Research of Positioning of Minimally Invasive Surgery Robot Based on Monocular Vision

摘要

The system structure and operation process of the Minimally Invasive Surgery Robot based on vision location technology are expounded. The three- dimensional location problem of robot’s hand-eyes vision system is lucubrated, whose core idea is directly putting the image coordinate mapped into the robot’s radical coordinate and getting the system parameter as a whole and not separately calculating every parameter of camera inner. According to the basic principal of three-dimensional vision, the there-dimensional vision model and camera calibrating model are set up and the vision location system of the Minimally Invasive Surgery Robot is designed. The experiment proves that the method has a better location effect and analyzes the reason of causing the error.