一种腹腔镜手术机器人手术切口位置的标定方法  

A Method for Calibrating Surgical Cut With the Laparoscope Surgical Robot

作　　者：张立勋[1] 董九志 李艳生[1] 张铁锋[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,哈尔滨150001

出　　处：《机械设计与研究》2008年第5期34-38,共5页Machine Design And Research

摘　　要：提出了一种标定患者手术切口位置相对机器人基础坐标系坐标的方法。在机器人小臂的下方安装两个不同倾角的激光源,通过几何关系间接获得患者切口的坐标,为机器人提供必要的腹腔镜姿态信息。利用MATLAB对标定系统误差及切口位置标定误差进行了分析,通过切口标定实验对标定方法及误差分析进行了验证。A method to calibrate the relative position of patient＇ s cut to the basic coordinate system of the robot was propose in this paper. Two laser lights of different inclinations were installed below the small arm, through the geometric relationship the coordinate of patient＇s cut was measured, and offered the essential laparoscope posture information for the robot control. The accuracy of calibration was analyzed by the use of MATLAB, the method and error analysis were validated by the calibration experiment.

关 键 词：辅助腹腔镜手术机器人 手术切口位置标定 位姿模型及逆解 误差分析 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]