CN111956329B - Calibration method, system, terminal and storage medium for double-arm robot - Google Patents

Calibration method, system, terminal and storage medium for double-arm robot Download PDF

Info

Publication number
CN111956329B
CN111956329B CN202010806742.9A CN202010806742A CN111956329B CN 111956329 B CN111956329 B CN 111956329B CN 202010806742 A CN202010806742 A CN 202010806742A CN 111956329 B CN111956329 B CN 111956329B
Authority
CN
China
Prior art keywords
needle point
needle
point
coordinate system
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010806742.9A
Other languages
Chinese (zh)
Other versions
CN111956329A (en
Inventor
熊璟
徐常福
夏泽洋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Institute of Advanced Technology of CAS
Original Assignee
Shenzhen Institute of Advanced Technology of CAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Institute of Advanced Technology of CAS filed Critical Shenzhen Institute of Advanced Technology of CAS
Priority to CN202010806742.9A priority Critical patent/CN111956329B/en
Publication of CN111956329A publication Critical patent/CN111956329A/en
Priority to PCT/CN2020/139303 priority patent/WO2022032964A1/en
Application granted granted Critical
Publication of CN111956329B publication Critical patent/CN111956329B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/97—Determining parameters from multiple pictures
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3413—Needle locating or guiding means guided by ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10132—Ultrasound image

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)

Abstract

The application relates to a calibration method, a calibration system, a calibration terminal and a storage medium for a double-arm robot. The method comprises the following steps: establishing a needle point position calibration model, and calibrating the needle point position of the puncture needle tube according to the model; acquiring a needle point ultrasonic image of the puncture needle tube through an ultrasonic probe; the ultrasonic probe and the puncture needle tube are respectively fixed on end effectors of a left mechanical arm and a right mechanical arm of the double-arm robot; establishing a position registration model of the needle point of the puncture needle tube and the needle point in the needle point ultrasonic image under a robot base coordinate system according to the needle point position and the needle point ultrasonic image; and solving the position registration model by adopting an iterative closest point algorithm to obtain a coordinate transformation matrix from an ultrasonic image coordinate system to a robot end flange coordinate system, and calibrating the ultrasonic probe according to the coordinate transformation matrix. According to the method and the device, a third-party positioner and a model are not needed, and the calibration precision of the double-arm robot is improved.

Description

Calibration method, system, terminal and storage medium for double-arm robot
Technical Field
The application belongs to the technical field of robot calibration, and particularly relates to a method, a system, a terminal and a storage medium for calibrating a double-arm robot.
Background
In recent years, with the rapid development of the robot technology and the image processing technology, the robot is adopted to assist or replace the traditional artificial medical operation, so that good scientific research results and application prospects are obtained. In particular to a double-arm robot system, which not only can separately control the ultrasonic probe and the puncture needle tube, but also can flexibly control the needle inserting angle and the posture in a narrow operation space.
In the prior art, a commonly used robot calibration method includes:
firstly, an ultrasonic probe calibration method adopting a Locator (Locator) and a model (Phantom). The method comprises the steps of fixing markers corresponding to a locator (such as a magneto-optical locator) on an ultrasonic probe and a model, then establishing an equation expression between an ultrasonic image and the actual physical position of the corresponding model according to pre-designed model geometric parameters, and finally solving a coordinate transformation matrix from the ultrasonic image coordinate system to the coordinate system fixed on the ultrasonic probe locator through iterative approximate solution or closed equation set.
And secondly, an ultrasonic probe calibration method using the robot operation and plane calibration device. The method comprises the steps of operating an ultrasonic probe scanning plane calibration device by using a robot, further establishing a calibrated equation combination between an ultrasonic image and the actual physical position of the corresponding plane calibration device, and then solving a coordinate transformation matrix between an ultrasonic image coordinate system and a robot operator coordinate system by adopting an equation.
In summary, the existing robot calibration method usually needs to adopt a third-party tracker or a mechanism model, and the devices have certain errors due to the positioning and the size of the devices, so that the puncture precision of the robot is difficult to guarantee. Meanwhile, the existing method is mainly used for calibrating the ultrasonic-guided puncture by a free-hand (hand) and calibrating the single-arm robot by the ultrasonic-guided puncture, but is not well applied to calibrating the double-arm robot.
Disclosure of Invention
The application provides a calibration method, a calibration system, a calibration terminal and a storage medium for a dual-arm robot, which aim to solve at least one of the technical problems in the prior art to a certain extent.
In order to solve the above problems, the present application provides the following technical solutions:
a calibration method for a double-arm robot comprises the following steps:
establishing a needle point position calibration model, and calibrating the needle point position of the puncture needle tube according to the model;
acquiring a needle point ultrasonic image of the puncture needle tube through an ultrasonic probe; the ultrasonic probe and the puncture needle tube are respectively fixed on end effectors of a left mechanical arm and a right mechanical arm of the double-arm robot;
establishing a position registration model of the needle point of the puncture needle tube and the needle point in the needle point ultrasonic image under a robot base coordinate system according to the needle point position calibration result and the needle point ultrasonic image;
and solving the position registration model by adopting an iterative closest point algorithm to obtain a coordinate transformation matrix from an ultrasonic image coordinate system to a robot end flange coordinate system, and calibrating the ultrasonic probe according to the coordinate transformation matrix.
The technical scheme adopted by the embodiment of the application further comprises the following steps: the needle point position calibration comprises the following steps:
mounting a centre on a flange at the tail end of any mechanical arm of the double-arm robot;
controlling the center to reach a preset reference point, and calculating the position of the reference point under the robot base coordinate system;
unloading the tip, and mounting a puncture needle tube end effector on an end flange of any mechanical arm of the double-arm robot;
controlling the needle point of the puncture needle tube to reach a preset reference point, and recording a pose matrix of the tail end flange under a robot coordinate system;
establishing an equation expression that the positions of the needle point of the puncture needle tube and the preset reference point are equal;
and solving the equation expression, and calibrating the coordinates of the needle point of the puncture needle tube under a robot tail end flange coordinate system.
The technical scheme adopted by the embodiment of the application further comprises the following steps: the position calculation formula of the preset reference point under the robot base coordinate system is as follows:
RPRtip＝RTER·ERPMtip
in the above formula, the first and second carbon atoms are,ERPMtipfrom the centre to the endThe coordinates of the flange are such that,RTERthe pose of the end flange under the robot base coordinate system is determined;
the coordinates of the needle point of the puncture needle tube under the robot tail end flange coordinate system are as follows:
ERPNtip＝inv(RTER)·RPRtip
in the above equation, inv () represents an inversion operation of a matrix.
The technical scheme adopted by the embodiment of the application further comprises the following steps: the obtaining of the needle point ultrasonic image of the puncture needle tube through the ultrasonic probe comprises:
recording the poses of the flanges at the tail ends of the left mechanical arm and the right mechanical arm of the double-arm robot, and marking the position of the needle point in the needle point ultrasonic image under an image coordinate system.
The technical scheme adopted by the embodiment of the application further comprises the following steps: the establishing of the position registration model of the puncture needle tube needle point and the needle point in the needle point ultrasonic image under the robot base coordinate system according to the needle point position and the needle point ultrasonic image comprises the following steps:
establishing a registration model of the position of the needle point of the puncture needle tube under the robot base coordinate system and the position of the needle point in the needle point ultrasonic image under the robot base coordinate system which are equal based on the position calibration result of the needle point, the position of the needle point in the needle point ultrasonic image under the image coordinate system and the poses of the left mechanical arm end flange and the right mechanical arm end flange of the double-arm robot:
inv(RTEL)·RPNtip＝ELTI·IPNtip
in the above formula, the first and second carbon atoms are,RTELinstalling the pose of the end flange of the mechanical arm of the ultrasonic probe end effector for the double-arm robot,RPNtipis a coordinate transformation matrix from a needle tip coordinate system to a robot base coordinate system,RPNtip＝RTER·ERPNtip，IPNtipthe position of the needle tip in the needle tip ultrasonic image under an image coordinate system,ELTIis a coordinate transformation matrix from the ultrasonic image coordinate system to the robot end flange coordinate system.
The technical scheme adopted by the embodiment of the application further comprises the following steps: the method for establishing the needle point position calibration model comprises the following steps of establishing a needle point position calibration model, and calibrating the needle point position of a puncture needle tube according to the model:
and establishing a needle point posture calibration model, and calibrating the needle point posture of the puncture needle tube based on the needle point position calibration result by the model.
The technical scheme adopted by the embodiment of the application further comprises the following steps: the calibrating the needle point posture of the puncture needle tube based on the needle point position calibration result comprises the following steps:
controlling the needle point of the puncture needle tube to reach a first arbitrary point, defining the point as the original point of a needle point coordinate system, calculating the position of the point under a robot base coordinate system according to the needle point position calibration result, and simultaneously recording the posture matrix of the mechanical arm tail end flange of the double-arm robot under the robot coordinate system;
controlling the needle point of the puncture needle tube to reach a second arbitrary point, defining the point as a point on the y axis of a needle point coordinate system, and calculating the position of the point under a robot base coordinate system according to the needle point position calibration result;
establishing a vector equation set of a needle point coordinate system in the y-axis direction, and solving a vector in the y-axis direction according to matrix operation;
controlling the needle point of the puncture needle tube to reach a third arbitrary point, and defining the point as a point on a z-axis of a needle point coordinate system to obtain a z-axis direction vector;
obtaining a vector in the x-axis direction by cross multiplication of the vector in the y-axis direction and the vector in the z-axis direction, and obtaining a new vector in the z-axis direction by cross multiplication of the vector in the x-axis direction and the vector in the y-axis direction;
and combining the vector in the x-axis direction, the vector in the y-axis direction and a new vector in the z-axis direction in sequence to obtain an attitude matrix of the needle point of the puncture needle tube.
The technical scheme adopted by the embodiment of the application further comprises the following steps: the establishing of the position registration model of the puncture needle tube needle point and the needle point in the needle point ultrasonic image under the robot base coordinate system further comprises the following steps:
establishing a position registration model of the needle point of the puncture needle tube and the needle point in the needle point ultrasonic image under a robot base coordinate system based on the needle point position calibration result and the posture calibration result of the puncture needle tube, the needle point position in the needle point ultrasonic image and the postures of the left arm end flange and the right arm end flange of the double-arm robot:
inv(RTEL·ELTPtip)·RP Ntip＝PtipTI·IPNtip
in the above-mentioned formula,ELTPtipa coordinate transformation matrix from any fixed needle point on the ultrasonic probe to a flange at the tail end of a mechanical arm provided with the ultrasonic probe,PtipTIis a coordinate transformation matrix from the ultrasonic image coordinate system to the robot end flange coordinate system.
Another technical scheme adopted by the embodiment of the application is as follows: a calibration system of a double-arm robot comprises a needle point calibration module and an ultrasonic probe calibration module;
the needle point calibration module is used for establishing a needle point position calibration model and calibrating the needle point position of the puncture needle tube according to the model;
the ultrasonic probe calibration module comprises:
an ultrasound image acquisition submodule: the ultrasonic probe is used for acquiring a needle point ultrasonic image of the puncture needle tube; the ultrasonic probe and the puncture needle tube are respectively fixed on end effectors of a left mechanical arm and a right mechanical arm of the double-arm robot;
a needle tip position registration submodule: the position registration model is used for establishing a position registration model of the needle point of the calibrated puncture needle tube and the needle point in the needle point ultrasonic image under a robot base coordinate system according to the needle point position calibration result and the needle point ultrasonic image;
a coordinate calculation submodule: the position registration model is solved by adopting an iterative closest point algorithm to obtain a coordinate transformation matrix from an ultrasonic image coordinate system to a robot end flange coordinate system, and the ultrasonic probe is calibrated according to the coordinate transformation matrix
The embodiment of the application adopts another technical scheme that: a terminal comprising a processor, a memory coupled to the processor, wherein,
the memory stores program instructions for implementing the dual-arm robot calibration method;
the processor is configured to execute the program instructions stored in the memory to control dual-arm robot calibration.
The embodiment of the application adopts another technical scheme that: a storage medium storing program instructions executable by a processor for performing the dual-arm robot calibration method.
Compared with the prior art, the embodiment of the application has the advantages that: the calibration method, the calibration system, the calibration terminal and the storage medium of the double-arm robot in the embodiment of the application calibrate the needle point position of the puncture needle tube by establishing the point-to-point needle point position calibration model, then establish the registration model of the calibrated needle point position and the needle point position in the needle point ultrasonic image based on the calibration result and the needle point ultrasonic image scanned by the ultrasonic probe, and finally calculate the coordinate transformation matrix from the ultrasonic image coordinate system to the robot tail end flange coordinate system by adopting the registration algorithm of the iteration closest point, so as to realize the high-precision calibration of the needle point of the puncture needle tube of the double-arm robot and the ultrasonic probe. This application need not adopt third party locator and model, through mechanism and the ultrasonic image that fuses the double-armed robot, has realized the demarcation of puncture needle tubing needle point and ultrasonic probe simultaneously, has improved the demarcation precision of double-armed robot.
Drawings
Fig. 1 is a flowchart of a calibration method of a dual-arm robot according to a first embodiment of the present application;
FIG. 2 is a block diagram of a method for calibrating a needle tip position of a needle cannula according to a first embodiment of the present application;
FIG. 3 is a flowchart of a calibration method of a dual-arm robot according to a second embodiment of the present application;
FIG. 4 is a flow chart of a method for calibrating a needle tip attitude of a needle cannula according to a second embodiment of the present application;
FIG. 5 is a diagram of an embodiment of the present application as applied to a two-arm robot piercing system based on ultrasound guidance, wherein (a) the control tip arrives at a specified reference point, (b) the position coordinates of the tip of the piercing needle in the flange coordinate system of the robot end are calibrated, (c) the position coordinates of the tip of the ultrasonic probe in the flange coordinate system of the robot end are calibrated, and (d) the tip of the piercing needle is scanned for controlling the ultrasonic probe;
FIG. 6 is a schematic structural diagram of a calibration system of a dual-arm robot according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a terminal according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a storage medium according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Please refer to fig. 1, which is a flowchart illustrating a calibration method of a dual-arm robot according to a first embodiment of the present application. The calibration method of the double-arm robot comprises two parts of puncture needle tube needle point position calibration and ultrasonic probe calibration, and specifically comprises the following steps:
step 100: establishing a needle point position calibration model, and calibrating the needle point position of the puncture needle tube;
in this step, in the embodiment of the present application, a needle point position calibration model is established by using the characteristics of the double-arm robot that the double-arm high-precision positioning performance and the double-arm position coordinates are both in the same robot base coordinate system, and the needle point position is calibrated. Referring to fig. 2, a flow chart of a method for calibrating a needle tip position of a needle cannula according to an embodiment of the present invention includes the following steps:
step 101: designing and processing a high-precision center, and mounting the high-precision center on a flange at the tail end of any mechanical arm of the double-arm robot;
step 102: controlling the center to reach a preset reference point through the double-arm robot, and calculating the position of the reference point under the robot base coordinate system; the calculation formula is as follows:
RPRtip＝RTER·ERPMtip (1)
in the formula (1), the reaction mixture is,ERPMtipcoordinates from the center to the end flange can be obtained according to preset center parameters;RTERthe pose of the end flange under the robot base coordinate system can be directly read in the robot operating system.
Step 103: unloading the center, and installing the puncture needle tube end effector on an end flange of any mechanical arm of the double-arm robot;
step 104: controlling the needle point of the puncture needle tube to reach a preset reference point through a double-arm robot, and recording a pose matrix of the end flange under a robot coordinate system;
step 105: establishing an equation that the needle point position of the puncture needle tube is equal to the position of the reference point;
step 106: solving the equation expression, and calibrating the coordinate of the needle point of the puncture needle tube under the robot tail end flange coordinate systemERPNtip：
ERPNtip＝inv(RTER)·RPRtip (2)
In the formula (2), inv () represents an inversion operation of a matrix.
Based on the steps, the position calibration of the needle point of the puncture needle tube is completed.
Step 110: respectively fixing an ultrasonic probe and a puncture needle tube on end effectors of left and right arms of a double-arm robot, controlling the ultrasonic probe to scan the needle point of the puncture needle tube through the double-arm robot to obtain a needle point ultrasonic image, and simultaneously respectively recording the poses of end flanges of the left and right arms of the double-arm robotRTEL、RTER；
It will be appreciated that a tracker may be attached to the ultrasound probe or the puncture needle tube instead of the tip flange position.
Step 120: marking the position of the needle tip in the needle tip ultrasonic image under an image coordinate systemDevice for placingIPNtip；
Step 130: establishing a position registration model of the needle point of the puncture needle tube and the needle point in the needle point ultrasonic image under a robot base coordinate system based on the needle point position calibration result of the puncture needle tube, the needle point position in the needle point ultrasonic image and the poses of the left arm end flange and the right arm end flange of the double-arm robot;
on the basis of the needle tube needle point position calibration result, the position of the needle point in the needle point ultrasonic image and the positions of the left arm end flange and the right arm end flange of the double-arm robot are combined to establish a position registration model of the needle point of the puncture needle tube in the robot base coordinate system and the needle point in the needle point ultrasonic image in the robot base coordinate system, and the equation expression is as follows:
inv(RTEL)·RPNtip＝ELTI·IPNtip (3)
in the formula (3), the reaction mixture is,RPNtipis a coordinate transformation matrix from a needle tip coordinate system to a robot base coordinate system, and the calculation formula isRPNtip＝RTER·ERPNtip，ELTIIs a coordinate transformation matrix from the ultrasonic image coordinate system to the robot end flange coordinate system.
Step 140: solving the position registration model by adopting an iterative closest point algorithm to obtain a coordinate transformation matrix from the ultrasonic image coordinate system to the robot end flange coordinate systemELTICalibrating the ultrasonic probe according to the coordinate transformation matrix;
the calibration of the ultrasound probe is completed through steps 110 to 140.
Based on the above, the calibration method of the dual-arm robot in the first embodiment of the present application utilizes the characteristic that the dual-arm high-precision positioning performance and the dual-arm position coordinates of the dual-arm robot are both in the same robot base coordinate system, firstly establishes the point-to-point needle point position calibration model, calibrates the needle point position of the puncture needle tube, then establishes the position registration model of the needle point of the puncture needle tube and the needle point in the needle point ultrasonic image under the robot base coordinate system based on the calibration result and the needle point ultrasonic image scanned by the ultrasonic probe, and finally calculates the coordinate transformation matrix from the ultrasonic image coordinate system to the robot end flange coordinate system by using the registration algorithm of the iterative closest point, thereby realizing the high-precision calibration of the needle point of the puncture needle tube and the ultrasonic probe of the dual-arm robot.
Please refer to fig. 3, which is a flowchart illustrating a calibration method of a dual-arm robot according to a second embodiment of the present application. The calibration method of the double-arm robot in the second embodiment of the application comprises two parts of the needle point position and posture calibration of the puncture needle tube and the ultrasonic probe calibration, and specifically comprises the following steps:
step 200: establishing a needle point position calibration model, and calibrating the needle point position of the puncture needle tube;
in this step, the method for calibrating the position of the needle tip is the same as that of the first embodiment, and will not be described herein again.
Step 210: establishing a needle tip posture calibration model, and calibrating the needle tip posture of the puncture needle tube;
in this step, please refer to fig. 4, which is a flowchart of a needle tip posture calibration method of the needle cannula according to the second embodiment of the present application, and the method specifically includes the following steps:
step 211: controlling the needle point of the puncture needle tube to reach a first arbitrary point, and defining the point as the origin (P) of a needle point coordinate systemo) And calculating a point (P) according to the needle tip position calibration resulto) Position under robot base coordinate systemRPoTipAnd simultaneously recording the attitude matrix of the mechanical arm tail end flange of the double-arm robot under the robot coordinate system
Figure BDA0002629411050000113
Step 212: controlling the needle point of the puncture needle tube to reach a second arbitrary point, and defining the point as a point (P) on the y axis of the needle point coordinate systemy) And calculating a point (P) according to the needle tip position calibration resulty) Position under robot base coordinate systemRPyTip；
Step 213: establishing a vector equation set of a needle point coordinate system in the y-axis direction, solving the vector in the y-axis direction according to matrix operation, wherein the vector equation set is as follows:
Figure BDA0002629411050000111
in the formula (4), nyIs a y-axis direction vector, Δ y isRPoTipAndRPyTipthe distance between them;
and solving the vector in the y-axis direction as:
Figure BDA0002629411050000112
step 214: controlling the needle point of the puncture needle tube to reach a third arbitrary point, defining the point as a point on the z axis of the needle point coordinate system, and obtaining a vector n in the z axis directionz；
The calculation method of the z-axis direction vector is the same as the calculation method of the y-axis direction vector, and will not be described herein again.
Step 215: obtaining a vector n in the x-axis direction by cross multiplication of a vector in the y-axis direction and a vector in the z-axis directionxThen, cross multiplication is carried out on the vector in the x-axis direction and the vector in the y-axis direction to obtain a new vector in the z-axis direction;
step 216: sequentially combining the vector in the x-axis direction, the vector in the y-axis direction and the new vector in the z-axis direction to obtain an attitude matrix of the needle point of the puncture needle tubeRRTip：
RRTip＝[nx,ny,nz] (6)
The calibration of the position and the posture of the needle tip of the puncture needle tube is completed through the steps 200 and 210.
Step 220: respectively fixing an ultrasonic probe and a puncture needle tube on end effectors of left and right arms of a double-arm robot, controlling the ultrasonic probe to scan the needle point of the puncture needle tube through the double-arm robot to obtain a needle point ultrasonic image, and simultaneously respectively recording the poses of end flanges of the left and right arms of the double-arm robotRTEL、RTER；
Step 230: marking the needle point in the needle point ultrasonic image in the image coordinate systemDown positionIPNtip；
Step 240: establishing a position registration model of the needle point of the puncture needle tube and the needle point in the needle point ultrasonic image under a robot base coordinate system based on the needle point position and posture calibration result of the puncture needle tube, the needle point position in the needle point ultrasonic image and the postures of the left arm end flange and the right arm end flange of the double-arm robot;
on the basis of the needle point position and posture calibration result of the puncture needle tube, the second embodiment of the application establishes a registration model of the needle point of the puncture needle tube at the lower position of the robot base coordinate system and the needle point in the needle point ultrasonic image at the lower position of the robot base coordinate system by combining the needle point position in the needle point ultrasonic image and the postures of the left arm end flange and the right arm end flange of the double-arm robot, and the equation expression is as follows:
inv(RTEL·ELTPtip)·RPNtip＝PtipTI·IPNtip (7)
in the above formula, the first and second carbon atoms are,ELTPtipthe calculation method of the coordinate transformation matrix from any fixed needle point on the ultrasonic probe to the flange at the tail end of the mechanical arm provided with the ultrasonic probe is the same as the calibration of the position and the posture of the needle point of the puncture needle tube, and the detailed description is omitted here;PtipTIis a coordinate transformation matrix from the ultrasonic image coordinate system to the robot end flange coordinate system.
Step 250: solving the registration model by adopting an iterative closest point algorithm to obtain a coordinate transformation matrix from the ultrasonic image coordinate system to the robot end flange coordinate systemPtipTICalibrating the ultrasonic probe according to the coordinate transformation matrix;
the calibration of the ultrasound probe is completed through steps 220 to 250.
Based on the above, the calibration method of the dual-arm robot in the second embodiment of the present application further establishes the needle point posture calibration model based on the needle point position calibration, calibrates the needle point posture of the puncture needle tube, and establishes the registration model in which the position of the needle point of the puncture needle tube under the robot base coordinate system is equal to the position of the needle point under the needle point ultrasonic image under the robot base coordinate system by combining the needle point position in the needle point ultrasonic image and the poses of the left and right arm end flanges of the dual-arm robot on the basis of the needle point position and the posture calibration result of the puncture needle tube, thereby realizing the calibration of the needle point of the puncture needle tube and the ultrasonic probe of the dual-arm robot with high precision.
This application embodiment need not adopt third party locator and model, through mechanism and the ultrasonic image that fuses the double-armed robot, has realized the demarcation of puncture needle tubing needle point and ultrasonic probe simultaneously, has improved the demarcation precision of double-armed robot.
In order to verify the feasibility and effectiveness of the embodiment of the application, experimental tests were carried out by taking the application of the application to the ultrasonic guidance-based double-arm robot puncture system as an example. Specifically, as shown in fig. 5, (a) is to control the center to reach a designated reference point, (b) is to calibrate the position coordinates of the needle tip of the puncture needle tube under the flange coordinate system of the robot end, (c) is to calibrate the position coordinates of the ultrasonic probe under the flange coordinate system of the robot end, and (d) is to control the ultrasonic probe to scan the needle tip of the puncture needle tube. Experimental results show that the calibration precision of the embodiment of the application can reach 0.6467 +/-0.3099 millimeters, and the high-precision calibration of the needle point of the puncture needle tube and the ultrasonic probe is realized.
Please refer to fig. 6, which is a schematic structural diagram of a calibration system of a dual-arm robot according to an embodiment of the present application. The two-arm robot calibration system of the embodiment of the application comprises a needle point calibration module and an ultrasonic probe calibration module, wherein the needle point calibration module comprises:
a needle point position calibration submodule: the needle point position calibration model is used for establishing a needle point position calibration model and calibrating the needle point position of the puncture needle tube; the needle point position calibration method and the device have the advantages that the needle point position calibration model is established by utilizing the characteristics that the double-arm high-precision positioning performance and the double-arm position coordinates of the double-arm robot are in the same robot base coordinate system, and the needle point position is calibrated. The specific calibration mode comprises the following steps:
1. designing and processing a high-precision center, and mounting the high-precision center on a flange at the tail end of any mechanical arm of the double-arm robot;
2. controlling the center to reach a preset reference point through the double-arm robot, and calculating the position of the reference point under the robot base coordinate system; the calculation formula is as follows:
RPRtip＝RTER·ERPMtip (1)
in the formula (1), the reaction mixture is,ERPMtipcoordinates from the center to the end flange can be obtained according to preset center parameters;RTERthe pose of the end flange under the robot base coordinate system can be directly read in the robot operating system.
3. Unloading the center, and installing the puncture needle tube end effector on an end flange of any mechanical arm of the double-arm robot;
4. controlling the needle point of the puncture needle tube to reach a preset reference point through a double-arm robot, and recording a pose matrix of the end flange under a robot coordinate system;
5. establishing an equation expression that the needle point position of the puncture needle tube is equal to the reference point position;
6. solving the equation expression, and calibrating the coordinate of the needle point of the puncture needle tube under the robot tail end flange coordinate systemERPNtip：
ERPNtip＝inv(RTER)·RPRtip (2)
In the formula (2), inv () represents an inversion operation of a matrix.
A needle tip posture calibration submodule: the needle tip posture calibration model is used for establishing a needle tip posture calibration model and calibrating the needle tip posture of the puncture needle tube; the method for calibrating the needle tip posture comprises the following steps:
1. controlling the needle point of the puncture needle tube to reach a first arbitrary point, and defining the point as the origin (P) of a needle point coordinate systemo) And calculating a point (P) according to the needle tip position calibration resulto) Position under robot base coordinate systemRPoTipAnd simultaneously recording the attitude matrix of the mechanical arm tail end flange of the double-arm robot under the robot coordinate system
Figure BDA0002629411050000153
2. Controlling the needle tip of the puncture needle tube to reach the secondAn arbitrary point defined as a point (P) on the y-axis of the coordinate system of the needle tipy) And calculating a point (P) according to the needle tip position calibration resulty) Position under robot base coordinate systemRPyTip；
3. Establishing a vector equation set of a needle point coordinate system in the y-axis direction, solving the vector in the y-axis direction according to matrix operation, wherein the vector equation set is as follows:
Figure BDA0002629411050000151
in the formula (4), nyIs a y-axis direction vector, Δ y isRPoTipAndRPyTipthe distance between them;
and solving the vector in the y-axis direction as:
Figure BDA0002629411050000152
4. controlling the needle point of the puncture needle tube to reach a third arbitrary point, and defining the point as a point on a z-axis of a needle point coordinate system to obtain a z-axis direction vector;
the calculation method of the z-axis direction vector is the same as the calculation method of the y-axis direction vector, and will not be described herein again.
5. Cross multiplication is carried out on the vector in the y-axis direction and the vector in the z-axis direction to obtain a vector in the x-axis direction, and then cross multiplication is carried out on the vector in the x-axis direction and the vector in the y-axis direction to obtain a new vector in the z-axis direction;
6. sequentially combining the vector in the x-axis direction, the vector in the y-axis direction and the new vector in the z-axis direction to obtain an attitude matrix of the needle point of the puncture needle tubeRRTip：
RRTip＝[nx,ny,nz] (6)
The ultrasonic probe calibration module comprises:
an ultrasound image acquisition submodule: used for controlling the ultrasonic probe to scan the needle point of the puncture needle tube to obtain a needle point ultrasonic image and marking the image coordinates of the needle point in the needle point ultrasonic imagePosition under tetherIPNtipAnd simultaneously recording the poses of the left arm end flange and the right arm end flange of the double-arm robot respectivelyRTEL、RTER(ii) a Wherein, the ultrasonic probe and the puncture needle tube are respectively fixed on the end effectors of the left and the right mechanical arms of the double-arm robot. It will be appreciated that a tracker may be attached to the ultrasound probe or the puncture needle tube instead of the tip flange position.
A needle tip position registration submodule: the position registration model is used for establishing a position registration model of the needle point of the puncture needle tube and the needle point in the needle point ultrasonic image under a robot base coordinate system based on the needle point position calibration result, the needle point position in the needle point ultrasonic image and the poses of the left arm end flange and the right arm end flange of the double-arm robot;
on the basis of the needle tube needle point position calibration result, the needle point position in the needle point ultrasonic image and the poses of the left arm end flange and the right arm end flange of the double-arm robot are combined to establish a registration model of the needle point of the puncture needle tube and the needle point in the needle point ultrasonic image, wherein the positions of the needle point in the robot base coordinate system are equal, and the equation expression is as follows:
inv(RTEL)·RPNtip＝ELTI·IPNtip (3)
in the formula (3), the reaction mixture is,RPNtipis a coordinate transformation matrix from a needle tip coordinate system to a robot base coordinate system, and the calculation formula isRPNtip＝RTER·ERPNtip，ELTIIs a coordinate transformation matrix from the ultrasonic image coordinate system to the robot end flange coordinate system.
In the embodiment of the application, the needle point position registration submodule is further used for establishing a position registration model of the needle point of the puncture needle tube and the needle point in the needle point ultrasonic image under a robot base coordinate system based on the needle point position and posture calibration result of the puncture needle tube, the needle point position in the needle point ultrasonic image and the postures of the left arm end flange and the right arm end flange of the double-arm robot, and the equation expression is as follows:
inv(RTEL·ELTPtip)·RPNtip＝PtipTI·IPNtip (7)
in the above formula, the first and second carbon atoms are,ELTPtipthe calculation method of the coordinate transformation matrix from any fixed needle point on the ultrasonic probe to the flange at the tail end of the mechanical arm provided with the ultrasonic probe is the same as the calibration of the position and the posture of the needle point of the puncture needle tube, and the detailed description is omitted here;PtipTIis a coordinate transformation matrix from the ultrasonic image coordinate system to the robot end flange coordinate system.
A coordinate calculation submodule: based on the formula (3) or (7), the position registration model is solved by adopting an iterative closest point algorithm to obtain a coordinate transformation matrix from an ultrasonic image coordinate system to a robot end flange coordinate systemELTIOrPtipTIAnd calibrating the ultrasonic probe according to the coordinate transformation matrix.
Please refer to fig. 7, which is a schematic diagram of a terminal structure according to an embodiment of the present application. The terminal 50 comprises a processor 51, a memory 52 coupled to the processor 51.
The memory 52 stores program instructions for implementing the above-described calibration method for the two-arm robot.
The processor 51 is operable to execute program instructions stored in the memory 52 to control the calibration of the dual-arm robot.
The processor 51 may also be referred to as a CPU (Central Processing Unit). The processor 51 may be an integrated circuit chip having signal processing capabilities. The processor 51 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Please refer to fig. 8, which is a schematic structural diagram of a storage medium according to an embodiment of the present application. The storage medium of the embodiment of the present application stores a program file 61 capable of implementing all the methods described above, where the program file 61 may be stored in the storage medium in the form of a software product, and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, or terminal devices, such as a computer, a server, a mobile phone, and a tablet.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (9)

1. A calibration method for a double-arm robot is characterized by comprising the following steps:
establishing a needle point position calibration model, and calibrating the needle point position of the puncture needle tube according to the needle point position calibration model;
acquiring a needle point ultrasonic image of the puncture needle tube through an ultrasonic probe; the ultrasonic probe and the puncture needle tube are respectively fixed on end effectors of a left mechanical arm and a right mechanical arm of the double-arm robot;
establishing a position registration model of the needle point of the puncture needle tube and the needle point in the needle point ultrasonic image under a robot base coordinate system according to the needle point position calibration result and the needle point ultrasonic image;
solving the position registration model by adopting an iterative closest point algorithm to obtain a coordinate transformation matrix from an ultrasonic image coordinate system to a robot end flange coordinate system, and calibrating the ultrasonic probe according to the coordinate transformation matrix;
the method for establishing the needle point position calibration model comprises the following steps of establishing a needle point position calibration model, and calibrating the needle point position of a puncture needle tube according to the needle point position calibration model:
establishing a needle point posture calibration model, wherein the established needle point posture calibration model calibrates the needle point posture of the puncture needle tube based on the needle point position calibration result;
the establishing of the position registration model of the puncture needle tube needle point and the needle point in the needle point ultrasonic image under the robot base coordinate system comprises the following steps:
establishing a position registration model of the needle point of the puncture needle tube and the needle point in the needle point ultrasonic image under a robot base coordinate system based on the needle point position calibration result and the posture calibration result of the puncture needle tube, the needle point position in the needle point ultrasonic image and the postures of the left arm end flange and the right arm end flange of the double-arm robot:
inv(RTEL·ELTPtip)·RPNtip＝PtipTI·IPNtip
in the above formula, inv () represents the inversion operation of the matrix,IPNtipthe position of the needle tip in the needle tip ultrasonic image under an image coordinate system,RTELinstalling the pose of the end flange of the mechanical arm of the ultrasonic probe end effector for the double-arm robot,RPNtipis a coordinate transformation matrix from a needle tip coordinate system to a robot base coordinate system,ELTPtipa coordinate transformation matrix from any fixed needle point on the ultrasonic probe to a flange at the tail end of a mechanical arm provided with the ultrasonic probe,PtipTIis a coordinate transformation matrix from the ultrasonic image coordinate system to the robot end flange coordinate system.
2. The method for calibrating a dual-arm robot according to claim 1, wherein the calibrating the position of the needle tip comprises:
mounting a centre on a flange at the tail end of any mechanical arm of the double-arm robot;
controlling the center to reach a preset reference point, and calculating the position of the reference point under the robot base coordinate system;
unloading the tip, and mounting a puncture needle tube end effector on an end flange of any mechanical arm of the double-arm robot;
controlling the needle point of the puncture needle tube to reach a preset reference point, and recording a pose matrix of the tail end flange under a robot coordinate system;
establishing an equation expression that the positions of the needle point of the puncture needle tube and the preset reference point are equal;
and solving the equation expression, and calibrating the coordinates of the needle point of the puncture needle tube under a robot tail end flange coordinate system.
3. The calibration method for a dual-arm robot according to claim 2, wherein the position of the preset reference point in the robot base coordinate system is calculated by the following formula:
RPRtip＝RTER·ERPMtip
in the above formula, the first and second carbon atoms are,ERPMtipis the point to end flange coordinate and,RTERthe pose of the end flange under the robot base coordinate system is determined;
the coordinates of the needle point of the puncture needle tube under the robot tail end flange coordinate system are as follows:
ERPNtip＝inv(RTER)·RPRtip
in the above equation, inv () represents an inversion operation of a matrix.
4. The calibration method for the dual-arm robot according to claim 3, wherein said obtaining the ultrasonic image of the needle point of the puncture needle tube by the ultrasonic probe comprises:
recording the poses of the flanges at the tail ends of the left mechanical arm and the right mechanical arm of the double-arm robot, and marking the position of the needle point in the needle point ultrasonic image under an image coordinate system.
5. The calibration method for the dual-arm robot according to claim 4, wherein the establishing of the position registration model of the needle point of the puncture needle tube and the needle point in the needle point ultrasonic image under the robot base coordinate system according to the needle point position and the needle point ultrasonic image comprises:
establishing a registration model of the position of the needle point of the puncture needle tube under the robot base coordinate system and the position of the needle point in the needle point ultrasonic image under the robot base coordinate system which are equal based on the position calibration result of the needle point, the position of the needle point in the needle point ultrasonic image under the image coordinate system and the poses of the left mechanical arm end flange and the right mechanical arm end flange of the double-arm robot:
inv(RTEL)·RPNtip＝ELTI·IPNtip
in the above formula, the first and second carbon atoms are,RTELinstalling the pose of the end flange of the mechanical arm of the ultrasonic probe end effector for the double-arm robot,RPNtipis a coordinate transformation matrix from a needle tip coordinate system to a robot base coordinate system,RPNtip＝RTER·ERPNtip，IPNtipthe position of the needle tip in the needle tip ultrasonic image under an image coordinate system,ELTIis a coordinate transformation matrix from the ultrasonic image coordinate system to the robot end flange coordinate system.
6. The calibration method for a two-arm robot according to claim 5, wherein said calibrating the needle tip posture of the puncture needle tube based on the needle tip position calibration result comprises:
controlling the needle point of the puncture needle tube to reach a first arbitrary point, defining the point as the original point of a needle point coordinate system, calculating the position of the point under a robot base coordinate system according to the needle point position calibration result, and simultaneously recording the posture matrix of the mechanical arm tail end flange of the double-arm robot under the robot coordinate system;
controlling the needle point of the puncture needle tube to reach a second arbitrary point, defining the point as a point on the y axis of a needle point coordinate system, and calculating the position of the point under a robot base coordinate system according to the needle point position calibration result;
establishing a vector equation set in the y-axis direction of a needle point coordinate system, and solving a y-axis direction vector according to matrix operation;
controlling the needle point of the puncture needle tube to reach a third arbitrary point, and defining the point as a point on a z-axis of a needle point coordinate system to obtain a z-axis direction vector;
obtaining a vector in the x-axis direction by cross multiplication of the vector in the y-axis direction and the vector in the z-axis direction, and obtaining a new vector in the z-axis direction by cross multiplication of the vector in the x-axis direction and the vector in the y-axis direction;
and combining the vector in the x-axis direction, the vector in the y-axis direction and a new vector in the z-axis direction in sequence to obtain an attitude matrix of the needle point of the puncture needle tube.
7. A calibration system of a two-arm robot using the calibration method of the two-arm robot of claim 1, comprising a needle tip calibration module and an ultrasonic probe calibration module;
the needle point calibration module is used for establishing a needle point position calibration model and calibrating the needle point position of the puncture needle tube according to the model;
the ultrasonic probe calibration module comprises:
an ultrasound image acquisition submodule: the ultrasonic probe is used for acquiring a needle point ultrasonic image of the puncture needle tube; the ultrasonic probe and the puncture needle tube are respectively fixed on end effectors of a left mechanical arm and a right mechanical arm of the double-arm robot;
a needle tip position registration submodule: the position registration model is used for establishing a position registration model of the needle point of the calibrated puncture needle tube and the needle point in the needle point ultrasonic image under a robot base coordinate system according to the needle point position calibration result and the needle point ultrasonic image;
a coordinate calculation submodule: and the position registration model is solved by adopting an iterative closest point algorithm to obtain a coordinate transformation matrix from an ultrasonic image coordinate system to a robot end flange coordinate system, and the ultrasonic probe is calibrated according to the coordinate transformation matrix.
8. A dual-arm robot calibration terminal, the terminal comprising a processor, a memory coupled to the processor, wherein,
the memory stores program instructions for implementing the dual-arm robot calibration method according to any one of claims 1 to 6;
the processor is configured to execute the program instructions stored in the memory to control dual-arm robot calibration.
9. A storage medium storing program instructions executable by a processor to perform the method of calibrating a dual-arm robot according to any one of claims 1 to 6.
CN202010806742.9A 2020-08-12 2020-08-12 Calibration method, system, terminal and storage medium for double-arm robot Active CN111956329B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202010806742.9A CN111956329B (en) 2020-08-12 2020-08-12 Calibration method, system, terminal and storage medium for double-arm robot
PCT/CN2020/139303 WO2022032964A1 (en) 2020-08-12 2020-12-25 Dual-arm robot calibration method, system, terminal, and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010806742.9A CN111956329B (en) 2020-08-12 2020-08-12 Calibration method, system, terminal and storage medium for double-arm robot

Publications (2)

Publication Number Publication Date
CN111956329A CN111956329A (en) 2020-11-20
CN111956329B true CN111956329B (en) 2022-04-26

Family

ID=73365667

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010806742.9A Active CN111956329B (en) 2020-08-12 2020-08-12 Calibration method, system, terminal and storage medium for double-arm robot

Country Status (2)

Country Link
CN (1) CN111956329B (en)
WO (1) WO2022032964A1 (en)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111956329B (en) * 2020-08-12 2022-04-26 中国科学院深圳先进技术研究院 Calibration method, system, terminal and storage medium for double-arm robot
CN112828862B (en) * 2020-12-30 2022-09-16 诺创智能医疗科技(杭州)有限公司 Master-slave mapping method for parallel platform, mechanical arm system and storage medium
CN112754616B (en) * 2020-12-30 2022-05-10 诺创智能医疗科技(杭州)有限公司 Ultrasonic positioning puncture system and storage medium
CN113133832B (en) * 2021-03-26 2022-09-20 中国科学院深圳先进技术研究院 Calibration method and system for double-arm robot puncture system
WO2022198615A1 (en) * 2021-03-26 2022-09-29 中国科学院深圳先进技术研究院 Calibration method and system for dual-arm robot puncture system
CN113160221B (en) * 2021-05-14 2022-06-28 深圳市奥昇医疗科技有限责任公司 Image processing method, image processing device, computer equipment and storage medium
CN113413216B (en) * 2021-07-30 2022-06-07 武汉大学 Double-arm puncture robot based on ultrasonic image navigation
CN114905548A (en) * 2022-06-29 2022-08-16 武汉库柏特科技有限公司 Calibration method and device for base coordinate system of double-arm robot
CN115153782A (en) * 2022-08-12 2022-10-11 哈尔滨理工大学 Puncture robot space registration method under ultrasonic guidance
CN115363716A (en) * 2022-09-01 2022-11-22 浙江深博医疗技术有限公司 Puncture surgery assisting method, system, robot and storage medium
CN115127452B (en) * 2022-09-02 2022-12-09 苏州鼎纳自动化技术有限公司 Notebook computer shell size detection method, system and storage medium
CN115488884B (en) * 2022-09-07 2024-04-30 华南理工大学 Calibration method, system, device and medium for ultrasonic probe of remote robot
CN116898548B (en) * 2023-09-13 2023-12-12 真健康（北京）医疗科技有限公司 Method and equipment for determining moving position of tail end of puncture operation robot
CN117103286B (en) * 2023-10-25 2024-03-19 杭州汇萃智能科技有限公司 Manipulator eye calibration method and system and readable storage medium

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1481764A (en) * 2003-08-15 2004-03-17 北京航空航天大学 Bone surgery device of robot navigation
CN105157725A (en) * 2015-07-29 2015-12-16 华南理工大学 Hand-eye calibration method employing two-dimension laser vision sensor and robot
CN105588525A (en) * 2014-11-14 2016-05-18 北京配天技术有限公司 Method and apparatus for calibrating tool on robot flange coordinate system
WO2017139591A1 (en) * 2016-02-12 2017-08-17 Intuitive Surgical Operations, Inc. Systems and methods of pose estimation and calibration of perspective imaging system in image guided surgery
CN110051436A (en) * 2018-01-18 2019-07-26 上海舍成医疗器械有限公司 Automation collaborative work package and its application in surgical instrument
CN110709024A (en) * 2017-11-21 2020-01-17 直观外科手术操作公司 System and method for master/tool registration and control of intuitive motion
CN111055289A (en) * 2020-01-21 2020-04-24 达闼科技（北京）有限公司 Method and device for calibrating hand and eye of robot, robot and storage medium
US20200230818A1 (en) * 2019-01-22 2020-07-23 Samsung Electronics Co., Ltd. Hand-eye calibration method and system

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013140315A1 (en) * 2012-03-23 2013-09-26 Koninklijke Philips N.V. Calibration of tracked interventional ultrasound
CN104207801B (en) * 2013-06-05 2016-08-24 上海工程技术大学 A kind of ultrasound detection image three-dimensional scaling method
CN103584885B (en) * 2013-11-20 2015-02-25 哈尔滨工程大学 Free arm ultrasound calibration method based on positioning and navigation puncture needle
CN104161546A (en) * 2014-09-05 2014-11-26 深圳先进技术研究院 Ultrasonic probe calibration system and method based on locatable puncture needle
CN110554095B (en) * 2019-08-16 2022-07-26 上海工程技术大学 Three-dimensional ultrasonic probe calibration device and method
CN111956329B (en) * 2020-08-12 2022-04-26 中国科学院深圳先进技术研究院 Calibration method, system, terminal and storage medium for double-arm robot

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1481764A (en) * 2003-08-15 2004-03-17 北京航空航天大学 Bone surgery device of robot navigation
CN105588525A (en) * 2014-11-14 2016-05-18 北京配天技术有限公司 Method and apparatus for calibrating tool on robot flange coordinate system
CN105157725A (en) * 2015-07-29 2015-12-16 华南理工大学 Hand-eye calibration method employing two-dimension laser vision sensor and robot
WO2017139591A1 (en) * 2016-02-12 2017-08-17 Intuitive Surgical Operations, Inc. Systems and methods of pose estimation and calibration of perspective imaging system in image guided surgery
CN110709024A (en) * 2017-11-21 2020-01-17 直观外科手术操作公司 System and method for master/tool registration and control of intuitive motion
CN110051436A (en) * 2018-01-18 2019-07-26 上海舍成医疗器械有限公司 Automation collaborative work package and its application in surgical instrument
US20200230818A1 (en) * 2019-01-22 2020-07-23 Samsung Electronics Co., Ltd. Hand-eye calibration method and system
CN111055289A (en) * 2020-01-21 2020-04-24 达闼科技（北京）有限公司 Method and device for calibrating hand and eye of robot, robot and storage medium

Also Published As

Publication number Publication date
CN111956329A (en) 2020-11-20
WO2022032964A1 (en) 2022-02-17

Similar Documents

Publication Publication Date Title
CN111956329B (en) Calibration method, system, terminal and storage medium for double-arm robot
CN113133832B (en) Calibration method and system for double-arm robot puncture system
WO2023082990A1 (en) Method and apparatus for determining working pose of robotic arm
JP5449174B2 (en) Method for correcting the measurement value of a coordinate measuring machine and coordinate measuring machine
CN107808400B (en) Camera calibration system and calibration method thereof
CN108972543B (en) Automatic high-precision non-contact robot TCP calibration method
CN112754616B (en) Ultrasonic positioning puncture system and storage medium
CN111759463A (en) Method for improving positioning precision of surgical mechanical arm
CN113843792B (en) Hand-eye calibration method of surgical robot
CN112894752B (en) Position searching method of mobile processing robot
CN112454332B (en) Robot track point generation method for hand-eye calibration
CN113787518A (en) Robot tail end attitude control method, device, equipment and storage medium
CN113855241A (en) Magnetic navigation positioning system and method, calibration method, electronic device and storage medium
WO2022198615A1 (en) Calibration method and system for dual-arm robot puncture system
CN115670660A (en) Calibration method, calibration device, surgical robot, electronic device and storage medium
CN112743546B (en) Robot hand-eye calibration pose selection method and device, robot system and medium
CN113768535A (en) Method, system and device for self-calibration of ultrasonic profiling probe attitude for teleoperation
CN115139338A (en) Robot TCP rapid high-precision calibration method
CN115431278B (en) Robot calibration method, system and storage medium based on VTK feature point transformation
TWI793044B (en) Eye-hand calibration method and eye-hand calibration device for robot arm
CN116269783B (en) Guide frame and surgical robot
CN114211493B (en) Remote control system and method for mechanical arm
TWI741906B (en) A fast method for measuring a phase center of an antenna
Gui et al. A stereo camera calibration based on robotic vision
CN117084785A (en) Mechanical arm optical positioning method and device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant