CN115381552A

CN115381552A - Calibration device, calibration method, computer-readable storage medium, and computer apparatus

Info

Publication number: CN115381552A
Application number: CN202211082445.XA
Authority: CN
Inventors: 李涛; 其他发明人请求不公开姓名
Original assignee: Suzhou Xiaowei Changxing Robot Co ltd
Current assignee: Suzhou Xiaowei Changxing Robot Co ltd
Priority date: 2022-09-06
Filing date: 2022-09-06
Publication date: 2022-11-25

Abstract

The application relates to a calibration device, a calibration method, a computer-readable storage medium and a computer apparatus. The calibration device comprises: the device comprises an installation platform and a calibration unit arranged on the installation platform, wherein the installation platform comprises a first platform which at least has freedom of movement in the vertical, horizontal and front-back directions; the calibration unit comprises at least three non-collinear first optical positioning marks and calibration parts, wherein the first optical positioning marks and the calibration parts are arranged on the first platform, and the distance between each calibration part and each first optical positioning mark is fixed. When the target needs to be calibrated again, the target can be quickly calibrated by using the optical navigation equipment on site.

Description

Calibration device, calibration method, computer-readable storage medium, and computer apparatus

Technical Field

The present application relates to the field of medical device technology, and in particular, to a calibration apparatus and a calibration method, a computer-readable storage medium, and a computer device.

Background

The target is typically used to assist in the positioning of the surgical instrument to track the position of the surgical instrument during use of the surgical instrument to navigate the surgical instrument. Before use, the target needs to be calibrated, and the relative position relationship between the part to be calibrated on the target and the optical positioning mark in the target is obtained.

In the prior art, a three-coordinate machine is mostly used for calibration in a laboratory, the measurement time is long, and the calibration place is limited. In addition, the target inevitably faces precision change in the use process (such as the influence of factors such as transportation, repeated sterilization and multiple operations, or the replacement of different reflective balls). When the temporary precision or the type of the target changes, the existing calibration mode needs to return to a laboratory to calibrate the target again, so that the calibration time and the economic cost are high. High precision targets may reduce the chance of returning to the laboratory for recalibration, but may increase the cost of target manufacturing and storage.

Disclosure of Invention

Based on this, it is necessary to provide a calibration device capable of adapting to the requirement of rapidly re-calibrating a target. In addition, a calibration method, a computer-readable storage medium and a computer device are also provided.

A calibration device, the calibration device comprising: the device comprises an installation platform and a calibration unit arranged on the installation platform, wherein the installation platform comprises a first platform which has freedom of movement at least in the vertical, horizontal and front-back directions; the calibration unit comprises at least three non-collinear first optical positioning marks and calibration parts, wherein the first optical positioning marks and the calibration parts are arranged on the first platform, and the distance between each calibration part and each first optical positioning mark is fixed.

In some embodiments, the mounting platform further comprises a second platform, the first platform and the second platform are disposed above and below and connected by a floating mechanism, wherein the first platform has freedom of movement relative to the second platform at least in up-and-down, left-and-right, and front-and-back directions through the floating mechanism.

In some embodiments, the first platform and the second platform are connected by a resilient member, and/or the floatation mechanism further comprises an electromagnetic drive assembly configured to generate a magnetic force to support the first platform in levitation relative to the second platform.

In some embodiments, the electromagnetic driving assembly comprises an electromagnet and a magnetic member, wherein the electromagnet and the magnetic member are arranged between the first platform and the second platform and used in a matching way, the electromagnet is arranged on one of the first platform and the second platform, and the magnetic member is arranged on the other of the first platform and the second platform; or the electromagnetic driving assembly comprises two electromagnets which are used in a matched mode, and the two electromagnets are respectively arranged on the first platform and the second platform.

In some embodiments, the at least three non-collinear first optical locators and the calibration portion are disposed on the same side of the first platform.

In some embodiments, the calibration device further comprises a carrier detachably disposed on the first platform, and the at least three non-collinear first optical positioning markers and the calibration portion are disposed on a surface of the carrier.

In some embodiments, the calibration portion comprises a calibration well and/or a calibration probe.

In some embodiments, the calibration hole is a blind hole comprising a tapered bottom hole.

In some embodiments, the calibration hole further comprises a round hole section and a chamfer, the round hole section connects the chamfer with the conical bottom hole, and the chamfer is located at the inlet of the calibration hole.

In some embodiments, the first optical landmark is an active light emitting element or a light reflecting element.

A calibration method applied to the calibration device described in any one of the above, comprising the steps of:

a part to be calibrated on the coincident target and a calibration part in the calibration device are superposed;

the optical navigation equipment establishes a first coordinate system according to the pose information of the first optical positioning mark and calculates first pose information of the calibration part in the first coordinate system; establishing a second coordinate system according to the pose information of a second optical positioning mark on the target;

acquiring a conversion relation between the first coordinate system and the second coordinate system in a coordinate system of the optical navigation equipment;

calculating second position information of the part to be calibrated in the second coordinate system according to the first position information and the conversion relation; and (c) a second step of,

and establishing a relative pose relationship between the part to be marked and any one of the second optical positioning marks according to the second pose information and the pose information of the second optical positioning marks.

In some embodiments, storing the relative pose relationship forms a calibration file.

A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of any of the above embodiments.

A computer device comprising a computer readable storage medium having a computer program stored thereon and a processor that implements the method of any of the above embodiments when the computer program is executed by the processor.

In the application, when the target needs to be calibrated again, a first coordinate system based on the calibration device and a second coordinate system based on the target can be established on site by using the optical navigation equipment based on the first optical positioning mark, and then the part to be calibrated of the target and the calibration device are overlapped, so that the conversion relation between the first coordinate system and the second coordinate system in the coordinate system of the navigation equipment is obtained; calculating second position information of the part to be calibrated in a second coordinate system according to the first position information and the conversion relation; and finally, establishing a relative pose relationship between the part to be marked and any one second optical positioning mark according to the second pose information and the pose information of the second optical positioning mark. The process can be quickly completed on site by using optical navigation equipment, and the requirement of quickly re-calibrating the target can be met.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic perspective view of a calibration apparatus according to an embodiment of the present invention;

fig. 2 is an application scenario diagram of the calibration apparatus according to the embodiment of the present invention;

FIG. 3 is a schematic diagram of a calibration device according to an embodiment of the present invention for performing tip target calibration;

FIG. 4 is a schematic diagram of a calibration apparatus according to an embodiment of the present invention for calibrating a target of a base;

FIG. 5 is a schematic diagram of a calibration apparatus according to an embodiment of the present invention for performing planar target calibration;

fig. 6 is a schematic structural diagram of a mounting platform in the calibration device according to the embodiment of the present invention;

FIG. 7 is a block diagram of a first platform mounted on a platform according to an embodiment of the present invention;

FIG. 8 is a block diagram of a calibration probe according to an embodiment of the present invention installed on a first platform;

FIGS. 9-11 illustrate various stages of a calibration arrangement according to an embodiment of the present invention;

FIG. 12 is a schematic diagram illustrating the establishment of a first coordinate system based on the calibration device;

FIG. 13 is a schematic structural view of a tip target;

FIG. 14 is a schematic diagram of the structure of the base target;

FIG. 15 is a schematic structural view of a planar target;

fig. 16 is a flowchart of a calibration method of a device to be calibrated according to an embodiment of the present invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.

As shown in fig. 1, according to an exemplary embodiment of the present invention, a calibration apparatus 1 is applied to a scenario in which a navigation system of a surgical robot is used to perform rapid calibration on a target.

As shown in fig. 1, the calibration apparatus 1 includes a mounting platform 100, a calibration unit 200 disposed on the mounting platform 100, wherein the calibration unit 200 includes at least three non-collinear first optical positioning marks 210, a calibration portion (e.g., the calibration portion includes a calibration hole 220 and/or a calibration probe 230). At least three non-collinear first optical locators 210 are configured to establish a first coordinate system based on the calibration apparatus 1. The distance between the target portion and each first optical landmark 210 is fixed, i.e., there is a known geometric positional relationship between the target portion and any first optical landmark 210. Referring to fig. 3, calibration hole 220 is used to interface tip target 5 to be calibrated as tip 510. Referring to fig. 5, the calibration probe 230 is used to interface with a target whose part to be calibrated is a tapered hole 8.

Referring to fig. 2 and 3, fig. 2 illustrates an application scenario of the above-mentioned calibration device 1. Referring to fig. 1 and 2, when a target needs to be calibrated, here taking the target as the tip target 5 as an example, the mounting platform 100 may be mounted on the operation trolley 2, and the optical navigation device 3 is responsible for identifying the poses of the first optical positioning mark 210 on the calibration apparatus 1 and the second optical positioning mark 520 on the target to acquire pose information thereof. The pose information includes coordinates, angles, and the like.

The end of the robot arm 4 is provided with a calibration jig 410, and the jig 410 holds a holding portion 530 (see fig. 13) of the tip target 5. By the movement of the mechanical arm 4, the portion to be calibrated (specifically, the tip 510) of the tip target 5 coincides with the calibration hole 220 of the calibration device 1, and the tip target 5 is calibrated according to a preset program, so as to obtain a configuration file of the tip target 5. The profile of the tip target 5 refers to the relative pose relationship between the portion to be calibrated 510 of the tip target 5 and a reference point (e.g., the second optical landmark 520) on the tip target 5. To facilitate quick installation, mounting platform 100 includes a quick mount interface (not shown). For example, the quick-mount interface is a snap-fit structure that can be quickly snapped onto the surgical cart 2. The quick mount interface may be disposed at the bottom of the mounting platform 100.

Since the calibration unit 200 is provided with the calibration hole 220 and the calibration probe 230, different types of targets to be calibrated can be calibrated on site by such an arrangement.

Fig. 3 to 5 are schematic diagrams illustrating the calibration of different types of targets by using the calibration device 1. These targets may be a tip target 5, a base target 6 and a plane target 7.

Specifically, fig. 3 is a schematic diagram of the tip target 5 calibration performed by the calibration device 1. Wherein the part of the tip target 5 to be calibrated is the tip 510. When the calibration device 1 calibrates the tip target 5, the clamp 410 clamps a specific position of the tip target 5, and after the clamp is firmly clamped, the mechanical arm 4 moves the tip target 5 to above the calibration hole 220. The robotic arm 4 is then slowly lowered, slowly inserting the tip 510 of the tip target 5 into the calibration hole 220 in the calibration device 1.

In addition, in order to avoid the occlusion of the first optical positioning marker 210 and the second optical positioning marker 520 by the mechanical arm 4, a second coordinate system may be established by adjusting the pose of the mechanical arm 4 so that at least three second optical positioning markers 520 on the tip target 5 are used for acquiring pose information by the acquisition unit in the optical navigation apparatus 3; and adjusting the poses of the mechanical arm 4, so that at least three first optical positioning marks 210 on the calibration platform 100 are used for being acquired by the acquisition unit in the optical navigation equipment 3 to acquire pose information and establish a first coordinate system.

Further, in other embodiments of the present application, it is also possible for the operator to hold the tip target 5 so that the tip 510 contacts the bottom of the calibration hole 220. Fig. 4 is a schematic diagram of the base target 6 calibration performed by the calibration apparatus 1. The part to be calibrated on the base target 6 is a tapered hole 8 (see fig. 14) that can interface with the tip 231 of the calibration probe 230. When the calibration device 1 calibrates the base target 6, the clamp 410 clamps a specific position of the base target 6, and after the clamp is firmly clamped, the mechanical arm 4 moves the base target 6 to a position above the calibration probe 230. The robotic arm 4 is then slowly lowered so that the tip 231 of the calibration probe 230 is slowly inserted into the tapered hole 8 in the target like the calibration probe 230.

Fig. 5 is a schematic diagram of the planar target 7 calibration performed by the calibration apparatus 1. The planar target 7 is to be calibrated by one or more conical holes 8, which can be interfaced with the tip 231 of the calibration probe 230. When the calibration device 1 calibrates the planar target 7, the clamp 410 clamps a specific position of the planar target 7, and after the clamp is firmly clamped, the mechanical arm 4 moves the planar target 7 to a position above the calibration probe 230. The robotic arm 4 is then slowly lowered so that the tip 231 of the calibration probe 230 is slowly inserted into the tapered hole 8 in the planar target 7. In practice, to identify the desired target plane, the above steps can be repeated three times, and measurements can be made on different tapered holes 8 to determine the position of the target plane. As shown in fig. 6, in some embodiments, the mounting platform 100 includes a first platform 110 and a second platform 120 disposed above and below and connected by a floating mechanism 130, wherein the first platform 110 has freedom of movement relative to the second platform 120 at least in the up-down, left-right, and front-back directions via the floating mechanism 130. The calibration unit 200 is disposed on the first stage 110. In this way, when the calibration hole 220 and the calibration probe 230 of the calibration unit 200 are butted with the part to be calibrated of the target, the first platform 110 moves, so that the calibration hole 220 and the tip 510 of the target are aligned and matched with each other, and the bottom center of the calibration hole 220 is ensured to be aligned with the tip 510, thereby ensuring that the part to be calibrated of the target is butted with the calibration hole 220 or the calibration probe 230 in place, and improving the calibration precision. As shown in fig. 6, the X direction is the up-down direction, the Y direction is the left-right direction, and the Z direction is the front-rear direction.

In other embodiments, the first platform 110 may not implement the freedom of movement described above via the floating mechanism 130. For example, the first platform 110 is configured to be automatically deformed and, specifically, to be deformed and stored with a tendency to automatically return to its original shape when being stressed, so that when the calibration hole 220 and the calibration probe 230 of the calibration unit 200 are butted with the portion of the target to be calibrated, the first platform 110 can move, so that the calibration hole 220 and the tip 510 of the target are aligned and mated with each other.

Referring to fig. 2, 3 and 6 together, for the calibration of the tip 510 of the tip target 5 as an example, the clamp 410 clamps the tip target 5, the robot arm 4 moves downward and inserts the tip 510 of the tip target 5 into the calibration hole 220 in the calibration unit 200. In the process, when the first platform 110 is subjected to a downward force, the position of the first platform 110 can be adjusted relative to the second platform 120 in the X, Y and the Z direction, so as to ensure that the calibration hole 220 is completely overlapped with the tip 510 of the target, i.e. the lowest position of the calibration hole 220 is aligned with the tip 510, and thus the calibration accuracy can be ensured.

The floating mechanism 130 may be implemented in a variety of ways. In some embodiments of the present invention, the floatation mechanism 130 includes an electromagnetic drive assembly configured to generate a magnetic force that supports the first platform 110 in levitation relative to the second platform 120.

Illustratively, as shown in fig. 6, the electromagnetic driving assembly includes an electromagnet 131 and a magnetic member 132, which are disposed between and mate with the first stage 110 and the second stage 120, and an elastic member 133 connecting the first stage 110 and the second stage 120. The electromagnet 131 is disposed on one of the first platform 110 and the second platform 120, and the magnetic member 132 is disposed on the other of the first platform 110 and the second platform 120.

The first platform 110 includes a first lower surface 111 and a first upper surface 112 disposed away from each other. The second platform 120 comprises a second lower surface 121 and a second upper surface 122 arranged facing away from each other. The first lower surface 111 of the first platform 110 faces the second upper surface 122 of the second platform 120. Illustratively, the electromagnet 131 is disposed on the second upper surface 122 of the second platform 120, and the magnetic member 132 is disposed on the first lower surface 111 of the first platform 110. The electromagnet 131 is energized with a magnetic pole opposite to that of the magnetic member 132. When the tip 510 of the tip target 5 is inserted into the calibration hole 220, the electromagnet 131 is energized to generate a magnetic field and to give repulsive force to the magnetic member 132. The elastic member 133 provides an elastic force for maintaining the original position of the first stage 110. When the first stage 110 is subjected to an external force, it can overcome the magnetic force to move in X, Y and Z direction. The elastic member 133 can drive the first platform 110 to displace after the external force disappears, so that the calibration hole 220 and the tip 510 of the target are aligned and coupled with each other, and the center of the calibration hole 220 is aligned with the tip 510.

Therefore, when the tip 510 of the tip target 5 is inserted into the calibration hole 220, if the tip 510 is not aligned with the calibration hole 220, the calibration unit 200 can float along with the first platform 110 under the pressure transmitted from the tip 510 to the calibration hole 220 to adjust the position, and then the first platform 110 is displaced under the elastic force of the elastic member 133, so that the calibration hole 220 and the tip 510 of the target are aligned and matched with each other, and the center of the calibration hole 220 is ensured to be aligned with the tip 510.

In addition, when the electromagnet 131 is powered on, it may also give an attraction force to the magnetic member 132, and at this time, under the pressure transferred to the calibration hole 220 when the tip 510 of the tip target 5 is inserted into the calibration hole 220, the calibration unit 200 can also float together with the first platform 110 to adjust the position.

In the above solution, the magnetic member 132 is mounted on the first platform 110. Furthermore, the magnetic member 132 may be formed as a single piece with the first platform 110, i.e. a part of the first platform 110 is made of magnetic material.

In other embodiments, the floating mechanism 130 includes two electromagnets 131 disposed between and paired with the first platform 110 and the second platform 120, and an elastic member 133 connecting the first platform 110 and the second platform 120. Wherein, the two electromagnets 131 are respectively disposed on the first platform 110 and the second platform 120. When the tip 510 of the tip target 5 is inserted into the calibration hole 220, the two electromagnets 131 are energized to generate magnetic fields and mutually repel or attract each other. The elastic member 133 provides an elastic force for maintaining the original position of the first stage 110. Under the pressure transferred to the calibration hole 220 when the tip 510 of the tip target 5 is inserted into the calibration hole 220, the calibration unit 200 can float together with the first platform 110 to adjust the position, thereby ensuring that the calibration hole 220 completely coincides with the tip 510 of the tip target 5.

The type of the elastic member 133 is not limited. Preferably, the elastic member 133 is a spring which is easily available. The number of the elastic members 133 may be provided in plurality. For example, the number of the elastic members 133 may be 4, and are spaced apart in a circumferential direction around the second upper surface 122 of the second stage 120. Specifically, the second platform 120 is rectangular, and the 4 elastic members 133 are springs and are respectively disposed at one corner of the upper surface of the second platform 120. Wherein, two ends of the spring can be respectively fixed in positioning holes (not shown) formed on the second platform 120 and the first platform 110.

In the above scheme, the first stage 110 is supported by the magnetic field generated when the electromagnet 131 is energized and the first stage 110 is allowed to float; repositioning the first platform 110 with the resilient member 133 ensures that the calibration aperture 220 is fully coincident with the tip 510 of the tip target 5. Compared with the arrangement of a complex multi-degree-of-freedom structure (such as a multi-shaft platform with multiple rotatable shafts), the scheme has a simple and practical structure.

In other embodiments, the first platform 110 and the second platform 120 are connected by the elastic member 133 only, and the calibration hole 220 and the tip 510 of the target are aligned and coupled by virtue of the elastic member 133 being capable of automatically generating recoverable deformation. I.e. without the electromagnetic driving assembly, the resilient member 133 is only used to align and couple the calibration hole 220 and the tip 510 of the target.

The calibration unit 200 is disposed at the first stage 110. Preferably, referring to fig. 1, 6 and 7 together, the first optical alignment mark 210, the alignment hole 220 and the alignment probe 230 of the alignment unit 200 are disposed on the first upper surface 112 of the first platform 110. The first upper surface 112 of the first platform 110 faces away from the second platform 120.

The calibration holes 220 and the calibration probes 230 are disposed on the upper surface of the first stage 110. In this way, when calibrating different types of targets, the targets can be placed above the first upper surface 112 of the first platform 110, and the positions of the targets do not need to be switched, thereby facilitating quick calibration of the targets.

During the target calibration, the optical navigation device 3 is required to irradiate a plurality of second optical positioning marks 520 (see fig. 3) on the target. Since the first optical locator mark 210 is also disposed on the first upper surface 112 of the first platform 110, so that the second optical locator mark 520 and the first optical locator mark 210 are located on the same side of the first platform 110 (i.e. both located above the first platform 110), the optical navigation device 3 only needs to irradiate above the first platform 110, which has relatively low requirements on the structure and performance of the optical navigation device 3.

In the above embodiment, the first optical positioning mark 210, the calibration hole 220 and the calibration probe 230 of the calibration unit 200 are directly disposed on the first upper surface 112 of the first platform 110. In other embodiments, the calibration device 1 may further include a carrier (not shown) detachably disposed on the mounting platform 100, and the first optical positioning mark 210, the calibration hole 220, and the calibration probe 230 are disposed on a surface of the carrier. The carriage is detachably mounted to the first stage 110. When targets with different specifications need to be calibrated on site, the carrier can be detached from the mounting platform 100, and then other suitable calibration units 200 are replaced, so that the first optical positioning mark 210, the calibration hole 220 and the calibration probe 230 can be replaced conveniently, and the targets can be calibrated quickly.

The first optical landmark 210 can be an active first optical landmark and also start to be a passive first optical landmark. For example, the active first optical locating mark may be an active light emitting device, the emitted light of which can be collected by the optical navigation device 3. The passive first optical locator may comprise a plurality of reflective beads capable of reflecting light that can be collected by the optical navigation device 3.

As shown in fig. 1, the number of the first optical positioning marks 210 is at least 4, which are active light emitting members, specifically self-luminous beads. As shown in fig. 7, the first upper surface 112 of the first platform 110 is provided with a mounting hole 113. The self-luminous balls are embedded in the mounting holes 113 and protrude from the first upper surface 112 of the first platform 110.

The connecting lines between 3 first optical positioning marks 210 in the first optical positioning marks 210 form a triangle, preferably a triangle with unequal side lengths. So that the optical navigation device 3 can establish a first coordinate system based on the calibration apparatus 1 based on the above-mentioned triangle. The distances between the remaining first optical locator 210 and any of the 3 first optical locators 210 are determined and can be used to validate the first coordinate system.

It should be noted that the method for establishing the first coordinate system is not limited to the above-mentioned manner. Any suitable method for establishing an XYZ coordinate system in the prior art may be applied to the embodiment of the present invention to establish the first coordinate system.

As shown in FIG. 7, in some embodiments of the present invention, the calibration holes 220 are blind holes that include a tapered bottom hole 221. Further, the calibration hole 220 further includes a circular hole section 222 and a chamfer 223, the circular hole section 222 connects the chamfer 223 with the tapered bottom hole 221, and the chamfer 223 is located at the entrance of the calibration hole 220.

The tapered bottom hole 221 is well suited for positioning the tip 510 in mating relation therewith. When the angle of the tip 510 of the tip target 5 matches the angle of the tapered hole, it can be ensured that the tip 510 and the tapered hole can be completely coincident. The matching of the angles means that the two tapers are the same. The tapered bottom hole 221 should be as smooth as possible. The circular hole section 222 matches the diameter of the target tip 510, so that the target tip 510 cannot tip in the calibration hole 220. A chamfer 223 is formed between the circular bore section 222 and the first upper surface 112 of the first platform 110 to facilitate rapid scoring of the target tip 510 into the calibration bore 220.

During the process of inserting the tip 510 of the tip target 5 into the calibration hole 220, the tip 510 can first be quickly slid into the calibration hole 220 under the guidance of the chamfer 223; the tip 510 of the tip target 5 is then constrained from tilting by the circular bore section 222 and can then smoothly enter the conical bottom bore 221 and coincide with the conical bottom bore 221, the apex of the tip 510 of the tip target 5 contacting the bottom point of the conical bottom bore 221.

As shown in fig. 8, the calibration probe 230 includes a tip portion 231 and a connection portion 232 connected to the tip portion 231. The tip 231 is used to interface with the tapered bore 8 of the base target 6 or the planar target 7 to target both targets. The connecting portion 232 is detachably fixed to the mounting platform 100 such that the tip portion 231 is located at one side of the mounting platform 100.

In specific implementation, as shown in fig. 7, the surface of the mounting platform 100 is provided with a fixing hole 114. The connecting portion 232 is retained in the fixing hole 114. The connecting portion 232 is detachably engaged with the fixing hole 114.

In the present application, the portion of the target to be calibrated is not limited to the tip 510 and the tapered bore 8 exemplified above. For example, the portion of the target to be calibrated may also be a sheet (e.g., a wafer), a circular hole, or the like. Accordingly, the calibration portion of the calibration device 1 is not limited to the above-exemplified calibration hole 220 including the tapered bottom hole 22 and the calibration probe 210. For example, when the part to be calibrated of the target is a wafer, the calibration part of the calibration device 1 may be a circular hole adapted to the size of the wafer. For another example, when the portion to be calibrated of the target is a circular hole, the calibration portion of the calibration device 1 may be a cylinder with a size matched with that of the circular hole.

The optical navigation device 3 is configured to establish a first coordinate system based on the calibration apparatus 1 according to the first optical landmark 210 and to establish a second coordinate system based on the target according to the second optical landmark on the target.

Illustratively, the second optical locator 520 on the target is a reflective bead. In a specific scheme, the second optical positioning mark comprises at least 4 small reflective balls, and connecting lines among 3 small reflective balls in the at least 4 small reflective balls form triangles with different side lengths. So that the optical navigation device 3 architecture can establish a target-based second coordinate system based on the triangles described above. The distance determination between any of the remaining reflective pellets and any of the 3 reflective pellets may be used to verify the second coordinate system. It should be noted that the first optical positioning mark 210 for establishing the second coordinate system is not limited to the above-mentioned manner. Any suitable method for establishing an XYZ coordinate system in the prior art may be applied to the embodiment of the present invention to establish the second coordinate system.

The robotic arm 4 includes a clamp 410 for holding a target. The fixture 410 may be configured to have a quick-change structure, which allows quick assembly and disassembly, and the fixture 410 may be replaced as needed to hold different types of fixtures 410. The holder 410 is capable of holding a specific location on the target, and the specific type is not limited. Illustratively, as shown in FIG. 3, the clamp 410 includes a pair of pneumatically driven clamping jaws 411.

The advantages of the calibration device 1 according to the embodiment of the present invention will be further explained by describing the process of calibrating different types of targets using the calibration device 1 in conjunction with the calibration device 1. Fig. 9 to 11 show a usage flow of the calibration device 1.

Take calibration tip target 5 as an example. As shown in fig. 9, when the calibration process is started, the optical navigation device 3 will establish a first coordinate system based on the calibration apparatus 1 by collecting the positions of at least 4 first optical positioning marks 210 (specifically self-luminous beads) on the calibration apparatus 1. Then, according to the relative positions of the calibration hole 220, the calibration probe 230 and the self-luminous ball measured in advance, the coordinates of the calibration hole 220 and the calibration probe 230 in the first coordinate system are calculated. The relative positions of the calibration hole 220, the calibration probe 230 and the self-luminous small ball are determined by the geometric data of the calibration device 1, and can be measured in advance by the existing equipment.

As shown in fig. 10, the robotic arm 4 clamps a specific position of the tip target 5 by the clamp 410, and after the clamping is firm, the optical navigation apparatus 3 will irradiate a plurality of second optical locators 520 of the second optical locators on the tip target 5. The second optical locators 520 are embodied as reflective pellets, each of which can be considered as a second optical locator point. The optical navigation device 3 obtains the positions of the reflective beads, i.e. the pose information of the second optical positioning markers 520, and establishes a second target-based coordinate system through the reflective beads.

As shown in fig. 11, with combined reference to fig. 4, by the downward movement of the robotic arm 4 and the floating of the first platform 110 in the mounting platform, it is ensured that the tip 510 of the tip target 5 is completely coincident with the tapered bottom hole 221 of the calibration hole 220. The relative positions of the calibration hole 220, the calibration probe 230 and the first optical positioning markers 210 (self-luminescent beads) are fixed, so the coordinates of the calibration hole 220 in the first coordinate system are known. So that when the tip 510 of the tip target 5 completely coincides with the conical bottom hole 211, the position of the tip 510 (to-be-calibrated portion) of the tip target 5 in the first coordinate system is also known.

In an embodiment of the present invention, for the tip target 5, the coordinates of the portion to be calibrated are specific to the coordinates of the tip 510 of the fingertip target 5. Wherein the coordinates of the tip 510 may be expressed using the coordinates of the vertex of the target tip 510. The apex is intended to contact the base of the conical-base hole 211. The bottom point refers to a point located most forward in the tapered bottom hole 211 in the direction of insertion into the calibration hole 220.

Specifically, the tip 510 of the tip target 5 completely coincides with the conical bottom hole 211, and the apex of the tip 510 of the tip target 5 coincides with the bottom point of the conical bottom hole 211. The relative position of the calibration hole 220 and the self-luminous ball is fixed. The coordinates of the bottom point of the conical bottom hole 211 in the first coordinate system are known. The tip 510 of the tip target 5 is completely coincident with the conical bottom hole 211 and the position of the apex of the target tip 510 in the second coordinate system is also known, i.e. the same as the coordinates of the bottom point of the conical bottom hole 211 in the first coordinate system. This yields first pose information for target tip 510 in a first coordinate system.

The optical navigation equipment acquires the conversion relation between the first coordinate system and the second coordinate system under the coordinate system of the navigation equipment.

Thereafter, second pose information in a second coordinate system may be calculated from the first pose information of target tip 510 in the first coordinate system. In turn, from the second pose information and the pose information of the second optical localizers 520, a relative pose relationship between the target tip 510 and any of the second optical localizers 520 can be established.

The relative positional relationship here is not limited in a specific manner. For example, it may be a coordinate transformation matrix of the tip 510 and the second optical landmark 520 in the second coordinate system; also for example, the coordinate relationship between the tip 510 and the second optical landmark 520 in the second coordinate system may be an equation.

For the base target 6 or the planar target 7, the coordinates of the portion to be labeled refer to the coordinates of the conical hole 8 of the base target 6 or the planar target 7. The coordinates of the tapered hole 8 are expressed by coordinates of the contact point of the tapered hole 8 for contacting the tip 231 of the probe. The contact point is the bottom point of the conical hole 8. The bottom point refers to a point located most forward in the tapered hole 8 in the direction of insertion into the tapered hole 8.

As shown in fig. 12, exemplarily, one case when the first coordinate system is established is as follows:

the 4 self-luminous beads of the calibration device 1 are respectively named as a self-luminous bead A, a self-luminous bead B, a self-luminous bead C and a self-luminous bead D. The sphere center of the self-luminous small sphere A is taken as the origin of coordinates, the sphere center connecting line of the AB small spheres is taken as an x axis, the sphere center connecting line of the AD small spheres is taken as a y axis, and meanwhile, the z axis of the coordinate system is taken to pass through the sphere center of the A small sphere and is vertical to the paper surface and faces upwards according to the rule of right hands. In the embodiment of the present invention, the right-hand rule may be: the thumb, index finger and middle finger are made perpendicular to each other and are used to indicate the Z-axis, x-axis and y-axis, respectively. In this way, a first coordinate system based on the calibration device 1 is established.

In FIG. 12, point E represents the position of the calibration probe 230 and point F represents the position of the calibration well 220. Since the relative positions of the point E and the point F on the calibration device 1 are known, the coordinates of the point E and the point F in the first coordinate system can be obtained.

Referring to fig. 13, fig. 13 illustrates one situation when establishing the second coordinate system when the target is the tip target 5. The tip target 5 is provided with 4 small reflective balls which are respectively defined as a reflective ball A1, a reflective ball B1, a reflective ball C1 and a reflective ball D1. When the second coordinate system is established, the center of the light-reflecting ball A1 is taken as the origin of the second coordinate system, a line parallel to the connecting line of the centers of the B1 and C1 small balls is taken as the X axis, and the positive direction of the X axis is the direction from the light-reflecting ball B1 to the center of the light-reflecting ball C1. An XY plane can be determined by the sphere centers of the light-reflecting sphere A1, the light-reflecting sphere B1 and the light-reflecting sphere C1, the Y axis is perpendicular to the X axis in the XY plane according to a right-hand rule, and the positive direction of the Y axis can also be determined by the right-hand rule. And determining the XY plane, the X-axis forward direction and the Y-axis forward direction to determine the Z-axis and the Z-axis forward direction. The Z-axis is omitted from the drawing.

Referring to fig. 14, fig. 14 illustrates a situation when the second coordinate system is established when the target is the base target 6. The tip target 5 is provided with 4 reflective balls which are respectively defined as a reflective ball A2, a reflective ball B2, a reflective ball C2 and a reflective ball D2. The center of the reflective ball A2 is taken as the origin of the second coordinate system, a line parallel to the line connecting the centers of the reflective ball B2 and the reflective ball C2 is taken as the X axis, and the positive direction of the X axis is from the center of the reflective ball B2 to the center of the reflective ball C2. An XY plane can be determined by the centers of the light-reflecting ball A2, the light-reflecting ball B2 and the light-reflecting ball C2, the Y axis is perpendicular to the X axis in the XY plane according to a right-hand rule, and the positive direction of the Y axis can also be determined by the right-hand rule. And determining the XY plane, the positive X-axis direction and the positive Y-axis direction, and then determining the positive Z-axis direction and the positive Z-axis direction. The Z-axis is omitted from the drawing.

Referring to fig. 15, fig. 15 illustrates a situation when the second coordinate system is established when the target is a planar target 7. The planar target 7 is provided with 4 reflective balls which are respectively defined as a reflective ball A3, a reflective ball B3, a reflective ball C3 and a reflective ball D3. The center of the reflective ball A3 is taken as the origin of the second coordinate system, a line parallel to the line connecting the centers of the reflective ball B3 and the reflective ball C3 is taken as the X axis, and the positive direction of the X axis is from the center of the reflective ball B3 to the center of the reflective ball C3. An XY plane can be determined by the sphere centers of the reflective sphere A3, the reflective sphere B3 and the reflective sphere C3, the Y axis is perpendicular to the X axis in the XY plane according to the right-hand rule, and the positive direction of the Y axis can also be determined by the right-hand rule. And determining the XY plane, the X-axis forward direction and the Y-axis forward direction to determine the Z-axis and the Z-axis forward direction. The Z-axis is omitted from the drawing.

In the above embodiment, the target is quickly recalibrated on site by using the optical navigation device 3, and the target does not need to be returned to a laboratory for calibration. And, the calibration hole 220 and the calibration probe 230 are provided at the same time, so that different types of targets can be adapted on site. In addition, by utilizing the floatable characteristic of the first platform 110 in the mounting platform 100, it is ensured that the calibration hole 220 is completely overlapped with the tip 510 of the tip target 5, and the tip 231 of the calibration probe 230 is completely overlapped with the conical hole 8 on the base target 6 or the planar target 7, so as to ensure the coordinate information acquisition precision of the tip 510 or the conical hole 8, and ensure the calibration precision.

An embodiment of the present invention further provides a calibration method of a device to be calibrated, which is applied to the calibration device 1 of the above embodiment, and is used for calibrating a target, where the target includes the second optical positioning mark 520 and a portion to be calibrated, and the portion to be calibrated may be, for example, the tip 510 or the tapered hole 8. In the following, the target is taken as the tip target 5, and the part to be calibrated is taken as the tip 510 to illustrate the embodiment of the calibration method of the device to be calibrated.

As shown in fig. 16, the calibration method of the device to be calibrated includes the steps of:

s100, a part to be marked on the overlapped target and a marking part in the marking device are overlapped. Specifically, the tip 510 is made to coincide with the calibration hole 220.

S200, the optical navigation equipment establishes a first coordinate system according to the pose information of the first optical positioning mark and calculates the first pose information of the calibration part in the first coordinate system.

For example, the first coordinate system may be established according to the principle shown in fig. 12 and the description of fig. 12.

And S300, establishing a second coordinate system according to the pose information of the second optical positioning mark on the target.

For example, the second coordinate system can be established according to the principle shown in fig. 13 and the description of fig. 12.

S400, acquiring a conversion relation between the first coordinate system and the second coordinate system in the coordinate system of the optical navigation equipment.

For example, a transformation relation matrix of the first coordinate system and the coordinate system of the optical navigation device, and a transformation relation matrix of the second coordinate system and the coordinate system of the optical navigation device may be obtained, respectively, and a transformation relation between the first coordinate system and the second coordinate system in the coordinate system of the optical navigation device may be obtained by multiplying the two transformation relation matrices.

S500, calculating second position information of the part to be calibrated in the second coordinate system according to the first position and the conversion relation.

Further, the method further comprises the step S600 of storing the relative pose relationship to form a calibration file. The calibration file is not particularly limited. For example, the coordinate transformation matrix of the part to be calibrated and the second optical positioning mark in the second coordinate system; for example, the coordinate relationship between the part to be calibrated and the second optical positioning mark in the second coordinate system may be an equation.

By using the calibration method, the device to be calibrated can be quickly re-calibrated on site, and the obtained calibration file is stored in the image trolley of the surgical robot system, so that the calibration file caused by independent calibration is prevented from being separately stored and copied in the image trolley of the surgical robot.

In some embodiments, a computer-readable storage medium is provided, on which a computer program is stored, and when executed by a processor, the computer program implements the calibration method of the device to be calibrated according to any of the above embodiments.

In some embodiments, a computer device is provided, which includes a computer-readable storage medium and a processor, where the computer-readable storage medium stores a computer program, and the processor, when executing the computer program, implements the calibration method of the device to be calibrated in any of the above embodiments. The computer device may be a terminal. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The readable storage medium of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

In the description of the present application, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "a plurality" means at least two, e.g., two, 3, etc., unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

The above-mentioned embodiments only express several implementation modes of the present application, and the description thereof is specific and detailed, but not construed as limiting the scope of the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A calibration device, characterized in that the calibration device comprises: mounting platform, locate the calibration unit of said mounting platform, wherein

The mounting platform comprises a first platform with freedom of movement at least in the up-down direction, the left-right direction and the front-back direction;

the calibration unit comprises at least three non-collinear first optical positioning marks and calibration parts, wherein the first optical positioning marks and the calibration parts are arranged on the first platform, and the distance between each calibration part and each first optical positioning mark is fixed.

2. The calibration device according to claim 1, wherein the mounting platform further comprises a second platform, the first platform and the second platform are disposed above and below each other and are connected by a floating mechanism, and the first platform has freedom of movement at least in up-and-down, left-and-right, and front-and-back directions relative to the second platform through the floating mechanism.

3. Calibration arrangement according to claim 2, characterized in that the first platform and the second platform are connected by means of a resilient member, and/or

The floatation mechanism further includes an electromagnetic drive assembly configured for generating a magnetic force that supports the first platform in levitation relative to the second platform.

4. The calibration device according to claim 3, wherein the electromagnetic driving assembly includes an electromagnet and a magnetic member, which are disposed between the first platform and the second platform and used in a matching manner, the electromagnet is disposed on one of the first platform and the second platform, and the magnetic member is disposed on the other of the first platform and the second platform; or the electromagnetic driving assembly comprises two electromagnets which are used in a matched mode, and the two electromagnets are respectively arranged on the first platform and the second platform.

5. The calibration device according to claim 2, wherein the at least three non-collinear first optical positioning marks and the calibration portion are provided on the same side of the first platform.

6. The calibration device according to claim 2, further comprising a carrier detachably disposed on the first platform, wherein the at least three non-collinear first optical positioning marks and the calibration portion are disposed on a surface of the carrier.

7. Calibration arrangement according to claim 1, characterized in that the calibration portion comprises a calibration hole and/or a calibration probe.

8. The calibration device according to claim 7, wherein the calibration hole is a blind hole comprising a tapered bottom hole.

9. The calibration device as recited in claim 8, wherein the calibration hole further includes a round hole section and a chamfer, the round hole section connects the chamfer with the tapered bottom hole, and the chamfer is located at an inlet of the calibration hole.

10. The calibration device according to claim 1, wherein the first optical positioning mark is an active light emitting element or a light reflecting element.

11. A calibration method, characterized by being applied to a calibration device according to any one of claims 1-10, comprising the steps of:

superposing a part to be calibrated on a target and a calibrating part in the calibrating device;

calculating second position information of the part to be calibrated in the second coordinate system according to the first position information and the conversion relation; and the number of the first and second groups,

12. The calibration method according to claim 11, wherein storing the relative pose relationship forms a calibration file.

13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of claim 11 or 12.

14. A computer device comprising a computer readable storage medium having a computer program stored thereon and a processor, wherein the processor implements the method of claim 11 or 12 when executing the computer program.