基于视觉定位的脑外科机器人坐标变换问题研究

视觉定位脑外科手术机器人是近年来发展起来的一种新型医疗机器人。该文首先介绍了整个视觉定位脑外科手术机器人系统的构成和手术过程,随后在传统的通过机器人机械臂点取病人头部四个标记点来建立机器人坐标系与患者头部仿射坐标系之间转换关系的基础上,引入视觉定位功能,通过双目视觉建立起机器人坐标系与患者仿射坐标系之间的关系,从而在根本上提高了系统的机器人坐标系,患者仿射坐标系,3维模型坐标系以及世界坐标系之间的转换精度,有利于进一步的机器人精确手术实现。

Coordinate Transition of Brain Surgical Robot System Based on Visual Localization

Brain surgical robot is one of the new robots that develop rapidly recently.Firstly,this paper introduces the system composition,how to establish the four coordinate systems and the operation process.Instead of using the robot arm to locate the four markers on the patient's brain to build the transition between the robot coordinate system and patient affine coordinate system,this paper adopts the binocular vision to establish the transition between the robot co-ordinate system and patient affine coordinate system,so it improves the transition accuracy among robot coordinate sys-tem,patient affine coordinate system,3D model coordinate system,binocular vision coordinate system.This paper offers a theory basis for robot precise surgery.