Oscillating Saw Calibration for Mandibular Osteotomy Robots

Accurate oscillating saw tool calibration is an important task for mandibular osteotomy robots to perform precise cutting operations. However, in contrast traditional which just calibrates the center position (TCP) or feed axis, both and plane orientation of should be carefully calibrated. Therefore, aiming at this problem, paper, we propose a method carry out by employing optical stereo vision tracking system. At first, hand–eye conducted ascertain spatial pose frame within manipulator’s base frame. Subsequently, probe, positions sawtooth points on are captured These then translated end-effector using positional elimination algorithm proposed paper. Finally, extrapolated from three points. The result shows that errors 0.25 mm variance normal direction 1.93∘ five experiments. This approach enables accurate plane’s Furthermore, it mitigates necessity continual adjustments joint angles manipulator as required “six-point method”. hinged upon availability precision-oriented 3D positioning equipment.