本文针对机械臂末端安装激光测距仪的手术机器人的手眼标定，设计了基于平面模板标定的方法，给出了平面模板的数学模型并推导了求解方法。针对实际系统中存在的测量误差，提出了一种新的关于单平面数据优选的算法，可有效地剔除测量误差大的数据，提高标定精度；在此基础上，进一步提出使用立体正交平面改进标定精度的方法，应用非线性优化方法提高手眼标定精度。为验证精度，使用激光测距仪从不同角度、位置对空间中的某些固定点和一个长方体的表面进行测量。结果表明，单平面方法标定的精度为（1.37±0.24）mm，使用立体正交平面得到的标定精度为（0.37±0.05）mm；测量三维空间点的平均 FRE 为 0.24 mm，平均 TRE 为 0.26 mm；角度的测量偏差最大为 0.4°。通过实验验证了本文方法的有效性，同时结果表明本方法的标定精度较高，能够满足手术机器人准确定位的需求
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