CALIBRATION METHOD OF MANIPULATOR IN SURGICAL MANIPULATOR SYSTEM

摘要

PROBLEM TO BE SOLVED: To make a control unit easily recognize the coordinate systems of a plurality of manipulators at a low cost without using an expensive optical three-dimensional measuring apparatus.;SOLUTION: In the calibration method of the manipulator 4 in the surgical manipulator system including at least one manipulators 3 and 4 installed at an optional position for a patient to treat an operative site and a control unit for controlling the manipulators 3 and 4, a plurality of markers 9d having known different coordinates are disposed within the operating range of the manipulator 4, the coordinate position of the intersection of a plurality of circles drawn with a distance from the reference point Q of the manipulator 4 to the tip position of the manipulator 4 as a radius when the tip position is matched with the respective markers 9d is calculated, and the control unit is made to recognize the calculated coordinate position as the coordinate position of the reference point Q of the manipulator 4.;COPYRIGHT: (C)2010,JPO&INPIT