This paper proposes a rapid and automatic calibration method for puncture surgery robot, via which the hand-eye and tool calibration can be accomplished automatically in a short time. A new method for coordinate conversion between robot flange and needle tip is proposed, based on the method of spherical fitting and singular value decomposition. The experimental results show that the calibration accuracy and stability of this method can meet clinical requirements. There are good prospects for this method using in surgical calibration application.

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