Master-slave delay test method, system and equipment for surgical robot

Abstract

The embodiment of the invention provides a master-slave delay test method, system and equipment for a surgical robot, and the method comprises the steps: responding to a collection instruction triggered by a user through an optical positioning device, and collecting the position data of a first target ball disposed on a master hand and a second target ball disposed on a slave hand; the testing device responds to at least one movement instruction triggered by a user, and based on at least one movement direction carried by the at least one movement instruction, a master hand is driven to move along the at least one movement direction, so that a slave hand of the surgical robot moves along with the at least one movement direction; determining a master hand motion curve and a slave hand motion curve corresponding to at least one motion direction based on the position data collected by the optical positioning device; and the target delay information between the master manipulator and the slave manipulator is determined based on the master manipulator motion curve and the slave manipulator motion curve corresponding to each motion direction, so that the composition and the test process of the test system are simple, the requirement on the test environment is low, and the test precision can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a method, system and device for testing master-slave delay of a surgical robot. Background Art

[0002] With the continuous development of medical equipment, computer technology and control technology, minimally invasive surgery has been increasingly widely used due to its advantages of less surgical trauma, shorter recovery time and less pain for patients. Minimally invasive medical robots are widely used in surgical departments such as urology, thoracic surgery, general surgery, and neurosurgery due to their high dexterity, high control precision, and intuitive surgical images.

[0003] Currently, the widely used master-slave minimally invasive surgical robot consists of a master control arm and a slave manipulator arm. The master control arm collects the doctor's operating signals, processes them in the control system, and generates control signals for the slave manipulator arm, which then performs the surgical operation. The time between the master control arm (master) issuing an action command and the slave manipulator arm (slave) fully replicating the action is called the master-slave delay. Generally, a delay exceeding 200ms can cause the doctor to experience "insensitivity." Therefore, the master-slave operation delay is a significant factor affecting the doctor's operating experience and surgical effectiveness, and is also a key indicator when testing surgical robots. The general process of the test method is as follows: "Use a motion generating device to accelerate the reference point of the master device from rest to 80% of the rated speed within 200ms. After uniformly moving a specified distance, decelerate to rest within 200ms. Based on the changes in the end positions of the master and slave devices, the time difference between the start of movement of the reference point of the master device and the reference point of the slave device is taken as the candidate start delay. Within 80% of the movement range of the master device, the maximum time difference between the reference point of the master device and the reference point of the slave device when moving the same displacement is taken as the candidate follow-up delay. Test the X, Y, and Z directions separately; the maximum value in the three directions is taken as the final delay." However, the standard does not provide a specific test system. The structural complexity and ease of use of the test system are also very important for surgical robot manufacturers and medical device testing institutes.

[0004] Chinese invention patent publication number CN115105215A discloses a delay measurement device for a surgical robot. The device comprises a motion generator, a measuring device, and a host computer. The host computer sends a command signal to the motion generator, which horizontally pushes the master end of the device under test, causing the slave end of the device to follow. The measuring device's laser ranging sensor measures the distance to the master and slave ends of the device under test and transmits the data to the host computer, which calculates the delay between the master and slave ends based on the data. However, environmental factors such as air pressure, temperature, and the color and material of the target object can affect the laser ranging sensor, reducing test accuracy. Summary of the Invention

[0005] The present application provides a surgical robot master-slave delay testing method, system and equipment, which can reduce the difficulty of debugging and maintenance and improve the efficiency of debugging and maintenance.

[0006] In a first aspect of the present application, a method for testing master-slave delay of a surgical robot is provided, which is applied to a master-slave delay testing system of the surgical robot. The system includes an optical positioning device, a testing device, and a test target ball; the testing device is connected to the master hand of the surgical robot; the test target ball includes a first target ball and a second target ball, the first target ball is connected to the master hand of the surgical robot, and the second target ball is connected to the slave hand of the surgical robot;

[0007] The method comprises:

[0008] The optical positioning device collects position data of the first target ball and the second target ball respectively in response to a collection instruction triggered by a user; wherein the first target ball and the second target ball are both located within a collection range of the optical positioning device;

[0009] The testing device responds to at least one movement instruction triggered by the user and drives the master hand and the first target ball to move along at least one movement direction based on at least one movement direction carried by at least one movement instruction, so as to cause the slave hand and the second target ball of the surgical robot to move along at least one movement direction;

[0010] Determining a master hand motion curve and a slave hand motion curve corresponding to the at least one motion direction based on the position data collected by the optical positioning device;

[0011] Based on the master hand motion curve and the slave hand motion curve corresponding to each of the motion directions, target delay information between the master hand and the slave hand is determined.

[0012] In some embodiments, determining target delay information between the master hand and the slave hand based on the master hand motion curve and the slave hand motion curve corresponding to each of the motion directions includes:

[0013] determining a first data point and a second data point respectively from the master hand motion curve and the slave hand motion curve corresponding to each of the motion directions;

[0014] Determining candidate delay information corresponding to each of the movement directions based on movement times corresponding to the first data point and the second data point respectively;

[0015] The target delay information is determined based on the candidate delay information corresponding to each of the motion directions.

[0016] In some embodiments, the first data point includes a first starting inflection point, and the second data point includes a second starting inflection point; wherein the first starting inflection point represents the moment when the master hand starts to move, and the second starting inflection point represents the moment when the slave hand starts to move; the candidate delay information includes a candidate start delay;

[0017] The determining, based on the movement times corresponding to the first data point and the second data point, candidate delay information corresponding to each movement direction includes:

[0018] When the first data point is the first starting inflection point and the second data point is the second starting inflection point, determining the movement times corresponding to the first starting inflection point and the second starting inflection point respectively;

[0019] The movement time corresponding to the second starting inflection point is subtracted from the movement time corresponding to the first starting inflection point to determine the candidate start delay corresponding to each of the movement directions.

[0020] In some embodiments, the first data point includes a first position point on the master hand motion curve, and the second data point includes a second position point on the slave hand motion curve; the first position point and the second position point have the same height and the maximum interval; the candidate delay information includes a candidate follow-up delay;

[0021] The determining, based on the movement times corresponding to the first data point and the second data point, candidate delay information corresponding to each movement direction includes:

[0022] When the first data point is the first position point and the second data point is the second position point, determining movement times corresponding to the first position point and the second position point respectively;

[0023] The movement time corresponding to the second position point is subtracted from the movement time corresponding to the first position point to determine the candidate following delay corresponding to each of the movement directions.

[0024] In some embodiments, the first data point includes a first stop inflection point, and the second data point includes a second stop inflection point; wherein the first stop inflection point represents the moment when the master hand stops moving, and the second stop inflection point represents the moment when the slave hand stops moving; and the delay information includes a candidate stop delay;

[0025] The determining, based on the movement times corresponding to the first data point and the second data point, candidate delay information corresponding to each movement direction includes:

[0026] When the first data point is the first stop inflection point and the second data point is the second stop inflection point, determining the movement times corresponding to the first stop inflection point and the second stop inflection point respectively;

[0027] The movement time corresponding to the second stop inflection point is subtracted from the movement time corresponding to the first stop inflection point to determine the candidate stop delay corresponding to each of the movement directions.

[0028] In some embodiments, at least one of the movement directions includes a first direction, a second direction, and a third direction; the first direction, the second direction, and the third direction are perpendicular to each other; the target delay information includes a target candidate start delay, a target following delay, and a target stop delay;

[0029] The determining the target delay information based on the candidate delay information corresponding to each of the motion directions includes:

[0030] Determine the candidate startup delay with the largest value among the candidate startup delays corresponding to the first direction, the candidate startup delays corresponding to the second direction, and the candidate startup delays corresponding to the third direction as the target startup delay;

[0031] determining the candidate following delay with the largest value among the candidate following delay corresponding to the first direction, the candidate following delay corresponding to the second direction, and the candidate following delay corresponding to the third direction as the target following delay;

[0032] determining the candidate stop delay with the largest value among the candidate stop delays corresponding to the first direction, the candidate stop delays corresponding to the second direction, and the candidate stop delays corresponding to the third direction as the target stop delay;

[0033] In some embodiments, the first target ball is set on the first target joint of the master hand, so the second target ball is set on the second target joint of the slave hand; wherein the first target joint is the joint connected to the testing device among the multiple joints included in the master hand; the second target joint is the joint located at the end among the multiple joints included in the slave hand.

[0034] In some embodiments, receiving at least one pressing operation triggered by the user on at least one movement button, and determining the duration of each pressing operation;

[0035] When the duration of the pressing operation corresponding to the moving button exceeds a preset duration threshold, the moving instruction is generated based on the movement direction corresponding to the moving button.

[0036] In some embodiments, the method further comprises:

[0037] In response to a movement operation triggered by the user on the operation interface, moving the positions of the master hand motion curve and the slave hand motion curve on the operation interface;

[0038] In response to a zoom operation triggered by the user on the operation interface, the master hand motion curve and the slave hand motion curve are zoomed in or out in an area of the operation interface.

[0039] In a second aspect of the present application, a surgical robot master-slave delay testing system is provided, the system comprising:

[0040] A test target ball, comprising a first target ball and a second target ball, wherein the first target ball is connected to the master hand of the surgical robot, and the second target ball is connected to the slave hand of the surgical robot;

[0041] an optical positioning device, configured to collect position data of the first target sphere and the second target sphere respectively in response to a collection instruction triggered by a user;

[0042] a testing device connected to the master hand of the surgical robot, configured to respond to at least one movement instruction triggered by the user and, based on at least one movement direction carried by the at least one movement instruction, drive the master hand and the first target ball to move along at least one movement direction, so as to cause the slave hand of the surgical robot and the second target ball to move along at least one movement direction;

[0043] A control device is used to determine the master hand motion curve and the slave hand motion curve corresponding to at least one motion direction based on the position data collected by the optical positioning device, and determine the target delay information between the master hand and the slave hand based on the master hand motion curve and the slave hand motion curve corresponding to each of the motion directions.

[0044] According to a third aspect of the present application, an electronic device is provided, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the above-mentioned embodiment methods when executing the computer program.

[0045] In a fourth aspect of the present application, a non-transitory computer-readable storage medium is provided, on which a computer program is stored, characterized in that when the computer program is executed by a processor, the steps of any of the above-mentioned embodiment methods are implemented.

[0046] The embodiment of the present application provides a method for testing a master-slave delay of a surgical robot, which is applied to a master-slave delay testing system of a surgical robot. The system includes an optical positioning device, a testing device and a testing target ball; the testing device is connected to the master hand of the surgical robot; the testing target ball includes a first target ball and a second target ball, the first target ball is connected to the master hand of the surgical robot, and the second target ball is connected to the slave hand of the surgical robot; the method includes: respectively collecting position data of the first target ball and the second target ball by the optical positioning device in response to a collection instruction triggered by a user; wherein the first target ball and the second target ball are both located within the collection range of the optical positioning device; based on at least one movement instruction triggered by the user, the testing device responds to The at least one movement direction carried by the instruction drives the master hand and the first target ball to move along at least one movement direction, so that the slave hand and the second target ball of the surgical robot move along at least one movement direction; based on the position data collected by the optical positioning device, the master hand motion curve and the slave hand motion curve corresponding to at least one movement direction are determined; based on the master hand motion curve and the slave hand motion curve corresponding to each movement direction, the target delay information between the master hand and the slave hand is determined. In this way, the position data of the first target ball and the second target ball during the movement of the master hand and the slave hand are collected using a non-contact optical positioning method, so that the delay of the master hand and the slave hand can be determined. The test process is simple, and the requirements for the test environment are also low, which can ensure the test accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0048] Figure 1 A schematic diagram of the structure of a surgical robot and a master-slave delay test system for the surgical robot provided in an embodiment of the present application;

[0049] Figure 2A A schematic diagram of a partial structure of a main hand of a surgical robot provided in an embodiment of the present application;

[0050] Figure 2B A schematic diagram of a partial structure of a slave hand of a surgical robot provided in an embodiment of the present application;

[0051] Figure 3 A schematic flow chart of a master-slave delay test method for a surgical robot provided in an embodiment of the present application;

[0052] Figure 4A A schematic diagram of a mobile operation interface provided in an embodiment of the present application;

[0053] Figure 4B A schematic diagram of a master hand motion curve and a slave hand motion curve provided in an embodiment of the present application;

[0054] Figure 5 A schematic flow chart of another method for testing master-slave delay of a surgical robot provided in an embodiment of the present application;

[0055] Figure 6 A schematic diagram of another master hand motion curve and a slave hand motion curve provided in an embodiment of the present application;

[0056] Figure 7 A schematic diagram of another master hand motion curve and a slave hand motion curve provided in an embodiment of the present application;

[0057] Figure 8 A schematic diagram of another master hand motion curve and a slave hand motion curve provided in an embodiment of the present application;

[0058] Figure 9 A flowchart of another method for testing master-slave delay of a surgical robot provided in an embodiment of the present application;

[0059] Figure 10 A schematic structural diagram of a master-slave delay test system for a surgical robot provided in an embodiment of the present application;

[0060] Figure 11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application.

[0062] In this specification, many specific technical details are described in some places so that those skilled in the art can understand the complete technical solution. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed description of technical details should not be regarded as a limitation of the present application, and the scope of protection of the present application is limited only by the claims. Elsewhere, well-known structures, connection / position relationships, circuits and / or other details may not be shown in detail to avoid misunderstandings by the public about the gist of the invention of the present application.

[0063] Throughout this specification, the accompanying drawings illustrate schematic diagrams of several embodiments of the present application. However, the drawings are for illustrative purposes only, and it should be understood that variations in the mechanical structure, connection / positional relationships, physical components, electrical components, and steps may be made without departing from the spirit and scope of the present application. Such variations may involve substitution or combination of elements from several embodiments of the present application, or substitution or combination of elements from known concepts.

[0064] The terms used herein below are only used to describe specific embodiments and are not intended to limit this application. Spatially relative terms, such as "below", "lower", "above", "upper", "middle", "middle", "inside", "outside", "center", "edge", etc., are used for convenience of description to describe the relationship between one component or feature shown in the figure and another component or feature. It should be understood that spatially relative terms can only be used under the conditions of the positioning orientation of the device in use or operation (except for the positioning orientation specifically defined in the figure), and are not necessarily unique and unchanging. For example, if the device in the figure is flipped 180° up and down along the paper, then the elements described as being "below" other components or features will become "above" other components or features. Therefore, the exemplary term "below" can cover both the above and below directions, depending on how the device is positioned. The device can also be positioned in other orientations (for example, rotated 90° or positioned in other directions), and the spatially relative descriptors used herein should be interpreted accordingly.

[0065] As used herein, "several," "one," and "the" are intended to include plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of stated features, steps, operations, elements, and / or components but do not preclude the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0066] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object," "component," "portion," "part," "module," "assembly," and "element" are used interchangeably.

[0067] The terms "instrument," "surgical instrument," and "surgical instrument" are used herein to describe medical devices configured to be inserted into a patient and used to perform a surgical or diagnostic procedure, generally including an end effector. An end effector can be a surgical tool associated with one or more surgical procedures, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of the present application further provide an articulated support for the surgical tool (sometimes referred to as a "wrist," "joint," or "seat") that allows the position and / or orientation of the end effector to be flexibly manipulated relative to the instrument axis in one or more mechanical degrees of freedom. Furthermore, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or a blade that translates along a specific path. Instruments may also contain stored information (e.g., on a PCBA within the instrument) that is either permanent or updateable by the surgical system. Accordingly, the system can provide one-way or two-way communication of information between the instrument and one or more system components.

[0068] The term "mate" (sometimes referred to as "connect," "link," "couple," "mount," "assemble") can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mated objects to operate in conjunction with each other. It should be noted that mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather many objects or components can be used to mate two or more objects. For example, objects A and B can be mated using object C. Additionally, the terms "removably couple" or "removably mate" can be interpreted to mean a non-permanent connection or mating situation between two or more objects. This means that the removably coupled objects can be uncoupled and separated so that they no longer operate in conjunction.

[0069] The term "joint position" can be broadly understood as the angle of a joint or its spatial position. The angle of a joint refers to the actual rotation angle of the joint relative to its zero point within its range of rotation, or the incremental rotation angle if there is no zero point. Spatial position refers to the location of the virtual joint center within a specific spatial coordinate system. For example, for a Cartesian coordinate system, spatial position refers to the three-dimensional position in XYZ coordinates.

[0070] Finally, the terms "or" and "and / or" as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B, and / or C" means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. An exception to this definition would only occur if a combination of elements, functions, steps, or actions are inherently mutually exclusive in some way.

[0071] With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has become increasingly widely used due to its advantages such as minimal surgical trauma, short recovery time, and reduced patient pain. Minimally invasive medical robots, with their high dexterity, high control precision, and intuitive surgical images, are widely used in surgical departments such as urology, thoracic surgery, general surgery, and neurosurgery. Among these minimally invasive medical robots, the most widely used are laparoscopic medical robots, which are used to perform surgeries on the patient's abdominal, pelvic, and thoracic cavities. Laparoscopic surgical robots typically consist of a surgeon's control platform, a patient operating platform, and an imaging platform. These platforms are connected by fiber optic cables to enable information exchange, network communication, master-slave control, and image transmission between the platforms. In practice, the surgeon, seated at the surgeon's control platform, views a 2D or 3D image of the surgical area transmitted by a laparoscope placed inside the patient's body and controls the movement of a robotic arm on the patient operating platform, as well as the surgical instruments or laparoscope attached to it. The robotic arm simulates the human arm, and the surgical instrument simulates the human hand. Both provide surgeons with a series of movements that simulate the human wrist, while also filtering out the tremors of the human hand itself.

[0072] In some embodiments, the patient surgical platform includes a chassis, a column, a robotic arm connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each robotic arm. The surgical instrument and / or laparoscope is detachably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes that are operated at the surgical site in the patient's body. The relevant surgical instruments can be provided in various forms that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is limited by mechanical or software constraints to rotate the relevant surgical instrument around a center of motion on a surgical instrument that remains stationary relative to the patient. The center of motion is typically located at the position where the surgical instrument enters the body, and the center of motion is called the "telecentric point."

[0073] In some embodiments, the imaging platform typically includes a video image capture function (typically an endoscope) and one or more video displays for displaying the surgical instruments in the captured images. In some laparoscopic surgical robots, the laparoscope includes optical components that transmit images from the patient's body 122 to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope. The video images are then transmitted to the imaging platform's host computer through steps such as photoelectric conversion. Subsequently, image processing is performed and the processed images are displayed on the video display for observation by the assistant.

[0074] In some embodiments, the doctor control platform may be at a single location in the surgical system consisting of a laparoscopic surgical robot or it may be distributed at two or more locations in the system. Remote control master / slave operation can be performed according to a preset degree of control. In some embodiments, the doctor control platform includes one or more manually operated input devices, such as joysticks, exoskeleton gloves, power and gravity compensation manipulators, etc. These input devices collect the surgeon's operating signals, which are processed by the control system to generate control signals for the robotic arm and surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, which in turn controls the movement of the surgical instrument.

[0075] Typically, the force generated by the remote motor is transmitted through a transmission system, transferring the force from the remote motor to the end effector of the surgical instrument. In some telesurgery embodiments, the input device controlling the manipulator may be located remotely from the patient, either inside or outside the patient's room, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with telemanipulation, telecontrol, and telepresence surgery will be familiar with such systems and their components and will not be described in detail here.

[0076] Currently, the widely used master-slave minimally invasive surgical robot consists of a master control arm and a slave manipulator arm. The master control arm collects the doctor's operating signals, processes them in the control system, and generates control signals for the slave manipulator arm, which then performs the surgical operation. The time between the master control arm (master) issuing an action command and the slave manipulator arm (slave) fully replicating the action is called the master-slave delay. Generally, a delay exceeding 200ms can cause the doctor to experience "insensitivity." Therefore, the master-slave operation delay is a significant factor affecting the doctor's operating experience and surgical effectiveness, and is also a key indicator when testing surgical robots. The general process of the test method is as follows: "Use a motion generating device to accelerate the reference point of the master device from rest to 80% of the rated speed within 200ms. After uniformly moving a specified distance, decelerate to rest within 200ms. Based on the changes in the end positions of the master and slave devices, the time difference between the start of movement of the reference point of the master device and the reference point of the slave device is taken as the candidate start delay. Within 80% of the movement range of the master device, the maximum time difference between the reference point of the master device and the reference point of the slave device when moving the same displacement is taken as the candidate follow-up delay. Test the X, Y, and Z directions separately; the maximum value in the three directions is taken as the final delay." However, the standard does not provide a specific test system. The structural complexity and ease of use of the test system are also very important for surgical robot manufacturers and medical device testing institutes.

[0077] The present application provides a method for testing the master-slave delay of a surgical robot, which reflects the actual situation of the master-slave control delay through a first target ball connected to the master hand and a second target ball connected to the slave hand. In this way, a non-contact optical positioning method is used to collect the position data of the first target ball and the second target ball during the movement of the master hand and the slave hand, so as to determine the delay of the master hand and the slave hand. The testing process is simple, and the requirements for the testing environment are low, which can ensure the test accuracy.

[0078] Figure 1 A schematic diagram of a master-slave delay test system for a surgical robot provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the surgical robot master-slave delay test system includes a test target sphere 11 , an optical positioning device 12 , a test device 13 and a control device 14 .

[0079] In some embodiments, the test target sphere 11 is used to locate the master and slave hands of the surgical robot. The test target sphere 11 may include at least two target spheres, each of which may be fixed to the master and slave hands of the surgical robot. In practical applications, the position data of the target spheres fixed to the master and slave hands of the surgical robot can be collected to determine the motion trajectories of the master and slave hands of the surgical robot.

[0080] In some embodiments, the test target 11 includes a first target 111 and a second target 112. The first target 111 is connected to the main hand 15 of the surgical robot, and the second target 112 is connected to the slave hand 16 of the surgical robot.

[0081] For example, Figure 2A shows a partial structural diagram of the main hand of a surgical robot, Figure 2B FIG. 1 shows a partial structural diagram of a surgical robot's slave hand. Figure 2A and Figure 2B As shown, in order to improve the test accuracy, the first target ball 111 can be fixed to the control end of the master hand 15, and the second target ball 112 can be fixed to the end of the surgical instrument of the slave hand 16.

[0082] In some embodiments, the optical positioning device 12 is configured to collect position data of the first target sphere 111 and the second target sphere 112 in response to a collection instruction triggered by a user. To ensure the accuracy of the position data of the first target sphere 111 and the second target sphere 112 collected by the optical positioning device 12, the upper ends of the first target sphere 111 and the second target sphere 112 can be aligned with the optical positioning device 12.

[0083] In some embodiments, the testing device 13 is connected to the master hand 15 of the surgical robot. The testing device 13 can be connected to the master hand 15 of the surgical robot via a connecting fixture. The testing device 13 is configured to respond to a user-triggered movement instruction and, based on at least one movement direction carried in the movement instruction, drive the master hand and the first target ball to move in at least one movement direction, thereby causing the slave hand and the second target ball of the surgical robot to move in at least one movement direction.

[0084] In some embodiments, the control device 14 is coupled to the optical positioning device 12 and is configured to obtain position data collected by the optical positioning device 12, determine a master hand motion curve and a slave hand motion curve corresponding to at least one motion direction based on the position data collected by the optical positioning device, and determine target delay information between the master hand and the slave hand based on the master hand motion curve and the slave hand motion curve corresponding to each motion direction.

[0085] In some embodiments, the control device 11 can be coupled to the optical positioning device 12 via a data cable or via a communication network. The embodiment of the present application does not limit the coupling method between the control device 11 and the optical positioning device 12. The control device 11 can be deployed on a terminal device or a server. The terminal device can be, but is not limited to, various electronic devices such as personal computers, laptops, smartphones, and tablet computers. The server can be implemented as an independent server or a server cluster consisting of multiple servers.

[0086] The following is combined with Figure 3 , the master-slave delay test method of the surgical robot provided by the embodiment of the present application is described. It should be noted that the master-slave delay test method of the surgical robot provided by the embodiment of the present application can be applied to Figure 1 The master-slave delay test system of the surgical robot shown in FIG. Figure 3 As shown, an embodiment of the present application provides a method for testing master-slave delay of a surgical robot, which may include S301-S304.

[0087] S301 : In response to a collection instruction triggered by a user, the optical positioning device collects position data of the first target ball and the second target ball respectively.

[0088] In some embodiments, the first target ball and the second target ball are both located within the acquisition range of the optical positioning device. The acquisition instruction is used to instruct to start acquiring position data.

[0089] For example, a user can trigger a collection instruction by clicking a collection button; after receiving the collection instruction, the optical positioning device collects position data of the first target and the second target in response to the received collection instruction. The collection button can be a collection control on an interactive interface displayed by the control device, or a physical button provided on the optical positioning device, which is not limited in this embodiment of the present application.

[0090] In some embodiments, to ensure test accuracy, the first target ball is set on the first target joint of the master hand, and the second target ball is set on the second target joint of the slave hand. The first target joint is the joint in the master hand that is connected to the testing device. In some application scenarios, the doctor can hold the first target joint to control the movement of other joints of the master hand, so that the slave hand follows the movement. The second target joint is the joint at the end of the slave hand. In some application scenarios, the second target joint can be a surgical instrument, that is, the second target ball can be fixed to the surgical instrument. To further improve test accuracy, the second target ball can be fixed to the end of the surgical instrument. In other application scenarios, the second target joint can be a poking card, that is, the second target ball can be fixed to the poking card. In some other application scenarios, the second target joint can be a test instrument used for testing, that is, the second target ball can be fixed to the test instrument.

[0091] In some embodiments, the position data may include coordinate data of the target sphere and time data.

[0092] For example, the optical positioning device collects position data of the first target ball and the second target ball respectively, thereby obtaining position data corresponding to the first target ball and position data corresponding to the second target ball. The motion trajectory of the first target ball can be determined based on the position data corresponding to the first target ball; and the motion trajectory of the second target ball can be determined based on the position data corresponding to the second target ball.

[0093] In some embodiments, since the first target ball is connected to the main hand of the surgical robot, the main hand of the surgical robot will drive the first target ball to move synchronously during its movement, so that the position data corresponding to the first target ball collected by the optical positioning device can be equivalent to the position data of the main hand of the surgical robot, that is, the motion trajectory of the main hand of the surgical robot can be determined based on the position data corresponding to the first target ball. Similarly, since the second target ball is connected to the slave hand of the surgical robot, the slave hand of the surgical robot will drive the second target ball to move synchronously during its movement, so that the position data corresponding to the second target ball collected by the optical positioning device can be equivalent to the position data of the slave hand of the surgical robot, that is, the motion trajectory of the slave hand of the surgical robot can be determined based on the position data corresponding to the second target ball.

[0094] In some embodiments, an optical positioning device is used to collect position data of the first and second target spheres. In some application scenarios, the optical positioning device can be an optical navigation device that tracks and locates the target spheres based on binocular stereo vision, or it can be another system or device capable of collecting target sphere position data. The embodiments of this application are not limited to the optical positioning device.

[0095] S302. The testing device responds to at least one movement instruction triggered by the user, and based on at least one movement direction carried by the at least one movement instruction, drives the master hand and the first target ball to move along at least one movement direction, so that the slave hand and the second target ball of the surgical robot move along at least one movement direction.

[0096] In some embodiments, the movement instruction carries at least one movement direction, and the movement instruction is used to instruct the test device to drive the main hand to move along the at least one movement direction. The at least one movement direction may include a first direction, a second direction, and a third direction. The first direction, the second direction, and the third direction are perpendicular to each other. Figure 2A and Figure 2B As shown, in some application scenarios, the first direction corresponds to the X-axis of the Cartesian space coordinate system, that is, the first direction can refer to the X direction, the second direction corresponds to the Y-axis of the Cartesian space coordinate system, that is, the second direction can refer to the Y direction, and the third direction corresponds to the Z-axis of the Cartesian space coordinate system, that is, the third direction can refer to the Z direction.

[0097] Exemplarily, after receiving a movement instruction, the testing device begins to move in response to the received movement instruction based on at least one movement direction carried in the movement instruction, thereby driving the master hand and the first target ball to move along the at least one movement direction. As the master hand moves, the surgical robot's slave hand and the second target ball also move along the at least one movement direction. The movement direction of the surgical robot's slave hand is the same as that of the master hand.

[0098] In some embodiments, the master-slave delay test method for a surgical robot provided in an embodiment of the present application may further include: receiving at least one pressing operation triggered by a user on at least one moving button, and determining the duration of each pressing operation; when the duration of the pressing operation corresponding to the moving button exceeds a preset duration threshold, generating a moving instruction based on the movement direction corresponding to the moving button.

[0099] In some embodiments, the number of the movement buttons may be one or more, and each of the multiple movement buttons represents a different direction.

[0100] For example, a user clicks one of the at least one movement buttons to trigger a press operation corresponding to the movement button. After receiving the press operation corresponding to the movement button, the control device determines the duration of the press operation in response to the press operation. When the duration of the press operation exceeds a preset duration threshold, the control device generates a movement instruction based on the movement direction corresponding to the movement button.

[0101] It is understandable that when the duration of the pressing operation exceeds a preset duration threshold, the control device generates a movement instruction to avoid accidental touches.

[0102] In some embodiments, the mobile button may refer to a mobile button provided on a remote control device, or may refer to a mobile control on a mobile operation interface displayed by a control device. This application embodiment does not limit this. In the following embodiments, the mobile button refers to a mobile control on a mobile operation interface.

[0103] For example, Figure 4A As shown, six mobile controls are provided on the mobile operation interface: X-, X+, Y-, Y+, Z- and Z+; wherein, X- represents movement to the left, X+ represents movement to the right, Y- represents movement backward, Y+ represents movement forward, Z- represents movement downward, and Z+ represents movement upward. If the user clicks X+, a movement instruction with a movement direction to the right will be triggered. After receiving the movement instruction, the test device will drive the master hand and the first target ball to move to the right in response to the movement instruction. As the master hand moves, the slave hand and the second target ball of the surgical robot will also move to the right. In some application scenarios, the spatial coordinates (X, Y, Z) of the master hand can also be displayed on the mobile operation interface, and the user can operate the mobile controls through the test device according to the spatial coordinates of the master hand.

[0104] In some embodiments, the testing device can respond to a movement instruction by moving at a preset speed along at least one direction of motion specified in the movement instruction, thereby causing the master hand and the first target ball to move at the preset speed along at least one direction of motion specified in the movement instruction. The preset speed is a preset value that can be set based on actual needs. This is not limited in the present embodiments.

[0105] Exemplarily, the testing device may drive the master hand and the first target ball to move linearly at a speed of 100 (±20) mm / s along at least one movement direction carried by the movement instruction in response to the movement instruction.

[0106] In some embodiments, the testing device may be a surgical robot master-slave delay testing device such as that disclosed in Chinese Patent Publication No. CN 116636934 A, or may be another device capable of connecting to a surgical robot's master hand and driving the surgical robot in at least one direction of motion; for example, a collaborative robot. The testing device in the embodiments of this application is not limited thereto.

[0107] S303: Determine a master hand motion curve and a slave hand motion curve corresponding to at least one motion direction based on the position data collected by the optical positioning device.

[0108] In some embodiments, the master hand motion curve is used to indicate the motion trajectory of the first target ball of the master hand when the test device drives the master hand to move. The slave hand motion curve is used to indicate the motion trajectory of the second target ball of the slave hand when the test device drives the slave hand to move.

[0109] Exemplarily, the control device determines the master hand motion curve corresponding to each motion direction based on the position data of the first target ball collected by the optical positioning device when the master hand moves along each motion direction; and determines the slave hand motion curve corresponding to each motion direction based on the position data of the first target ball collected by the optical positioning device when the slave hand moves along each motion direction. For example, the control device may determine the master hand motion curve and the slave hand motion curve corresponding to the first direction based on the position data of the first target ball and the position data of the second target ball collected by the optical positioning device when the master hand and the slave hand move along a first direction (e.g., the X direction), respectively.

[0110] In some embodiments, as Figure 4B As shown in FIG, based on the position data collected by the optical positioning device, multiple data points corresponding to the master hand and the slave hand in each movement direction can be determined; the horizontal coordinate of each data point can represent the time (time) when the data point is at that position, and the vertical coordinate can represent the motion data (motion) of the data point. Then, the multiple data points corresponding to the master hand can be connected to obtain the master hand motion curve (such as Figure 4B The master motion curve can be obtained by connecting multiple data points corresponding to the slave hand (as shown in the blue curve master motion in Figure 4B After determining the master hand motion curve and the slave hand motion curve corresponding to each motion direction, the master hand motion curve and the slave hand motion curve corresponding to each motion direction can be displayed on the operation interface.

[0111] In some embodiments, in order to further improve the test accuracy, S302-S303 can be repeatedly executed, and a set of position data can be obtained each time S302-S303 is executed. In this way, multiple sets of position data corresponding to each motion direction can be obtained by repeatedly executing S302-S303. After obtaining multiple sets of position data, the master hand motion curve and the slave hand motion curve corresponding to each motion direction can be determined based on the average value of the multiple sets of position data corresponding to each motion direction. The number of repeated executions of S302-S303 can be set according to actual needs. For example, the number of repeated executions can be 3 times. This embodiment of the present application is not limited to this.

[0112] Exemplarily, for each movement direction, the position data of the first target ball and the second target ball can be measured three times to obtain three groups of first target ball position data and three groups of second target ball position data corresponding to each movement direction. Then, the master hand motion curve corresponding to each movement direction is determined based on the average value of the three groups of first target ball position data corresponding to each movement direction, and the slave hand motion curve corresponding to each movement direction is determined based on the average value of the three groups of second target ball position data corresponding to each movement direction.

[0113] S304 : Determine target delay information between the master hand and the slave hand based on the selection operation triggered by the master hand motion curve and the slave hand motion curve corresponding to each motion direction.

[0114] like Figure 5 As shown, in some embodiments, S304 may include S501 - S503 .

[0115] S501 : Determine a first data point and a second data point from the master hand motion curve and the slave hand motion curve corresponding to each motion direction, respectively.

[0116] In some embodiments, the control device can receive a selection operation triggered by the user on the master hand motion curve and the slave hand motion curve in the operation interface, and in response to the selection operation, based on the data point information carried by the selection operation, determine the first data point and the second data point respectively from the master hand motion curve and the slave hand motion curve corresponding to each motion direction.

[0117] For example, a user can click on the master hand motion curve and the slave hand motion curve on the operation interface to select two data points from the multiple data points included in each of the master hand motion curve and the slave hand motion curve, respectively, to trigger a selection operation. In this case, the selection operation will carry data point information corresponding to the two data points selected by the user, and the data point information may include data point coordinates. After receiving the selection, the control device can determine the first data point and the second data from the master hand motion curve and the slave hand motion curve, respectively, based on the data point coordinates carried by the selection operation.

[0118] In some embodiments, the control device can also automatically identify multiple data points included in the master hand motion curve and the slave hand motion curve corresponding to each motion direction, and determine the first data point and the second data point from the master hand motion curve and the slave hand motion curve respectively.

[0119] In some application scenarios, the multiple data points included in the master hand motion curve and the slave hand motion curve can be identified based on a comparison function, or the multiple data points included in the master hand motion curve and the slave hand motion curve can be identified by other methods. The embodiment of the present application does not limit the identification method of the master hand motion curve and the slave hand motion curve.

[0120] Exemplarily, after executing S302-S303 to obtain the master hand motion curve and the slave hand motion curve, the control device can identify the multiple data lines included in the master hand motion curve and the slave hand motion curve, and determine the first data point and the second data point from the multiple data points included in the master hand motion curve and the slave hand motion curve according to actual needs. For example, the inflection points when the master hand motion curve and the slave hand motion curve start to move are respectively determined as the first data point and the second data point, or the points at the same height and with the largest horizontal separation in the master hand motion curve and the slave hand motion curve are respectively determined as the first data point and the second data point, or the inflection points when the master hand motion curve and the slave hand motion curve stop moving are respectively determined as the first data point and the second data point.

[0121] It should be noted that the embodiments of the present application do not limit the method of determining the first data point and the second data point from the master hand motion curve and the slave hand motion curve respectively.

[0122] In some embodiments, determining the first data point and the second data point from the master hand motion curve and the slave hand motion curve corresponding to each motion direction includes: smoothing the master hand motion curve and the slave hand motion curve respectively to obtain a smoothed master hand motion curve and a smoothed slave hand motion curve; based on a preset data point selection strategy, determining the first data point from the smoothed master hand motion curve, and determining the second data point from the smoothed slave hand motion curve.

[0123] The preset data point selection strategy is used to indicate the corresponding relationship between the first data point and the master hand motion curve, and the corresponding relationship between the second data point and the slave hand motion curve in different test phases. The test phases include the start delay test phase, the follow delay test phase, and the stop delay test phase.

[0124] For example, based on Figure 4BDue to the micro-vibrations of the robot system itself and the system errors of the optical positioning device, the master hand motion curve and the slave hand motion curve are generally not smooth and have certain errors. Therefore, the two curves can be smoothed first. There are many existing technologies for smoothing, and the embodiments of the present application do not limit this. During the startup delay test phase, the preset data point selection strategy can indicate: when the vertical coordinates (movement distance) of the smoothed master hand motion curve and the smoothed slave hand motion curve exceed the preset threshold, the data point at the earliest time of movement on the smoothed master hand motion curve is determined as the first data point, and the data point at the earliest time of movement on the smoothed slave hand motion curve is determined as the second data point. It should be noted that the preset thresholds in the startup delay test phase are caused by the errors of the test system. Due to the different structures of the master hand and the slave hand, the preset thresholds corresponding to the two curves may be different. The values of the preset thresholds can be set before the test starts according to actual needs to avoid the influence of errors. For example, the preset threshold corresponding to the master hand can be set to 0.2mm, and the preset threshold corresponding to the slave hand can be set to 0.3mm. The embodiments of the present application do not limit the values of the preset thresholds. In the stop delay test phase, similar to the start delay test phase, the preset data point selection strategy can indicate that when the vertical coordinates of the smoothed master hand motion curve and the smoothed slave hand motion curve stabilize to a value and do not change beyond the corresponding set threshold, the earliest data point on the smoothed master hand motion curve that stabilizes to the value is determined as the first data point, and the earliest data point on the smoothed slave hand motion curve that stabilizes to the value is determined as the second data point. In the follow delay test phase, the preset data point selection strategy can indicate that within the range of 10% to 90% of the vertical coordinates of the smoothed master hand motion curve and the smoothed slave hand motion curve (i.e., within the range of 10% to 90% of the motion stroke), obtain the two data points with the largest time difference under the same vertical coordinate to obtain the first data point and the second data point.

[0125] It is understandable that automatically identifying data points can improve testing efficiency and accuracy.

[0126] S502: Determine candidate delay information corresponding to each movement direction based on the movement times corresponding to the first data point and the second data point.

[0127] In some embodiments, each motion direction corresponds to a candidate delay information, which may include a candidate start delay, a candidate follow delay, and a candidate stop delay.

[0128] In some embodiments, the vertical coordinate of each data point included in the master hand motion curve and the slave hand motion curve can represent the motion data (motion) of the data point, and the horizontal coordinate can represent the time (time) when the data point is at that position, that is, the control device can determine the motion time corresponding to the data point based on the horizontal coordinate of the data point.

[0129] Exemplarily, after receiving the selection operation, the control device can determine the horizontal coordinates corresponding to the first data point and the second data point, and subtract the horizontal coordinates corresponding to the second data point from the first data point to obtain the time difference between the first data point and the second data point, thereby determining the candidate delay information corresponding to each motion direction.

[0130] In some embodiments, the first data point includes a first starting inflection point, and the second data point includes a second starting inflection point; wherein the first starting inflection point represents the moment when the master hand begins to move, and the second starting inflection point represents the moment when the slave hand begins to move; and the candidate delay information includes a candidate start delay. Based on the movement times corresponding to the first data point and the second data point, respectively, determining the candidate delay information corresponding to each movement direction includes: when the first data point is the first starting inflection point and the second data point is the second starting inflection point, determining the movement times corresponding to the first starting inflection point and the second starting inflection point, respectively; and subtracting the movement time corresponding to the second starting inflection point from the movement time corresponding to the first starting inflection point to determine the candidate start delay corresponding to each movement direction.

[0131] For example, Figure 6 FIG. 1 shows a schematic diagram of a master hand motion curve and a slave hand motion curve. Figure 6 As shown, the master hand motion curve is shown by the blue curve, and the slave hand motion curve is shown by the red curve. Figure 6 1 in the figure) is determined as the first data point, and the second starting inflection point in the hand motion curve (slave motion) is determined as the first data point. Figure 6 2 in the figure) is determined as the second data point. The control device determines the motion times corresponding to points 1 and 2, respectively. Since the coordinates of point 1 are (544.00, 0.19) and the coordinates of point 2 are (570.00, 0.33), it can be determined that the first motion time corresponding to the first position point is 544ms, and the second motion time corresponding to the second position point is 570ms. By subtracting the first motion time from the second motion time, it can be determined that the candidate start delay between the master hand and the slave hand is 26.00ms.

[0132] In some embodiments, the first data point includes a first position point on the master hand motion curve, and the second data point includes a second position point on the slave hand motion curve; the first position point and the second position point have the same height and the largest distance between them; and the candidate delay information includes a candidate follow-up delay. Based on the motion times corresponding to the first data point and the second data point, respectively, the candidate delay information corresponding to each motion direction is determined, including: when the first data point is the first position point and the second data point is the second position point, determining the motion times corresponding to the first position point and the second position point, respectively; and subtracting the motion time corresponding to the second position point from the motion time corresponding to the first position point to determine the candidate follow-up delay corresponding to each motion direction.

[0133] For example, Figure 7 FIG. 1 shows another schematic diagram of a master hand motion curve and a slave hand motion curve. Figure 7 As shown, the master hand motion curve is shown by the blue curve, and the slave hand motion curve is shown by the red curve. The first position point (such as Figure 7 1 in the figure) is determined as the first data point, and the second position point in the hand motion curve (slave motion) (as shown in FIG. Figure 7 2 in the figure) is determined as the second data point. The control device determines the motion time corresponding to point 1 and point 2 respectively. Since the coordinates of point 1 are (1474.00, 110.73) and the coordinates of point 2 are (1531.00, 112.38), it can be determined that the motion time corresponding to the first position point is 1474ms and the motion time corresponding to the second position point is 1531ms. By subtracting the motion time corresponding to the second position point from the motion time corresponding to the first position point, it can be determined that the candidate following delay between the master hand and the slave hand is 57.00ms.

[0134] In some embodiments, the first position point and the second position point may be located within a preset motion range of the master hand motion curve and the slave hand motion curve, respectively.

[0135] For example, the first position point can be located within 10% to 90% of the motion range of the master hand motion curve, and the second position point can be located within 10% to 90% of the motion range of the slave hand motion curve. In this way, the validity of the first and second position points can be guaranteed, measurement errors can be reduced, and measurement accuracy can be guaranteed.

[0136] In some embodiments, the first data point includes a first stop inflection point, and the second data point includes a second stop inflection point; wherein the first stop inflection point represents the moment when the master hand stops moving, and the second stop inflection point represents the moment when the slave hand stops moving; and the delay information includes candidate stop delays. Based on the movement times corresponding to the first data point and the second data point, respectively, candidate delay information corresponding to each movement direction is determined, including: when the first data point is the first stop inflection point and the second data point is the second stop inflection point, determining the movement times corresponding to the first stop inflection point and the second stop inflection point, respectively; and subtracting the movement time corresponding to the second stop inflection point from the movement time corresponding to the first stop inflection point to determine the candidate stop delay corresponding to each movement direction.

[0137] For example, Figure 8 FIG. 1 shows another schematic diagram of a master hand motion curve and a slave hand motion curve. Figure 8 As shown, the master hand motion curve is shown by the blue curve, and the slave hand motion curve is shown by the red curve. Figure 8 1 in the figure) is determined as the first data point, and the second stop inflection point in the slave motion curve (as shown in FIG. Figure 8 2 in the figure) is determined as the second data point. The control device determines the motion time corresponding to point 1 and point 2 respectively. Since the coordinates of point 1 are (2204.00, 186.43) and the coordinates of point 2 are (2281.00, 187.06), it can be determined that the motion time corresponding to the first stop inflection point is 2204ms, and the second motion time corresponding to the second stop inflection point is 2281ms. By subtracting the motion time corresponding to the second stop inflection point from the motion time corresponding to the first stop inflection point, it can be determined that the candidate stop delay between the master hand and the slave hand is 77.00ms.

[0138] In some embodiments, when the control device determines the candidate start delay, candidate follow delay or candidate stop delay between the master hand and the slave hand, the candidate start delay, candidate follow delay or candidate stop delay can be displayed through a pop-up window or interface.

[0139] S503: Determine target delay information based on candidate delay information corresponding to each motion direction.

[0140] In some embodiments, each surgical robot has a corresponding target delay information, that is, the target delay information is the delay test result corresponding to the surgical robot. The target delay information may include target start delay, target follow delay, and target stop delay.

[0141] In order to ensure that the surgical robot can meet industry standards, in some embodiments, the target delay information is determined based on the candidate delay information corresponding to each motion direction, including: determining the candidate start delay with the largest value among the candidate start delay corresponding to the first direction, the candidate start delay corresponding to the second direction, and the candidate start delay corresponding to the third direction as the target start delay; determining the candidate follow delay with the largest value among the candidate follow delay corresponding to the first direction, the candidate follow delay corresponding to the second direction, and the candidate follow delay corresponding to the third direction as the target follow delay; determining the candidate stop delay with the largest value among the candidate stop delay corresponding to the first direction, the candidate stop delay corresponding to the second direction, and the candidate stop delay corresponding to the third direction as the target stop delay.

[0142] In some embodiments, the method provided by the embodiments of the present application may further include: moving the positions of the master hand motion curve and the slave hand motion curve on the operation interface in response to a movement operation triggered by the user on the operation interface.

[0143] For example, a user can select an operation interface by clicking a movement operation key (e.g., the left button) of an operating device (e.g., a mouse) on the operation interface, and then move the operating device to trigger the movement operation. After receiving the movement operation, the control device responds to the movement operation and moves the positions of the master hand motion curve and the slave hand motion curve on the operation interface in accordance with the movement direction of the operating device.

[0144] In some embodiments, the method provided by the embodiments of the present application may further include: in response to a zoom operation triggered by the user on the operation interface, zooming in or out on the area of the master hand motion curve and the slave hand motion curve on the operation interface.

[0145] For example, a user can trigger a zoom operation on an operation interface by scrolling a zoom operation key (e.g., a mouse wheel) of an operation device (e.g., a mouse). After receiving the zoom operation, the control device zooms in or out of the area of the master hand motion curve and the slave hand motion curve in the operation interface in response to the zoom operation.

[0146] It is understandable that the master hand motion curve and the slave hand motion curve displayed on the operation interface can be adjusted through movement and scaling operations, which makes it easier for users to trigger selection operations.

[0147] like Figure 9 As shown, an embodiment of the present application also provides a master-slave delay testing method for a surgical robot, including S901-S904.

[0148] S901. Connect the test device to the master hand, and fix the target balls at the operating end of the master hand and the surgical instrument end of the slave hand respectively.

[0149] Among them, the target ball fixed on the operating end of the master hand is the first target ball, and the target ball fixed on the end of the surgical instrument of the slave hand is the second target ball.

[0150] In some embodiments, S901 may include: moving the test device to the front of the doctor's console, adjusting the position of the armrest and display of the doctor's console to ensure that the test device and the master hand can be docked, and there is no interference when the test device drives the master hand along three mutually perpendicular motion directions (at least one motion direction); then, docking the end of the test device with the master hand through a connecting fixture; finally, fixing a target ball (a first target ball) to the operating end of the master hand, and fixing another target ball (a second target ball) to the end of the surgical instrument of the slave hand. The connecting fixture is prior art and will not be described in detail here.

[0151] S902: Use an optical positioning device to collect position data of the target ball during the movement of the master hand and the slave hand.

[0152] In some embodiments, S902 may include: first powering on the optical positioning device and connecting it to the measurement control device via a USB data cable; then setting the exposure time and adjusting the position of the optical positioning device so that the optical positioning device can collect position data corresponding to the first target ball and the second target ball during the movement of the main hand; finally, after setting the data collection quantity, the data saving path and name, data collection can be started.

[0153] S903. Determine the start delay (target start delay), follow delay (target follow delay), and stop follow delay (target stop delay) of the master hand and the slave hand according to the collected position data.

[0154] In some embodiments, S903 may include: after starting data collection, controlling the testing device to perform linear motion along the X direction (first direction), the Y direction (second direction), and the Z direction (third direction), thereby obtaining position data corresponding to the first target ball and the second target ball when the master hand performs linear motion along the X direction, the Y direction, and the Z direction. Repeating the data collection three times to obtain three sets of position data corresponding to the first target ball and the second target ball when the master hand performs linear motion along the X direction, the Y direction, and the Z direction. Importing the three sets of position data corresponding to the first target ball and the second target ball when the master hand performs linear motion along the X direction, the Y direction, and the Z direction into the control device to generate a master hand motion curve corresponding to the master hand and a slave hand motion curve corresponding to the slave hand when the master hand performs linear motion along the X direction, a master hand motion curve corresponding to the master hand and a slave hand motion curve corresponding to the slave hand when the master hand performs linear motion along the Y direction, and a master hand motion curve corresponding to the master hand and a slave hand motion curve corresponding to the slave hand when the master hand performs linear motion along the Z direction, and displaying the master hand motion curves and the slave hand motion curves on the operation interface.

[0155] In some embodiments, the operation interface displays the master hand motion curve and the slave hand motion curve corresponding to the X direction as an example. You can scroll the mouse (operating device) wheel (zoom operation key) to zoom in on the curve, then hold down the left mouse button (move operation key) to drag the bottom of the curve (master hand motion curve and slave hand motion curve) into the field of view, click the two inflection points of the two curves when the motion starts (the first starting inflection point and the second starting inflection point), and determine the time difference between the two inflection points of the two curves when the motion starts to obtain the start-up delay between the master hand and the slave hand in the X direction. The start-up delay can be displayed through a pop-up window. After obtaining the start-up delay, you can click on a blank area of the operation interface to eliminate the pop-up window and the marked points. Then, find the position with the largest horizontal separation between the two curves within 10% to 90% of the motion range, zoom in and mark the two points with the largest separation at the same height of the two curves (the first position point and the second position point), and determine the time difference between the two points with the largest separation at the same height of the two curves to obtain the following delay between the master hand and the slave hand in the X direction. Finally, scroll the mouse wheel to zoom in on the curves, hold down the left mouse button and drag the top of the curve into view. Click the two inflection points of the two curves when motion stops (the first stop inflection point and the second stop inflection point), and determine the time difference between the two inflection points when motion stops to obtain the stop delay between the master and slave hands in the X direction. Similarly, the start delay, follow delay, and stop delay between the master and slave hands in the Y and Z directions can be obtained.

[0156] In some embodiments, the maximum value of the start delay in the three movement directions of X, Y, and Z can be taken as the start delay of the master hand and the slave hand; the maximum value of the follow delay in the three movement directions of X, Y, and Z can be taken as the follow delay of the master hand and the slave hand; the maximum value of the stop delay in the three movement directions of X, Y, and Z can be taken as the stop delay of the master hand and the slave hand.

[0157] S904: Determine whether there are other surgical arms that need to be tested. If so, execute S901; if not, end the test.

[0158] In some embodiments, each surgical robot may include multiple surgical arms. Therefore, after the current surgical arm completes the test, it may be determined whether other surgical arms need to be tested. If so, execute S901; if not, terminate the test.

[0159] Corresponding to the aforementioned embodiment of the surgical robot master-slave delay test method, the present application also provides an embodiment of a surgical robot master-slave delay test system.

[0160] Reference Figure 10 , the embodiment of the present application also provides a surgical robot master-slave delay test system, comprising:

[0161] The test target ball 1010 includes a first target ball and a second target ball, wherein the first target ball is connected to the master hand of the surgical robot, and the second target ball is connected to the slave hand of the surgical robot;

[0162] The optical positioning device 1020 is configured to collect position data of a first target ball and a second target ball respectively in response to a collection instruction triggered by a user; wherein the first target ball and the second target ball are both within a collection range of the optical positioning device;

[0163] The testing device 1030 is connected to the master hand of the surgical robot and is configured to, in response to at least one movement instruction triggered by a user, drive the master hand and the first target ball to move along at least one movement direction based on at least one movement direction carried by the at least one movement instruction, so as to cause the slave hand and the second target ball of the surgical robot to move along the at least one movement direction;

[0164] The control device 1040 is used to determine the master hand motion curve and the slave hand motion curve corresponding to at least one motion direction based on the position data collected by the optical positioning device, and determine the target delay information between the master hand and the slave hand based on the master hand motion curve and the slave hand motion curve corresponding to each motion direction.

[0165] In some embodiments, the control device 1040 is further configured to determine a first data point and a second data point from the master hand motion curve and the slave hand motion curve corresponding to each of the motion directions, respectively; and determine candidate delay information corresponding to each of the motion directions based on motion times corresponding to the first data point and the second data point, respectively.

[0166] The target delay information is determined based on the candidate delay information corresponding to each of the motion directions.

[0167] In some embodiments, the first data point includes a first starting inflection point, and the second data point includes a second starting inflection point; wherein the first starting inflection point represents the moment when the master hand starts to move, and the second starting inflection point represents the moment when the slave hand starts to move; the candidate delay information includes a candidate start delay;

[0168] The control device 1040 is further configured to, when the first data point is the first starting inflection point and the second data point is the second starting inflection point, determine the movement times corresponding to the first starting inflection point and the second starting inflection point, respectively;

[0169] The movement time corresponding to the second starting inflection point is subtracted from the movement time corresponding to the first starting inflection point to determine the candidate start delay corresponding to each of the movement directions.

[0170] In some embodiments, the first data point includes a first position point on the master hand motion curve, and the second data point includes a second position point on the slave hand motion curve; the first position point and the second position point have the same height and the maximum interval; the candidate delay information includes a candidate follow-up delay;

[0171] The control device 1040 is further configured to, when the first data point is the first position point and the second data point is the second position point, determine movement times corresponding to the first position point and the second position point, respectively;

[0172] The movement time corresponding to the second position point is subtracted from the movement time corresponding to the first position point to determine the candidate following delay corresponding to each of the movement directions.

[0173] In some embodiments, the first data point includes a first stop inflection point, and the second data point includes a second stop inflection point; wherein the first stop inflection point represents the moment when the master hand stops moving, and the second stop inflection point represents the moment when the slave hand stops moving; and the delay information includes a candidate stop delay;

[0174] The control device 1040 is further configured to, when the first data point is the first stop inflection point and the second data point is the second stop inflection point, determine the movement times corresponding to the first stop inflection point and the second stop inflection point respectively;

[0175] The movement time corresponding to the second stop inflection point is subtracted from the movement time corresponding to the first stop inflection point to determine the candidate stop delay corresponding to each of the movement directions.

[0176] In some embodiments, at least one of the movement directions includes a first direction, a second direction, and a third direction; the first direction, the second direction, and the third direction are perpendicular to each other; the target delay information includes a target candidate start delay, a target following delay, and a target stop delay;

[0177] The control device 1040 is further used to determine the candidate start delay with the largest value among the candidate start delays corresponding to the first direction, the candidate start delays corresponding to the second direction, and the candidate start delays corresponding to the third direction as the target start delay; determine the candidate follow delay with the largest value among the candidate follow delays corresponding to the first direction, the candidate follow delays corresponding to the second direction, and the candidate follow delays corresponding to the third direction as the target follow delay; and determine the candidate stop delay with the largest value among the candidate stop delays corresponding to the first direction, the candidate stop delays corresponding to the second direction, and the candidate stop delays corresponding to the third direction as the target stop delay.

[0178] In some embodiments, the first target ball is set on the first target joint of the master hand, so the second target ball is set on the second target joint of the slave hand; wherein the first target joint is the joint connected to the testing device among the multiple joints included in the master hand; the second target joint is the joint located at the end among the multiple joints included in the slave hand.

[0179] In some embodiments, the control device 1040 is also used to receive at least one pressing operation triggered by the user on at least one moving button, and determine the duration of each pressing operation; when the duration of the pressing operation corresponding to the moving button exceeds a preset duration threshold, the moving instruction is generated based on the movement direction corresponding to the moving button.

[0180] In some embodiments, the control device 1040 is also used to move the positions of the master hand motion curve and the slave hand motion curve on the operation interface in response to a movement operation triggered by the user on the operation interface; and to enlarge or reduce the area of the master hand motion curve and the slave hand motion curve on the operation interface in response to a zoom operation triggered by the user on the operation interface.

[0181] like Figure 11 As shown, an electronic device provided in an embodiment of the present application may include: a processor (processor) 1110, a communication interface (Communications Interface) 1120, a memory (memory) 1130 and a communication bus 1140, wherein the processor 1110, the communication interface 1120, and the memory 1130 communicate with each other via the communication bus 1140. The processor 1110 can call the logic instructions in the memory 1130 to execute the above methods.

[0182] In addition, the logic instructions in the above-mentioned memory 1130 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the switchgear mechanical condition monitoring method described in each embodiment of the present invention. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program code.

[0183] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is configured to execute the above methods when executed by a processor.

[0184] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0185] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0186] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A surgical robot master-slave delay test method, characterized in that: Applicable to a master-slave delay test system for a surgical robot, the system includes an optical positioning device, a test device, and a test target ball; the test device is connected to the master hand of the surgical robot; the test target ball includes a first target ball and a second target ball, the first target ball is connected to the master hand of the surgical robot, and the second target ball is connected to the slave hand of the surgical robot; The method comprises: The optical positioning device collects position data of the first target ball and the second target ball respectively in response to a collection instruction triggered by a user; wherein the first target ball and the second target ball are both located within a collection range of the optical positioning device; In response to at least one movement instruction triggered by the user, the testing device drives the master hand to move along at least one movement direction based on at least one movement direction carried by at least one movement instruction, so that the slave hand follows the movement; Determining a master hand motion curve and a slave hand motion curve corresponding to the at least one motion direction based on the position data collected by the optical positioning device; Based on the master hand motion curve and the slave hand motion curve corresponding to each of the motion directions, target delay information between the master hand and the slave hand is determined.

2. The method according to claim 1, characterized in that The determining target delay information between the master hand and the slave hand based on the master hand motion curve and the slave hand motion curve corresponding to each of the motion directions includes: determining a first data point and a second data point respectively from the master hand motion curve and the slave hand motion curve corresponding to each of the motion directions; Determining candidate delay information corresponding to each of the movement directions based on movement times corresponding to the first data point and the second data point respectively; The target delay information is determined based on the candidate delay information corresponding to each of the motion directions.

3. The method according to claim 2, characterized in that Determining a first data point and a second data point from the master hand motion curve and the slave hand motion curve corresponding to each of the motion directions, respectively, includes: Smoothing the master hand motion curve and the slave hand motion curve respectively to obtain a smoothed master hand motion curve and a smoothed slave hand motion curve; Based on a preset data point selection strategy, the first data point is determined from the smoothed master hand motion curve, and the second data point is determined from the smoothed slave hand motion curve.

4. The method according to claim 2 or 3, characterized in that The first data point includes a first starting inflection point, and the second data point includes a second starting inflection point; wherein the first starting inflection point represents the moment when the master hand starts to move, and the second starting inflection point represents the moment when the slave hand starts to move; the candidate delay information includes a candidate start delay; The determining, based on the movement times corresponding to the first data point and the second data point, candidate delay information corresponding to each movement direction includes: When the first data point is the first starting inflection point and the second data point is the second starting inflection point, determining the movement times corresponding to the first starting inflection point and the second starting inflection point respectively; The movement time corresponding to the second starting inflection point is subtracted from the movement time corresponding to the first starting inflection point to determine the candidate start delay corresponding to each of the movement directions.

5. The method according to claim 2 or 3, characterized in that The first data point includes a first position point on the master hand motion curve, and the second data point includes a second position point on the slave hand motion curve; the first position point and the second position point have the same height and the largest interval; the candidate delay information includes a candidate follow-up delay; The determining, based on the movement times corresponding to the first data point and the second data point, candidate delay information corresponding to each movement direction includes: When the first data point is the first position point and the second data point is the second position point, determining movement times corresponding to the first position point and the second position point respectively; The movement time corresponding to the second position point is subtracted from the movement time corresponding to the first position point to determine the candidate following delay corresponding to each of the movement directions.

6. The method according to claim 2 or 3, characterized in that The first data point includes a first stop inflection point, and the second data point includes a second stop inflection point; wherein the first stop inflection point represents the moment when the master hand stops moving, and the second stop inflection point represents the moment when the slave hand stops moving; the delay information includes a candidate stop delay; The determining, based on the movement times corresponding to the first data point and the second data point, candidate delay information corresponding to each movement direction includes: When the first data point is the first stop inflection point and the second data point is the second stop inflection point, determining the movement times corresponding to the first stop inflection point and the second stop inflection point respectively; The movement time corresponding to the second stop inflection point is subtracted from the movement time corresponding to the first stop inflection point to determine the candidate stop delay corresponding to each of the movement directions.

7. The method according to claim 2, characterized in that At least one of the movement directions includes a first direction, a second direction, and a third direction, and the first direction, the second direction, and the third direction are perpendicular to each other; the target delay information includes a target candidate start delay, a target following delay, and a target stop delay; The determining the target delay information based on the candidate delay information corresponding to each of the motion directions includes: Determine the candidate startup delay with the largest value among the candidate startup delays corresponding to the first direction, the candidate startup delays corresponding to the second direction, and the candidate startup delays corresponding to the third direction as the target startup delay; determining the candidate following delay with the largest value among the candidate following delay corresponding to the first direction, the candidate following delay corresponding to the second direction, and the candidate following delay corresponding to the third direction as the target following delay; The candidate stop delay with the largest value among the candidate stop delays corresponding to the first direction, the candidate stop delays corresponding to the second direction, and the candidate stop delays corresponding to the third direction is determined as the target stop delay.

8. The method according to claim 1, characterized in that The first target ball is set on the first target joint of the master hand, so the second target ball is set on the second target joint of the slave hand; wherein, the first target joint is the joint connected to the testing device among the multiple joints included in the master hand; the second target joint is the joint at the end among the multiple joints included in the slave hand.

9. The method according to claim 1, characterized in that The method further comprises: receiving at least one pressing operation on at least one movement button triggered by the user, and determining a duration of each pressing operation; When the duration of the pressing operation corresponding to the moving button exceeds a preset duration threshold, the moving instruction is generated based on the movement direction corresponding to the moving button.

10. The method according to claim 1, characterized in that The method further comprises: In response to a movement operation triggered by the user on the operation interface, moving the positions of the master hand motion curve and the slave hand motion curve on the operation interface; In response to a zoom operation triggered by the user on the operation interface, the master hand motion curve and the slave hand motion curve are zoomed in or out in an area of the operation interface.

11. A surgical robot master-slave delay test system, characterized in that: The system comprises: A test target ball, comprising a first target ball and a second target ball, wherein the first target ball is connected to the master hand of the surgical robot, and the second target ball is connected to the slave hand of the surgical robot; an optical positioning device, configured to collect position data of the first target sphere and the second target sphere respectively in response to a collection instruction triggered by a user; wherein the first target sphere and the second target sphere are both within a collection range of the optical positioning device; a testing device connected to the master hand of the surgical robot, configured to respond to at least one movement instruction triggered by the user and, based on at least one movement direction carried by the at least one movement instruction, drive the master hand and the first target ball to move along at least one movement direction, so as to cause the slave hand of the surgical robot and the second target ball to move along at least one movement direction; A control device is used to determine the master hand motion curve and the slave hand motion curve corresponding to at least one motion direction based on the position data collected by the optical positioning device, and determine the target delay information between the master hand and the slave hand based on the master hand motion curve and the slave hand motion curve corresponding to each of the motion directions.

12. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and wherein the processor implements the steps of the method according to any one of claims 1 to 10 when executing the computer program.

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