Calibration method and system for surgical robot TCP, and storage medium

Abstract

The invention discloses a calibration method and system for surgical robot TCP (Tool Center Point), and a storage medium. The calibration method comprises the following steps: inputting a coordinate value of a TCP and included angle parameter values between a channel axis passing through the TCP and X, Y and Z axes of a coordinate system B into TCP parameters of a mechanical arm; and fixing a laser head in a channel of an end-of-arm tooling, controlling the mechanical arm to pull up the laser head from a point A to a point B, reading out the moving distance of laser on a PSD through a PSD dataacquisition system, wherein the moving distance of the laser on the receiving surface of a PSD position sensor is delta X or delta Y, and compensating arctan (delta X / H) or arctan (delta Y / H) to theTCP parameters of the mechanical arm. The method belongs to non-contact calibration, greatly avoids the defects of traditional contact calibration, is simple and convenient to operate, and meanwhile,can quickly and accurately realize calibration of the TCP of a robot so as to improve the absolute precision of the robot.

Description

technical field [0001] The present invention relates to the field of medical devices, in particular to a calibration method of a surgical robot TCP (tool center point), a system using the calibration method and a storage medium storing instructions of the calibration method, through which the calibration method can simply and quickly improve the robot's Absolute accuracy, suitable for calibration of most robot tool coordinate systems. Background technique [0002] With the continuous development of science and technology, the intensity of industrial automation is getting higher and higher, and the development of manufacturing industry in a more flexible direction has become a major trend. A robot is a flexible arm with multi-axis linkage, which integrates flexibility, precision and intelligence. One piece, with high repeat positioning accuracy. In order to complete various tasks, it is necessary to install various tools at the end of the robot, such as welding guns of indus...

AI Technical Summary

Problems solved by technology

This kind of contact calibration method needs to realize point-to-point coincidence, which requires fine adjustment manually, which will introduce human error, such as inaccurate alignment, prone to excessive errors, resulting in calibration failure, so this kind of The TCP calibration method is inefficient and cannot achieve automatic calibration

Simultaneous contact may cause damage to end tooling

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