Terminal tracer equipment based on active light source array for surgical robot
A non-bracket terminal tracer equipment with multi-angle active light source array is developed to reduce the effects of view obstruction on robot navigation.The multiple-angle light source array is established using a large prism and a small prism,and then the positions of the mechanical arm and the tool center point are calculated via the cooperation of binocular cameras.A simple model built with COMSOL software is used to verify the signal coverage of the tracer equipment.The experiments conducted for signal coverage and static positioning demonstrate its effectiveness and stability,suggesting that the tracer equipment can meet the task requirements of the surgical robot.
active light sourcesurgical robotnavigation and positioningtracer equipment
万方数据
维普
