针对手术空间的医疗机器人参数优化  

Parameter optimization of medical robots according to the surgery space

作　　者：陈华[1] 王栋[1] 曹彤[1] 倪自强[2] 刘龙[1] 

机构地区：[1]北京科技大学机械工程学院,北京100083 [2]北京航空航天大学机器人研究所,北京100191

出　　处：《高技术通讯》2014年第3期284-288,共5页Chinese High Technology Letters

基　　金：863计划(2009AA045301)资助项目

摘　　要：考虑到医疗机器人工作空间的既定性和集中性,提出了在不存在明显的关节误差、控制误差等精度影响因素的情况下,按手术空间对机器人的关节参数进行优化补偿的方法,以提高机器人在手术空间中的定位精度。不同于传统机器人的标定,该方法借助摄像头和运动学模型得到针尖点的真实坐标和理论坐标,然后对关节参数进行优化以使理论值向真实值逼近,并得到相应的关节参数。以BH-7医疗机器人为例对所述方法进行了验证,验证结果是机器人的定位精度锁定在1mm以内,说明了上述方法的可靠性与实用性。Considering the determinacy and concentricity of a medical robot＇ s workspace, an ideal method for optimizing and compensating of robot joint parameters according to the surgery space was proposed to improve the positioning accuracy in the space under the condition of without obvious factors such as joint error and control error which have the influence on precision. Different from traditional robot calibrations, this method obtains the real and theoretical coordinates by camera and kinematics model, and optimizes the joint parameters in order to make the theoretical val- ue approximate to the real value, and obtains the corresponding joint parameters. The described method was verified with the BH - 7 medical robot, finally the positioning accuracy of the robot was locked within I mm, which illustra- ted the reliability and practicability of the method.

关 键 词：医疗机器人 手术空间 参数优化 定位精度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]