CN210962300U - Cut terminal calibration device of bone navigation robot - Google Patents
Cut terminal calibration device of bone navigation robot Download PDFInfo
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- CN210962300U CN210962300U CN201921283967.XU CN201921283967U CN210962300U CN 210962300 U CN210962300 U CN 210962300U CN 201921283967 U CN201921283967 U CN 201921283967U CN 210962300 U CN210962300 U CN 210962300U
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Abstract
A tail end calibration device of an osteotomy navigation robot belongs to the technical field of medical auxiliary instruments and comprises a robot mechanical arm calibration device and an osteotomy scalpel power head calibration device. Through the osteotomy scalpel power head calibration device, the joint parameters of the osteotomy scalpel power head with the complex space abnormity are reversely deduced, and the parameter calibration of the irregular object with the complex space abnormity is completed.
Description
Technical Field
The utility model belongs to the technical field of medical auxiliary instrument, a robot calibration device is related to, specific saying so relates to a cut terminal calibration device of bone navigation robot.
Background
With the development of society, the economic living standard of people is greatly improved, more and more people hope to make themselves more beautiful by means of beauty, and the facial osteotomy accounts for a large part of the facial osteotomy. Because the traditional operation mode provides visual field assistance for doctors to hold the cutter instrument by the aid of the endoscope, the operation precision is low, the wound is large, and the effect is poor, the robot navigation assistance osteotomy starts to enter the public visual field, and the robot navigation assistance osteotomy has a great problem that the calibration and the calibration of the position of the cutter at the tail end of the mechanical arm are very difficult.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a calibration difficulty is markd to the terminal irregularly shaped cutter position of present osteotomy navigation robot, provides a terminal calibration device of osteotomy navigation robot, can revise osteotomy navigation robot's error through the device, accomplishes the accurate demarcation of osteotomy navigation robot terminal position, improves the osteotomy operation precision.
The technical scheme of the utility model is that: the utility model provides a cut terminal calibration device of bone navigation robot which characterized in that: the terminal calibration device of the osteotomy navigation robot consists of a robot mechanical arm calibration device and an osteotomy scalpel power head calibration device;
the mechanical arm calibration device comprises a mechanical arm base, a mechanical arm first joint, a second joint, a third joint, a fourth joint, a fifth joint, a sixth joint, a mechanical arm tail end calibration head and a pose calibration plate, wherein a connecting rod connecting hole is formed in the lower end of the sixth joint, a calibration head bolt hole, a calibration head pin hole and a calibration head connecting hole are formed in the mechanical arm tail end calibration head, the connecting rod connecting hole is connected with the calibration head connecting hole through a bolt, a plurality of pose calibration holes are formed in the pose calibration plate, and the bottommost part of the mechanical arm tail end calibration head is connected with the pose calibration hole;
the power head calibration device of the osteotomy scalpel consists of a mechanical arm tail end calibration head, an osteotomy scalpel power head, a power head connecting piece, an osteotomy scalpel power head calibration head and a pose calibration plate; the front surface of the power head connecting piece is provided with a power head connecting piece pin hole and a power head connecting piece bolt hole, the middle of the power head connecting piece is provided with a regular polygon inner ring, an elastic reinforcing seam is arranged below the regular polygon inner ring, the side surface of the power head connecting piece is provided with a bolt pressing hole, and the rear end of the power head of the osteotomy scalpel is connected and locked in the regular polygon inner ring of the power head connecting piece; the power head connecting piece pin hole and the calibration head pin hole are connected and positioned through a cylindrical pin, a power head connecting piece bolt hole in the power head connecting piece is fixedly connected with a calibration head bolt hole in the calibration head at the tail end of the mechanical arm through a bolt, an upper end clamping groove of the power head calibration head is tightly connected with the head of the power head of the osteotomy scalpel, and a lower end cylinder of the power head calibration head is installed in a pose calibration hole in the pose calibration plate.
The regular polygon inner ring is a regular 12-edge inner ring, the inner diameter of the regular polygon inner ring is in clearance fit with the outer diameter of the osteotomy scalpel power head, and the scalpel power head is fixed in the regular polygon inner ring under the tightening of the elastic reinforcing seam.
The power head calibration head of the osteotomy scalpel is a step shaft consisting of a connecting shaft, an upper step, a middle step and a lower step, the upper end of the connecting shaft is provided with a clamping groove connected with the power head of the osteotomy scalpel, and the lower step is arranged in a pose calibration hole on the pose calibration plate.
A through hole is reserved in the power head calibration head of the osteotomy scalpel, the aperture of the through hole is slightly smaller than the diameter of the connecting shaft, the diameter of the middle step is larger than that of the pose calibration hole, and the diameter of the lower step is the same as that of the pose calibration hole.
The utility model has the advantages that: the utility model provides a cut bone navigation robot end calibration device and calibration method, device novel structure, it is clear to mark the principle, mark the hole through inserting the position appearance with the terminal head of demarcating of arm, read the coordinate value in every hole upper surface centre of a circle in proper order, then establish the contradiction equation set of the error value between the point, utilize the least square method to solve and obtain the error value of every joint of arm to revise, accomplish the error correction to cutting bone navigation robot arm. The joint parameters of the osteotomy scalpel power head with the complex space and the special shape are reversely deduced through the osteotomy scalpel power head calibration device, and parameter calibration of irregular objects with the complex space and the special shape is completed. The utility model discloses can realize revising the error of the arm of a kind of series robot and demarcating the parameter to the anomalous object of complicated space dysmorphism, have value.
Drawings
Fig. 1 is a connecting rod coordinate system diagram of the robot arm of the present invention.
Fig. 2 is the schematic diagram of the matrix parameter correction of the middle robot arm of the present invention.
Fig. 3 is the calibration schematic diagram of the robot arm in the utility model.
Fig. 4 is a partial cross-sectional view of the robot arm calibration in the present invention.
Fig. 5 is a schematic view of the mechanical arm calibration equipped with the power head of the present invention.
Fig. 6 is an assembly view of the power head of the present invention.
Fig. 7 is a schematic view of the connection of the power head.
Fig. 8 is a part diagram of the power head connector of the present invention.
In the figure: 1-1 part of a sixth joint, 1-1-1 part of a connecting rod connecting hole, 1-1-2 parts of a calibration head bolt hole, 1-1-3 parts of a calibration head pin hole, 1-2 parts of a calibration head, 1-2-1 parts of a calibration head connecting hole, 1-3 parts of a pose calibration plate, 1-3-1 parts of a pose calibration hole, 1-4 parts of a fifth joint, 1-5 parts of a fourth joint, 1-6 parts of a third joint, 1-7 parts of a second joint, 1-8 parts of a first joint, 1-9 parts of a mechanical arm base, 2-4 parts of a osteotome scalpel power head, 2-5 parts of a power head connecting piece, 2-5-1 parts of a power head connecting piece pin hole, 2-5-2 parts of a power head connecting piece bolt hole, 2-5-3 parts of a power, 2-5-5 parts of a regular polygon inner ring, 2-6 parts of a power head calibration head, 2-6-1 parts of a clamping groove, 2-6-2 parts of a connecting shaft, 2-6-3 parts of an upper step, 2-6-4 parts of a middle step and 2-6-5 parts of a lower step.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
as shown in fig. 3-8, a terminal calibration device of an osteotomy navigation robot comprises a robot mechanical arm calibration device and an osteotomy scalpel power head calibration device; the mechanical arm calibration device comprises a mechanical arm tail end connecting rod (sixth joint) 1-1, a mechanical arm tail end calibration head 1-2 and a pose calibration plate 1-3, wherein the lower end of the sixth joint 1-1 is connected with the upper end of the mechanical arm tail end calibration head 1-2 through a connecting rod connecting hole 1-1-1; the pose calibration plate 1-3 is provided with a plurality of pose calibration holes 1-3-1, and the lower end cylinder of the mechanical arm tail end calibration head 1-2 is arranged in the pose calibration hole 1-3-1 on the pose calibration plate 1-3.
As shown in figures 5-8, the osteotomy navigation robot tail end calibration device comprises a power head 2-4, a power head connecting piece 2-5, a power head calibration head 2-6 and a pose calibration plate 1-3, wherein the rear end of the power head 2-4 is arranged in an inner ring of the power head connecting piece 2-5 and is locked; a clamping groove 2-6-1 at the upper end of the power head calibration head 2-6 is connected with and clamped at the front end of the power head 2-4; the lower end column 2-6-5 of the power head calibration head 2-6 is arranged in a pose calibration hole 1-3-1 on the pose calibration plate 1-3. The front side of the power head connecting piece 2-5 is provided with a power head connecting piece pin hole 2-5-2 and a power head connecting piece bolt hole 2-5-3, the middle of the power head connecting piece 2-5 is provided with an open regular polygon inner ring 2-5-5, the side surface of the power head connecting piece 2-5 is provided with a bolt pressing hole 2-5-1, an elastic reinforcing seam 2-5-4 is reserved below the power head connecting piece 2-5, the power head connecting piece is conveniently installed in the bolt pressing hole 2-5-1 through a bolt, and the power head 2-4 is pressed; a power head connecting piece pin hole 2-5-2 on the power head connecting piece 2-5 is connected with a calibration head pin hole 1-1-3 on a calibration head 1-2 at the tail end of the mechanical arm; and power head connecting piece bolt holes 2-5-3 on the power head connecting pieces 2-5 are connected with calibration head bolt holes 1-1-2 on the tail end calibration heads 1-2 of the mechanical arm.
As shown in the figure 3-4, the end calibration device of the osteotomy navigation robot is characterized in that a mechanical arm end calibration head 2 is of a three-layer stepped structure, 3 bolt connecting holes 1-1-1 are arranged on the side surface of a first layer of stepped shaft in a circumferential direction of 120 degrees, the diameter of a second layer of stepped shaft is larger than that of a pose calibration hole 1-3-1, the diameter of a third layer of stepped shaft is the same as that of the pose calibration hole 1-3-1, and when the mechanical arm end calibration head 1-2 is inserted into the pose calibration hole 1-3-1, the unique position of a three-dimensional space, namely the upper surface center point of the pose calibration hole 1-3-1, is determined.
As shown in FIG. 3, in the end calibration device of the osteotomy navigation robot, 3 rows of 15 high-precision pose calibration holes 1-3-1 are arranged on a pose calibration plate 1-3 in a linear manner, and the relative coordinates between the holes are known.
As shown in fig. 6-7, in the end calibration device of the osteotomy navigation robot, the shape and the size of the inner ring of the regular 12-edge inner ring 2-5-5 are the same as the shape and the size of the outer ring of the power head 2-4, the position is uniquely determined during locking, the rotation cannot be performed, and the connection reliability is improved; when the power head is loosened, the installation angle of the power head 2-4 can be adjusted in a one-level and one-level rotation mode. An elasticity enhancing seam 2-5-4 is arranged below the power head connecting piece 2-5, and necessary elasticity is provided for adjusting the installation angle of the power head 2-4.
As shown in figure 7, the end calibration device of the osteotomy navigation robot is characterized in that the upper end of a power head calibration head 2-6 is provided with a clamping groove 2-6-1 which can be connected with a power head 2-4 of an osteotomy scalpel, the lower end of the power head calibration head is provided with three layers of stepped cylinders, and a lowermost layer of cylinder 2-6-5 is arranged in a pose calibration hole 1-3-1 on a pose calibration plate 1-3.
As shown in fig. 1 to 8, the operation principle of the end calibration device of the osteotomy navigation robot is as follows:
(1) position calibration of mechanical arm tail end calibration head
(1-1) the mechanical arm calibration device comprises a first joint, a second joint, a third joint, a fourth joint, a fifth joint, a sixth joint, a mechanical arm tail end calibration head and a pose calibration plate of the mechanical arm, wherein each mechanical arm is provided with a first joint, a second joint, a third joint, a fourth joint, a fifth joint, a sixth joint, a mechanical arm tail end calibration head and a pose calibration plateThe joint parameters α, a, d of each joint are substituted into the joint matrix to obtain the transformation matrix A of each joint1、A2、A3、A4、A5、A6The joint parameters α, a and d of the first joint of the mechanical arm are introduced into the joint change matrix
Obtaining a space pose transformation matrix A of the terminal point of the first joint relative to the coordinate origin O1And calculating to obtain a space pose transformation matrix A of the second joint in the same way2Spatial pose transformation matrix A of the third joint3Spatial pose transformation matrix A of the fourth joint4The space pose transformation matrix A of the fifth joint5The spatial pose transformation matrix A of the sixth joint6And obtaining a pose transformation equation of the tail end point of the mechanical arm relative to the coordinate origin O by multiplying the transformation matrixes of all the joints
A＝A1A2A3A4A5A6；
(1-2) inserting the tail end calibration head into the pose calibration hole, then bringing the angle read by each joint angle sensor of the mechanical arm into a transformation equation of the mechanical arm, and calculating to obtain the space pose of the tail end point of the mechanical arm relative to the coordinate origin O, wherein K is1、K2、K3……K15The relative distance between the points is known, B12Is K1The point is translated to K along the X-axis direction2Translation matrix of points, B16Is K1The point is translated to K along the Y-axis direction6The translation matrix of the points has the same distance between two adjacent points in the X direction and the Y direction, so the following contradiction equations are established
K1＝A1(k1)A2(k1)A3(k1)A4(k1)A5(k1)A6(k1)；
In the X direction:
in the Y direction:
(1-3) applying the formula ATA＝ATb obtaining the least square solution of the system of equations, i.e. the error value Deltax between two adjacent points1、Δx2、Δx3……Δx12And Δ y1、Δy2、Δy3……Δy10According to the error value, correcting the joint parameters of the osteotomy navigation robot by the error value;
(2) position calibration of osteotomy scalpel power head
(2-1) the power head calibration device of the osteotomy scalpel consists of a mechanical arm tail end calibration head, an osteotomy scalpel power head, a power head connecting piece, an osteotomy scalpel power head calibration head and a pose calibration plate, the osteotomy scalpel power head calibration head is designed to realize the accurate solution of the osteotomy scalpel power head joint parameters α, a and d, and the kinematic equation is that
A＇＝A1＇A2＇A3＇A4＇A5＇A6＇A7A8；
Wherein A is1＇、A2＇、A3＇、A4＇、A5＇、A6"Joint transformation matrix after revision, A7A joint transformation matrix of a space special-shaped osteotome power head, A8Calibrating a joint transformation matrix of a head for a power head of the osteotomy scalpel;
(2-2) inserting the power head calibration head of the osteotomy scalpel into the pose calibration hole, bringing the angle read by each joint angle sensor of the mechanical arm into a transformation equation of the mechanical arm, calculating to obtain the space pose of the tail end of the mechanical arm, comparing and analyzing the calculated position coordinates with the coordinates of the known pose calibration hole, reversely calculating joint parameters α, a and d of an unknown matrix A7, and completing parameter calibration of a complex space special-shaped structure.
The utility model discloses can realize revising the error of the arm of a kind of series robot and demarcating the parameter to the anomalous object of complicated space dysmorphism, have value.
Claims (4)
1. The utility model provides a cut terminal calibration device of bone navigation robot which characterized in that: the terminal calibration device of the osteotomy navigation robot consists of a robot mechanical arm calibration device and an osteotomy scalpel power head calibration device;
the mechanical arm calibration device comprises a mechanical arm base (1-9), a mechanical arm first joint (1-8), a second joint (1-7), a third joint (1-6), a fourth joint (1-5), a fifth joint (1-4), a sixth joint (1-1), a mechanical arm tail end calibration head (1-2) and a pose calibration plate (1-3), wherein a connecting rod connecting hole (1-1-1) is formed in the lower end of the sixth joint (1-1), a calibration head bolt hole (1-1-2), a calibration head pin hole (1-1-3) and a calibration head connecting hole (1-2-1) are formed in the mechanical arm tail end calibration head (1-2), the connecting rod connecting hole (1-1-1) is connected with the calibration head connecting hole (1-2-1) through a bolt, the pose calibration plate (1-3) is provided with a plurality of pose calibration holes (1-3-1), and the bottommost part of the mechanical arm tail end calibration head (1-2) is connected with the pose calibration holes (1-3-1);
the power head calibration device of the osteotomy scalpel consists of a mechanical arm tail end calibration head (1-2), a power head (2-4), a power head connecting piece (2-5), a power head calibration head (2-6) and a pose calibration plate (1-3); the power head connecting piece is characterized in that a power head connecting piece pin hole (2-5-2) and a power head connecting piece bolt hole (2-5-3) are formed in the front face of the power head connecting piece (2-5), a regular polygon inner ring (2-5-5) is arranged in the middle of the power head connecting piece (2-5), an elastic reinforcing seam (2-5-4) is formed below the regular polygon inner ring (2-5-5), a bolt pressing hole (2-5-1) is formed in the side face of the power head connecting piece (2-5), and the rear end of the power head (2-4) is connected and locked in the regular polygon inner ring (2-5-5) of the power head connecting piece (2-5); the power head connecting piece pin hole (2-5-2) and the calibration head pin hole (1-1-3) are connected and positioned through a cylindrical pin, the power head connecting piece bolt holes (2-5-3) on the power head connecting pieces (2-5) are fixedly connected with the calibration head bolt holes (1-1-2) on the calibration head (1-2) at the tail end of the mechanical arm through bolts, the upper end of the power head calibration head (2-6) is provided with a clamping groove (2-6-1), the clamping groove (2-6-1) is connected and clamped with the head of the osteotomy scalpel power head (2-4), the power head calibration head is characterized in that a lower step (2-6-5) is arranged at the bottom end of the power head calibration head (2-6), and the lower step (2-6-5) is installed in a pose calibration hole (1-3-1) on a pose calibration plate (1-3).
2. The osteotomy navigation robot tip calibration device of claim 1, wherein: the regular polygon inner ring (2-5-5) is a regular 12-sided inner ring, the inner diameter of the regular polygon inner ring (2-5-5) is in clearance fit with the outer diameter of the power head (2-4), and the power head (2-4) is fixed in the regular polygon inner ring under the tightening of the elastic reinforcing seam (2-5-4).
3. The osteotomy navigation robot tip calibration device of claim 1, wherein: the power head calibration head (2-6) is a step shaft consisting of a connecting shaft (2-6-2), an upper step (2-6-3), a middle step (2-6-4) and a lower step (2-6-5), a clamping groove (2-6-1) connected with the power head (2-4) is formed in the upper end of the connecting shaft (2-6-2), and the lower step (2-6-5) is arranged in a pose calibration hole (1-3-1) in the pose calibration plate (1-3).
4. The osteotomy navigation robot tip calibration device of claim 1, wherein: a through hole is reserved in the power head calibration head (2-6), the aperture of the through hole is slightly smaller than the diameter of the connecting shaft (2-6-2), the diameter of the middle step (2-6-4) is larger than that of the pose calibration hole (1-3-1), and the diameter of the lower step (2-6-5) is the same as that of the pose calibration hole.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110368090A (en) * | 2019-08-09 | 2019-10-25 | 扬州大学 | A kind of osteotomy navigating robot end caliberating device and scaling method |
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2019
- 2019-08-09 CN CN201921283967.XU patent/CN210962300U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110368090A (en) * | 2019-08-09 | 2019-10-25 | 扬州大学 | A kind of osteotomy navigating robot end caliberating device and scaling method |
| CN110368090B (en) * | 2019-08-09 | 2024-04-12 | 扬州大学 | End calibration device and calibration method for osteotomy navigation robot |
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