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公开(公告)号：EP4321121A1
公开(公告)日：2024-02-14
申请号：EP22806750.0
申请日：2022-05-10
发明人： WU, Tong , WU, Bo , DENG, Yong , WANG, Quanquan , HUANG, Qin
摘要： Embodiments of the present disclosure provide a method and system for positioning a robot and adjusting a posture. The method may include obtaining a first image and a second image of a target object. The first image may be captured using an image capturing apparatus, and the second image may be captured using a medical imaging device. The method may also include determining at least one target region corresponding to at least one target portion of the target object from the first image. The at least one target portion may be less affected by physiological motions than other portions. The method may further include determining positioning information of the robot based on the at least one target region and the second image.
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公开(公告)号：EP4364902A1
公开(公告)日：2024-05-08
申请号：EP22848584.3
申请日：2022-07-27
发明人： WU, Tong , WU, Bo , XIE, Qiang
IPC分类号： B25J9/16
摘要： A hand-eye calibration method for a robot. The method includes: obtaining images of a target body of a calibration target acquired by an imaging device when the robot (110) is in different poses; for any pose, determining, based on at least one image collected in the pose, a first transformation relationship between a first coordinate system of the calibration target and a second coordinate system of the imaging device in the pose; obtaining a second transformation relationship between a third coordinate system and a fourth coordinate system of the robot (110); and determining, based on the first transformation relationships and the second transformation relationships corresponding to the different poses, a third transformation relationship between the second coordinate system and one of the third coordinate system and the fourth coordinate system. The third coordinate system is related to a base of the robot (110). The fourth coordinate system is related to an EOAT of a robotic arm of the robot (110). Further provided are a hand-eye calibration apparatus and system for a robot, and a storage medium and a calibration target.
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