A Study of Visual Servo System Based on Binocular Camera

摘要

In robot-assisted orthopedic surgery, instruments attached to end-effector may collide with patient in the process of drilling. To solve this problem, a robot visual servo control system based on binocular cameras is built. Visual information is used by improved PID algorithm to control the surgical robot to track the movement of the patient. In addition, the model of the control system is established by MATLAB. At last, a model experiment is performed to verify the feasibility of the system.