Title:
CALIBRATION METHOD, ROBOT ARM CONTROL METHOD AND SURGICAL OPERATION SYSTEM
Document Type and Number:
WIPO Patent Application WO/2022/095517
Kind Code:
A1
Abstract:
A calibration method, a robot arm control method and a surgical operation system (10), which are used for calibrating the angle of a target feature structure (105') that is mounted at a tail end (1031) of a robot arm. The calibration method comprises: setting a movement path of a tail end (1031), and controlling the tail end (1031) to move along the movement path (S101), wherein the movement path comprises at least three position points that are not in the same straight line; acquiring a first position of the movement path of the tail end (1031) in an absolute coordinate system (S102); acquiring a second position of a target feature structure (105') in the absolute coordinate system (S103); and according to the first position, the second position and a predetermined third position of the movement path in a coordinate system of the tail end (1031) of a robot arm, determining a relative position relationship between the target feature structure (105') and the coordinate system of the tail end (1031) of the robot arm (S104). By means of the calibration method, the relative position relationship between the target feature structure (105') and the coordinate system of the tail end (1031) of the robot arm can be accurately determined, such that the calibration method can be used for calibrating the angle of the target feature structure (105').
Inventors:
LI SHUGANG (CN)
Application Number:
PCT/CN2021/109409
Publication Date:
May 12, 2022
Filing Date:
July 29, 2021
Export Citation:
Assignee:
BEIJING HURWA ROBOT MEDICAL TECH CO LTD (CN)
BEIJING HURWA ROBOT TECH CO LTD (CN)
BEIJING HURWA ROBOT TECH CO LTD (CN)
International Classes:
A61B34/30
Foreign References:
| CN112932670A | 2021-06-11 | |||
| CN111037561A | 2020-04-21 | |||
| CN111590593A | 2020-08-28 | |||
| CN110815203A | 2020-02-21 | |||
| CN109249392A | 2019-01-22 | |||
| CN109129445A | 2019-01-04 | |||
| CN110811834A | 2020-02-21 | |||
| EP1120204A2 | 2001-08-01 |
Other References:
See also references of EP 4029466A4
Attorney, Agent or Firm:
BEIJING EAST IP LTD. (CN)
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