Robot posture accuracy testing method and auxiliary device

Abstract

The present invention relates to the technical field of automated medical equipment testing, and discloses a robot posture accuracy testing method and an auxiliary device. The testing method comprises the following steps: Step S1: fix a laparoscope tool and an instrument tool on the first arm and the second arm of the robot to be tested respectively; Step S2: obtain the first homogeneous posture matrix T of the laparoscope tool and the instrument tool in the intermediate coordinate system respectively. Elb and the second homogeneous pose matrix T Ins ; Step S3: Calculate the actual instrument posture matrix T of the instrument tool in the coordinate system of the laparoscope tool a , T a =T Ins ‑1 T Elb ; Obtain the theoretical position matrix T of the instrument tooling in the coordinate system of the laparoscope tooling when the robot to be tested is in the current shape and position d ; Step S4: Compare the actual instrument posture matrix T of the instrument tooling in the coordinate system of the laparoscope tooling a With the theoretical pose matrix T d , to obtain the position and posture accuracy of the robot to be tested. The test method has strong versatility and high test accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of automated medical equipment testing, and in particular to a robot posture accuracy testing method and an auxiliary device. Background Art

[0002] With the rapid development of medical technology, minimally invasive surgery has gradually become popular. Minimally invasive surgery is a surgery performed using modern medical devices such as laparoscopes and thoracoscopes and related equipment. It has the advantages of less trauma, less pain, and faster recovery. In laparoscopic surgery, the two robotic arms of the robot simultaneously enter the target position in the human body. The camera installed on one of the robotic arms is used to obtain the coordinates of the target position in three-dimensional space. The robot control system controls the action of the execution instrument installed on the other robotic arm through the coordinate information obtained by the camera. Therefore, ensuring that the robot has a high posture accuracy is a key factor in improving the success rate of laparoscopic surgery.

[0003] The test method for the posture accuracy of the robot in the prior art is: first, the actual coordinates of the camera and the actuator are obtained through the joint axes on the two mechanical arms of the robot to be tested, and then the theoretical coordinates of the camera and the actuator are obtained according to the joint rotation angles of the two mechanical arms. Finally, the posture accuracy of the robot to be tested is determined by comparing the difference between the actual coordinates and the theoretical coordinates. However, due to the mechanical structure error of the robot to be tested, the coordinate system where the joint axes of the mechanical arms are located is not completely consistent with the coordinate system where the camera or the actuator is located, thereby affecting the test accuracy; in addition, with this test method, the operator needs to mark the appropriate joint axes on the mechanical arms of the robot to be tested each time and rotate it to the test position, which is a large workload and has poor versatility.

[0004] Therefore, it is urgent to propose a robot posture accuracy testing method to solve the above problems. Summary of the invention

[0005] Based on the above, the robot posture accuracy testing method provided by the present invention has strong versatility, high testing accuracy, and can reduce the workload of operators.

[0006] The auxiliary device provided by the present invention is suitable for the above-mentioned robot posture accuracy testing method, can be adapted to posture accuracy testing of various robots to be tested, has strong versatility, and high testing accuracy.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] The robot posture accuracy testing method provided by the present invention comprises the following steps:

[0009] Step S1: fixing the laparoscope tooling on the first arm of the robot to be tested, and fixing the instrument tooling on the second arm of the robot to be tested;

[0010] Step S2: Using optical measurement equipment to obtain the first homogeneous pose matrix T of the laparoscope tool in the intermediate coordinate system Elb And the second homogeneous pose matrix T of the tooling in the intermediate coordinate system Ins , the intermediate coordinate system is the coordinate system of the optical measuring device;

[0011] Step S3: Calculate the actual instrument posture matrix T of the instrument tool in the coordinate system of the laparoscope tool a , where T a =T Ins -1 T Elb ;

[0012] Obtain the theoretical position matrix T of the instrument tool in the coordinate system of the laparoscope tool when the robot to be tested is in the current position d ;

[0013] Step S4: Compare the actual instrument posture matrix T of the instrument tool in the coordinate system of the laparoscope tool a With the theoretical pose matrix T d , to obtain the posture accuracy of the robot to be tested.

[0014] As a preferred solution of the robot posture accuracy test method, the first homogeneous posture matrix T Elb for:

[0015]

[0016] Among them, [n x , n y , n z ] T is the unit vector of the laparoscope tool in the X direction in the intermediate coordinate system [o x , o y , o z ] T is the unit vector of the laparoscope tool in the Y direction in the intermediate coordinate system [a x , a y , a z ] T is the unit vector of the laparoscope tool in the Z direction in the intermediate coordinate system [x H ,y H , z H ]T is the coordinate of the laparoscope coordinate origin H of the laparoscope tooling in the intermediate coordinate system.

[0017] As a preferred solution of the robot posture accuracy test method, when the laparoscope is a 0° laparoscope, the first homogeneous posture matrix T is obtained. Elb The specific steps are:

[0018] S21: Use the optical measurement device to obtain the coordinates of the first laparoscope positioning point A, the second laparoscope positioning point B, the third laparoscope positioning point C and the laparoscope coordinate origin H on the laparoscope tooling in the intermediate coordinate system, respectively, and record them as: A(x A ,y A , z A )、B(x B ,y B , z B )、C(x C ,y C , z C ) and H(x H ,y H , z H ), wherein the direction of the line connecting the first laparoscope positioning point A and the second laparoscope positioning point B is parallel to the Y axis, and the direction of the line connecting the second laparoscope positioning point B and the third laparoscope positioning point C is parallel to the Z axis;

[0019] Step S22: Calculate the unit vector of the laparoscope tool in the Y direction in the intermediate coordinate system in,

[0020] Calculate the unit vector of the laparoscope tool in the Z direction in the intermediate coordinate system in,

[0021] Step S23: Calculate the unit vector of the laparoscope tool in the X direction in the intermediate coordinate system

[0022] As a preferred solution of the robot posture accuracy test method, when the laparoscope is a +30° laparoscope or a -30° laparoscope, the first homogeneous posture matrix T is obtained. Elb The specific steps are:

[0023] S21′: Use the optical measurement device to obtain the coordinates of the fourth laparoscope positioning point D, the fifth laparoscope positioning point E, the sixth laparoscope positioning point F, the seventh laparoscope positioning point G and the laparoscope coordinate origin H on the laparoscope tooling in the intermediate coordinate system, respectively, and record them as: D(x D ,y D , zD )、E(x E ,y E , z E )、F(x F ,y F , z C )、G(x G ,y G , z G ) and H(x H ,y H , z H ), wherein the direction of the line connecting the fourth laparoscope positioning point D and the fifth laparoscope positioning point E is parallel to the Y axis, and the direction of the line connecting the sixth laparoscope positioning point F and the seventh laparoscope positioning point G is parallel to the X axis;

[0024] Step S22': Calculate the unit vector of the laparoscope tool in the Y direction in the intermediate coordinate system in,

[0025] Calculate the unit vector of the laparoscope tool in the X direction in the intermediate coordinate system in,

[0026] Step S23': Calculate the unit vector of the laparoscope tool in the Z direction in the intermediate coordinate system

[0027] As a preferred solution of the robot posture accuracy test method, the second homogeneous posture matrix T Ins for:

[0028]

[0029] Among them, [n' x , n' y , n' z ] T is the unit vector of the tool in the X direction in the intermediate coordinate system [o' x , o' y , o' z ] T is the unit vector of the tool in the Y direction in the intermediate coordinate system [a' x , a' y , a' z ] T is the unit vector of the tool in the Z direction in the intermediate coordinate system [x P ,y P , z P ]T It is the coordinate of the tool coordinate origin P of the tool fixture in the intermediate coordinate system.

[0030] As a preferred solution of the robot posture accuracy test method, the second homogeneous posture matrix T is obtained. Ins The specific steps are:

[0031] S21”: Use the optical measuring device to respectively obtain the coordinates of the first instrument positioning point I, the second instrument positioning point J, the third instrument positioning point K, the fourth instrument positioning point L and the instrument coordinate origin H on the instrument tooling in the intermediate coordinate system, and record them as: I(x I ,y I , z I )、J(x J ,y J , z J )、K(x K ,y K , z K )、L(x L ,y L , z L ) and P(x P ,y P , z P ), wherein the line connecting the first instrument positioning point I and the second instrument positioning point J is parallel to the line connecting the third instrument positioning point K and the fourth instrument positioning point L and is parallel to the YZ plane;

[0032] Step S22": Calculate the unit vector of the tool in the X direction in the intermediate coordinate system in

[0033] Calculate the point coordinates of the midpoint P of the line connecting the first instrument positioning point I and the third instrument positioning point K and the midpoint Q of the line connecting the second instrument positioning point J and the fourth instrument positioning point L, respectively, and record them as: P(x P ,y P , z P )、Q(x Q ,y Q , z Q );

[0034] Calculate the unit vector of the tool in the Z direction in the intermediate coordinate system in,

[0035] Step S23": Calculate the unit vector of the tool in the Y direction in the intermediate coordinate system

[0036] The auxiliary device provided by the present invention is applied to the robot posture accuracy testing method as described in any of the above schemes, and the auxiliary device comprises:

[0037] A laparoscope tool is provided with a plurality of laparoscope positioning points, any two of the laparoscope positioning points are connected to form a laparoscope positioning detection line, at least two of the plurality of laparoscope positioning detection lines are not parallel, and an optical measurement device can obtain a first homogeneous pose matrix T of the laparoscope tool in an intermediate coordinate system through the laparoscope positioning points on the non-parallel laparoscope positioning detection lines Elb ;

[0038] An instrument fixture is provided with a plurality of instrument positioning points, any two of the instrument positioning points are connected to form an instrument positioning detection line, at least two of the plurality of instrument positioning detection lines are not parallel, and an optical measuring device can obtain a second homogeneous pose matrix T of the instrument fixture in an intermediate coordinate system through the instrument positioning points on the non-parallel instrument positioning detection lines Ins .

[0039] As a preferred embodiment of the auxiliary device, the laparoscopic tooling comprises:

[0040] The mirror body comprises a first portion and a second portion arranged at an angle of 150°;

[0041] Mirror rods, the number of the mirror rods is two, namely a first mirror rod and a second mirror rod, the end surface of the first mirror rod is perpendicular to the axis direction of the first mirror rod, the angle between the end surface of the second mirror rod and the axis of the second mirror rod is 150°, and the first part can be selectively detachably connected to the first mirror rod or the second mirror rod;

[0042] The laparoscope positioning points are arranged on the mirror body and the mirror rod.

[0043] As a preferred embodiment of the auxiliary device, the first part includes a first laparoscope detection surface, a second laparoscope detection surface and a third laparoscope detection surface which are connected in sequence, and a fourth laparoscope detection surface is arranged on the second part; a first laparoscope positioning hole, a second laparoscope positioning hole, a third laparoscope positioning hole, a fourth laparoscope positioning hole, a fifth laparoscope positioning hole and a sixth laparoscope positioning hole are arranged on the mirror body, wherein the first laparoscope positioning hole, the second laparoscope positioning hole and the third laparoscope positioning hole are all located on the second laparoscope detection surface and are not collinear; the fourth laparoscope positioning hole is a through hole and is arranged to pass through the first laparoscope detection surface and the third laparoscope detection surface, and the axial direction of the fourth laparoscope positioning hole is parallel to the connecting direction of the first laparoscope positioning hole and the second laparoscope positioning hole; the fifth laparoscope positioning hole and the sixth laparoscope positioning hole are both located on the fourth laparoscope detection surface; a fifth laparoscope detection surface is arranged on the side of the mirror rod away from the mirror body, and a seventh laparoscope positioning hole is arranged on the fifth laparoscope detection surface.

[0044] As a preferred embodiment of the auxiliary device, the first part also includes a sixth laparoscope detection surface, which is parallel to the second laparoscope detection surface, and the two ends of the sixth laparoscope detection surface are respectively connected to the first laparoscope detection surface and the third laparoscope detection surface, and the sixth laparoscope detection surface is provided with an eighth laparoscope positioning hole, a ninth laparoscope positioning hole and a tenth laparoscope positioning hole which are not collinear.

[0045] As a preferred embodiment of the auxiliary device, the distance between the second laparoscope positioning hole and the third laparoscope positioning hole is greater than 40 mm; and / or

[0046] The distance between the fifth laparoscope positioning hole and the sixth laparoscope positioning hole is greater than 40 mm.

[0047] As a preferred embodiment of the auxiliary device, the instrument tooling includes a support, a first pliers body and a second pliers body, the first pliers body and the second pliers body are both rotatably disposed on the support, and the instrument positioning point is disposed on the first pliers body and the second pliers body.

[0048] As a preferred embodiment of the auxiliary device, a first instrument detection surface is provided on the first pliers body, and a second instrument detection surface is provided on the second pliers body, and the first instrument detection surface is parallel to the second instrument detection surface; a first instrument positioning hole and a second instrument positioning hole are provided on the first instrument detection surface, and a third instrument positioning hole and a fourth instrument positioning hole are provided on the second instrument detection surface.

[0049] As a preferred embodiment of the auxiliary device, the distance between the first instrument positioning hole and the second instrument positioning hole is greater than 40 mm; and / or

[0050] The distance between the third instrument positioning hole and the fourth instrument positioning hole is greater than 40 mm.

[0051] As a preferred solution of the auxiliary device, the laparoscope tooling is provided with a first positioning member, and the first positioning member can cooperate with a first positioning hole on a first arm of the robot to be tested; and / or

[0052] The instrument tooling is provided with a second positioning piece, and the second positioning piece can be matched with a second positioning hole on the second arm of the robot to be tested.

[0053] The beneficial effects of the present invention are:

[0054] The robot posture accuracy testing method provided by the present invention fixes the laparoscope tooling and the instrument tooling on the first arm and the second arm of the robot to be tested respectively. During the test, it is only necessary to obtain the actual instrument posture matrix T of the instrument tooling in the coordinate system of the laparoscope tooling. a , and then the actual device pose matrix T a The theoretical pose matrix T of the instrument tooling in the coordinate system of the laparoscope tooling when the robot is in the current shape and position d The difference between the two arms can be used to obtain the posture accuracy of the robot to be tested, and the testing process is relatively simple; there is no need to use the joint axes on the two arms of the robot to be tested to establish the corresponding coordinate system, which can avoid the problem of low test accuracy caused by the structural error of the robot to be tested, thereby ensuring the test accuracy of the test method; in addition, the laparoscopic tooling and instrument tooling can be used repeatedly, and only one mark is needed on the laparoscopic tooling and instrument tooling, which can reduce the workload of the operator and thus reduce labor costs.

[0055] The present invention also provides an auxiliary device for robot posture accuracy testing, including a laparoscopic tooling and an instrument tooling. The auxiliary device can be adapted to posture accuracy testing of various robots to be tested, has strong versatility, and can avoid the problem of low test accuracy caused by structural errors of the robot to be tested during testing, thereby improving the accuracy of the test results. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. 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 the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0057] Figure 1 is a flow chart of a robot posture accuracy testing method provided by an embodiment of the present invention;

[0058] Figure 2 The structure of the laparoscope tool provided by the embodiment of the present invention is schematically shown. Figure 1 ;

[0059] Figure 3 The structure of the laparoscope tool provided by the embodiment of the present invention is schematically shown. Figure 2 ;

[0060] Figure 4 is a right side view of the laparoscope tooling provided by an embodiment of the present invention;

[0061] Figure 5 It is a left side view of the laparoscope tooling provided by an embodiment of the present invention;

[0062] Figure 6 is a rear view of the laparoscope tooling provided by an embodiment of the present invention;

[0063] Figure 7 It is a schematic diagram of the structure of the instrument tooling provided by an embodiment of the present invention;

[0064] Figure 8 It is a schematic diagram of the structure of the instrument tooling provided by an embodiment of the present invention in one state;

[0065] Fig. 9 It is a schematic diagram of the structure of the instrument tooling provided by an embodiment of the present invention in another state.

[0066] In the figure:

[0067] 1- mirror body; 11- first part; 111- first laparoscope detection surface; 1111- fourth laparoscope positioning hole; 112- second laparoscope detection surface; 1121- first laparoscope positioning hole; 1122- second laparoscope positioning hole; 1123- third laparoscope positioning hole; 113- third laparoscope detection surface; 114- sixth laparoscope detection surface; 1141- eighth laparoscope positioning hole; 1142- ninth laparoscope positioning hole; 1143- tenth laparoscope positioning hole; 115- first positioning member; 12- second part; 121- fourth laparoscope detection surface; 1211- fifth laparoscope positioning hole; 1212- sixth laparoscope positioning hole;

[0068] 2-mirror rod; 21-fifth laparoscope detection surface; 211-seventh laparoscope positioning hole;

[0069] 3-first clamp body; 31-first instrument detection surface; 311-first instrument positioning hole; 312-second instrument positioning hole;

[0070] 4-second clamp body; 41-second instrument detection surface; 411-third instrument positioning hole; 412-fourth instrument positioning hole;

[0071] 5- Support parts. DETAILED DESCRIPTION

[0072] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0073] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0074] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0075] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0076] A robot for laparoscopic surgery usually includes a robot body and a first arm and a second arm movably arranged on the robot body. When performing laparoscopic surgery, the laparoscope and surgical instruments are usually first fixed to the first arm and the second arm, respectively. Among them, the laparoscope is equivalent to the "human eye", the surgical instrument is equivalent to the "human hand", and the control system of the robot body is equivalent to the "human brain". If the posture accuracy of the robot is high enough, then the actual position of the surgical instrument fed back by the laparoscope to the robot control system should be consistent with the theoretical position of the surgical instrument controlled by the robot control system. Therefore, the posture accuracy of the robot for laparoscopic surgery can be evaluated by comparing the gap between the actual position and the theoretical position of the above-mentioned surgical instrument.

[0077] Based on the above principles, Figure 1 As shown, the robot posture accuracy testing method provided in this embodiment includes the following steps:

[0078] Step S1: fix the laparoscope tooling on the first arm of the robot to be tested, and fix the instrument tooling on the second arm of the robot to be tested;

[0079] Step S2: Use optical measurement equipment to obtain the first homogeneous pose matrix T of the laparoscope tooling in the intermediate coordinate system Elb And the second homogeneous pose matrix T of the tooling in the intermediate coordinate system Ins , the intermediate coordinate system is the coordinate system under the optical measurement equipment;

[0080] Step S3: Calculate the actual instrument posture matrix T of the instrument tool in the coordinate system of the laparoscope tool a , where T a =T Ins -1 T Elb ;

[0081] Obtain the theoretical pose matrix T of the instrument tooling in the coordinate system of the laparoscope tooling when the robot is in the current shape and position d ;

[0082] Step S4: Compare the actual instrument posture matrix T of the instrument tooling in the coordinate system of the laparoscope tooling a With the theoretical pose matrix T d , to obtain the posture accuracy of the robot to be tested.

[0083] The robot posture accuracy test method provided in this embodiment is to fix the laparoscope tooling and the instrument tooling on the first arm and the second arm of the robot to be tested respectively. During the test, it is only necessary to obtain the actual instrument posture matrix T of the instrument tooling in the coordinate system of the laparoscope tooling. a , and then the actual device pose matrix T aThe theoretical pose matrix T of the instrument tooling in the coordinate system of the laparoscope tooling when the robot is in the current shape and position d The difference between the two arms can be used to obtain the posture accuracy of the robot to be tested, and the testing process is relatively simple; there is no need to use the joint axes on the two arms of the robot to be tested to establish the corresponding coordinate system, which can avoid the problem of low test accuracy caused by the structural error of the robot to be tested, thereby ensuring the test accuracy of the test method; in addition, the laparoscopic tooling and instrument tooling can be used repeatedly, and only one mark is needed on the laparoscopic tooling and instrument tooling, which can reduce the workload of the operator and thus reduce labor costs.

[0084] For ease of understanding, the following Figure 2-Figure 9 The specific structure of the auxiliary device used in the robot posture accuracy testing method is shown to introduce the specific process of the robot posture accuracy testing method in detail.

[0085] like Figure 2-Figure 5 As shown, a plurality of laparoscope positioning points are arranged on the laparoscope tooling, and any two laparoscope positioning points are connected to form a laparoscope positioning detection line. At least two of the plurality of laparoscope positioning detection lines are not parallel. The optical measurement device can obtain the first homogeneous pose matrix T of the laparoscope tooling in the intermediate coordinate system through the laparoscope positioning points on the non-parallel laparoscope positioning detection lines. Elb .

[0086] Specifically, the laparoscope tooling includes a scope body 1 and a scope rod 2, the scope body 1 includes a first part 11 and a second part 12 arranged at an angle, the first part 11 is connected to the scope rod 2, the first part 11 includes a first laparoscope detection surface 111, a second laparoscope detection surface 112 and a third laparoscope detection surface 113 connected in sequence, and the second part 12 is provided with a fourth laparoscope detection surface 121; the scope body 1 is provided with a first laparoscope positioning hole 1121, a second laparoscope positioning hole 1122, a third laparoscope positioning hole 1123, a fourth laparoscope positioning hole 1111, a fifth laparoscope positioning hole 1211 and a sixth laparoscope positioning hole 1212, wherein the first laparoscope positioning hole 1121, the second laparoscope positioning hole 1122, the third laparoscope positioning hole 1123, the fourth laparoscope positioning hole 1111, the fifth laparoscope positioning hole 1211 and the sixth laparoscope positioning hole 1212, The laparoscope positioning hole 1122 and the third laparoscope positioning hole 1123 are both located on the second laparoscope detection surface 112 and are not collinear; the fourth laparoscope positioning hole 1111 is a through hole and is set through the first laparoscope detection surface 111 and the third laparoscope detection surface 113, and the axial direction of the fourth laparoscope positioning hole 1111 is parallel to the connecting direction of the first laparoscope positioning hole 1121 and the second laparoscope positioning hole 1122; the fifth laparoscope positioning hole 1211 and the sixth laparoscope positioning hole 1212 are both located on the fourth laparoscope detection surface 121; a fifth laparoscope detection surface 21 is provided on the side of the mirror rod 2 away from the mirror body 1, and a seventh laparoscope positioning hole 211 is provided on the fifth laparoscope detection surface 21.

[0087] Furthermore, the first part 11 also includes a sixth laparoscope detection surface 114, which is parallel to the second laparoscope detection surface 112, and the two ends of the sixth laparoscope detection surface 114 are respectively connected to the first laparoscope detection surface 111 and the third laparoscope detection surface 113, and the sixth laparoscope detection surface 114 is provided with an eighth laparoscope positioning hole 1141, a ninth laparoscope positioning hole 1142 and a tenth laparoscope positioning hole 1143 which are not co-linear.

[0088] For the convenience of description, it is now defined that: the intersection point between the first laparoscope positioning hole 1121 and the second laparoscope detection surface 112 is the first laparoscope positioning point A, the intersection point between the second laparoscope positioning hole 1122 and the second laparoscope detection surface 112 is the second laparoscope positioning point B, the intersection point between the third laparoscope positioning hole 1123 and the second laparoscope detection surface 112 is the third laparoscope positioning point C, the intersection point between the fourth laparoscope positioning hole 1111 and the first laparoscope detection surface 111 is the fourth laparoscope positioning point D, the intersection point between the fourth laparoscope positioning hole 1111 and the third laparoscope detection surface 113 is the fifth laparoscope positioning point E, and the intersection point between the fifth laparoscope positioning hole 1111 and the third laparoscope detection surface 113 is the fifth laparoscope positioning point E. The intersection of the four laparoscope detection surfaces 121 is the sixth laparoscope positioning point F, the intersection of the sixth laparoscope positioning hole 1212 and the fourth laparoscope detection surface 121 is the seventh laparoscope positioning point G, the intersection of the eighth laparoscope positioning hole 1141 and the sixth laparoscope detection surface 114 is the eighth laparoscope positioning point A', the intersection of the ninth laparoscope positioning hole 1142 and the sixth laparoscope detection surface 114 is the ninth laparoscope positioning point B', the intersection of the tenth laparoscope positioning hole 1143 and the sixth laparoscope detection surface 114 is the ninth laparoscope positioning point C', and the intersection of the seventh laparoscope positioning hole 211 and the fifth laparoscope detection surface 21 is the laparoscope coordinate origin H. Among them, the connecting line AB is parallel to the connecting line A'B', and the connecting line BC is parallel to the connecting line B'C'.

[0089] There are two types of laparoscopes on the market. The first type is a 0° laparoscope, in which the fifth laparoscope detection surface 21 of the scope shaft 2 is perpendicular to the second laparoscope detection surface 112; the second type is a +30° laparoscope or a -30° laparoscope, in which the fifth laparoscope detection surface 21 of the scope shaft 2 is inclined at an angle of 30° in the vertical direction.

[0090] In order to improve the versatility of the auxiliary device, in the present embodiment, the angle between the fourth laparoscope detection surface 121 and the second laparoscope detection surface 112 is 150°; there are two mirror rods 2, namely the first mirror rod and the second mirror rod, and the fifth laparoscope detection surface 21 of the first mirror rod is perpendicular to the axial direction of the first mirror rod; the angle between the fifth laparoscope detection surface 21 of the second mirror rod and the axis of the second mirror rod is 150°, and the first part 11 can be selectively detachably connected to the first mirror rod or the second mirror rod. When the robot to be tested with a 0° laparoscope needs to be tested, the operator can connect the first mirror rod to the first part 11; when the robot to be tested with a +30° laparoscope needs to be tested, the operator can connect the second mirror rod to the first part 11, and make the fifth laparoscope detection surface 21 of the second mirror rod parallel to the fourth laparoscope detection surface 121; when the robot to be tested with a -30° laparoscope needs to be tested, the operator can connect the second mirror rod to the first part 11, and make the fifth laparoscope detection surface 21 of the second mirror rod and the fourth laparoscope detection surface 121 form an angle, and the two are symmetrical relative to the axis of the second mirror rod. This arrangement can improve the versatility of the auxiliary device, reduce production costs, and facilitate storage.

[0091] Optionally, a threaded hole is provided on the first part 11, and an external thread is provided on the mirror rod 2, and the mirror rod 2 can be screwed into the threaded hole of the first part 11 to achieve a detachable connection between the two, which is convenient for processing and has a tight connection. Of course, in other embodiments, the first part 11 and the mirror rod 2 can also be detachably connected by snapping or other means, which is not limited in this embodiment. In addition, the laparoscope tooling is set as a split structure, which can also ensure the processing accuracy of the mirror body 1 and the mirror rod 2, and further ensure the accuracy of the test results.

[0092] Optionally, a first positioning member 115 is provided on the first portion 11 , and the first positioning member 115 can cooperate with a first positioning hole on the first arm of the robot to be tested to achieve precise positioning between the laparoscope tooling and the first arm.

[0093] In this embodiment, the first homogeneous pose matrix T of the laparoscope tool in the intermediate coordinate system is Elb for:

[0094]

[0095] Among them, [n x , n y , n z ] T is the unit vector of the laparoscope tool in the X direction in the intermediate coordinate system [o x , o y , o z ] Tis the unit vector of the laparoscopic tool in the Y direction in the intermediate coordinate system [a x , a y , a z ] T is the unit vector of the laparoscope tool in the Z direction in the intermediate coordinate system [x H ,y H , z H ] T It is the coordinate of the laparoscope coordinate origin H of the laparoscope tooling in the intermediate coordinate system.

[0096] like Figure 2 As shown, when the laparoscope tooling is a 0° laparoscope, the laparoscope tooling is first fixed to the first arm of the robot to be tested. At this time, it is necessary to ensure that the second laparoscope detection surface 112 faces the optical measurement device, and the second laparoscope detection surface 112 is parallel to the YZ plane in the intermediate coordinate system, and the AB line is parallel to the Y axis in the intermediate coordinate system, and the BC line is parallel to the Z axis in the intermediate coordinate system. Among them, the intermediate coordinate system is the coordinate system under the optical measurement device.

[0097] At this time, obtain the first homogeneous pose matrix T Elb The specific steps are:

[0098] S21: Use optical measuring equipment to obtain the coordinates of the first laparoscope positioning point A, the second laparoscope positioning point B, the third laparoscope positioning point C and the laparoscope coordinate origin H on the laparoscope tooling in the intermediate coordinate system, respectively, and record them as: A(x A ,y A , z A )、B(x B ,y B , z B )、C(x C ,y C , z C ) and H(x H ,y H , z H );

[0099] Step S22: Calculate the unit vector of the laparoscope tool in the Y direction in the intermediate coordinate system in,

[0100] Calculate the unit vector of the laparoscope tool in the Z direction in the intermediate coordinate system in,

[0101] Step S23: Calculate the unit vector of the laparoscope tool in the X direction in the intermediate coordinate system

[0102] like Figure 3 As shown, when the laparoscope tool is a +30° laparoscope, the laparoscope tool is first fixed to the first arm of the robot to be tested, and the sixth laparoscope detection surface 114 needs to be oriented toward the optical measurement device to ensure that the fifth laparoscope detection surface 21 is within the shooting range of the optical measurement device. At this time, the fourth laparoscope detection surface 121 is parallel to the XY plane in the intermediate coordinate system, and the DE line is parallel to the Y axis in the intermediate coordinate system, and the FG line is parallel to the X axis in the intermediate coordinate system. When the laparoscope tool is a -30° laparoscope, the laparoscope tool is first fixed to the first arm of the robot to be tested, and the second laparoscope detection surface 112 needs to be oriented toward the optical measurement device to ensure that the fifth laparoscope detection surface 21 is within the shooting range of the optical measurement device. At this time, the fourth laparoscope detection surface 121 is parallel to the XY plane in the intermediate coordinate system, and the DE line is parallel to the Y axis in the intermediate coordinate system, and the FG line is parallel to the X axis in the intermediate coordinate system.

[0103] At this time, obtain the first homogeneous pose matrix T Elb The specific steps are:

[0104] S21': Use optical measuring equipment to obtain the coordinates of the fourth laparoscope positioning point D, the fifth laparoscope positioning point E, the sixth laparoscope positioning point F, the seventh laparoscope positioning point G and the laparoscope coordinate origin H on the laparoscope tooling in the intermediate coordinate system, respectively, and record them as: D(x D ,y D , z D )、E(x E ,y E , z E )、F(x F ,y F , z C )、G(x G ,y G , z G ) and H(x H ,y H , z H );

[0105] Step S22': Calculate the unit vector of the laparoscope tool in the Y direction in the intermediate coordinate system in,

[0106] Calculate the unit vector of the laparoscope tool in the X direction in the intermediate coordinate system in,

[0107] Step S23': Calculate the unit vector of the laparoscope tool in the Z direction in the intermediate coordinate system

[0108] It should be noted that the eighth laparoscope positioning hole 1141, the ninth laparoscope positioning hole 1142 and the tenth laparoscope positioning hole 1143 which are not collinear and are provided on the sixth laparoscope detection surface 114 can be used as spare laparoscope positioning holes for the first laparoscope positioning hole 1121, the second laparoscope positioning hole 1122 and the third laparoscope positioning hole 1123. When it is inconvenient for the optical measurement device to obtain the point coordinates of each laparoscope positioning point on the second laparoscope detection surface 112, the coordinates of the laparoscope positioning points can be calculated. and Indirect acquisition and The testing efficiency is high.

[0109] like Figure 7-Figure 9 As shown, a plurality of instrument positioning points are arranged on the instrument fixture, and any two instrument positioning points are connected to form an instrument positioning detection line, and at least two of the plurality of instrument positioning detection lines are not parallel. The optical measurement device can obtain the second homogeneous pose matrix T of the instrument fixture in the intermediate coordinate system through the instrument positioning points on the non-parallel instrument positioning detection lines. Ins .

[0110] Specifically, the instrument tooling includes a support 5, a first pliers body 3 and a second pliers body 4, and the first pliers body 3 and the second pliers body 4 are both rotatably arranged on the support 5; a first instrument detection surface 31 is arranged on the first pliers body 3, and a second instrument detection surface 41 is arranged on the second pliers body 4, and the first instrument detection surface 31 and the second instrument detection surface 41 are parallel; a first instrument positioning hole 311 and a second instrument positioning hole 312 are arranged on the first instrument detection surface 31, and a third instrument positioning hole 411 and a fourth instrument positioning hole 412 are arranged on the second instrument detection surface 41.

[0111] Furthermore, a pin is fixed on the support member 5 , and the first caliper body 3 and the second caliper body 4 are both rotatably connected to the pin.

[0112] Optionally, a second positioning member is provided on the support member 5, and the second positioning member can cooperate with a second positioning hole on the second arm of the robot to be tested to achieve precise positioning between the instrument tooling and the second arm.

[0113] For the convenience of description, it is now defined that: the intersection between the first instrument positioning hole 311 and the first instrument detection surface 31 is the first instrument positioning point I, the intersection between the second instrument positioning hole 312 and the first instrument detection surface 31 is the second instrument positioning point J, the intersection between the third instrument positioning hole 411 and the second instrument detection surface 41 is the third instrument positioning point K, and the intersection between the fourth instrument positioning hole 412 and the second instrument detection surface 41 is the fourth instrument positioning point L.

[0114] In this embodiment, the second homogeneous pose matrix T of the tooling in the intermediate coordinate system is Ins for:

[0115]

[0116] Among them, [n' x , n' y , n' z ] T is the unit vector of the X direction of the instrument in the intermediate coordinate system [o' x , o' y , o' z ] T is the unit vector of the Y direction of the instrument in the intermediate coordinate system [a' x , a' y , a' z ] T is the unit vector of the Z direction of the instrument in the intermediate coordinate system [x P ,y P , z P ] T It is the coordinate of the instrument coordinate origin P of the instrument tooling in the intermediate coordinate system.

[0117] After the instrument fixture is installed on the second arm of the robot to be tested, the first caliper body 3 and the second caliper body 4 are driven to rotate around the pin at a preset angle, so that the first caliper body 3 and the second caliper body 4 are set at an angle, wherein the preset angle of rotation of the first caliper body 3 and the second caliper body 4 around the pin is not limited in this embodiment, as long as the first caliper body 3 and the second caliper body 4 are not parallel during the test. At this time, the plane where the first instrument detection surface 31 and the second instrument detection surface 41 are located is parallel to the YZ plane in the intermediate coordinate system, and the first instrument positioning point I, the second instrument positioning point J and the third instrument positioning point K, the fourth instrument positioning point L are symmetrically arranged about the midline of the connecting line IJ and the connecting line KL.

[0118] Specifically, obtain the second homogeneous pose matrix T Ins The specific steps are:

[0119] S21”: Use optical measuring equipment to obtain the coordinates of the first instrument positioning point I, the second instrument positioning point J, the third instrument positioning point K, the fourth instrument positioning point L and the instrument coordinate origin H on the instrument tooling in the intermediate coordinate system, respectively, and record them as: I(x I ,y I , z I )、J(x J ,y J , z J )、K(x K ,y K , z K )、L(xL ,y L , z L ) and P(x P ,y P , z P );

[0120] Step S22": Calculate the unit vector of the instrument in the X direction in the intermediate coordinate system in

[0121] Calculate the coordinates of the midpoint P of the line connecting the first instrument positioning point I and the third instrument positioning point K and the midpoint Q of the line connecting the second instrument positioning point J and the fourth instrument positioning point L, respectively, and record them as: P(x P ,y P , z P )、Q(x Q ,y Q , z Q );

[0122] Calculate the unit vector of the tooling in the Z direction in the intermediate coordinate system in,

[0123] Step S23": Calculate the unit vector of the instrument in the Y direction in the intermediate coordinate system

[0124] It is understandable that when the distance between two points is small, multiple lines connecting the two points can be drawn, and the direction determined by the two ends has a large error. In order to ensure the accuracy of the test results, the distance between the second laparoscope positioning hole 1122 and the third laparoscope positioning hole 1123 is greater than 40mm; the distance between the fifth laparoscope positioning hole 1211 and the sixth laparoscope positioning hole 1212 is greater than 40mm; the distance between the first instrument positioning hole 311 and the second instrument positioning hole 312 is greater than 40mm; the distance between the third instrument positioning hole 411 and the fourth instrument positioning hole 412 is greater than 40mm.

[0125] Furthermore, the theoretical position matrix T of the instrument tooling in the coordinate system of the laparoscope tooling when the robot to be tested is in the current position is obtained. d Specifically include: reading the angles θ of each joint of the second arm of the robot to be tested in the current position i , and then bring it into the kinematic model of the arm system, that is, T d =F(θ i ), i=1, 2, ..., n. The kinematic model of the arm system is a prior art, and this embodiment will not describe it in detail.

[0126] Furthermore, when obtaining the actual instrument posture matrix T of the instrument tool in the coordinate system of the laparoscope tool a With the theoretical pose matrix T d Afterwards, the specific method for obtaining the posture accuracy of the robot to be tested is:

[0127] Step S41: Calculate the actual device posture matrix T a With the theoretical pose matrix T d The homogeneous pose transformation matrix T between e ,in,

[0128]

[0129] Step S42: According to the precision matrix Get the pose angle of the robot to be tested.

[0130] It should be noted that in the actual device posture matrix T a With the theoretical pose matrix T d The homogeneous pose transformation matrix T between e In the figure, the first three rows and three columns are the posture states of the robot to be tested. It is a prior art to obtain the posture angle of the robot to be tested according to the precision matrix T. This embodiment does not describe this acquisition method in detail. The posture angle includes but is not limited to Euler angles, axis angles, Euler parameters, and quaternions, etc., which can be selected according to actual test conditions, and this embodiment does not limit this.

[0131] The robot posture accuracy testing method provided in this embodiment can simplify the process of establishing the laparoscope coordinate system and the instrument coordinate system, thereby improving the testing efficiency of the posture accuracy of the laparoscopic surgical robot; the testing method can avoid the problem of low testing accuracy caused by the structural error of the robot to be tested, thereby ensuring the establishment accuracy of the laparoscope coordinate system and the instrument coordinate system; by setting two mirror rods 2, it can be compatible with the measurement coordinate systems corresponding to the existing 0° laparoscope, +30° laparoscope and -30° laparoscope on the market; the homogeneous posture transformation matrix T between the theoretical posture of the instrument tooling and the actual posture e The method of describing the posture accuracy of the robot arm of the robot to be tested is more intuitive and accurate.

[0132] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A robot posture accuracy testing method, characterized in that: The steps include: Step S1: fixing the laparoscope tooling on the first arm of the robot to be tested, and fixing the instrument tooling on the second arm of the robot to be tested; Step S2: Using optical measurement equipment to obtain the first homogeneous pose matrix T of the laparoscope tool in the intermediate coordinate system Elb And the second homogeneous pose matrix T of the tooling in the intermediate coordinate system Ins , the intermediate coordinate system is the coordinate system of the optical measuring device; Step S3: Calculate the actual instrument posture matrix T of the instrument tool in the coordinate system of the laparoscope tool a , where T a =T Ins -1 T Elb ; Obtain the theoretical position matrix T of the instrument tool in the coordinate system of the laparoscope tool when the robot to be tested is in the current position d ; Step S4: Compare the actual instrument posture matrix T of the instrument tool in the coordinate system of the laparoscope tool a With the theoretical pose matrix T d , to obtain the posture accuracy of the robot to be tested.

2. The robot posture accuracy testing method according to claim 1, characterized in that: The first homogeneous pose matrix T Elb for: Among them, [n x , n y , n z ] T is the unit vector of the laparoscope tool in the X direction in the intermediate coordinate system [o x , o y , o z ] T is the unit vector of the laparoscope tool in the Y direction in the intermediate coordinate system [a x , a y , a z ] T is the unit vector of the laparoscope tool in the Z direction in the intermediate coordinate system [x H ,y H , z H ] T is the coordinate of the laparoscope coordinate origin H of the laparoscope tooling in the intermediate coordinate system.

3. The robot posture accuracy testing method according to claim 2, characterized in that: When the laparoscope is a 0° laparoscope, the first homogeneous posture matrix T is obtained. Elb The specific steps are: S21: Use the optical measurement device to obtain the coordinates of the first laparoscope positioning point A, the second laparoscope positioning point B, the third laparoscope positioning point C and the laparoscope coordinate origin H on the laparoscope tooling in the intermediate coordinate system, respectively, and record them as: A(x A ,y A , z A )、B(x B ,y B , z B )、C(x C ,y C , z C ) and H(x H ,y H , z H ), wherein the direction of the line connecting the first laparoscope positioning point A and the second laparoscope positioning point B is parallel to the Y axis, and the direction of the line connecting the second laparoscope positioning point B and the third laparoscope positioning point C is parallel to the Z axis; Step S22: Calculate the unit vector of the laparoscope tool in the Y direction in the intermediate coordinate system in, Calculate the unit vector of the laparoscope tool in the Z direction in the intermediate coordinate system in, Step S23: Calculate the unit vector of the laparoscope tool in the X direction in the intermediate coordinate system 4. The robot posture accuracy testing method according to claim 2, characterized in that: When the laparoscope is a +30° laparoscope or a -30° laparoscope, the first homogeneous pose matrix T is obtained. Elb The specific steps are: S21′: Use the optical measurement device to obtain the coordinates of the fourth laparoscope positioning point D, the fifth laparoscope positioning point E, the sixth laparoscope positioning point F, the seventh laparoscope positioning point G and the laparoscope coordinate origin H on the laparoscope tooling in the intermediate coordinate system, respectively, and record them as: D(x D ,y D , z D )、E(x E ,y E , z E )、F(x F ,y F , z C )、G(x G ,y G , z G ) and H(x H ,y H , z H ), wherein the direction of the line connecting the fourth laparoscope positioning point D and the fifth laparoscope positioning point E is parallel to the Y axis, and the direction of the line connecting the sixth laparoscope positioning point F and the seventh laparoscope positioning point G is parallel to the X axis; Step S22': Calculate the unit vector of the laparoscope tool in the Y direction in the intermediate coordinate system in, Calculate the unit vector of the laparoscope tool in the X direction in the intermediate coordinate system in, Step S23': Calculate the unit vector of the laparoscope tool in the Z direction in the intermediate coordinate system 5. The robot posture accuracy testing method according to claim 1, characterized in that: The second homogeneous pose matrix T Ins for: Among them, [n' x , n' y , n' z ] T is the unit vector of the tool in the X direction in the intermediate coordinate system [o' x , o' y , o' z ] T is the unit vector of the tool in the Y direction in the intermediate coordinate system [a' x , a' y , a' z ] T is the unit vector of the tool in the Z direction in the intermediate coordinate system [x P ,y P , z P ] T It is the coordinate of the tool coordinate origin P of the tool fixture in the intermediate coordinate system.

6. The robot posture accuracy testing method according to claim 5, characterized in that: Get the second homogeneous pose matrix T Ins The specific steps are: S21”: Use the optical measuring device to respectively obtain the coordinates of the first instrument positioning point I, the second instrument positioning point J, the third instrument positioning point K, the fourth instrument positioning point L and the instrument coordinate origin H on the instrument tooling in the intermediate coordinate system, and record them as: I(x I ,y I , z I )、J(x J ,y J , z J )、K(x K ,y K , z K )、L(x L ,y L , z L ) and P(x P ,y P , z P ), wherein the line connecting the first instrument positioning point I and the second instrument positioning point J is parallel to the line connecting the third instrument positioning point K and the fourth instrument positioning point L and is parallel to the YZ plane; Step S22": Calculate the unit vector of the tool in the X direction in the intermediate coordinate system in Calculate the point coordinates of the midpoint P of the line connecting the first instrument positioning point I and the third instrument positioning point K and the midpoint Q of the line connecting the second instrument positioning point J and the fourth instrument positioning point L, respectively, and record them as: P(x P ,y P , z P )、Q(x Q ,y Q , z Q ); Calculate the unit vector of the tool in the Z direction in the intermediate coordinate system in, Step S23": Calculate the unit vector of the tool in the Y direction in the intermediate coordinate system 7. An auxiliary device, applied to the robot posture accuracy testing method according to any one of claims 1 to 6, characterized in that: The auxiliary device comprises: A laparoscope tool is provided with a plurality of laparoscope positioning points, any two of the laparoscope positioning points are connected to form a laparoscope positioning detection line, at least two of the plurality of laparoscope positioning detection lines are not parallel, and an optical measurement device can obtain a first homogeneous pose matrix T of the laparoscope tool in an intermediate coordinate system through the laparoscope positioning points on the non-parallel laparoscope positioning detection lines Elb ; An instrument fixture is provided with a plurality of instrument positioning points, any two of the instrument positioning points are connected to form an instrument positioning detection line, at least two of the plurality of instrument positioning detection lines are not parallel, and an optical measuring device can obtain a second homogeneous pose matrix T of the instrument fixture in an intermediate coordinate system through the instrument positioning points on the non-parallel instrument positioning detection lines Ins .

8. The auxiliary device according to claim 7, characterized in that The laparoscopic tooling comprises: The mirror body (1) comprises a first portion (11) and a second portion (12) arranged at an angle of 150°; A mirror rod (2), wherein the number of the mirror rods (2) is two, namely a first mirror rod and a second mirror rod, the end face of the first mirror rod is perpendicular to the axis direction of the first mirror rod, the angle between the end face of the second mirror rod and the axis of the second mirror rod is 150°, and the first part (11) can be selectively detachably connected to the first mirror rod or the second mirror rod; The mirror body (1) and the mirror rod (2) are both provided with the cavity mirror positioning points.

9. The auxiliary device according to claim 8, characterized in that The first part (11) comprises a first laparoscope detection surface (111), a second laparoscope detection surface (112) and a third laparoscope detection surface (113) which are connected in sequence, and the second part (12) is provided with a fourth laparoscope detection surface (121); the mirror body (1) is provided with a first laparoscope positioning hole (1121), a second laparoscope positioning hole (1122), a third laparoscope positioning hole (1123), a fourth laparoscope positioning hole (1111), a fifth laparoscope positioning hole (1211) and a sixth laparoscope positioning hole (1212), wherein the first laparoscope positioning hole (1121), the second laparoscope positioning hole (1122) and the third laparoscope positioning hole (1123) are all located on the second laparoscope detection surface ( 112) and are not colinear; the fourth laparoscope positioning hole (1111) is a through hole and is arranged to penetrate the first laparoscope detection surface (111) and the third laparoscope detection surface (113); the axial direction of the fourth laparoscope positioning hole (1111) is parallel to the direction of the connection line between the first laparoscope positioning hole (1121) and the second laparoscope positioning hole (1122); the fifth laparoscope positioning hole (1211) and the sixth laparoscope positioning hole (1212) are both located on the fourth laparoscope detection surface (121); a fifth laparoscope detection surface (21) is arranged on the side of the mirror rod (2) away from the mirror body (1), and a seventh laparoscope positioning hole (211) is arranged on the fifth laparoscope detection surface (21).

10. The auxiliary device according to claim 9, characterized in that The first part (11) further comprises a sixth laparoscope detection surface (114), the sixth laparoscope detection surface (114) being parallel to the second laparoscope detection surface (112), and the two ends of the sixth laparoscope detection surface (114) being respectively connected to the first laparoscope detection surface (111) and the third laparoscope detection surface (113), and the sixth laparoscope detection surface (114) being provided with an eighth laparoscope positioning hole (1141), a ninth laparoscope positioning hole (1142) and a tenth laparoscope positioning hole (1143) which are not co-linear.

11. The auxiliary device according to claim 9, characterized in that The distance between the second laparoscope positioning hole (1122) and the third laparoscope positioning hole (1123) is greater than 40 mm; and / or The distance between the fifth laparoscope positioning hole (1211) and the sixth laparoscope positioning hole (1212) is greater than 40 mm.

12. The auxiliary device according to claim 7, characterized in that The instrument tooling comprises a support (5), a first clamp body (3) and a second clamp body (4); the first clamp body (3) and the second clamp body (4) are both rotatably arranged on the support (5); and the instrument positioning point is arranged on the first clamp body (3) and the second clamp body (4).

13. The auxiliary device according to claim 12, characterized in that The first clamp body (3) is provided with a first instrument detection surface (31), the second clamp body (4) is provided with a second instrument detection surface (41), the first instrument detection surface (31) and the second instrument detection surface (41) are parallel; the first instrument detection surface (31) is provided with a first instrument positioning hole (311) and a second instrument positioning hole (312), the second instrument detection surface (41) is provided with a third instrument positioning hole (411) and a fourth instrument positioning hole (412).

14. The auxiliary device according to claim 13, characterized in that The distance between the first instrument positioning hole (311) and the second instrument positioning hole (312) is greater than 40 mm; and / or The distance between the third instrument positioning hole (411) and the fourth instrument positioning hole (412) is greater than 40 mm.

15. The auxiliary device according to any one of claims 7 to 14, characterized in that: The laparoscope tooling is provided with a first positioning member (115), and the first positioning member (115) can cooperate with a first positioning hole on a first arm of the robot to be tested; and / or The instrument tooling is provided with a second positioning piece, and the second positioning piece can be matched with a second positioning hole on the second arm of the robot to be tested.

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