Terminal tracer equipment based on active light source array for surgical robot

VernacularTitle:基于主动光源阵列的骨科机器人末端示踪装置
Author: Yupeng FENG ^{1
,

2} ; Jie ZHANG ; Xinghai YANG
Author Information

1. 上海理工大学健康科学与工程学院,上海 200093
2. 海军军医大学长征医院骨肿瘤科,上海 200003
Keywords: active light source; surgical robot; navigation and positioning; tracer equipment
From: Chinese Journal of Medical Physics 2024;41(2):220-226
CountryChina
Language:Chinese
Abstract: 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.