Robotic system application precision in-vitro test phantom, test system, and method

Abstract

This invention relates to the field of medical device technology, and in particular to an in vitro testing phantom, in vitro testing system, and method for assessing the application accuracy of a robot system. The in vitro testing phantom includes a first phantom with a first positioning point for inserting a test specimen; and a second phantom adapted to the first phantom and having a second positioning point. After the first and second phantoms are installed, the relative positions of the first and second positioning points are determined, and the projections of the first and second positioning points relative to the same plane at least partially overlap. Its advantage lies in that the first and second positioning points can cooperate to form a channel through which the test specimen can pass, thereby testing the application accuracy of the robot system. Only by changing the shape and size of the second positioning point can the accuracy requirements for the test specimen be changed, thus expanding the application range of the testing phantom.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an in vitro testing phantom, testing system and method for the application accuracy of robotic systems. Background Technology

[0002] Stereotactic surgical robot systems are primarily designed for stereotactic surgery in neurosurgery, assisting surgeons in achieving precise spatial orientation and positioning. Therefore, the realization of their intended clinical applications depends on whether the robot system's positioning accuracy meets clinical needs. Currently, the positioning accuracy of the robotic arms in clinical robot systems directly impacts the success of the surgery and whether it can meet further clinical requirements. Summary of the Invention

[0003] Therefore, it is necessary to provide an in vitro testing phantom, testing system, and method to improve the application accuracy of robot systems, addressing the aforementioned problems.

[0004] An in vitro testing phantom for the accuracy of robot system applications, the in vitro testing phantom comprising:

[0005] The first mold body has a first positioning point for inserting the test piece;

[0006] The second mold body is adapted to the first mold body and is provided with a second positioning point;

[0007] After the first mold and the second mold are installed, the relative positions of the first positioning point and the second positioning point are determined, and the projections of the first positioning point and the second positioning point relative to the same plane at least partially overlap.

[0008] This configuration allows the first and second positioning points to work together to form a channel through which the test piece can pass, thereby testing the application accuracy of the robot system. The test channel is formed by the cooperation of the first and second positioning points. By simply changing the size (or shape, position) of the second positioning point, the inner diameter of the test channel can be altered, thus changing the required testing accuracy for the test piece. This allows for testing the application accuracy of robot systems with different positioning accuracy requirements, expanding the application range of the test phantom, avoiding the need for new molds to meet different testing accuracy requirements, and saving costs.

[0009] In one embodiment, the in vitro testing phantom further includes a first precision positioning component that is detachably installed in the first positioning point, and the first precision positioning component has a first precision hole.

[0010] The in vitro testing phantom also includes a second precision positioning component that can be detachably installed within the second positioning point;

[0011] The test piece can pass through the first precision positioning piece to reach the second precision positioning piece.

[0012] This design allows both the primary and secondary positioning components to be disassembled and replaced, thus meeting testing requirements of varying precision. When higher testing precision is required, the smaller primary and secondary positioning components can be replaced to improve the required accuracy and make the application of the in vitro testing phantom more flexible.

[0013] In one embodiment, the first precision positioning member and the second precision positioning member are cylinders, and the first precision positioning member and the second precision positioning member are coaxially arranged.

[0014] This design, with its cylindrical shape, makes it easy to install the first and second precision positioning components to their corresponding first and second positioning points; and the coaxial arrangement of the first and second precision positioning components is suitable for most precision testing requirements.

[0015] In one embodiment, the first phantom is a transparent body.

[0016] This setup allows for easy visual observation of the test piece's entry into the first positioning point and whether it reaches the second phantom, facilitating testers' identification of the test status. Furthermore, it facilitates testing and demonstration. Testers can visually determine whether the test piece has entered the phantom and whether it can successfully pass through the central through-hole of the phantom to ultimately reach the target point.

[0017] In one embodiment, the diameter of the first precision hole is at least one of 0.25 mm, 0.5 mm, 0.75 mm, 1.0 mm, 1.5 mm, and 2.0 mm;

[0018] The cross-section of the second precision positioning component is cylindrical, and the diameter of the second precision positioning component is at least one of 0.25mm, 0.5mm, 0.75mm, 1.0mm, 1.5mm and 2.0mm.

[0019] This setup allows for the size of several commonly used first-precision and second-precision positioning components to be accommodated. By using the two positioning components together during testing, testers can meet most of the testing accuracy requirements.

[0020] In one embodiment, a third precision positioning element is provided between the first positioning point and the second positioning point, and the third precision positioning element is a cylindrical metal part.

[0021] This setup allows the test piece to be inserted using specific methods (such as feedback from the current or laser to obtain the insertion depth or position), thereby achieving the goal of accurately measuring the operational accuracy of the test piece.

[0022] In one embodiment, a detection unit is mounted on the third precision positioning element, the detection unit being used to detect the insertion state of the test element.

[0023] With this setup, the detection unit can know the feedback on whether the test piece actually enters the first positioning point and / or reaches the second positioning point, thus determining the operating accuracy of the robot system.

[0024] In one embodiment, the outer surface of the first mold body is provided with marking holes for marking and positioning; or,

[0025] The outer surface of the first mold body is affixed with marking points for positioning; or,

[0026] The outer surface of the first mold body is provided with a threaded hole, which is used to assemble the marking bone nail.

[0027] This setup, including the marking holes, marking points, and mounting marking screws, is used to simulate the marking points in the contact-type spatial registration scheme. Through the spatial registration process, the coordinate system of the phantom and the robotic arm is transformed, enabling the system to locate the position of the phantom and thus unify it under the coordinate system of the robotic arm, thereby conducting test actions.

[0028] In one embodiment, the second mold body is provided with multiple detection surfaces at different distances from the first mold body; the second positioning point is disposed on the detection surface.

[0029] With this setup, there are multiple sets of different test distances between the second positioning point and the corresponding first positioning point on each detection surface, which can meet a variety of different test requirements and expand the applicable scenarios of the test model.

[0030] An embodiment of the present invention also provides an in vitro testing system for the application accuracy of a robot system, the in vitro testing system comprising:

[0031] A test module includes a test piece, which is mounted on the robot system and can run according to the path planned by the robot system.

[0032] An in vitro testing phantom for the accuracy of robot system applications, wherein the in vitro testing phantom includes any of the in vitro testing phantoms described above.

[0033] In one embodiment, the test module further includes a detection unit for detecting the insertion state of the test piece, which is a metal rod;

[0034] A cylindrical third-precision positioning component, made of metal, is provided between the first positioning point and the second positioning point. The detection unit is a multimeter, with one end of the multimeter electrically connected to the test piece and the other end electrically connected to the third-precision positioning component; or,

[0035] The test module also includes a detection unit, which is used to detect the insertion state of the test piece, which is a laser emitter.

[0036] The first positioning point and the second positioning point are provided with a cylindrical third precision positioning component, which is a metal component. The detection unit is a laser receiver, which is connected to the third precision positioning component.

[0037] This setup provides a precise in vitro testing system for quantitative analysis. When the metal rod contacts the inner wall of the third precision positioning component of the metal part, a multimeter can detect an electrical signal, thus determining that the metal rod has made contact with the metal cylinder, and whether the accuracy meets the test requirements. This method is more accurate and intelligent than visual judgment, saving manpower. Alternatively, a laser emitter can be used in conjunction with a laser receiver. After the in vitro testing system automatically locates the target point on the path, the laser emitter emits a laser. When the laser is reflected back through a predetermined laser receiver, the accuracy of the entry point and target point of that path can be considered to meet the predefined requirements. The use of a laser emitter and laser receiver is mainly for the automated testing of the in vitro testing system, i.e., without human intervention, offering greater accuracy and automation. Using a non-contact laser emitter and laser receiver to test the system's positioning accuracy meets the requirements of automated testing and saves costs.

[0038] An embodiment of the present invention also provides an in vitro testing method for the application accuracy of a robot system. The in vitro testing method is implemented using an in vitro testing phantom as described in any of the above claims. The in vitro testing method includes:

[0039] The operational accuracy of the robot system is determined by the feedback from the actual entry of the test piece into the first positioning point and / or arrival at the second positioning point.

[0040] The operational accuracy of the robot system is determined by at least one of the following three methods, based on the feedback from the actual entry of the test piece into the first positioning point and / or arrival at the second positioning point:

[0041] The operating accuracy of the robot system is determined by observing whether the test piece enters the first positioning point and / or reaches the second positioning point.

[0042] By testing whether the test piece can pass through the first positioning point with an inner diameter of a specific preset value and reach the second positioning point, it can be determined whether the operating accuracy of the robot system is within a specific range.

[0043] The operating accuracy of the robot system is obtained by measuring the depth at which the test piece enters the third precision positioning element between the first positioning point and / or the second positioning point.

[0044] Any of the above testing methods allows for the detection of test results, providing feedback on the test piece's entry into the first positioning point and / or reaching the second positioning point. This enables the in vitro testing method to be adapted to various means of verifying the robot system's control accuracy over the test piece, whether qualitative, semi-quantitative, or quantitative.

[0045] Compared with existing technologies, the in vitro testing phantom provided in one embodiment of the present invention can form a channel through which the test piece can pass by the cooperation of the first positioning point and the second positioning point, thereby testing the application accuracy of the robot system. The test channel is formed by the cooperation of the first positioning point and the second positioning point. By simply changing the shape and size of the second positioning point, the inner diameter of the test channel can be changed, thereby changing the accuracy requirements of the test piece. This enables the testing of the application accuracy of robot systems with different positioning accuracy requirements, expands the application range of the in vitro testing phantom, avoids the problem of needing to re-mold for different testing accuracy, and saves costs. Attached Figure Description

[0046] Figure 1 This is an application scenario diagram of the in vitro testing phantom in one embodiment of the present invention;

[0047] Figure 2 for Figure 1 The diagram shows the structure of the in vitro testing phantom.

[0048] Figure 3 for Figure 2 The diagram shows the structure of the in vitro testing phantoms after they are fitted together.

[0049] Figure 4 for Figure 2 A schematic diagram of the structure of the first phantom in the in vitro testing phantom shown;

[0050] Figure 5 for Figure 2 A schematic diagram of the structure of the second phantom in the in vitro testing phantom shown;

[0051] Figure 6 for Figure 2 The diagram shows the structure of the third precision positioning component and the test piece in the in vitro testing phantom.

[0052] The symbols in the diagram represent the following meanings:

[0053] 100. Test mold; 10. First mold; 11. First positioning point; 12. First precision positioning component; 13. First precision hole; 14. Threaded hole; 15. Metal cylinder; 20. Second mold; 21. Second positioning point; 22. Detection surface; 23. Second precision positioning component; 30. Test piece; 40. Third precision positioning component; 50. Detection unit. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] It should be noted that when a component is said to be "attached" to another component, it can be directly on the other component or it can be in the middle of another component. When a component is said to be "set" to another component, it can be directly set to the other component or it may also be in the middle of another component. When a component is said to be "fixed" to another component, it can be directly fixed to the other component or it may also be in the middle of another component.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0057] Please see Figure 1 The in vitro testing phantom 100 is used in the medical field to test the system application accuracy of a stereotactic surgical robot.

[0058] The intended clinical application of this surgical robot is to allow the robotic arm in the system to accurately position itself to the target point along a pre-planned path. The surgeon then uses an adapter at the end of the robotic arm to position and orient different surgical instruments, thereby locating the surgical area in the patient's brain and enabling precise incision of the scalp, drilling of bone, and implantation of electrodes. Therefore, the positioning accuracy of the robotic system is required to be extremely high. The in vitro testing phantom 100 provided in one embodiment of the present invention can perform simulated accuracy testing of the positioning accuracy of the robotic system outside the human body.

[0059] Please see Figures 2-5 The in vitro testing phantom 100 includes a first phantom 10 and a second phantom 20. The first phantom 10 has a first positioning point 11 for inserting the test piece 30. The second phantom 20 is adapted to the first phantom 10 and has a second positioning point 21. After the first phantom 10 and the second phantom 20 are installed, the relative positions of the first positioning point 11 and the second positioning point 21 are determined, and the projections of the first positioning point 11 and the second positioning point 21 relative to the same plane at least partially coincide.

[0060] It should be explained that the projection of the first positioning point 11 perpendicular to the same plane and the projection of the second positioning point 21 perpendicular to the same plane at least partially overlap, so that the rod-shaped test piece can directly touch the first positioning point 11 and the second positioning point 21, or the test path formed between the two can be passed through by the straight-shaped test piece 30.

[0061] With this configuration, the first positioning point 11 and the second positioning point 21 can cooperate to form a test channel through which the test piece 30 can pass, thereby testing the application accuracy of the robot system. The test channel is formed by the cooperation of the first positioning point 11 and the second positioning point 21. By simply changing the size (shape or relative position) of the second positioning point 21, the inner diameter of the test channel can be changed, thereby changing the accuracy requirements for the test piece 30. This allows for testing the application accuracy of robot systems with different positioning accuracy requirements, expanding the application range of the external test phantom 100, avoiding the need for re-molding for different test accuracies, and greatly saving costs.

[0062] Understandably, the relative position of the first positioning point 11 and the second positioning point 21 is determined by the fact that their positions are relatively fixed and cannot be changed.

[0063] It is understandable that the shapes of the first mold 10 and the second mold 20 can be set as hollow cylindrical structures or other irregular structures according to actual needs, as long as the relative positions of the first positioning point 11 and the second positioning point 21 between them can be determined. For example, the first mold 10 can be a cylindrical cover, and the second mold 20 can be set as a structure corresponding to the first mold 10.

[0064] Furthermore, the first mold 10 and the second mold 20 are separately configured. This configuration makes it easy to install and disassemble the external testing mold 100, and also facilitates the positioning of the first positioning point 11 and the second positioning point 21.

[0065] In one embodiment, the second mold 20 is generally cylindrical in shape, and its surface is provided with multiple stepped surfaces of different heights, which are multiple detection surfaces 22. Each detection surface 22 is provided with multiple second positioning points. Each of these second positioning points on different detection surfaces corresponds to multiple different first positioning points, so that there are different test distances between two positioning points to meet the test accuracy requirements of the test piece 30.

[0066] The second phantom 20 has multiple detection surfaces at different distances from the first phantom 10, so that the second positioning point 21 and the first positioning point 11 have multiple different distances, thereby meeting a variety of different testing requirements and expanding the applicable scenarios of the in vitro testing phantom 100. In this embodiment, the second phantom 20 has multiple stepped detection surfaces. In other embodiments, the multiple detection surfaces at different distances from the first phantom 10 can also be set as rings of different heights, or the detection surfaces of the second phantom 20 can be set as cylindrical end faces of different heights or other irregular shapes, as long as different testing distances can be formed between the two positioning points to meet a variety of different testing requirements.

[0067] In one embodiment, the first mold 10 and / or the second mold 20 are transparent, which facilitates testing and demonstration. Testers can visually determine whether the test piece 30 enters the mold and whether it can pass smoothly through the central through hole of the mold to finally reach the target point.

[0068] Specifically, the in vitro testing phantom 100 also includes a first precision positioning element 12 detachably installed within the first positioning point 11. The first precision positioning element 12 has a first precision hole 13. The in vitro testing phantom 100 also includes a second precision positioning element 23 detachably installed within the second positioning point 21. The test piece can pass through the first precision positioning element 12 to reach the second precision positioning element 23. This configuration allows the in vitro testing phantom to meet testing requirements of different precision levels. When higher testing precision is required, the corresponding positioning element can be replaced with a smaller positioning element to meet the testing precision requirements, making the application of the in vitro testing phantom 100 more flexible.

[0069] Furthermore, both the first precision positioning component 12 and the second precision positioning component 23 are cylindrical, and they are coaxially arranged. This arrangement allows for a tighter fit between the first precision positioning component 12 and the second precision positioning component 23 and their corresponding first mold 10 and second mold 20, and facilitates installation and testing, thus adapting to most precision testing requirements.

[0070] In one embodiment, the first phantom 10 is transparent. It should be explained that the imaging value of the first phantom 10 in the CT image differs from that of the first precision positioning element 12 and the second precision positioning element 23 in the CT image, thereby allowing for direct observation in imaging equipment such as CT scanners whether the test piece 30 has reached the first positioning point 11 and / or the second positioning point 21.

[0071] This design allows for easy visual observation of whether the test piece 30 enters the first positioning point 11 and reaches the second phantom 20, facilitating testers' identification of the test status. Furthermore, it facilitates testing and demonstration. Testers can visually determine whether the test piece 30 has entered the phantom and whether it can successfully pass through the central through-hole of the external test phantom 100 to ultimately reach the target point.

[0072] In some embodiments, the second precision positioning element 23 has a second precision hole, which corresponds to the first precision hole 13, thereby meeting the testing requirements for different precision levels. During precision testing, it can be determined whether the test piece has reached the second precision positioning element by judging whether the test piece enters the second precision hole.

[0073] In some implementations, the second precision positioning element is a circular positioning element without a second precision hole. When performing precision testing, it is only necessary to determine whether the test piece has reached the second precision positioning element.

[0074] In one embodiment, the diameter of the first precision hole 13 is at least one of 0.25 mm, 0.5 mm, 0.75 mm, 1.0 mm, 1.5 mm and 2.0 mm; the cross-section of the second precision positioning member 23 is cylindrical, and the diameter of the second precision positioning member 23 is at least one of 0.25 mm, 0.5 mm, 0.75 mm, 1.0 mm, 1.5 mm and 2.0 mm.

[0075] Here is a specific example of a semi-quantitative test:

[0076] Figure 2In the example, first-precision positioning elements 12 and second-precision positioning elements 23 with radii of 0.25mm, 0.5mm, 0.75mm, 1.0mm, 1.5mm, and 2.0mm are used to replace the entry point and target point. Furthermore, to increase the differentiation of different CT values ​​under CT images and improve the recognition resolution of path points under CT images, the entry point and target point are simulated using metal cylinders with different inner diameters but the same outer diameter and depth. A path is determined only by the entry point and target point. In actual simulation, precision positioning elements with the same depth (e.g., 5.0mm) are used. Therefore, the first-precision positioning element 12 used to simulate the entry point and the second-precision positioning element 23 used to simulate the target point must have high coaxiality during processing, and the middle is hollow to ensure that the final test piece 30 can enter the corresponding target point cylinder through the small cylinder at the entry point.

[0077] This type of path can be used for qualitative and semi-quantitative testing. That is, the system positioning accuracy of the entry point and the target point can be visually determined. Specifically, if the test piece 30 can enter the entry point (0.5mm) after the system completes final positioning, its entry point system positioning accuracy can be considered less than or equal to 0.5mm. Furthermore, if the test piece 30 can enter the target point (0.5mm) after passing this entry point, its target point system positioning accuracy can be considered less than or equal to 0.5mm. In this case, its attitude accuracy can be disregarded. Because the phantom is transparent, it can be seen with the naked eye, facilitating demonstration.

[0078] This configuration allows for the size of several commonly used first-precision positioning components 12 and second-precision positioning components 23 to be accommodated. By using the two positioning components together during testing, testers can meet most of the qualitative and semi-quantitative testing requirements.

[0079] In some other implementations, the dimensions described above can be set according to actual testing requirements.

[0080] In one embodiment, a third precision positioning element 40 is provided between the first positioning point 11 and the second positioning point 21. The third precision positioning element 40 is a cylindrical metal part. This arrangement facilitates the detection of the insertion status of the test piece 30 by certain means (such as feedback from the current or laser to obtain the insertion depth or position of the test piece), thereby achieving the purpose of accurately measuring the operating accuracy of the test piece 30.

[0081] In one embodiment, a detection unit 50 is mounted on the third precision positioning element 40. The detection unit 50 is used to detect the insertion state of the test piece 30. With this configuration, the detection unit 50 can know the feedback on whether the test piece has actually entered the first positioning point 11 and / or reached the second positioning point 21, thereby determining the operating accuracy of the robot system.

[0082] In one embodiment, the outer surface of the first mold 10 is also provided with marking holes (unnumbered) for marking and positioning. The marking holes are used to set marking points, which can help the system locate the position of the mold, thereby enabling the next step to be performed.

[0083] In this embodiment, the outer surface of the first mold 10 is provided with a threaded hole 14 for mounting a marking bone screw. The marking bone screw helps the system locate the position of the mold and then perform the test action. In other embodiments, the outer surface of the first mold 10 can also use adhesive markers, which can be attached to the location of the marking hole or the upper surface of the mold to assist the robot system in locating the position of the mold.

[0084] This invention also provides an in vitro testing system for robot application accuracy. In addition to the aforementioned in vitro testing phantom 100, the in vitro testing system also includes a testing module (unlabeled). The testing module includes a test piece 30 and a detection unit 50. The test piece 30 is mounted on the robot system and can run according to the path planned by the robot system. The test piece 30 and the detection unit 50 have various implementation methods:

[0085] Implementation Method 1

[0086] The in vitro test phantom 100 is made of transparent material, and the test piece 30 enters the in vitro test phantom 100 along a predetermined track. The test piece 30 is judged by visual inspection to see if it can pass through the middle through hole of the phantom and finally reach the target point. This method has been explained above and will not be repeated here.

[0087] Implementation Method 2

[0088] The test piece 30 is a laser emitter, and a laser receiver is set on the side of the second positioning point 21 away from the first positioning point 11 as a detection unit 50. During the operation of the test system, after the robot system automatically locates the target point on the path, it emits a laser through the test piece 30. When the laser can be reflected back through the predetermined laser receiver, it can be considered that the positioning accuracy of the entry point and the target point of the path meet the preset requirements.

[0089] This setup allows for automated setting of system application accuracy, which is more precise and intelligent than visual judgment and saves manpower.

[0090] Implementation Method 3

[0091] Please see Figure 6The test piece 30 is a metal rod, and the aforementioned third precision positioning element 40 is disposed between the first positioning point 11 and the second positioning point 21. The detection unit 50 is a multimeter, with one end electrically connected to the test piece 30 and the other end connected to the metal cylinder 15. When the test piece 30 contacts the inner wall of the third precision positioning element 40, the multimeter can detect an electrical signal, thereby determining that the metal rod has contacted the metal cylinder 15, and subsequently determining whether the precision of the path meets the test requirements.

[0092] The following example illustrates the testing principle of Implementation Method 3:

[0093] Since the entire test path of the third-precision positioning component 40 is a hollow test channel formed by thin-walled metal, and the test component 30 is also metal, the test component 30 can be connected to an adapter (such as...) after the system completes positioning and orientation. Figure 1 The test piece 30 is inserted into the corresponding path of the in vitro test phantom 100. The length of each path is known, such as 10mm, 30mm, 50mm, or 70mm. After entering through the cranial entry point, the test piece 30 may not reach the target point of the 50mm path, but it can reach the target point of the 30mm path, etc. This is because we can use depth to characterize the attitude accuracy of a specific path length. For example, for a simulated cylinder with a length of 70mm and radii of both the entry point and the target point of 1mm, when the test piece 30 can enter the 1mm entry point, the positioning accuracy of the entry point system can be characterized as less than or equal to 1mm; when the test piece 30 passes through the entire 70mm metal path without touching the inner metal wall of the third precision positioning piece 40, and finally reaches the target point area with a radius of 1mm, the positioning accuracy of the system can also be characterized as less than or equal to 1mm.

[0094] However, if the test piece 30 encounters the inner metal wall of the third precision positioning piece 40 while passing through this test path, for example, if its effective execution path length is only 55mm, then the positioning accuracy of its robot system will definitely exceed 1mm. Thus, during the test, 55mm can be directly used to replace the attitude accuracy, which should be converted to 0.018° (arctan(1 / 55)).

[0095] Whether the test piece 30 has touched the inner metal wall of the test path can be determined by using the continuity function of a multimeter. That is, one end of the multimeter probe is connected to the test piece 30, and the other end is connected to the third precision positioning piece 40 of the test path.

[0096] In summary, if the test piece 30 can pass through the third-precision positioning element 40 without contacting its inner wall, it indicates that the test piece 30 meets the accuracy requirements of this path. If the test piece 30 contacts the inner wall of the third-precision positioning element 40 during the test, it indicates that the accuracy of the test piece 30 does not meet the accuracy requirements of this path. In this case, the depth of the test piece 30 reaching the third-precision positioning element 40 can be measured with a multimeter, and this depth is the effective length X of the test path.

[0097] One embodiment of the present invention also provides an in vitro testing method for the application accuracy of a robot system. This in vitro testing method is implemented using an in vitro testing phantom as described in any of the above embodiments.

[0098] In vitro testing methods include:

[0099] Step S10: Determine the operating accuracy of the robot system based on the feedback from the test piece actually entering the first positioning point and / or reaching the second positioning point.

[0100] Specifically, step S10 includes at least one of the following three methods:

[0101] The operating accuracy of the robot system is determined by observing whether the test piece enters the first positioning point and / or reaches the second positioning point.

[0102] By testing whether the test piece can pass through the first positioning point with a specific preset inner diameter and reach the second positioning point, it can be determined whether the operating accuracy of the robot system is within a specific range.

[0103] The operational accuracy of the robot system is obtained by measuring the depth of the test piece entering the third precision positioning piece between the first positioning point and / or the second positioning point.

[0104] The operating accuracy of the robot system can be determined by the feedback from the actual entry of the test piece into the first and second positioning points.

[0105] The feedback on the actual entry of the test piece into the first positioning point and / or arrival at the second positioning point is the insertion status of the test piece described above.

[0106] In Method 1, it is possible to determine by visual inspection whether the test piece has entered the first positioning point and / or reached the second positioning point. If the first and second positioning points are set to specific preset positions, it is also possible to determine by visual inspection whether the test piece can enter the first and second positioning points respectively, thereby qualitatively or semi-quantitatively determining whether the operating accuracy of the robot system is within the range of specific preset values.

[0107] In Method 2, whether the test piece has entered the first positioning point and / or reached the second positioning point can be determined by whether the laser receiver reflects laser light. When the first positioning point and the second positioning point are set to a specific preset inner diameter, the operating accuracy of the robot system can also be semi-quantitatively determined by whether the laser receiver reflects laser light.

[0108] In Method 3, the effective path length X can be used to determine whether the test piece has entered the second positioning point. The effective path length X is the depth of the test piece entering the third precision positioning part between the first positioning point and the second positioning point, thereby further quantitatively calculating and obtaining the running accuracy of the test piece.

[0109] Any of the above testing methods allows for the detection of test results, providing feedback on the test piece's entry into the first positioning point and / or reaching the second positioning point. This enables the in vitro testing method to be adapted to various means of verifying the robot system's control accuracy over the test piece, whether qualitative, semi-quantitative, or quantitative.

[0110] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0111] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. An in vitro testing phantom for the accuracy of robot system applications, characterized in that, The in vitro testing phantom includes: The first mold (10) is provided with a first positioning point (11) for inserting the test piece (30); The second module (20) is adapted to the first module (10) and is provided with a second positioning point (21). After the first mold (10) and the second mold (20) are installed, the relative positions of the first positioning point (11) and the second positioning point (21) are determined, and the projections of the first positioning point (11) and the second positioning point (21) relative to the same plane at least partially overlap; the first positioning point (11) and the second positioning point (21) cooperate with each other to form a test channel through which the test piece (30) passes; The in vitro testing phantom also includes a first precision positioning element (12) that can be detachably installed in the first positioning point (11), and the first precision positioning element (12) has a first precision hole (13); the in vitro testing phantom also includes a second precision positioning element (23) that can be detachably installed in the second positioning point (21); the test piece (30) can pass through the first precision positioning element (12) to reach the second precision positioning element (23).

2. The in vitro testing phantom for the application accuracy of the robot system according to claim 1, characterized in that, The first model (10) is a transparent body.

3. The in vitro testing phantom for the application accuracy of the robot system according to claim 2, characterized in that, The diameter of the first precision hole (13) is at least one of 0.25 mm, 0.5 mm, 0.75 mm, 1.0 mm, 1.5 mm and 2.0 mm; The second precision positioning element (23) has a circular cross-section and a diameter of at least one of 0.25 mm, 0.5 mm, 0.75 mm, 1.0 mm, 1.5 mm and 2.0 mm.

4. The in vitro testing phantom for the application accuracy of the robot system according to claim 1, characterized in that, Furthermore, a third precision positioning element (40) is provided between the first positioning point (11) and the second positioning point (21), and the third precision positioning element (40) is a cylindrical metal part.

5. The in vitro testing phantom for the application accuracy of the robot system according to claim 4, characterized in that, The third precision positioning component is equipped with a detection unit (50), which is used to detect the insertion state of the test piece (30).

6. The in vitro testing phantom for the application accuracy of the robot system according to claim 1, characterized in that, The outer surface of the first mold body (10) is provided with marking holes for marking and positioning; or, The outer surface of the first mold (10) is affixed with marking points for positioning; or, The outer surface of the first mold body (10) is provided with a threaded hole (14), which is used to assemble the marking bone nail.

7. The in vitro testing phantom for the application accuracy of the robot system according to claim 1, characterized in that, The second mold (20) is provided with multiple detection surfaces (22) at different distances from the first mold (10); the second positioning point (21) is set on the detection surface (22).

8. An in vitro testing system for the accuracy of robot system applications, characterized in that, The in vitro testing system includes: The test module includes a test piece (30), which is installed on the robot system and can run according to the path planned by the robot system; An in vitro testing phantom for the precision of a robot system application, the in vitro testing phantom comprising the in vitro testing phantom as described in any one of claims 1 to 7.

9. The in vitro testing system according to claim 8, characterized in that, The test module also includes a detection unit, which is used to detect the insertion state of the test piece, wherein the test piece (30) is a metal rod; A cylindrical third-precision positioning element (40) is provided between the first positioning point and the second positioning point. The third-precision positioning element is a metal part. The detection unit is a multimeter, one end of which is electrically connected to the test piece (30), and the other end is electrically connected to the third-precision positioning element (40); or, The test module further includes a detection unit (50), which is used to detect the insertion state of the test piece, and the test piece (30) is a laser emitter; The first positioning point and the second positioning point are provided with a cylindrical third precision positioning component (40), the third precision positioning component is a metal part, the detection unit is a laser receiver, and the laser receiver is connected to the third precision positioning component.

10. An in vitro testing method for the application accuracy of a robot system, characterized in that, The in vitro testing method is implemented using the in vitro testing phantom as described in any one of claims 1-7, and the in vitro testing method includes: The operational accuracy of the robot system is determined by the feedback from the actual entry of the test piece into the first positioning point and / or arrival at the second positioning point. The operational accuracy of the robot system is determined by the feedback from the actual entry of the test piece into the first positioning point and / or arrival at the second positioning point, including the following three methods: The operating accuracy of the robot system is determined by observing whether the test piece enters the first positioning point and / or reaches the second positioning point. By testing whether the test piece can pass through the first positioning point with an inner diameter of a specific preset value and reach the second positioning point, it can be determined whether the operating accuracy of the robot system is within a specific range. The operating accuracy of the robot system is obtained by measuring the depth at which the test piece enters the third precision positioning element between the first positioning point and / or the second positioning point.

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