基于三维扫描仪的单孔腔镜手术机器人精度检测方法研究
Research on precision detection method of single port laparoscopy robot
陈姗姗 1赵鹏飞 1姚兴宇1
作者信息
- 1. 辽宁省计量科学研究院,辽宁沈阳 110004
- 折叠
摘要
单孔腔镜手术机器人作为微创手术机器人的一种具有更加微创、恢复快、手术美容等诸多优点.其位置、姿态的准确性对于手术过程是否能够顺利开展有着重要的地位.文章使用C-TRACK的三维激光扫描仪作为测量标准对单孔腔镜手术机器人的定位机械臂的重复定位误差,手术执行臂的定位误差重复定位误差、姿态误差以及刺穿器的取点误差三大部分给出了不同的检测方案,测量过程及数据分析,同时给出了这些方法的测量不确定度,证明了上述方法的可行.
Abstract
As a minimally invasive surgical robot,single port laparoscopy robot has many advantages,such as More minimally invasive,quick recovery,cosmetic surgery.The accuracy of its position and posture plays an important role in the smooth operation.Using the C-Track three-dimensional laser scan-ner as the measurement standard,this paper gives different detection schemes,measurement process and data analysis.Such as the repeated positioning error of the positioning manipulator arm,the positio-ning error,the repeated positioning error,the posture error of the surgical execution arm and the point taking error of the Piercing device.At the same time,the measurement uncertainty of these methods is given,which proves the feasibility of the above methods.
关键词
计量/单孔腔镜/定位误差/姿态误差/取点误差Key words
measurement/single port laparoscopy/positioning error/posture error/point taking error引用本文复制引用
出版年
2024
NETL
NSTL
万方数据