4 is the structural schematic diagram for the electronic equipment that further embodiment of this invention provides.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
The dentistry plantation mobile phone calibration system that one embodiment of the invention provides a kind of view-based access control model measurement should referring to Fig. 1
System includes: dentistry plantation mobile phone, calibrating block, auxiliary fixing device (not shown), vision measurement system and processor (figure
In be not shown)；
Dentistry plantation mobile phone end is equipped with drill bit, and location hole, the drill bit insertion are provided in the calibrating block
In the location hole；The dentistry plantation one end of mobile phone far from the drill bit is fixed by the auxiliary fixing device；
The location hole and the auxiliary fixing device make the dentistry plantation mobile phone be in stable state jointly；
Several the first optical markings are installed on the dentistry plantation mobile phone, there are several second light in the calibrating block
Learn label；
The processor is for obtaining position and attitude of first optical markings in the vision measurement systemAnd institute
State position and attitude of second optical markings in vision measurement systemAnd according to the second optical markings relative to location hole
Positional relationshipAnd it is describedWith it is describedObtain positional relationship of the location hole relative to the first optical markingsIts
In, the measuring accuracy of the vision measurement system is located in the first default accuracy range；M1 indicates that dentistry plants mobile phone light
Learn label coordinate system；M2 indicates calibrating block optical markings coordinate system；V indicates vision measurement system coordinate system；Second optical markings
Positional relationship relative to location holeAccuracy for predetermined definite value, the definite value is located at the second default accuracy model
In enclosing.
The processor is according toThe drill bit for obtaining dentistry plantation mobile phone end plants mobile phone optics in the dentistry
Mark the location position result in coordinate system m1；
It is understood that in tooth-implanting operation, it will usually fixed special on surgical instrument (such as dentistry plantation mobile phone)
Fixed mark point (such as the first optical markings), in order to which navigation equipment is tracked, navigation equipment tracking is mark point (such as the
One optical markings) position rather than the position of actual operation instrument end (such as drill bit), therefore generally require between the two
Positional relationship carry out calibration could by coordinate system transformation acquisition instrument end (such as drill bit) position and posture.And for kind
Precision controlling is extremely important for dental implant surgical, it is likely that because a lesser error results in operative failure, to mark
The accuracy for remembering the positional relationship calibration of point (such as the first optical markings) and surgical instrument end (such as drill bit) between the two is hand
The key of art success or failure, therefore, the first default accuracy range and the second default accuracy range described in the present embodiment are can
By be located at dentistry plantation mobile phone end drill bit be located at dentistry plantation mobile phone on the first optical markings carry out accurate calibration with
It can satisfy the accuracy range of tooth-implanting operation exact requirements.
It is understood that (height for being mounted on the black and white on dentistry plantation mobile phone in Fig. 1 is right for three the first optical markings
Than degree pattern) it may be constructed a dentistry plantation mobile phone optical markings coordinate system m1, vision measurement system (such as binocular camera)
It can be measured position and posture of this dentistry plantation mobile phone optical markings coordinate system m1 relative to vision measurement system coordinate system.
Similarly, three the second optical markings (the high contrast pattern for the black and white being mounted in calibrating block in Fig. 1) may be constructed one
Calibrating block optical markings coordinate system m2, vision measurement system (such as binocular camera) can be measured this calibrating block optical markings seat
Position and posture of the mark system m2 relative to vision measurement system coordinate system, it is described so as to obtainWith it is described
It is understood that the final purpose of the present embodiment be obtain plantation mobile phone end surgical instrument coordinate system it is opposite
Relative positional relationship between plantation mobile phone optical markings coordinate system m1 (because since plantation mobile phone shape is irregular, and is deposited
In rigging error, can not accurately obtain very much this value), and due to dentistry plantation mobile phone be fixed in the calibrating block with
The position of whole part and posture determine that afterwards, therefore the surgical instrument coordinate system and positioning coordinate of dentistry plantation mobile phone end
Be c (location coordinate c is the coordinate system determined by the location hole in calibrating block) unanimously, therefore location hole is relative to the first optics
The positional relationship of labelAlso the drill bit just with dentistry plantation mobile phone end plants mobile phone optical markings coordinate system in the dentistry
Positional relationship in m1 is consistent, therefore, describedAs the drill bit of dentistry plantation mobile phone end plants mobile phone light in the dentistry
Learn the location position result in label coordinate system m1.
As seen from the above description, the dentistry of view-based access control model measurement provided in this embodiment plants mobile phone calibration system, comprising:
Dentistry plants mobile phone, calibrating block, auxiliary fixing device, vision measurement system and processor；Dentistry plantation mobile phone end peace
Equipped with drill bit, location hole is provided in the calibrating block, the drill bit is inserted in the location hole；The dentistry plants mobile phone
One end far from the drill bit is fixed by the auxiliary fixing device；The location hole and the auxiliary fixing device are common
So that the dentistry plantation mobile phone is in stable state；Several the first optical markings are installed on the dentistry plantation mobile phone,
There are several the second optical markings in the calibrating block；The processor is for obtaining the first optical markings in the vision measurement
Position and attitude in systemAnd position and attitude of second optical markings in vision measurement systemAnd according to
Positional relationship of two optical markings relative to location holeAnd it is describedWith it is describedLocation hole is obtained relative to first
The positional relationship of optical markingsAccording to describedThe drill bit for obtaining dentistry plantation mobile phone end plants hand in the dentistry
Location position result in machine optical markings coordinate system m1.As it can be seen that due toIt is determined that when being calibrating block design processing,
AndWithAll be measured according to vision measurement system come value, thus calibrated error depend mainly on the size of calibrating block plus
The measurement accuracy of work precision and vision measurement system, thus the accurate journey of the equipment of the calibrating block can be processed by control
The measurement accuracy of degree and vision measurement system, by calibrated error control in lesser range, to obtain accurate
Calibration result, namely the drill bit of accurate dentistry plantation mobile phone end is obtained in dentistry plantation mobile phone optical markings seat
Location position result in mark system m1.
In a preferred embodiment, according to coordinate system transformational relationTherefore the processor root
Positional relationship according to the second optical markings relative to location holeAnd it is describedWith it is describedObtain location hole relative to
The positional relationship of first optical markingsIt specifically includes:
Positional relationship of the processor according to the second optical markings relative to location holeAnd it is describedWith it is describedPositional relationship of the location hole relative to the first optical markings is obtained using following first relational model
In a preferred embodiment, several described first optical markings are arranged in the dentistry plantation mobile phone
Between the band of position.
It is understood that the middle position region that the dentistry plantation mobile phone is arranged in the first optical markings is not easy
It is blocked by the calibrating block or the auxiliary locator, so as to facilitate vision measurement system to acquire the first optical markings
Situation, and then facilitate the position for obtaining dentistry plantation mobile phone optical markings coordinate system m1 relative to vision measurement system coordinate system
It sets and posture.
In a preferred embodiment, referring to fig. 2, the auxiliary fixing device includes V-groove and pressing plate, the dentistry
The plantation one end of mobile phone far from the drill bit is positioned and is supported by the V-groove, and is fixed by the pressing plate.
It is understood that the processing is simple for V-groove, can soon part be carried out by being aided with the fixtures such as pressing plate or buting iron
It positions and fixed, it is fine especially for revolving parts (such as dentistry plantation mobile phone) effect, in this way, by the calibrating block
The position of location hole and the V-groove structure, dentistry plantation mobile phone is just fully defined.
It is understood that a step of most critical is to design reasonable positioning method to determine dentistry in being demarcated
Plant the relative position of mobile phone and calibrating block.It in the present embodiment, will be on dentistry plantation mobile phone end drill bit insertion locating piece
It in location hole (axis that positioning datum is hole), while planting cylindrical surface at mobile phone handle and being positioned with V-groove, so that it is guaranteed that tooth
Section plants mobile phone and can be fixed by firm.
In the present embodiment, the calibrating block is processed with precision instrument, optical markings in calibrating block and fixed
The relative positional relationship in position hole is determining and can accurately obtain, and uses homogeneous transform matrixTo indicate (calibrating block
Pose of the optical markings coordinate system m2 relative to location coordinate c).
In the present embodiment, position and attitude of the second optical markings in the calibrating block in vision measurement system can root
It is measured according to range of triangle or Binocular vision photogrammetry principle, uses homogeneous matrixTo indicate.Similarly, on dentistry plantation mobile phone
Position and attitude homogeneous matrix of first optical markings in vision measurement systemTo indicate.Wherein, dentistry plants mobile phone
Optical markings coordinate system is using drill bit as origin.
It is understood that dentistry plants mobile phone clamping, the position of whole part and posture are determined that later in calibrating block
, at this time dentistry plantation mobile phone end surgical instrument coordinate system it is consistent with location coordinate.The present embodiment calibration purpose be
In order to obtain the surgical instrument coordinate system of dentistry plantation mobile phone end relative between dentistry plantation mobile phone optical markings coordinate system
Relative positional relationship.
Had according to coordinate system transformational relation:
It can then calculate
Obtain homogeneous matrixAfterwards, that is, it may know that mobile phone optical markings coordinate system m1 is planted in dentistry in end drill bit tip
In position and plantation the practical posture of mobile phone.
It is understood that matrixIt is determined that when being calibrating block design processing,WithIt is all according to vision
The value that measuring system measurement obtains.Calibrated error depends mainly on the size of the machining accuracy and vision measurement system of calibrating block
Measurement accuracy.If high-precision vision measuring system is processed and selected using precision equipment, calibrated error will be controlled
Within a preset range, this calibrated error preset range is set system on the basis of it can satisfy tooth-implanting operation exact requirements
It is fixed.
Based on identical inventive concept, another embodiment of the present invention provides a kind of dentistry of view-based access control model measurement to plant hand
Machine scaling method, referring to Fig. 3, this method comprises the following steps:
Step 101: obtaining several first optical markings being located on dentistry plantation mobile phone in preset vision measurement system
Position and attitude in systemAnd several positions of the second optical markings in the vision measurement system in calibrating block
Set postureWherein, the measuring accuracy of the vision measurement system is located in the first default accuracy range；The dentistry
Plantation mobile phone end is equipped with drill bit, location hole is provided in the calibrating block, the drill bit is inserted in the location hole；Institute
The dentistry plantation one end of mobile phone far from the drill bit is stated to be fixed by the auxiliary fixing device；The location hole and described auxiliary
Help fixed device that the dentistry plantation mobile phone is made to be in stable state jointly.
Step 102: the positional relationship according to the second optical markings relative to location holeAnd it is describedWith it is describedObtain positional relationship of the location hole relative to the first optical markingsWherein, m1 indicates that dentistry plants mobile phone optical markings
Coordinate system；M2 indicates calibrating block optical markings coordinate system；V indicates vision measurement system coordinate system；Second optical markings relative to
The positional relationship of location holeAccuracy for predetermined definite value, the definite value is located in the second default accuracy range.
Step 103: according to describedThe drill bit for obtaining dentistry plantation mobile phone end plants mobile phone optics mark in the dentistry
Remember the location position result in coordinate system m1.
It is understood that in tooth-implanting operation, it will usually fixed special on surgical instrument (such as dentistry plantation mobile phone)
Fixed mark point (such as the first optical markings), in order to which navigation equipment is tracked, navigation equipment tracking is mark point (such as the
One optical markings) position rather than the position of actual operation instrument end (such as drill bit), therefore generally require between the two
Positional relationship carry out calibration could by coordinate system transformation acquisition instrument end (such as drill bit) position and posture.And for kind
Precision controlling is extremely important for dental implant surgical, it is likely that because a lesser error results in operative failure, to mark
The accuracy for remembering the positional relationship calibration of point (such as the first optical markings) and surgical instrument end (such as drill bit) between the two is hand
The key of art success or failure, therefore, the first default accuracy range and the second default accuracy range described in the present embodiment are can
By be located at dentistry plantation mobile phone end drill bit be located at dentistry plantation mobile phone on the first optical markings carry out accurate calibration with
It can satisfy the accuracy range of tooth-implanting operation exact requirements.
It is understood that the final purpose of the present embodiment be obtain plantation mobile phone end surgical instrument coordinate system it is opposite
Relative positional relationship between plantation mobile phone optical markings coordinate system m1 (because since plantation mobile phone shape is irregular, and is deposited
In installation error, can not accurately obtain very much this value), and due to dentistry plantation mobile phone be fixed in the calibrating block with
The position of whole part and posture determine that afterwards, therefore the surgical instrument coordinate system and positioning coordinate of dentistry plantation mobile phone end
Be c (location coordinate c is the coordinate system determined by the location hole in calibrating block) unanimously, therefore location hole is relative to the first optics
The positional relationship of labelAlso the drill bit just with dentistry plantation mobile phone end plants mobile phone optical markings coordinate system in the dentistry
Positional relationship in m1 is consistent, therefore, describedAs the drill bit of dentistry plantation mobile phone end plants mobile phone in the dentistry
Location position result in optical markings coordinate system m1.
In a preferred embodiment, according to coordinate system transformational relationTherefore the step 102
It can be accomplished in that
Positional relationship according to the second optical markings relative to location holeAnd it is describedWith it is describedUnder utilization
The first relational model of face obtains positional relationship of the location hole relative to the first optical markings
In a preferred embodiment, several described first optical markings are mounted in the dentistry plantation mobile phone
Between the band of position.
In a preferred embodiment, the auxiliary fixing device includes V-groove and pressing plate, and the dentistry plants mobile phone
One end far from the drill bit is positioned and is supported by the V-groove, and is fixed by the pressing plate.
It should be noted that the dentistry plantation mobile phone scaling method of view-based access control model provided in an embodiment of the present invention measurement with it is upper
The treatment process for stating system is similar, and particular content can participate in the description of above-described embodiment, and and will not be described here in detail.
In addition, it should be noted that, the dentistry of view-based access control model measurement provided in an embodiment of the present invention plants mobile phone calibration side
Method can be implemented separately, and the system can also realize which is not limited by the present invention based on the above embodiment.
Based on identical inventive concept, further embodiment of this invention provides a kind of electronic equipment, referring to fig. 4, the electricity
Sub- equipment specifically includes following content: processor 701, memory 702, communication interface 703 and bus 704；
Wherein, the processor 701, memory 702, communication interface 703 complete mutual lead to by the bus 704
Letter；The communication interface 703 is for realizing the information between the relevant devices such as each modeling software and intelligent manufacturing equipment module library
Transmission；
The processor 701 is used to call the computer program in the memory 702, and the processor executes the meter
The Overall Steps in the dentistry plantation mobile phone scaling method of the measurement of view-based access control model described in above-described embodiment are realized when calculation machine program,
For example, the processor realizes following step when executing the computer program:
Step 101: obtaining several first optical markings being located on dentistry plantation mobile phone in preset vision measurement system
Position and attitude in systemAnd several positions of the second optical markings in the vision measurement system in calibrating block
Set postureWherein, the measuring accuracy of the vision measurement system is located in the first default accuracy range；The dentistry
Plantation mobile phone end is equipped with drill bit, location hole is provided in the calibrating block, the drill bit is inserted in the location hole；Institute
The dentistry plantation one end of mobile phone far from the drill bit is stated to be fixed by the auxiliary fixing device；The location hole and described auxiliary
Help fixed device that the dentistry plantation mobile phone is made to be in stable state jointly.
Step 102: the positional relationship according to the second optical markings relative to location holeAnd it is describedWith it is describedObtain positional relationship of the location hole relative to the first optical markingsWherein, m1 indicates that dentistry plants mobile phone optical markings
Coordinate system；M2 indicates calibrating block optical markings coordinate system；V indicates vision measurement system coordinate system；Second optical markings relative to
The positional relationship of location holeAccuracy for predetermined definite value, the definite value is located in the second default accuracy range.
Step 103: according to describedThe drill bit for obtaining dentistry plantation mobile phone end plants mobile phone optics mark in the dentistry
Remember the location position result in coordinate system m1.
Based on identical inventive concept, further embodiment of this invention provides a kind of computer readable storage medium, the meter
It is stored with computer program on calculation machine readable storage medium storing program for executing, which realizes above-described embodiment institute when being executed by processor
Overall Steps in the dentistry plantation mobile phone scaling method for the view-based access control model measurement stated, for example, the processor executes the meter
Following step is realized when calculation machine program:
Step 101: obtaining several first optical markings being located on dentistry plantation mobile phone in preset vision measurement system
Position and attitude in systemAnd several positions of the second optical markings in the vision measurement system in calibrating block
Set postureWherein, the measuring accuracy of the vision measurement system is located in the first default accuracy range；The dentistry
Plantation mobile phone end is equipped with drill bit, location hole is provided in the calibrating block, the drill bit is inserted in the location hole；Institute
The dentistry plantation one end of mobile phone far from the drill bit is stated to be fixed by the auxiliary fixing device；The location hole and described auxiliary
Help fixed device that the dentistry plantation mobile phone is made to be in stable state jointly.
Step 102: the positional relationship according to the second optical markings relative to location holeAnd it is describedWith it is describedObtain positional relationship of the location hole relative to the first optical markingsWherein, m1 indicates that dentistry plants mobile phone optical markings
Coordinate system；M2 indicates calibrating block optical markings coordinate system；V indicates vision measurement system coordinate system；Second optical markings relative to
The positional relationship of location holeAccuracy for predetermined definite value, the definite value is located in the second default accuracy range.
Step 103: according to describedThe drill bit for obtaining dentistry plantation mobile phone end plants mobile phone optics mark in the dentistry
Remember the location position result in coordinate system m1.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The above examples are only used to illustrate the technical scheme of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these are modified or replace
It changes, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (8)
1. a kind of dentistry of view-based access control model measurement plants mobile phone calibration system characterized by comprising dentistry plants mobile phone, mark
Determine block, auxiliary fixing device, vision measurement system and processor；
Dentistry plantation mobile phone end is equipped with drill bit, location hole is provided in the calibrating block, the drill bit is inserted in institute
It states in location hole；The dentistry plantation one end of mobile phone far from the drill bit is fixed by the auxiliary fixing device；It is described
Location hole and the auxiliary fixing device make the dentistry plantation mobile phone be in stable state jointly；
Several the first optical markings are installed on the dentistry plantation mobile phone, there are several the second optics marks in the calibrating block
Note；
The processor is for obtaining position and attitude of first optical markings in the vision measurement systemAnd described
Position and attitude of two optical markings in vision measurement systemAnd the position according to the second optical markings relative to location hole
RelationshipAnd it is describedWith it is describedObtain positional relationship of the location hole relative to the first optical markingsWherein,
The measuring accuracy of the vision measurement system is located in the first default accuracy range；
According to describedThe drill bit of dentistry plantation mobile phone end is obtained in dentistry plantation mobile phone optical markings coordinate system m1
Location position result；
Wherein, m1 indicates that dentistry plants mobile phone optical markings coordinate system；M2 indicates calibrating block optical markings coordinate system；V indicates view
Feel measuring system coordinate system；Positional relationship of second optical markings relative to location holeFor predetermined definite value, this is fixed
The accuracy of value is located in the second default accuracy range.
2. system according to claim 1, which is characterized in that the processor is according to the second optical markings relative to positioning
The positional relationship in holeAnd it is describedWith it is describedObtain positional relationship of the location hole relative to the first optical markingsInclude:
Positional relationship of the processor according to the second optical markings relative to location holeAnd it is describedWith it is described
Positional relationship of the location hole relative to the first optical markings is obtained using following first relational model
3. system according to claim 1, which is characterized in that the auxiliary fixing device includes V-groove and pressing plate, described
The dentistry plantation one end of mobile phone far from the drill bit is positioned and is supported by the V-groove, and is fixed by the pressing plate.
4. a kind of dentistry of view-based access control model measurement plants mobile phone scaling method characterized by comprising
Obtain position appearance of several first optical markings being located on dentistry plantation mobile phone in preset vision measurement system
StateAnd several position and attitudes of the second optical markings in the vision measurement system in calibrating blockIts
In, dentistry plantation mobile phone end is equipped with drill bit, and location hole is provided in the calibrating block, and the drill bit is inserted in described
In location hole；The dentistry plantation one end of mobile phone far from the drill bit is fixed by the auxiliary fixing device；It is described fixed
Position hole and the auxiliary fixing device make the dentistry plantation mobile phone be in position determination and stable state jointly；Wherein,
The measuring accuracy of the vision measurement system is located in the first default accuracy range；
Positional relationship according to the second optical markings relative to location holeAnd it is describedWith it is describedObtain location hole
Positional relationship relative to the first optical markings
According to describedThe drill bit of dentistry plantation mobile phone end is obtained in dentistry plantation mobile phone optical markings coordinate system m1
Location position result；
Wherein, m1 indicates that dentistry plants mobile phone optical markings coordinate system；M2 indicates calibrating block optical markings coordinate system；V indicates view
Feel measuring system coordinate system；Positional relationship of second optical markings relative to location holeFor predetermined definite value, the definite value
Accuracy be located in the second default accuracy range.
5. according to the method described in claim 4, it is characterized in that, the position according to the second optical markings relative to location hole
Set relationshipAnd it is describedWith it is describedObtain positional relationship of the location hole relative to the first optical markingsPacket
It includes:
Positional relationship according to the second optical markings relative to location holeAnd it is describedWith it is describedUtilize following
One relational model obtains positional relationship of the location hole relative to the first optical markings
6. described according to the method described in claim 4, it is characterized in that, the auxiliary fixing device includes V-groove and pressing plate
The dentistry plantation one end of mobile phone far from the drill bit is positioned and is supported by the V-groove, and is fixed by the pressing plate.
7. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that the processor is realized as described in any one of claim 4 to 6 when executing described program based on view
Feel the step of dentistry of measurement plants mobile phone scaling method.
8. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program is located
Manage the step for the dentistry plantation mobile phone scaling method for realizing that the view-based access control model as described in any one of claim 4 to 6 measures when device executes
Suddenly.
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