Surgical robot testing method, apparatus, device, and medium

Abstract

Embodiments of the present application disclose a surgical robot testing method, device, equipment and medium, wherein the method comprises: in response to a test control instruction, determining a target test action model, wherein the target test action model is a surgical action model established based on posture data of a surgical robot in a process of completing a preset surgical action under a user control state; controlling a running process of a target test object based on the target test action model; obtaining a running state parameter of the target test object in the running process, and determining a test result of the target test object based on the running state parameter. The technical scheme of the embodiments of the present application solves the problem of low stability testing efficiency of the surgical robot, can simulate a complete surgical action motion trajectory in the testing process, is closer to the actual running process, and can improve the stability testing efficiency and accuracy.

Description

TECHNICAL FIELD

[0001] The embodiment of the application relates to the technical field of mechanical control, and particularly relates to a surgical robot testing method, device, equipment and medium. BACKGROUND

[0002] The surgical robot is applied in a surgical operation, and needs to have high reliability to prevent abnormal operation of a surgical robot manipulator from causing a medical accident.

[0003] At present, a testing method for reliability and stability of the surgical robot mostly relies on manual operation to perform a large amount of long-time measurement, and has high testing cost. Alternatively, a single action test is performed through an action control instruction, and the testing efficiency is low, and the surgical scene cannot be completely simulated. SUMMARY

[0004] The embodiment of the application provides a surgical robot testing method, device, equipment and medium, a complete surgical action motion track is simulated in a testing process, actual operation process can be approached, and stability testing efficiency and accuracy can be improved.

[0005] In a first aspect, the embodiment of the application provides a surgical robot testing method, and the method comprises the following steps.

[0006] In response to a testing control instruction, a target testing action model is determined, wherein the target testing action model is a surgical action model established based on posture data in a process in which a surgical robot completes a preset surgical action in a user control state;

[0007] A running process of a target testing object is controlled based on the target testing action model;

[0008] Running state parameters of the target testing object in the running process are acquired, and a testing result of the target testing object is determined based on the running state parameters.

[0009] In a second aspect, the embodiment of the application further provides a surgical robot testing device, and the device comprises the following modules.

[0010] A testing action determination module is configured to determine a target testing action model in response to a testing control instruction, wherein the target testing action model is a surgical action model established based on posture data in a process in which a surgical robot completes a preset surgical action in a user control state;

[0011] A testing process control module is configured to control a running process of a target testing object based on the target testing action model;

[0012] A test result analysis module is configured to acquire a running state parameter of the target test object during the running process, and determine a test result of the target test object based on the running state parameter.

[0013] In a third aspect, an embodiment of the present application also provides a computer device, which comprises:

[0014] one or more processors;

[0015] a memory configured to store one or more programs;

[0016] When the one or more programs are executed by the one or more processors, the one or more processors implement the surgical robot test method provided by any embodiment of the present application.

[0017] In a fourth aspect, an embodiment of the present application also provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the surgical robot test method provided by any embodiment of the present application.

[0018] In the embodiment of the present application, the target test action model is determined in response to the test control instruction, wherein the target test action model is a surgical action model established based on posture data of the surgical robot during a process of completing a preset surgical action under a user control state; then the running process of the target test object can be controlled based on the target test action model; the running state parameter of the target test object during the running process is acquired, and the test result of the target test object is determined based on the running state parameter. The technical scheme of the embodiment of the present application solves the problem of low efficiency of the stability test of the surgical robot, can simulate the complete surgical action motion track in the test process, that is, reproduce the surgical action of the surgeon, is closer to the actual running process, can improve the stability test efficiency and accuracy, and then can improve the accuracy and safety of the surgical robot in the surgical process. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a flowchart of a surgical robot test method provided by an embodiment of the present application;

[0020] Figure 2 is a flowchart of a surgical robot test method provided by an embodiment of the present application;

[0021] Figure 3 is a structural schematic diagram of a surgical action model provided by an embodiment of the present application;

[0022] Figure 4 is a flowchart of a surgical robot test method provided by an embodiment of the present application;

[0023] Figure 5is a schematic view of a surgical robot test interaction interface provided by an embodiment of the present application.

[0024] Figure 6 is a structural schematic view of a surgical robot test device provided by an embodiment of the present application.

[0025] Figure 7 is a structural schematic view of a computer device provided by the fifth embodiment of the present application. DETAILED DESCRIPTION

[0026] The present application will be further described below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures.

[0027] Figure 1 is a flowchart of a surgical robot test method provided by an embodiment of the present application. The embodiment can be applicable to the scene of testing the surgical robot, especially the scene of testing the stability of the surgical robot. The method can be executed by a surgical robot test device, which can be realized by software and / or hardware, and integrated in a computer device with application development function.

[0028] As shown in Figure 1 , the surgical robot test method of the embodiment includes the following steps:

[0029] S110, in response to a test control instruction, determining a target test action model.

[0030] The stability test of the surgical robot is an important link to ensure that it can safely and reliably perform tasks during the operation. In the embodiment, in order to make the surgical robot run more stably during the operation, the preset surgical action model is used to test the stability of the surgical robot, which can more comprehensively test the stability of the surgical robot.

[0031] Among them, the test control instruction can be a pre-set automatic test control instruction, or a test control instruction triggered by a related technical personnel according to the test requirement. In the test control instruction, the test parameters such as the test action, the time length of the surgical robot to be tested can be determined.

[0032] The target test action model corresponds to a surgical action that the surgical robot needs to test. The target test action model is a surgical action model established based on pose data of the surgical robot in a process of completing a preset surgical action in a user control state. One surgical action model can correspond to a complete motion trajectory for completing a corresponding surgical action, including pose data of each joint of the slave arm of the surgical robot, such as angle, force, and coordinate position information, and the like, in a process of completing the surgical action. The preset surgical action can be any one of a pinching surgical action, a peeling surgical action, a resection surgical action, a suturing surgical action, or a lifting surgical action.

[0033] The target test action model can be a model corresponding to any one of the above surgical actions, or a combination of a plurality of surgical action models that are the same or different. For example, it can be a result of permutation and combination in different surgical action sequences, and can reproduce a complex entire surgical process.

[0034] It can be understood that different operators of surgical robots will have different action trajectories for the same surgical action. That is, when the surgical robot completes the same surgical action under different user controls, different surgical action models need to be established based on the acquired pose data under different user controls. That is, when the surgical robot operates according to different surgical action models, different surgical actions of different surgeons can be reproduced. This is more refined and targeted for stability testing of the surgical robot in an actual surgical scene, and can evaluate the stability and reliability of the surgical robot under real surgical conditions. This can help to find problems related to actual operation.

[0035] S120, control a running process of a target test object based on the target test action model.

[0036] The target test object can be any surgical robot that needs stability testing.

[0037] The target test action model is a surgical action model established based on pose data of the surgical robot in a process of completing a preset surgical action in a user control state, and corresponds to a complete motion trajectory for completing a corresponding surgical action, that is, a mapping relationship between motion pose data of each joint of the slave arm of the surgical robot and time in a process of implementing a corresponding surgical action is established through the target test action model.

[0038] In the process of controlling the running process of the target test object based on the target test action model, continuous action times can be respectively input into the target test action model to obtain continuous action pose data corresponding to the continuous action times. The shorter the interval of the continuous action times, the more coherent the obtained action pose data.

[0039] Further, the obtained continuous action posture data corresponding motion control parameters can be sent to the motion driving mechanism of the target test object, so that the target test object moves according to the motion trajectory of the preset surgical action corresponding to the target test action model. The motion control parameter is a parameter that can drive the motion driving mechanism to move each joint of the target test object to the corresponding action posture.

[0040] In S130, the running state parameter of the target test object in the running process is obtained, and the test result of the target test object is determined based on the running state parameter.

[0041] During the test process of the surgical robot, the target test action model can be used to test the reciprocating surgical action. For example, the target test action model can be continuously and uninterruptedly run for 7 days or even longer, which can help to find possible fatigue or stability problems.

[0042] The running state parameter of the target test object in the running process is the running state parameter collected in the continuous running process. The running state parameter can be any parameter that can reflect or measure the stability of the target test object. For example, the load data of the motion driving device in the target test object arm, and the current stability data.

[0043] Based on the collected running state parameter, the calculation of the related stability performance parameter can be performed, and the stability evaluation standard in the technical field is compared, so as to determine the stability test result of the target test object.

[0044] The technical scheme of the embodiment determines the target test action model in response to the test control instruction, wherein the target test action model is a surgical action model established based on the posture data of the surgical robot in the process of completing the preset surgical action under the user control state. Further, the running process of the target test object can be controlled based on the target test action model. The running state parameter of the target test object in the running process is obtained, and the test result of the target test object is determined based on the running state parameter. The technical scheme of the embodiment solves the problem of low stability test efficiency of the surgical robot, can simulate the complete surgical action motion trajectory in the test process, that is, reproduce the surgical action of the surgeon, and is closer to the actual running process. The stability test efficiency and accuracy can be improved, and the accuracy and safety of the surgical robot in the surgical process can be improved.

[0045] Figure 2A flowchart of a surgical robot testing method provided by an embodiment of the present application, the embodiment and the surgical robot testing method in the above embodiments belong to the same inventive concept, further describes the process of constructing a surgical action model, and the method can be executed by a surgical robot testing device. The device can be realized by software and / or hardware, and integrated into a computer device with application development function.

[0046] As shown in Figure 2 The surgical robot testing method includes the following steps:

[0047] S210, acquiring posture data of each joint of the surgical instrument arm associated with the action time in the process of completing the preset surgical action by the surgical robot in the target user control state.

[0048] In order to realize the automatic testing of the surgical robot and make it reproduce the surgical action of the surgeon, the surgical action data can be collected first.

[0049] The target user can be different surgeons, and the target user can be the surgical action mimicking object of the target test object in the testing process. The preset surgical action can be any one of the pinching surgical action, the peeling surgical action, the resection surgical action, the suturing surgical action or the lifting surgical action. The posture data of different surgeons performing the above preset surgical actions can be collected.

[0050] In a feasible implementation, the surgical action capture can be realized by using sensors, cameras and other devices to capture the surgical action of the surgeon in real time. That is, during the operation of the surgeon operating the master hand of the surgical robot, the action data of each slave arm joint of the surgical robot slave arm under the control of the master hand includes time, force, angle and spatial coordinates and other information.

[0051] During the acquisition of the posture data, the sensing data of each sensor can be read synchronously at a preset sampling frequency, so as to obtain the corresponding action posture data.

[0052] S220, establishing a surgical action model corresponding to the target user and the preset surgical action based on the posture data and the corresponding action time.

[0053] It can be understood that in this step, a surgical action model corresponding to the target user and the preset surgical action is established based on the posture data and the corresponding action time, that is, a mapping relationship between the motion posture data and the time in the preset surgical action is established. By inputting the time data corresponding to any time point into the surgical action model, the motion posture data corresponding to the corresponding time point can be obtained, and the position and posture of each joint of the slave arm of the surgical robot can be determined. The preset surgical action can be modeled in an artificial intelligence manner to obtain a corresponding surgical action model. For example, any action time and the corresponding posture data can be used as a set of model input data, and the posture data in the model input data can be used as output label data of the model input data. A preset deep learning model is trained based on the model input data and the output label data to obtain a surgical action model corresponding to the target user and the preset surgical action. The structure of the preset deep learning model can refer to the structure shown in Figure 3 n The model input data is x1, x2, x3, …, x n When the loss function converges and meets the preset condition, the model training process is ended, and the final surgical action model is obtained.

[0054] It can be understood that the preset deep learning model can be other model structure, which can obtain the corresponding mapping relationship between the posture data and the corresponding action time.

[0055] S230, obtaining a surgical action model set based on the surgical action models corresponding to different target users and different preset surgical actions.

[0056] By repeating the above two steps, a surgical action model set corresponding to a plurality of different target users and different preset surgical actions can be obtained. In the subsequent test process, a surgical action model can be selected from the surgical action model set for testing.

[0057] S240, determining a target test action model in the surgical action model set in response to a test control instruction.

[0058] The target test action model is a combination of a plurality of surgical action models corresponding to the preset surgical actions in a preset action sequence.

[0059] S250, controlling the running process of a target test object based on the target test action model.

[0060] S260, obtaining a running state parameter of the target test object in the running process, and determining a test result of the target test object based on the running state parameter.

[0061] The technical scheme of the embodiment obtains posture data of each joint of a surgical instrument arm associated with action time in a process in which a surgical robot completes a preset surgical action under a target user control state; establishes a surgical action model corresponding to the target user and the preset surgical action based on the posture data and the corresponding action time; obtains a surgical action model set based on the surgical action models corresponding to different target users and different preset surgical actions; determines a target test action model in the surgical action model set in response to a test control instruction; controls a running process of a target test object based on the target test action model; obtains a running state parameter of the target test object in the running process, and determines a test result of the target test object based on the running state parameter. The technical scheme of the embodiment solves the problem of low stability test efficiency of a surgical robot, can achieve a highly accurate reproduction effect by means of action capture of surgical actions of a surgeon, can be used to accurately evaluate the reliability and operation accuracy of equipment, can improve the stability test efficiency and accuracy, and can further improve the accuracy and safety of a surgical robot in a surgical process, and is also beneficial to optimizing product design and production process of a surgical robot equipment manufacturer and improving the quality and performance of equipment.

[0062] Figure 4 A flowchart of a surgical robot test method provided by the embodiment is provided, the embodiment and the surgical robot test method in the above embodiment belong to the same inventive concept, and a process is further described. The method can be executed by a surgical robot test device, and the device can be realized by software and / or hardware, and integrated in a computer device with application development function.

[0063] As shown in Figure 4 , the surgical robot test method comprises the following steps:

[0064] S310, in the preset test interaction interface, in response to the input of the test control instruction, the target test action model is determined.

[0065] When a related technical person needs to test the stability of a surgical robot, a test control instruction can be input in a preset test interaction interface. The preset test interaction interface displays a preset surgical action simulation object and a selection control corresponding to the preset surgical action. A schematic diagram of the preset test interaction interface can be referred to the schematic diagram shown in Figure 5 . Figure 5In the embodiment, the surgical action control interface can be only part of the function controls in the preset test interaction interface. The surgical action control interface can further include function controls such as test time setting, test pause, test data real-time display, and the like. In the surgical action control interface, each surgical action name “peeling”, “suture”, and “pulling” corresponds to a selection control of a surgical action model.

[0066] When the related technical personnel selects any one of the surgical actions of any one of the doctors, Figure 5 In the embodiment, when the related technical personnel selects any one of the surgical actions of any one of the doctors, the surgical action model of the corresponding surgical action of the corresponding doctor can be used as a target test action model. In an optional embodiment, if the related technical personnel continuously clicks the selection controls of multiple surgical action models, the multiple surgical action models can be combined in the order of clicking to form a target test action model. Thus, the target test object can sequentially perform each surgical action according to the target test action model, and the process can be repeated.

[0067] S320, input the continuous action time into the target test action model respectively to obtain continuous action posture data corresponding to the continuous action time.

[0068] It should be noted that when the target test action model includes multiple surgical action models, the first surgical action model and the second surgical action model in the multiple surgical action models are executed in the order of time until all the surgical actions to be tested are completed. The last action time data input into the preceding surgical action model is definitely earlier than the first action time data input into the subsequent surgical action model.

[0069] S330, send the motion control parameters corresponding to the continuous action posture data to the motion driving mechanism of the target test object, so that the target test object moves according to the motion trajectory of the preset surgical action corresponding to the target test action model.

[0070] S340, obtain the current value of the action driving mechanism and / or the working state of the action encoder of the target test object during the movement according to the motion trajectory of the preset surgical action corresponding to the target test action model.

[0071] In the embodiment, the current value of the action driving mechanism and / or the working state of the action encoder can be used as the running state parameter for evaluating the stability test.

[0072] S350, determine the test result of the target test object according to the current value and / or the working state of the action encoder.

[0073] Based on the collected current value and / or action encoder working state, the calculation and analysis of relevant stability performance parameters can be performed, and compared with the stability evaluation standard in the technical field, so as to determine the stability test result of the target test object.

[0074] The technical scheme of the embodiment determines the target test action model in response to the input of the test control instruction in the preset test interaction interface, inputs the continuous action time into the target test action model respectively to obtain the continuous action posture data corresponding to the continuous action time, sends the motion control parameters corresponding to the continuous action posture data to the motion driving mechanism of the target test object, so that the target test object moves according to the motion trajectory of the preset surgical action corresponding to the target test action model, acquires the current value of the action driving mechanism and / or the action encoder working state of the target test object in the process of moving according to the motion trajectory of the preset surgical action corresponding to the target test action model, and determines the test result of the target test object according to the current value and / or the action encoder working state. That is, the tester selects the surgical action of the doctor to be tested through the corresponding operation control of the upper computer interface, the system automatically calls out the target surgical action model from the action model database (a set of pre-established surgical action models) and sends it to the surgical robot system, the surgical robot automatically adjusts the position, posture and other parameters of the surgical instrument according to the action model, realizes high consistency with the surgical action of the surgeon, and achieves the purpose of accurately reproducing the surgical action of the surgeon. The technical scheme of the embodiment solves the problem of low efficiency of surgical robot stability test, can simulate the complete surgical action motion trajectory in the test process, that is, reproduce the surgical action of the surgeon, is closer to the actual operation process, can improve the stability test efficiency and accuracy, and further can improve the accuracy and safety of the surgical robot in the surgical process.

[0075] Figure 6 A structural schematic diagram of a surgical robot test device provided by the embodiment is provided, and the embodiment can be applied to the scene of surgical robot test, in particular, the stability of the surgical robot is tested. The device can be realized by software and / or hardware, and integrated in a computer device with application development function.

[0076] As shown in Figure 6 The surgical robot test device includes a test action determination module 410, a test process control module 420 and a test result analysis module 430.

[0077] The test action determination module 410 is configured to determine a target test action model in response to a test control instruction, wherein the target test action model is a surgical action model established based on posture data of the surgical robot in a process of completing a preset surgical action in a user control state.

[0078] The technical scheme of the embodiment determines a target test action model in response to a test control instruction, wherein the target test action model is a surgical action model established based on posture data of the surgical robot in a process of completing a preset surgical action in a user control state, and then controls a running process of a target test object based on the target test action model, obtains a running state parameter of the target test object in the running process, and determines a test result of the target test object based on the running state parameter. The technical scheme of the embodiment solves the problem of low stability test efficiency of the surgical robot, can simulate a complete surgical action motion track in the test process, that is, reproduce a surgical action of a surgeon, is closer to an actual running process, can improve stability test efficiency and accuracy, and can further improve accuracy and safety of the surgical robot in a surgical process.

[0079] Optionally, the test process control module 420 is specifically configured to:

[0080] input the continuous action times into the target test action model respectively to obtain continuous action posture data corresponding to the continuous action times;

[0081] send motion control parameters corresponding to the continuous action posture data to a motion driving mechanism of the target test object, so that the target test object moves according to a motion track of a preset surgical action corresponding to the target test action model.

[0082] Optionally, the surgical robot test device further includes a test model determination module configured to construct a surgical action model, and a process of establishing the surgical action model includes the following steps:

[0083] obtain posture data of each joint of a surgical instrument arm associated with an action time in a process of completing a preset surgical action of the surgical robot in a target user control state;

[0084] establish a surgical action model corresponding to the target user and the preset surgical action based on the posture data and the corresponding action time, wherein the target user is a surgical action mimicking object of the target test object in a test process.

[0085] Optionally, the test model determination module can also be used for:

[0086] using any of the action time and the corresponding posture data as a set of model input data, using the posture data in the model input data as output label data of the model input data;

[0087] training a preset deep learning model based on the model input data and the output label data to obtain a surgical action model corresponding to the target user and the preset surgical action.

[0088] Optionally, the test action determination module 410 is specifically used for:

[0089] in a preset test interaction interface, determining the target test action model in response to input of the test control instruction;

[0090] wherein the preset test interaction interface displays a preset surgical action mimicking object and a selection control of a preset surgical action corresponding to the preset surgical action mimicking object.

[0091] Optionally, the test result analysis module 430 is specifically used for:

[0092] obtaining a current value of an action driving mechanism and / or an action encoder working state of the target test object in the running process;

[0093] determining a test result of the target test object according to the current value and / or the action encoder working state.

[0094] Optionally, the target test action model is a combination of surgical action models corresponding to a plurality of preset surgical actions in a preset action sequence. The surgical robot test device provided in the embodiment of the application can execute the surgical robot test method provided in any embodiment of the application, and has the corresponding function modules and beneficial effects of the execution method.

[0095] Figure 7 A structural schematic diagram of a computer device provided in the embodiment of the application is provided. Figure 7 A block diagram of an exemplary computer device 12 suitable for implementing embodiments of the application is shown. Figure 7The computer device 12 shown is merely an example and should not be construed as limiting the functionality or scope of the embodiments of the present invention. The computer device 12 can be any terminal device with computing capabilities and can be configured within a surgical robot testing device.

[0096] like Figure 7 As shown, the computer device 12 is represented in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and a bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0097] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0098] Computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0099] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (…). Figure 7 Not shown; usually referred to as a "hard drive"). Although Figure 7 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0100] Program / utility 40 having a set of program modules 42 can be stored in system memory 28 by way of example, such program modules 42 include an operating system, one or more application programs, other program modules, and program data, each of which or a combination thereof, can include implementation of the network environment as each or any combination of these examples. Program modules 42 generally carry out the functions and / or methodologies of embodiments of the application described herein.

[0101] Computer device 12 can also communicate with one or more external devices 14 such as a keyboard, a pointing device, a display 24, etc.; one or more devices that enable a user to interact with computer device 12; and / or one or more devices that enable computer device 12 to communicate with one or more other computing devices. Such communication can be via input / output (I / O) interfaces 22. Further, computer device 12 can communicate with one or more networks such as a local area network (LAN), a general wide area network (WAN), and / or a public network such as the Internet, via network adapter 20. As depicted, network adapter 20 communicates with the other components of computer device 12 via bus 18. It should be appreciated that although not shown, other hardware and / or software modules could be used in conjunction with computer device 12. Examples, include, but are not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc. Figure 7

[0102] Processing unit 16 performs various function applications and data processing by running programs stored in system memory 28, such as implementing a surgical robot testing method provided by embodiments of the present application, which includes:

[0103] In response to the test control instruction, a target test action model is determined, wherein the target test action model is a surgical action model established based on posture data of the surgical robot in a process of completing a preset surgical action in a user control state;

[0104] The running process of the target test object is controlled based on the target test action model;

[0105] The running state parameters of the target test object in the running process are acquired, and a test result of the target test object is determined based on the running state parameters.

[0106] The present embodiment provides a computer readable storage medium having a computer program stored thereon, the program being executed by a processor to implement a surgical robot testing method provided by any embodiment of the present application, which includes:

[0107] ​In response to the test control instruction, a target test action model is determined, wherein the target test action model is a surgical action model established based on posture data of the surgical robot in a process of completing a preset surgical action in a user control state;

[0108] The operation process of the target test object is controlled based on the target test action model;

[0109] The running state parameter of the target test object in the operation process is acquired, and a test result of the target test object is determined based on the running state parameter.

[0110] The computer storage medium of the embodiment of the application can adopt any combination of one or more computer readable media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples (non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or component.

[0111] The computer readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, in which a computer readable program code is carried. Such a propagated data signal can take multiple forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination thereof. The computer readable signal medium can also be any computer readable medium other than the computer readable storage medium, which can send, propagate or transmit a program for use by or in connection with an instruction execution system, device or component.

[0112] The program code contained on the computer readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination thereof.

[0113] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0114] Those skilled in the art will appreciate that the modules or steps of the application described above can be implemented in a general purpose computer, and can be centralized in a single computer or distributed over multiple computers in a network, and optionally, they can be implemented in program code executable by a computer, and thus can be stored in a storage device and executed by a computer, or they can be made into individual integrated circuit modules, or a plurality of modules or steps can be made into a single integrated circuit module. Thus, the present application is not limited to any particular combination of hardware and software.

[0115] Note that the above are only the preferred embodiments of the present application and the principles of the applied technology. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, reconfigurations and substitutions can be made by those skilled in the art without departing from the scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A surgical robot testing method characterized by, The method comprises the following steps: determining a target test action model in response to a test control instruction, wherein the target test action model is a surgical action model established based on posture data of a surgical robot in a user control state during completion of a preset surgical action; controlling a running process of a target test object based on the target test action model; obtaining a running state parameter of the target test object in the running process, and determining a test result of the target test object based on the running state parameter.

2. The method of claim 1, wherein, The step of controlling the running process of the target test object based on the target test action model comprises the following steps: inputting continuous action times into the target test action model respectively to obtain continuous action posture data corresponding to the continuous action times; sending motion control parameters corresponding to the continuous action posture data to a motion driving mechanism of the target test object, so that the target test object moves according to a motion trajectory of a preset surgical action corresponding to the target test action model.

3. The method of claim 1, wherein, The step of establishing the surgical action model comprises the following steps: obtaining posture data of each joint of a surgical instrument arm associated with an action time during completion of a preset surgical action by a surgical robot in a target user control state; establishing a surgical action model corresponding to the target user and the preset surgical action based on the posture data and the corresponding action time, wherein the target user is a surgical action imitation object of the target test object in a test process.

4. The method of claim 3, wherein, The step of establishing the surgical action model corresponding to the target user and the preset surgical action based on the posture data and the corresponding action time comprises the following steps: taking any action time and the corresponding posture data as a group of model input data, and taking the posture data in the model input data as output label data of the model input data; training a preset deep learning model based on the model input data and the output label data to obtain the surgical action model corresponding to the target user and the preset surgical action.

5. The method of claim 1, wherein, The step of determining the target test action model in response to the test control instruction comprises the following steps: determining the target test action model in response to input of the test control instruction in a preset test interaction interface; wherein the preset test interaction interface displays a preset surgical action imitation object and a selection control of a preset surgical action corresponding to the preset surgical action imitation object.

6. The method as claimed in claim 1, wherein, The step of obtaining the running state parameter of the target test object in the running process and determining the test result of the target test object based on the running state parameter comprises the following steps: obtaining a current value of an action driving mechanism and / or an action encoder working state of the target test object in the running process; determining the test result of the target test object according to the current value and / or the action encoder working state.

7. The method according to any one of claims 1 to 6, characterized in that, The target test action model is a combination of surgical action models corresponding to a plurality of preset surgical actions in a preset action sequence.

8. A surgical robot testing apparatus characterized by, The method comprises the following steps: The test action determination module is configured to determine a target test action model in response to a test control instruction, wherein the target test action model is a surgical action model established based on pose data of the surgical robot in a process of completing a preset surgical action in a user control state; The test process control module is configured to control a running process of a target test object based on the target test action model; The test result analysis module is configured to acquire a running state parameter of the target test object in the running process, and determine a test result of the target test object based on the running state parameter.

9. A computer device, comprising: The computer device comprises: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the surgical robot test method as claimed in any one of claims 1-7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the surgical robot test method as claimed in any one of claims 1-7. The program is executed by the processor to implement the surgical robot test method as claimed in any one of claims 1-7.

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