METHOD AND SYSTEM FOR MEASURING THREE-DIMENSIONAL RELATIVE RELATIONSHIP BETWEEN TIP COORDINATE OF LONGITUDINAL SECTION OF OBJECT HAVING LONGITUDINAL SECTION AND MEANS FOR DEFINING POSITION AND POSTURE OF OBJECT

摘要

PROBLEM TO BE SOLVED: To accurately calibrate a three-dimensional relative relationship between a tip of an object having a longitudinal section such as a surgical instrument and a labeling section for detecting a position and a posture in an environment that a three-dimensional shape is measured at the normal accuracy.;SOLUTION: The method for measuring the three-dimensional relative relationship between the tip of the longitudinal section of the to-be-measured object 10 and the first labeling section 12 comprises: a step for attaching a calibrating object 20 to the tip of the longitudinal section of the to-be-measured object; a step for measuring a spatial shape data group of the to-be-measured object and the calibrating object by using a three-dimensional shape measurement apparatus; a step for calculating the position and the posture of the first labeling section, and positions and a spatial shape of the second labeling sections 21, 22, 23 from the spatial shape data group; a step for calculating a three-dimensional coordinate of an abutting section 24 based on the positions and the spatial shape of the second labeling sections, and a three-dimensional relative relationship between the abutting section and the second labeling sections; and a step for calculating the three-dimensional relative relationship between the tip of the longitudinal section of the to-be-measured object and the first labeling section based on the position and the posture of the first labeling section and the three-dimensional coordinate of the abutting section.;COPYRIGHT: (C)2009,JPO&INPIT