一种口腔检查机器人的设计与定位研究  

Design and Localization of an Oral Examination Robot

作　　者：李莎[1] 刘嘉虎 梁晓莉 陈磊 LI Sha;LIU Jiahu;LIANG Xiaoli;CHEN Lei(School of Mechanical Engineering,Shangqiu Institute of Technology,Shangqiu 476000,China;School of Mechanical and Electrical Engineering,Jiangxi University of Science and Technology,Ganzhou 341000,China;School of Software,Henan University Polytechnic,Kaifeng 475004,China)

机构地区：[1]商丘工学院机械工程学院,河南商丘476000 [2]江西理工大学机电工程学院,江西赣州341000 [3]河南大学软件学院,河南开封475004

出　　处：《安阳工学院学报》2024年第4期41-47,共7页Journal of Anyang Institute of Technology

基　　金：国家自然科学基金(42201465);河南省重点研发推广专项(232102211015);商丘工学院2023年度校级科研项目(2023KYXM19)。

摘　　要：传统的口腔疾病诊断高度依赖医生的临床经验和专业素养,因此创新设计了一种口腔检查机器人样机,采用标准D-H法建模,利用蒙特卡洛法进行工作空间分析,利用五次多项式插值函数对机械手进行轨迹规划,验证了结构设计的合理性。基于Dlib模型设计了口腔状态判断方法,通过分析Astra S相机、机械手和三维空间之间的坐标系转换关系,获取嘴部中心坐标,经重复定位试验得到误差均在±2 mm之内,验证了嘴部定位方法的可行性。The traditional diagnosis of oral diseases highly relies on the clinical experience and professional competence of doctors.Therefore,an innovative prototype of an oral examination robot was designed.This robot uses the standard D-H method for modeling,Monte Carlo method for workspace analysis,and a quintic polynomial interpolation function for trajectory planning of the robotic arm,thereby verifying the rationality of the structural design.A method for determining oral status was designed based on the Dlib model.By analyzing the coordinate system conversion relationship between the Astra S camera,robotic arm,and three-dimensional space,the center coordinates of the mouth were obtained.Repeated positioning experiments showed that errors were all within±2mm,verifying the feasibility of the mouth positioning method.

关 键 词：机器人 标准D-H法 Dlib模型 视觉定位 口腔检查 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH787[自动化与计算机技术—控制科学与工程]