A simultaneous calibration method of robot kinematic parameters and hand-eye parameters for orthopedic surgical robot systems

Area of Science:

• Robotics
• Surgical Technology
• Calibration Methods

Background:

• Orthopedic surgical robots require high precision in positioning and orientation.
• Inaccurate calibration of robot kinematic and hand-eye parameters compromises surgical quality and safety.
• Existing step-by-step calibration methods can lead to error accumulation.

Purpose of the Study:

• To propose a simultaneous precise calibration method for robot kinematic and hand-eye parameters in orthopedic surgical robot systems.
• To eliminate error accumulation inherent in sequential calibration procedures.
• To enhance the overall accuracy and reliability of orthopedic surgical robots.

Main Methods:

• Developed a simultaneous calibration method integrating robot kinematic and hand-eye parameter identification.
• Defined an objective function minimizing positioning and orientation errors using weighted averages and variances.
• Employed the Differential Evolution algorithm for optimization, avoiding complex gradient computations.

Main Results:

• The proposed simultaneous calibration method significantly enhances precision compared to step-by-step approaches.
• Experimental verification demonstrated the method's accuracy and effectiveness.
• Successful application in a robot-assisted osteotomy experiment confirmed its practical utility.

Conclusions:

• Simultaneous calibration of kinematic and hand-eye parameters is superior for orthopedic surgical robots.
• The proposed method improves accuracy, reduces error accumulation, and enhances surgical robot performance.
• This approach contributes to safer and more effective robot-assisted orthopedic surgeries.