The medical robot positioning system plays an important role in the precise radiotherapy, so the study proposes the measure system based binocular vision to reduce the patient=s setup errors for the initial positioning rapidly and accurately. In order to get higher positioning accuracy, the study proposes a new non-contact camera calibration method based on planar and 3D checkerboard calibration templates. The experimental results show that camera calibration accuracy is 0.0365 mm. Therefore, the calibration method can get higher accuracy calibration parameters and meet the clinical requirements for high-precision positioning system in precise radiotherapy.
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