Master-end equipment pressure accuracy test device and master-slave contact force accuracy test system

Abstract

The present invention belongs to the technical field of remote ultrasonic robots, and specifically relates to a master-end device pressure accuracy test device and a master-slave contact force accuracy test system. The test device of the present invention includes a mounting platform and a three-axis slide arranged on the mounting platform. The action end of the Z-axis slide group of the three-axis slide is provided with a mounting fixture for fixing the master-end device; a master-end test pressure sensor is also provided on the mounting platform, and the probe of the master-end test pressure sensor is facing upward. The master-end test pressure sensor is electrically connected to the master-end sensor host for reading the pressure value of its probe. The test device can achieve the purpose of accurately testing the pressure acquisition accuracy of the master-end device of the remote ultrasonic robot. The test system of the present invention includes a slave-end test pressure sensor, and the slave-end test pressure sensor is electrically connected to the slave-end sensor host for reading the pressure value of its probe, thereby achieving the purpose of accurately testing the master-slave contact force accuracy of the remote ultrasonic robot.

Description

Technical Field

[0001] The present invention belongs to the technical field of remote ultrasonic robots, and in particular relates to a master-end equipment pressure accuracy testing device and a master-slave contact force accuracy testing system. Background Art

[0002] A remote ultrasound robot generally consists of a master device and a slave device. Through master-slave teleoperation, the master ultrasound surgeon's hand movements are mapped to the slave device to complete the ultrasound scan. The performance of the remote ultrasound robot directly determines the effectiveness of the ultrasound scan, so efficient and accurate performance testing of the remote ultrasound robot is crucial. Remote ultrasound robot performance primarily encompasses master device performance and master-slave operation performance. Master-slave operation performance includes master-slave operation distance accuracy, master-slave operation distance repeatability, master-slave operation posture accuracy, master-slave operation posture repeatability, master-slave operation stable contact force control accuracy, and master-slave operation delay time. Currently, laser trackers are primarily used to test the position and posture-related performance of remote ultrasound robots. This testing method is costly, and there are no effective methods for measuring the master-slave operation stable contact force control accuracy and master-slave operation delay time. Therefore, testing the performance of remote ultrasound robots remains a challenge that urgently needs to be addressed. Summary of the Invention

[0003] The present invention aims to overcome the shortcomings of the prior art by providing a master-side device pressure accuracy test device. This device can accurately test the pressure acquisition accuracy of the master-side device of a remote ultrasonic robot. Furthermore, by adding a slave-side test pressure sensor to the aforementioned test device, the accuracy of the stable contact force between the master and slave devices of the remote ultrasonic robot can be precisely tested, simplifying and streamlining the testing process.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A main-end device pressure accuracy testing device is characterized in that it includes a mounting platform as a horizontal mounting reference and a three-axis slide arranged on the mounting platform, the action end of the Z-axis slide group of the three-axis slide is provided with a mounting fixture for fixing the main-end device; a main-end test pressure sensor is also provided on the mounting platform, the probe of the main-end test pressure sensor is facing upward so as to be used to withstand the pressure generated by the main-end device at the mounting fixture along the Z-axis direction from top to bottom, and the main-end test pressure sensor is electrically connected to the main-end sensor host for reading its probe pressure value.

[0006] Preferably, the mounting platform is an optical flat plate; the sliding action direction of the X-axis slide group of the three-axis slide is parallel to the X-axis direction of the coordinate system at the mounting platform, the sliding action direction of the Y-axis slide group of the three-axis slide is parallel to the Y-axis direction of the coordinate system at the mounting platform, and the sliding action direction of the Z-axis slide group of the three-axis slide is parallel to the Z-axis direction of the coordinate system at the mounting platform; the Z-axis slide group includes a Z-axis slider that can perform reciprocating linear motion in the vertical direction, and the Z-axis slider constitutes the action end, and the action end is horizontally penetrated by a mounting hole for threaded engagement with the mounting fixture.

[0007] Preferably, the mounting fixture includes a clamp for directly clamping the main end device and the slot length direction is vertical, the tail end of the clamp is fixedly connected to the horizontal section of the L-shaped extension arm, and the vertical section of the L-shaped extension arm is threadedly engaged at the action end.

[0008] Preferably, each slide group of the three-axis slide is provided with a locking member for locking the corresponding slide block.

[0009] Preferably, the upper plate surface of the mounting platform constitutes the mounting surface, and the lower plate surface constitutes the adjustment surface; adjustable supports capable of vertical lifting and lowering adjustments are arranged at the four corner ends of the adjustment surface.

[0010] Preferably, the method comprises the following steps:

[0011] 1) Adjust the three-axis slide to move the main end device to the position directly above the probe of the main end test pressure sensor, and lock the X-axis slide and Y-axis slide of the three-axis slide;

[0012] 2) By controlling the position of the action end of the Z-axis slide group of the three-axis slide, the vertical movement of the master-end device is achieved, so that the master-end device applies pressure to the probe of the master-end test pressure sensor. At the same time, the values ​​of the built-in pressure sensor of the master-end device and the master-end sensor host are recorded. The acquisition accuracy of the built-in pressure sensor at the master-end device is calculated using the following formula:

[0013]

[0014] Where, f M Indicates the host reading of the master sensor;

[0015] f represents the reading of the built-in pressure sensor of the master device;

[0016] n is the number of tests.

[0017] Preferably, a master-slave contact force accuracy testing system using the master-end device pressure accuracy testing device is characterized in that: the master-slave contact force accuracy testing system includes a slave-end test pressure sensor fixed on a mounting platform, the probe of the slave-end test pressure sensor faces upward so as to withstand the pressure generated by the slave-end device from top to bottom along the Z-axis direction, and the slave-end test pressure sensor is electrically connected to a slave-end sensor host for reading the probe pressure value thereof.

[0018] Preferably, the operating process of the master-slave contact force accuracy testing system is as follows:

[0019] 1) Adjust the three-axis slide to move the master device to just above the probe of the master test pressure sensor, lock the X-axis slide group and the Y-axis slide group of the three-axis slide; control the slave device to move to just above the probe of the slave test pressure sensor;

[0020] II), running the remote ultrasonic robot in a master-slave operation mode;

[0021] III) By controlling the position of the action end of the Z-axis slide group of the three-axis slide, the master-end device is moved vertically, so that the master-end device applies pressure to the probe of the master-end test pressure sensor, and the slave-end device generates a follow-up action and simultaneously applies pressure to the probe of the slave-end test pressure sensor; at this time, the values ​​of the master-end sensor host and the slave-end sensor host are recorded, and the stable contact force control accuracy of the master-slave operation is calculated using the following formula:

[0022]

[0023] Where, f M Test the pressure sensor reading for the master end;

[0024] f S Test the pressure sensor readings from the slave end;

[0025] n is the number of tests.

[0026] The beneficial effects of the present invention are:

[0027] 1. The above solution, during actual operation, achieves stable driving of the master device at the action end by setting a horizontal reference plane, also known as the mounting platform, and utilizing the high motion precision and stability of the three-axis slide and the convenient assembly and disassembly features of the optical flatbed. Furthermore, by adding a master test pressure sensor to the mounting platform below the master device, the pressure acquisition accuracy of the remote ultrasonic robot's master device can be effectively tested by comparing the values ​​between the master device's built-in pressure sensor and the master test pressure sensor. This approach offers low cost, high efficiency, and simple and stable operation.

[0028] 2. Building on the above structure, the present invention adds a slave test pressure sensor to the optical flatbed, which serves as the mounting platform. Driven by the Z-axis slide of the three-axis slide, the slave device can move along with the master device. By comparing the values ​​of the master and slave test pressure sensors, the stable contact force accuracy of the remote ultrasonic robot's master-slave control is effectively tested. This testing method is simple, efficient, and stable, filling a gap in the field of stable master-slave contact force accuracy testing for remote ultrasonic robots.

[0029] 3. In the present invention, by adding a slave-end test pressure sensor on the basis of the remote ultrasonic robot master-end equipment pressure accuracy test device, the remote ultrasonic robot master-slave control stable contact force accuracy test can be realized, achieving the purpose of one machine for multiple uses, reducing the test cost and improving the test efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of the testing device of the present invention;

[0031] Figure 2 Schematic diagram of the structure of the master-slave contact force accuracy testing system of the present invention.

[0032] The actual correspondence between the reference numerals and component names of the present invention is as follows:

[0033] a-master device; b-slave device;

[0034] 10-Mounting platform; 11-Adjustable support; 20-Three-axis slide;

[0035] 21-Z-axis sliding group; 21a-actuating end; 22-Y-axis sliding group; 23-X-axis sliding group;

[0036] 30-mounting fixture; 31-clamping mouth; 32-extension arm;

[0037] 40-Master-side test pressure sensor; 50-Slave-side test pressure sensor. DETAILED DESCRIPTION

[0038] For ease of understanding, here we combine Figure 1-2 The specific structure and working mode of the present invention are further described as follows:

[0039] The specific embodiment of the present invention includes a main terminal device pressure accuracy test device as shown in the figure, and Figure 1 The test device shown is an extension of the master-slave contact force accuracy test system. The master-end device pressure accuracy test device can be used to test the master-end device pressure acquisition accuracy, while the master-slave contact force accuracy test system is used to test the accuracy of contact force control for stable master-slave operation.

[0040] Example 1:

[0041] In actual operation, the main terminal device pressure accuracy testing device of the present invention is as follows Figure 1 As shown, it includes a three-axis slide 20, an optical flat plate constituting a mounting platform 10, a master-end device bracket constituting a mounting fixture 30, a master-end device a as a test object, a master-end test pressure sensor 40, and a master-end sensor host, etc., wherein:

[0042] Optical flat plate structure such as Figure 1 As shown, the four corners of the bottom are each equipped with a set of adjustable supports 11 to facilitate the reference adjustment and control of the optical flatbed on the horizontal plane. When in use, the optical flatbed is placed on a horizontal table and the adjustable supports 11 are used to adjust the optical flatbed to a horizontal position to meet subsequent testing requirements.

[0043] The three-axis slide 20 includes an X-axis slide group 23 fixedly mounted on an optical flat plate, a Y-axis slide group 22 located on the X-axis slider of the X-axis slide group 23, and a Z-axis slide group 21 located on the Y-axis slider of the Y-axis slide group 22. During operation, the corresponding slide group is controlled by a joystick or even an electric drive to produce a specified linear motion, so as to achieve the purpose of controlling the motion of the main end device located on the action end 21a of the Z-axis slider. Locking parts are arranged on each slide group accordingly, so that after the corresponding slide group moves into place, the slide group can be locked in time to avoid accidental sliding problems that affect the test accuracy. The locking part can be a set screw or a radially engageable brake pad, etc., which will not be described here. In addition, Figure 1 In the figure, the existence of the auxiliary guide rail can be seen. The reason is that a single-sided X-axis slide group 23 is used in the specific embodiment of the present invention, so an auxiliary guide rail is required to realize the base stabilization function. In actual operation, a bilateral parallel slide rail assembly can also be used to form the X-axis slide group 23.

[0044] When installing the three-axis slide 20, the standard threaded holes on the optical plate are connected to the corresponding positioning holes of the three-axis slide 20 to achieve fastening. During fastening, ensure that the sliding direction of the X-axis slide group 23 of the three-axis slide 20 is parallel to the X-axis direction of the optical plate coordinate system O, the sliding direction of the Y-axis slide group 22 of the three-axis slide 20 is parallel to the Y-axis direction of the optical plate coordinate system O, and the sliding direction of the Z-axis slide group 21 of the three-axis slide 20 is parallel to the Z-axis direction of the optical plate coordinate system O.

[0045] The main terminal device a needs to be vertically clamped in the main terminal device bracket, that is, the installation fixture 30, and the main terminal device a is provided with a built-in pressure sensor. Figure 1The illustrated device includes a clamp 31 and an extension arm 32. The clamp 31 can be a standard dovetail groove, with the groove profile preferably matching the curved surface of the master device to securely hold the master device. Alternatively, it can be configured as an adjustable groove or employ an elastic slot, depending on the situation. Meanwhile, the master-side test pressure sensor 40 is secured to the optical flatbed via a mounting plate and connected to the master-side sensor host via a data cable. The master-side sensor host can read the pressure value from the probe of the master-side test pressure sensor 40 in real time.

[0046] Based on the above structure, taking manual wheel drive as an example, the overall test steps for the master device pressure sensor acquisition accuracy are as follows:

[0047] a) Move the master-end device a to just above the probe of the master-end test pressure sensor 40 by rotating the X-axis rocker and the Y-axis rocker of the three-axis slide 20, and then lock the X-axis slide group 23 and the Y-axis slide group 22.

[0048] b) Move the master device up and down by rotating the Z-axis wheel of the three-axis slide 20, thereby applying different pressures to the master test pressure sensor 40 probe, and simultaneously record the values ​​of the built-in pressure sensor of the master device a and the master sensor host, and calculate the master device pressure sensor acquisition accuracy by formula (1):

[0049]

[0050] Where, f M Indicates the host reading of the master sensor;

[0051] f represents the reading of the built-in pressure sensor of the master device a;

[0052] n is the number of tests.

[0053] The test data of the above embodiment 1 during actual testing are as follows:

[0054]

[0055]

[0056] The test data above shows that the master device's pressure accuracy is 0.562 N. Comparing this with the pressure accuracy indicator, it can be determined that it meets actual work requirements. The master device's pressure accuracy indicator is typically 1 N, while the master-slave control stable contact force indicator described below is typically 3 N.

[0057] Example 2:

[0058] The present invention also provides a master-slave contact force accuracy test system based on the above test system. The master-slave contact force accuracy test system is based on the above test device, and is additionally equipped with a slave test pressure sensor 50, a slave sensor host and a slave device b, thereby forming a master-slave contact force accuracy test system. Figure 2 The master-slave contact force accuracy test system shown.

[0059] When assembling, you must first Figure 2 The master-slave contact force accuracy test system shown is based on the master-slave operation stable contact force test. The construction process is the same as the construction process of the aforementioned test device. Subsequently, the slave test pressure sensor 50 is additionally fixed on the installation platform 10 and the corresponding slave sensor host is configured.

[0060] At this point, the steps for testing the stable contact force of the master-slave operation are as follows:

[0061] c) Move the master-end device a to just above the probe of the master-end test pressure sensor 40 by rotating the X-axis rocker and the Y-axis rocker of the three-axis slide 20, and then lock the X-axis slide group 23 and the Y-axis slide group 22.

[0062] d) Control the slave device b to move to just above the probe of the slave test pressure sensor 50;

[0063] e) running the remote ultrasonic robot in a master-slave operation mode;

[0064] f) Move the master device a up and down by rotating the Z-axis wheel of the three-axis slide 20, apply different pressures to the probe of the master test pressure sensor 40, and record the values ​​of the master sensor host and the slave sensor host at the same time. Calculate the control accuracy of the stable contact force of the master-slave operation using the following formula (2):

[0065]

[0066] Where, f M Test the pressure sensor 40 reading for the master end;

[0067] f S To test the pressure sensor 50 reading from the end;

[0068] n is the number of tests.

[0069] The test data of the above embodiment 2 during actual testing are as follows:

[0070] Serial number Main end pressure sensor reading / N Slave pressure sensor reading / N 1 1.40 1.94 2 5.23 6.94 3 10.15 11.56 4 15.85 17.64 5 20.34 21.93 6 26.21 28.36 7 30.55 32.68 8 36.24 38.97 9 41.05 43.98 10 46.18 49.54

[0071] From the above test data, it can be seen that the accuracy of the stable contact force of the master-slave control is 2.034N. By comparing the indicators of the stable contact force of the master-slave control, it can be judged that it meets the actual work needs.

[0072] Of course, it will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, but also encompasses the same or similar structures that can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and it is intended that all variations that fall within the meaning and range of equivalents of the claims be encompassed within the present invention. Any reference signs in the claims should not be construed as limiting the claim to which they relate.

[0073] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0074] The technology, shape, and structure not described in detail in the present invention are all well-known technologies.

Claims

1. A pressure accuracy test device for a master device, characterized by: The invention comprises a mounting platform (10) serving as a horizontal mounting reference and a three-axis slide (20) arranged on the mounting platform (10), wherein an action end (21a) of a Z-axis slide group (21) of the three-axis slide (20) is provided with a mounting fixture (30) for fixing a master-end device; a master-end test pressure sensor (40) is further provided on the mounting platform (10), wherein a probe of the master-end test pressure sensor (40) faces upward so as to withstand the pressure generated by the master-end device at the mounting fixture (30) from top to bottom along the Z-axis direction, and the master-end test pressure sensor (40) is electrically connected to a master-end sensor host for reading a pressure value of its probe; The mounting platform (10) is an optical flat plate; the sliding action direction of the X-axis sliding group (23) of the three-axis slide (20) is parallel to the X-axis direction of the coordinate system at the mounting platform (10); the sliding action direction of the Y-axis sliding group (22) of the three-axis slide (20) is parallel to the Y-axis direction of the coordinate system at the mounting platform (10); the sliding action direction of the Z-axis sliding group (21) of the three-axis slide (20) is parallel to the Z-axis direction of the coordinate system at the mounting platform (10); the Z-axis sliding group (21) includes a Z-axis slider that can perform reciprocating linear motion in a vertical direction, and the Z-axis slider constitutes the action end (21a), and the action end (21a) is horizontally penetrated by a mounting hole for threadedly engaging the mounting fixture (30); The following steps are involved: 1) Adjusting the three-axis slide (20) so as to move the master-end device to the position directly above the probe of the master-end test pressure sensor (40), and locking the X-axis slide group (23) and the Y-axis slide group (22) of the three-axis slide (20); 2) By controlling the position of the action end (21a) of the Z-axis slide group (21) of the three-axis slide (20), the vertical movement of the master-end device is realized, so that the master-end device applies pressure to the probe of the master-end test pressure sensor (40), and at the same time records the values ​​of the built-in pressure sensor of the master-end device and the master-end sensor host. The acquisition accuracy of the built-in pressure sensor at the master-end device is calculated by the following formula: ； Where, Indicates the host reading of the master sensor; Indicates the reading of the built-in pressure sensor of the master device; n is the number of tests.

2. The pressure accuracy test device for a master-end device according to claim 1, characterized in that: The mounting fixture (30) comprises a clamping opening (31) for directly clamping the main end device and having a slot length direction in a vertical direction. The tail end of the clamping opening (31) is fixedly connected to the horizontal section of the L-shaped extension arm (32), and the vertical section of the L-shaped extension arm (32) is threadedly engaged at the action end (21a).

3. The pressure accuracy testing device for a master-end device according to claim 1, characterized in that: Each slide group of the three-axis slide (20) is provided with a locking piece for locking the corresponding slide block.

4. The pressure accuracy testing device for a master-end device according to claim 1, characterized in that: The upper plate surface of the mounting platform (10) constitutes the mounting surface, and the lower plate surface constitutes the adjustment surface; adjustable supports (11) capable of vertical lifting and lowering adjustment are arranged at the four corner ends of the adjustment surface.

5. A master-slave contact force accuracy testing system using the master-end device pressure accuracy testing device according to claim 1, 2, 3, or 4, characterized in that: The master-slave contact force precision testing system comprises a slave-end test pressure sensor (50) fixed on a mounting platform (10), wherein a probe of the slave-end test pressure sensor (50) faces upward so as to withstand the pressure generated by the slave-end device from top to bottom along the Z-axis direction, and the slave-end test pressure sensor (50) is electrically connected to a slave-end sensor host for reading the probe pressure value.

6. The master-slave contact force accuracy testing system according to claim 5, characterized in that: The operating procedures of the master-slave contact force accuracy test system are as follows: I), adjusting the three-axis slide (20), moving the master-end device to the position directly above the probe of the master-end test pressure sensor (40), locking the X-axis slide group (23) and the Y-axis slide group (22) of the three-axis slide (20); controlling the slave-end device to move to the position directly above the probe of the slave-end test pressure sensor (50); II) Run the remote ultrasonic robot in master-slave operation mode; III) By controlling the position of the action end (21a) of the Z-axis slide group (21) of the three-axis slide (20), the master-end device is moved vertically, so that the master-end device applies pressure to the probe of the master-end test pressure sensor (40), and the slave-end device generates a follow-up action and applies pressure to the probe of the slave-end test pressure sensor (50) at the same time; at this time, the values ​​of the master-end sensor host and the slave-end sensor host are recorded, and the control accuracy of the stable contact force of the master-slave operation is calculated by the following formula: ； Where, Test the pressure sensor (40) reading for the master end; To test the pressure sensor (50) reading from the end; n is the number of tests.

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