CN114979440A - High-precision optical navigation equipment and heat influence precision compensation method thereof - Google Patents
High-precision optical navigation equipment and heat influence precision compensation method thereof Download PDFInfo
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- CN114979440A CN114979440A CN202210567125.7A CN202210567125A CN114979440A CN 114979440 A CN114979440 A CN 114979440A CN 202210567125 A CN202210567125 A CN 202210567125A CN 114979440 A CN114979440 A CN 114979440A
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- 230000003287 optical effect Effects 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000017525 heat dissipation Effects 0.000 claims abstract description 15
- 230000001502 supplementing effect Effects 0.000 claims abstract description 10
- 239000000463 material Substances 0.000 claims description 7
- 229910000838 Al alloy Inorganic materials 0.000 claims description 5
- 229910021392 nanocarbon Inorganic materials 0.000 claims description 4
- 229910000975 Carbon steel Inorganic materials 0.000 claims description 3
- 239000010962 carbon steel Substances 0.000 claims description 3
- 239000003575 carbonaceous material Substances 0.000 claims description 3
- 239000013589 supplement Substances 0.000 description 4
- 238000010438 heat treatment Methods 0.000 description 3
- 125000004432 carbon atom Chemical group C* 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000011343 solid material Substances 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000002791 soaking Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/51—Housings
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- 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
Abstract
The invention provides high-precision optical navigation equipment and a heat influence precision compensation method thereof, wherein the equipment comprises a shell, a main control board, a power supply board, a keel, photographing equipment, a laser lamp indicator lamp board, a sensor board, a photosensitive sensor, a lens and a light supplementing lamp component, wherein the main control board, the power supply board, the keel, the photographing equipment, the laser lamp indicator lamp board, the sensor board, the photosensitive sensor, the lens and the light supplementing lamp component are arranged in the shell; the main control board adopts an FPGA chip, the heat dissipation design and the temperature algorithm compensation are added, the use temperature of the navigation equipment is expanded to +5 ℃ to +35 ℃, and the high-precision requirement can be met at each temperature point.
Description
Technical Field
The invention relates to the technical field of navigation equipment, in particular to high-precision optical navigation equipment and a heat influence precision compensation method thereof.
Background
In recent years, the surgical robot provides a brand new choice for various surgical, orthopedic and dental operations due to the advantages of accuracy and safety. With the development of a period of time, the related technology of the surgical robot is becoming mature, and the clinical usage rate thereof is increasing year by year.
The optical navigation type surgical robot has the advantages of high precision, convenience in use, no interference of electromagnetic environment and the like.
The image frame rate of the optical navigation equipment on the market is low at present, the self-heating value is low, the maximum limit working temperature of the optical navigation equipment on the market can only reach +10 ℃ to +30 ℃, the optical navigation equipment is limited to the temperature of an operating room, the temperature compensation treatment is not generally carried out, and the precision is greatly influenced by the temperature. If an FPGA chip with high image frame rate and high real-time performance is adopted, the heating value of the FPGA chip is far higher than that of the existing chip, and the heating of the chip can generate serious interference on navigation precision.
Disclosure of Invention
The invention provides high-precision optical navigation equipment and a heat influence precision compensation method thereof in order to solve the problems in the prior art, the equipment adopts an FPGA chip, the image frame rate is high, the real-time performance is high, the heat dissipation design and the temperature algorithm compensation are added, the use temperature of the navigation equipment is expanded to +5 ℃ to +35 ℃, and the high-precision requirement can be met at each temperature point.
The invention provides high-precision optical navigation equipment, which comprises a shell, a main control board, a power supply board, a keel, photographing equipment and a laser lamp indicator lamp board, wherein the main control board, the power supply board, the keel, the photographing equipment and the laser lamp indicator lamp board are arranged in the shell, the photographing equipment is provided with two groups which are respectively arranged at two ends of the keel and comprise a sensor board, a photosensitive sensor, a lens and a light supplementing lamp component, the two photographing equipment are respectively connected with the main control board, the light supplementing lamp component is controlled by the main control board to carry out photographing and light supplementing, then the photographing is carried out by the photosensitive sensor and the lens which are fixed on the keel, the captured reflector ball picture is transmitted to the main control board, and the specific position of a reflector ball in a space is calculated; the main control board adopts an FPGA chip, is attached to the inner surface of the shell and is provided with a temperature sensor.
In a further improvement, the shell comprises a front shell and a rear shell, the front shell and the rear shell are made of aluminum alloy, and the heat conductivity coefficient is 201W/(m × K).
The improved structure is characterized in that heat dissipation teeth are designed outside the rear shell, nano-carbon materials with micron-sized thickness are uniformly coated on the inner surface of the rear shell, and the FPGA chip is designed at the position corresponding to the heat dissipation teeth of the rear shell.
In a further improvement, the keel has a thermal expansion coefficient not greater than 11.4 x 10 -6 (1/. degree. C.) carbon steel material.
The invention also provides a heat influence precision compensation method of the high-precision optical navigation equipment, which comprises the following steps:
1) the main control board detects the temperature in the equipment cavity as T in real time through the temperature detection sensor 0 ；
2) The optical navigation equipment is started and preheated at room temperature, the reflective ball is calibrated, and the temperature sensor detects the temperature T in the equipment cavity in real time t Temperature rise delta T ═ T t -T 0 The temperature is increased to be a positive value and is reduced to be a negative value;
3) the original distance of the physical centers of two sensor plates at two ends of a keel is set to be L 0 The keel material has a coefficient of thermal expansion of a l And then the expansion amount E of the keel is as follows: e ═ L 0 ×a l ×ΔT；
3) Calculating the distance L of the center of the sensor plate in real time through an algorithm t ,L t ＝L 0 + E, the depth Z of the light-reflecting sphere is calculated by the following formula:
where f is the focal length of the lens, d is the pixel disparity of the two camera images, d x Is the pixel size, i.e. the pixel size;
4) the distance of the center of the sensor plate is calculated in real time through a real-time feedback compensation algorithm for the temperature, and the influence of the temperature on the precision of equipment is reduced.
The invention has the beneficial effects that:
1. the high-precision optical navigation equipment adopts an FPGA chip, the image frame rate is high, the real-time performance is high, and the applied environment temperature range is wide.
2. The temperature in the cavity is reduced through a heat dissipation design, and then the influence of the temperature on the precision of the navigation equipment is reduced.
3. The temperature algorithm compensation is added in the navigation equipment, so that the use temperature of the navigation equipment is expanded to +5 ℃ to +35 ℃, and the high-precision requirement can be met at each temperature point.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic front view of an exploded view of an optical navigation device;
FIG. 2 is a schematic diagram of the back side of an exploded view of an optical navigation device;
FIG. 3 is a flow chart of a method for heat dissipation and accuracy compensation;
in the figure: 01. the LED lamp comprises a rear shell, 02, a main control board, 03, a power supply board, 04, a temperature sensor, 05, a sensor board, 06, a lens, 07, a keel, 08, a light supplement lamp component, 09, a laser lamp indicator lamp board and 10, a front shell.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides high-precision optical navigation equipment, which comprises a shell, a main control board 02, a power supply board 03, a keel 07, photographing equipment and a laser lamp indicator lamp board 09, wherein the main control board 02, the power supply board 07, the photographing equipment and the laser lamp indicator lamp board 09 are arranged in the shell, the photographing equipment is provided with two groups, the two groups of photographing equipment are respectively arranged at two ends of the keel 07 and comprise a sensor board 05, a photosensitive sensor, a lens 06 and a light supplement lamp component 08, the two groups of photographing equipment are respectively connected with the main control board, the light supplement lamp component is controlled by the main control board to carry out photographing and light supplement, then the photosensitive sensor and the lens which are fixed on the keel are used for photographing, captured reflector balls are shot and transmitted to the main control board, and the specific positions of the reflector balls in space are calculated; the main control board 02 adopts an FPGA chip, the main control board 02 is attached to the inner surface of the shell and is provided with a temperature sensor 04.
The working principle of the optical navigation device is as follows: the light supplementing lamp assembly is controlled by the main control board to conduct photographing and supplementing, then the photosensitive sensor and the lens which are fixed to the keel are used for photographing, the captured light reflecting ball photos are uploaded to the main control board, specific positions of the light reflecting balls in the space can be calculated through arithmetic operation, and then specific three-dimensional coordinate information of the light reflecting balls is transmitted to the control center of the surgical equipment.
The image frame rate of the optical navigation equipment is high and can reach 100 frames/second on average, so that the heat productivity of an FPGA chip is large, and the heat consumption of the chip reaches 12W. The device needs to be designed for heat dissipation so as to reduce the temperature in the cavity, and further reduce the influence of the temperature on the precision of the navigation device. The shell body comprises a front shell 10 and a rear shell 01, the front shell 10 and the rear shell 01 are made of aluminum alloy, the number is 6063-T6, the heat conductivity coefficient is 201W/(m × K), and heat dissipation teeth are designed outside the rear shell 01 to increase the heat dissipation area. As is well known, the thermal conductivity and resistance are in direct proportion to the distance, so that the heat dissipation effect is poor at a position far away from the center of the chip; the inner surface of the rear shell 01 is provided with a layer of nano carbon coating material, nano carbon materials with micron-sized thickness are uniformly coated on the aluminum alloy shell, heat conduction is carried out by utilizing the high heat conduction performance of carbon atoms (5300W/(m x K)), and then the heat energy is converted into infrared radio frequency by the high heat radiation efficiency of the carbon atoms, so that the soaking and heat dissipation capabilities are enhanced. The design laminating of the biggest FPGA chip that generates heat is in the corresponding position of 01 heat dissipation tooth of backshell on the main control board 02, through the nanometer carbon coating material and the backshell aluminum alloy material of backshell 01, leads the backshell surface to the heat of FPGA chip fast, gives off in the air, finally reduces equipment intracavity temperature, reduces the influence of temperature to the precision.
However, the above heat dissipation measures cannot eliminate the change of the temperature in the cavity, and as long as the use environment temperature changes and is different from the calibration temperature, the temperature influence always exists, and a compensation algorithm needs to be added to reduce the influence.
The coefficient of thermal expansion is a physical quantity that measures the degree of thermal expansion of a solid material. Is the relative change of the length or volume of an object with unit length and unit volume when the temperature rises by 1 ℃. Can be expressed by an average linear expansion coefficient alpha or an average volume expansion coefficient beta:
Wherein L, V represents the original length (mm) and original volume (mm ^3) of the sample, and Δ L and Δ V represent the relative elongation and volume change of the sample when the temperature is increased from t1 (DEG C) to t2 (DEG C). In general, β ≈ 3 α, and therefore the linear expansion coefficient α is practically employed l To indicate. It is different with the change of material composition and temperature, and is a physical parameter reflecting the change of solid material performance when it is heated and impacted.
The main control board 02 is provided with a temperature detection sensor 04 which can detect the temperature in the equipment cavity in real time; two sensor boards 05 are fixed on the keel 07, and the original distance between the physical centers of the two sensor boards is L 0 To reduce the temperature versus the distance L 0 The keel 07 is made of carbon steel with small coefficient of thermal linear expansion and the coefficient of thermal linear expansion is 11.4 x 10 -6 (1/° C), the swelling capacity of the keel is;
e (expansion) is L 0 (length). times.a l (coefficient). times.DELTA.T (temperature rise)
The optical navigation equipment is started and preheated at room temperature, then the reflective ball is calibrated, and the temperature sensor 04 on the main control board 02 detects that the temperature in the equipment cavity is T during calibration 0 (ii) a The equipment is started before use and preheated, and in the use process, the main control board02 temperature sensor 04 for detecting temperature T in equipment cavity in real time t Temperature rise delta T ═ T t -T 0 The temperature is increased to be a positive value and is reduced to be a negative value; expansion amount E ═ a l X Δ T, calculating the distance L of the center of the sensor plate in real time by an algorithm t ,L t ＝L 0 + E, the depth Z of the reflective sphere is calculated by the following equation:
wherein L is t Is the center distance of the sensor plate, f is the focal length of the lens, d is the pixel parallax of the two camera images, d x Is the pixel size, i.e. the picture element size.
The distance between the centers of the sensor boards is calculated in real time through a real-time feedback compensation algorithm for the temperature, the influence of the temperature on the precision of the equipment is reduced, the equipment can be used in a range of +5 ℃ to +35 ℃, and the application range of the product is widened.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus embodiment, the above description is only a preferred embodiment of the present invention, and since it is substantially similar to the method embodiment, the description is relatively simple, and in relevant places, reference may be made to the partial description of the method embodiment. The above description is only for the specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the protection scope of the present invention should be covered by the principle of the present invention without departing from the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A high precision optical navigation device, characterized by: the shooting device comprises a shell, a main control board, a power supply board, a keel, shooting devices and a laser lamp indicator lamp board, wherein the main control board, the power supply board, the keel, the shooting devices and the laser lamp indicator lamp board are arranged in the shell, the shooting devices are provided with two groups and are respectively arranged at two ends of the keel, the shooting devices comprise a sensor board, a photosensitive sensor, a lens and a light supplementing lamp component, the two shooting devices are respectively connected with the main control board, the light supplementing lamp component is controlled by the main control board to carry out shooting and light supplementing, then the photosensitive sensor and the lens which are fixed on the keel are used for shooting, captured reflector balls are transmitted to the main control board, and the specific positions of the reflector balls in the space are calculated; the main control board adopts an FPGA chip, is attached to the inner surface of the shell and is provided with a temperature sensor.
2. A high precision optical navigation device according to claim 1, characterized in that: the shell comprises a front shell and a rear shell, the front shell and the rear shell are made of aluminum alloy, and the heat conductivity coefficient is 201W/(m × K).
3. A high precision optical navigation device according to claim 2, characterized in that: the back shell is externally designed with heat dissipation teeth, the inner surface of the back shell is uniformly coated with nano carbon materials with micron-sized thickness, and the FPGA chip is arranged at the corresponding position of the heat dissipation teeth of the back shell.
4. A high precision optical navigation device according to claim 1 or 2, characterized in that: the thermal expansion coefficient of the keel is not more than 11.4 multiplied by 10 -6 (1/. degree. C.) carbon steel material.
5. A heat influence precision compensation method of high-precision optical navigation equipment is characterized by comprising the following steps: the thermal expansion amount of the keel caused by temperature change is calculated, the center distance between the two sensor plates is calculated and compensated in real time, and the influence of temperature on the precision of equipment is reduced.
6. The method for compensating the thermal influence precision of the high-precision optical navigation device according to claim 5, comprising the following steps:
1) passing temperature of main control boardDetecting the temperature T in the equipment cavity by the sensor in real time 0 ；
2) The optical navigation equipment is started and preheated at room temperature, the reflective ball is calibrated, and the temperature sensor detects the temperature T in the equipment cavity in real time t Temperature rise delta T ═ T t -T 0 The temperature is increased to be a positive value and is reduced to be a negative value;
3) the original distance of the physical centers of two sensor plates at two ends of a keel is set to be L 0 The keel material has a coefficient of thermal expansion of a l And then the expansion amount E of the keel is as follows: e ═ L 0 ×a l ×ΔT；
3) Calculating the distance L of the center of the sensor plate in real time through an algorithm t ,L t ＝L 0 + E, the depth Z of the light-reflecting sphere is calculated by the following formula:
where f is the focal length of the lens, d is the pixel disparity of the two camera images, d x Is the pixel size, i.e. the pixel size;
4) the distance of the center of the sensor plate is calculated in real time through a real-time feedback compensation algorithm for the temperature, and the influence of the temperature on the precision of equipment is reduced.
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| CN202210567125.7A CN114979440B (en) | 2022-05-23 | 2022-05-23 | High-precision optical navigation equipment and thermal influence precision compensation method thereof |
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| CN114979440B (en) | 2024-01-23 |
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