Surgical robot system positioning accuracy testing method and system

Abstract

This invention provides a method and system for testing the positioning accuracy of a surgical robot system, comprising the following steps: Model fixing step: fixing a spinal model with a channel tube on a test table and importing the scanning data of the spinal model with the channel tube; Surgical planning step: performing surgical planning based on the scanning data of the spinal model with the channel tube to obtain the implantation trajectory; Calculation value acquisition step: according to the implantation trajectory, controlling the robotic arm to move the first test column at the end of the robotic arm to the corresponding position of the second test column in the channel tube, thereby obtaining the calculated value between the first test column and the second test column; Accuracy acquisition step: obtaining the positioning accuracy of the surgical robot system based on the calculated value. This invention no longer uses the single-layer calibration plate or the quantification tooling in the standard, but uses a spinal model instead of tooling, thus resulting in lower cost and higher reliability and accuracy.

Description

Technical Field

[0001] This invention relates to the technical field of system positioning accuracy testing, specifically to a method and system for testing the positioning accuracy of a surgical robot system. Background Technology

[0002] The current industry standard method is as follows: YY / T1712—2021 "Assisted Surgical Equipment and Systems Using Robotic Technology" contains the following description:

[0003] Accuracy test requirements for navigation-guided RA (surgical robot) equipment systems:

[0004] a) Install the calibration finger on the guide device of the RA equipment, and install the system accuracy testing fixture (such as...) Figure 1 (As shown) Place it anywhere within the available workspace;

[0005] b) Measure the spatial position of the center of the test point A and B in the fixture, and denot it as X. a (x a ,y a ,z a ), X B (x b ,y b ,z b );

[0006] c) Perform spatial calibration and registration according to the requirements of the instruction manual;

[0007] d) Use test points A and B as the entry and exit points of the surgical path for surgical planning;

[0008] e) Control the RA device to move to the planned path position and install the calibration finger;

[0009] f) Measure and calibrate the spatial positions of two test points on the finger, P1(x1,y1,z1) and P2(x2,y2,z2), and fit the spatial straight line P1P2;

[0010] g) Calculate the distance L from test points A and B to line P1P2 according to formulas (1) and (2). a L b This refers to the system accuracy of the RA device at points A and B:

[0011]

[0012]

[0013] In the formula: i = a, b; t is the symbol in formula (1).

[0014] h) Perform surgical planning using test points C, D and test points E, F as the entry and exit points of the surgical path, and repeat operations d) to g) to calculate the system accuracy of the RA device at C, D and E, F; Note: All test points can be completed in one scan, registration and surgical planning.

[0015] i) All system accuracy results should meet the requirements.

[0016] The system accuracy testing fixture consists of a base, column, test points, registration reference points, and a reference coordinate system. The base and column are made of materials difficult to image in medical imaging (e.g., PMMA (polymethyl methacrylate) for the base), while the column is made of hollow carbon fiber tubing and engineering plastics. The test points and registration reference points are spheres or concave surfaces made of materials that are easily imaged in medical imaging (e.g., stainless steel). The diameter of the test points is customizable, and the reference coordinate system uses components of the same specifications as the corresponding parts of the RA equipment. During testing, according to… Figure 1 The installation is required, and the test points are placed on the corresponding columns. The reference coordinate system and registration reference points are set according to the product being tested.

[0017] The above technology uses a single-layer calibration plate, which requires a 3D C-arm machine to perform system accuracy testing. 3D equipment is expensive. Figure 1 The tooling is huge, and the test points are unidirectional and concentrated, all facing upwards on plane A, which can easily cause visual obstruction during the movement of the robotic arm. Figure 1 The tooling base is made of low-density plastic or plexiglass to accommodate CT scans. However, due to its large size, the mold cost is high, and manual installation is required, resulting in high production and assembly costs. The testing of this tooling is a test of "point" positioning, not "channel" positioning. In actual surgery, the positioning of the scalpel, drill, and needle are all "channels." Point positioning can only simulate channel positioning logically, not actually measure the "channel."

[0018] Chinese invention patent document CN114052915A discloses a method, system, and phantom for testing the positioning accuracy of a surgical robot. The method includes: planning the position of a target point on a preset phantom based on a phantom image, and planning the target travel path of the surgical robot using a path planning device on the phantom; acquiring the coordinates of the positioning points triggered by the movement of the surgical robot according to the target travel path using a flexible touchscreen on the phantom; and determining the positioning accuracy of the surgical robot based on the position of the target point and the coordinates of the positioning points.

[0019] Regarding the aforementioned technologies, the inventors believe that 3D equipment is expensive and lacks a registration process, thus it can only demonstrate the navigation accuracy of the binocular camera, not verify the overall accuracy of the system. Furthermore, using standard mass-production fixtures is costly; the reference and test point dimensions of the fixture are fixed, as are the navigation array installation dimensions, lacking randomness and failing to reflect real-world applications. It also cannot prove whether the test is measuring system accuracy or robotic arm accuracy, resulting in poor reliability of the accuracy measurement. Summary of the Invention

[0020] To address the shortcomings of existing technologies, the purpose of this invention is to provide a method and system for testing the positioning accuracy of surgical robot systems.

[0021] A method for testing the positioning accuracy of a surgical robot system according to the present invention includes the following steps:

[0022] Model fixation steps: Fix the spinal model with the channel tube on the test platform and import the scan data of the spinal model with the channel tube;

[0023] Surgical planning steps: Surgical planning is performed based on the scan data of the spinal model with the access tube, and the implantation trajectory is obtained;

[0024] Calculation value acquisition steps: According to the implantation trajectory, control the robotic arm to move the first test column at the end of the robotic arm to the corresponding position of the second test column in the channel tube, thereby obtaining the calculated value between the first test column and the second test column;

[0025] Steps to obtain accuracy: Obtain the positioning accuracy of the surgical robot system based on the calculated values.

[0026] Preferably, in the model fixing step, the spine model is set within the effective workspace; the effective workspace is the visual range of the binocular camera and the range of motion of the robotic arm.

[0027] Preferably, in the surgical planning step, the position of the channel tube is obtained based on the scanning data of the spinal model, and the surgical planning is performed with the central axis of the channel tube as the surgical path to determine the implantation trajectory.

[0028] Preferably, the step of obtaining the calculated value includes the following steps:

[0029] Steps for obtaining measurement point coordinates: According to the implantation trajectory, control the robotic arm to move the first test column to the corresponding position of the second test column, thereby obtaining the measurement point coordinates of the first test column and the measurement point coordinates of the second test column;

[0030] Linear fitting steps: Perform spatial linear fitting on the coordinates of the measurement points of the first test column to obtain the first fitted spatial line; perform spatial linear fitting on the coordinates of the measurement points of the second test column to obtain the second fitted spatial line.

[0031] Vector calculation steps: Vectorize the straight line in the first fitting space to obtain the first vector; vectorize the straight line in the second fitting space to obtain the second vector;

[0032] Steps to obtain the unit vector: Calculate the unit vector of the first vector and the unit vector of the second vector;

[0033] Steps for obtaining the angle between the lines: Obtain the angle between the first test column and the second test column based on the unit vectors of the first vector and the second vector;

[0034] The steps for obtaining the straight-line distance are as follows: Set a temporary vector based on the coordinates of the measurement points of the first test column and the second test column; obtain the straight-line distance between the first test column and the second test column based on the temporary vector, the unit vector of the first vector, and the unit vector of the second vector.

[0035] Preferably, in the step of obtaining the straight-line angle, the straight-line angle θ1 between the first test column and the second test column is calculated:

[0036]

[0037] in, The unit vector representing the first vector; This represents the unit vector of the second vector.

[0038] Preferably, in the straight-line distance acquisition step, the straight-line distance d1 between the first test post and the second test post is calculated:

[0039]

[0040] in, This represents a temporary vector.

[0041] Preferably, the system also includes a column installation step: a first test column is set at the end of the robotic arm, and a second test column is inserted into the channel tube, with the second test column and the channel tube cooperating.

[0042] Preferably, in the column installation step, test columns are inserted into the multiple channel tubes respectively;

[0043] The method also includes a repeating step: for the remaining test columns, the calculation value acquisition step is repeated to obtain the remaining calculated values;

[0044] In the step of obtaining accuracy, the maximum value among multiple calculated values ​​is selected as the positioning accuracy of the surgical robot system.

[0045] Preferably, the method further includes an accuracy judgment step: comparing the positioning accuracy of the surgical robot system with a set value or the system positioning accuracy requirement; and judging whether the positioning accuracy of the surgical robot system is qualified.

[0046] A surgical robot system positioning accuracy testing system according to the present invention includes the following modules:

[0047] Surgical planning module: Based on the scan data of the spinal model with the channel tube, surgical planning is performed to obtain the implantation trajectory;

[0048] Robotic arm control module: According to the implantation trajectory, control the robotic arm to move the first test column at the end of the robotic arm to the corresponding position of the second test column in the channel tube;

[0049] Calculation value acquisition module: used to obtain the calculated value between the first test column and the second test column;

[0050] Accuracy Acquisition Module: Obtains the positioning accuracy of the surgical robot system based on the calculated values.

[0051] Compared with the prior art, the present invention has the following beneficial effects:

[0052] 1. The present invention provides a method for testing the positioning accuracy of surgical robot systems. Instead of using the single-layer calibration plate or the mass production tooling in the standard, a spinal model is used to replace the tooling, resulting in lower cost and higher reliability and accuracy.

[0053] 2. This invention no longer uses the single-layer calibration plate in the standard. The device of this invention can use multi-layer calibration plates and use a two-dimensional C-arm scanner for scanning. Some institutions or hospitals only have two-dimensional equipment and do not have three-dimensional equipment. The price of three-dimensional equipment is more expensive than that of two-dimensional equipment (for example, "two-dimensional equipment costs three to five hundred thousand, while three-dimensional equipment costs one to eight hundred thousand"). This invention saves costs on a large scale.

[0054] 3. This invention no longer uses the standard mass production fixture, but instead uses a spine model, thus reducing costs. The advantages of not using the mass production fixture are twofold: firstly, it avoids visual obstruction; secondly, the fixture... Figure 2 The image shows the completed 3D printing. Its small size and simple structure make it easy to assemble, lower in cost, and more random, closely reflecting real-world usage and the true precision of the product.

[0055] 4. The reliability of the accuracy test of this invention is higher. In terms of accuracy, this invention uses channel testing, which can more accurately reflect the accuracy of the surgical robot system test. Attached Figure Description

[0056] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0057] Figure 1 This refers to the system precision tooling drawing in related technologies;

[0058] Figure 2 This is the first schematic diagram of the system accuracy testing fixture;

[0059] Figure 3 This is the second schematic diagram of the system accuracy testing fixture. Detailed Implementation

[0060] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0061] This invention discloses a method for testing the positioning accuracy of a surgical robot system, comprising the following steps:

[0062] Model Fixation Steps: Fix the spinal model with the access tubes onto the test platform and import the scan data of the spinal model with the access tubes. Set the spinal model within the effective workspace; the effective workspace is the visual range of the binocular camera and the range of motion of the robotic arm, and import the CT scan data of the spinal model. Acquiring CT scan data should be completed in advance, and the CT scan data should be imported into the system.

[0063] Surgical planning steps: Surgical planning is based on the scan data of a spinal model with access channels. The CT scan data of the spinal model is imported into the system for planning; for example, Keyinbot software can be used to plan the surgical path using the central axis of multiple access channels. Surgical planning: The location for implantation is marked in the system, and the implantation path is determined. After importing the CT scan data, the spinal model image can be displayed on the screen. Based on the location of the channels on the spinal model, the vertebrae to be screwed and the screw placement location are marked, determining the implantation trajectory. The surgical planning steps also include a sub-step—vertebral segmentation: Images of the vertebrae to which implants (e.g., screws) will be extracted. The vertebrae can be adjusted (e.g., rotated) as needed. The screw placement location is marked on the vertebra, and the vertebra and screw placement location are marked in the spinal image.

[0064] In this scheme, the channels in the spinal model are preset target positions (the positions where screws are placed), and the central axis of the channel corresponds to the axis of the implanted screw. To improve the accuracy and reliability of precision testing, the spinal model can be set with multiple channels, and each channel tube corresponds to a screw to be implanted.

[0065] Column installation steps: A first test column is installed at the end of the robotic arm. A second test column is inserted into the channel tube, and the second test column and the channel tube are aligned. The spinal model has channel tubes, which indicate the actual locations where screws need to be placed on the spine.

[0066] The calculation value acquisition steps are as follows: The robotic arm is moved according to the implantation trajectory obtained in the surgical plan. Upon completion of the movement, the first test column of the robotic arm moves to the corresponding position of the second test column, thereby obtaining the calculated value between the first and second test columns. At this point, the first test column corresponds to the coordinates of the actual implantation position, and the second test column corresponds to the preset target implantation coordinates. The obtained calculated value should be acquired using a precise measuring device (coordinate measuring machine).

[0067] The steps to obtain the calculated value include the following:

[0068] Measurement point coordinate acquisition steps: Following the implantation trajectory obtained in the surgical plan, control the movement of the robotic arm. Upon completion of the movement, move the robotic arm to the corresponding position of the first test column and the second test column, thereby acquiring the measurement point coordinates of both the first and second test columns. At this point, the first test column corresponds to the actual implantation position, and the second test column corresponds to the preset target implantation position. The measurement points of the test columns are located at both ends of the test columns.

[0069] Linear fitting steps: Perform spatial linear fitting on the coordinates of the measurement points of the first test column to obtain the first fitted spatial line; perform spatial linear fitting on the coordinates of the measurement points of the second test column to obtain the second fitted spatial line.

[0070] Vector calculation steps: Vectorize the straight line in the first fitting space to obtain the first vector; vectorize the straight line in the second fitting space to obtain the second vector.

[0071] Steps to obtain the unit vector: Calculate the unit vector of the first vector and the unit vector of the second vector.

[0072] Steps for obtaining the angle between the lines: Based on the unit vectors of the first vector and the second vector, obtain the angle between the lines between the first test column and the second test column.

[0073] The steps for obtaining the straight-line distance are as follows: Set a temporary vector based on the coordinates of the measurement points of the first test column and the second test column; obtain the straight-line distance between the first test column and the second test column based on the temporary vector, the unit vector of the first vector, and the unit vector of the second vector.

[0074] Steps to obtain accuracy: Obtain the positioning accuracy of the surgical robot system based on the calculated values.

[0075] Accuracy assessment steps: Compare the positioning accuracy of the surgical robot system with the set value or the system positioning accuracy requirement; determine whether the positioning accuracy of the surgical robot system is qualified. That is, compare the data obtained from the accuracy calculation step with the set value, which can be the nominal value.

[0076] In the column installation step, if test columns are inserted into multiple channel tubes respectively; the method also includes a repetition step: for the remaining test columns, the calculation value acquisition step is repeated to obtain the remaining calculation values; in the accuracy acquisition step, the positioning accuracy of the surgical robot system is selected from the multiple calculation values.

[0077] The above content specifically includes the following steps:

[0078] a) Fix the spine model of the system accuracy testing fixture onto the test platform, ensuring it is within the effective workspace. The effective workspace is the field of view of the binocular camera and the range of motion of the robotic arm. The spine model is 3D printed using actual human body model data and contains developing solution for X-ray imaging.

[0079] b) Import the CT scan data of the spinal model into Keyinbot software for planning, and plan the surgery using the central axis of the two channel tubes as the surgical path.

[0080] c) Registration: X-ray images of the spinal model are taken, and the preoperative CT images are compared with these X-ray images. The images are then overlapped based on similarity. The registered images should overlap as much as possible to accurately determine the pin positions (channels). Two-dimensional equipment such as a C-arm machine can be used to take X-ray images of the spinal model, mimicking the X-ray scan of the human body performed during surgery.

[0081] d) such as Figure 2 and Figure 3 As shown, two test posts 2 are inserted into the channel tube, which is the system channel. The test posts and channel tubes are precisely fitted together with negligible gaps. That is, the test posts represent the channel direction of the channel tube. TCP represents the position of the robotic arm end effector, which here refers to the robotic arm end effector array tool. The number of test posts can be increased or decreased according to requirements.

[0082] e) According to the surgical plan, control the robotic arm to move above the test column A1A2 (the second test column), and measure the coordinates of points A1 and A2 using a three-coordinate measuring machine (CMM). A1 ,y A1 ,z A1 ), A2(x A2 ,y A2 ,z A2 The coordinate measuring points at the two ends of the second measuring column are A1 and A2.

[0083] f) Measure the coordinates of points P1 and P2 using a coordinate measuring machine (CMM). P1 ,y P1 ,z P1 P2(x) P2 ,y P2 ,z P2 The coordinate measuring points at the two ends of the first measuring column are P1 and P2.

[0084] g) Fit spatial lines A1A2 (second fitted spatial line) and P1P2 (first fitted spatial line).

[0085] h) Calculate vectors vector First vector and the second vector

[0086]

[0087]

[0088] in:

[0089] x3=x P2 -x P1

[0090] y3=y P2 -y P1

[0091] z3=z P2 -z P1

[0092] x4=x A2 -x A1

[0093] y4=y A2 -y A1

[0094] z4=z A2 -z A1

[0095] i) Let vector For vectors The unit vector (the unit vector of the first vector):

[0096]

[0097]

[0098]

[0099]

[0100] j) Let vector For vectors The unit vector (the unit vector of the second vector):

[0101]

[0102]

[0103]

[0104]

[0105] k) Calculate the angle θ1 between the two lines:

[0106]

[0107]

[0108] l) Calculate the distance d1 between the two lines: Let a temporary vector be used.

[0109]

[0110] x T =x P1 -x A1

[0111] y T =y P1 -y A1

[0112] z T =z P1 -z A1

[0113] Then the distance d1 is:

[0114]

[0115]

[0116] m) According to the surgical plan, control the robotic arm to move above the test posts B1B2, and repeat steps e - k to calculate the included angle θ2 and the distance d2. Here, it is for another channel tube and the actual and target positions of another placed screw. The accuracy of multiple position points can be measured to improve the accuracy and reliability of the calculated accuracy value.

[0117] n) Calculate the system accuracy: The system accuracy is the accuracy that needs to be measured finally and is the final calculated values θ and d of the present invention. If both calculated accuracy values θ and d are less than or equal to the set value, it is qualified. If either θ or d is greater than the set value, it is unqualified. The set value can be the nominal value. Here, the accuracy value is usually at the sub - millimeter level and is within the range of the three - coordinate measurement accuracy, and its range value should be within the range of the three - coordinate measurement and resolution.

[0118] θ = max(θ1, θ2);

[0119] d = max(d1, d2).

[0120] That is, select the maximum value among multiple calculated values as the positioning accuracy of the surgical robot system, and compare this system positioning accuracy with the set value. If the system positioning accuracy (θ and d) is less than or equal to the set value, it is qualified. If either of the system positioning accuracies (θ and d) is greater than the set value, it is unqualified. The set value can be the nominal value. The present invention can use a multi - layer calibration plate and scan it with a two - dimensional C - arm machine. During the registration process, including the spinal model parameters obtained in advance are also used for registration, and register the 2D image with the three - dimensional image obtained in advance to replace directly obtaining the three - dimensional image with 3D equipment during the operation.

[0121] The present invention also provides a test system for the positioning accuracy of a surgical robot system. The test system for the positioning accuracy of the surgical robot system can be implemented by executing the process steps of the test method for the positioning accuracy of the surgical robot system. That is, those skilled in the art can understand the test method for the positioning accuracy of the surgical robot system as the preferred implementation manner of the test system for the positioning accuracy of the surgical robot system.

[0122] This system includes the following modules:

[0123] Surgical planning module: Based on the scan data of the spinal model and the channel tube, perform surgical planning to obtain the implantation trajectory.

[0124] Robotic arm control module: According to the implantation trajectory, control the robotic arm to move the first test post at the end of the robotic arm to the corresponding position of the second test post in the channel tube.

[0125] Calculated value acquisition module: Used to obtain the calculated value between the first test post and the second test post.

[0126] Accuracy Acquisition Module: Obtains the positioning accuracy of the surgical robot system based on the calculated values.

[0127] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, enabling the system and its various devices, modules, and units to function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered both software modules implementing the method and structures within the hardware component.

[0128] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A method of testing positioning accuracy of a surgical robotic system, characterized by, Includes the following steps: Model fixation steps: Fix the spinal model with the channel tube on the test platform and import the scan data of the spinal model with the channel tube; Surgical planning steps: Surgical planning is performed based on the scan data of the spinal model with the access tube, and the implantation trajectory is obtained; Calculation value acquisition steps: According to the implantation trajectory, control the robotic arm to move the first test column at the end of the robotic arm to the corresponding position of the second test column in the channel tube, thereby obtaining the calculated value between the first test column and the second test column; Steps to obtain accuracy: Obtain the positioning accuracy of the surgical robot system based on the calculated values; The steps for obtaining the calculated value include the following: Steps for obtaining measurement point coordinates: According to the implantation trajectory, control the robotic arm to move the first test column to the corresponding position of the second test column, thereby obtaining the measurement point coordinates of the first test column and the measurement point coordinates of the second test column; Linear fitting steps: Perform spatial linear fitting on the coordinates of the measurement points of the first test column to obtain the first fitted spatial line; perform spatial linear fitting on the coordinates of the measurement points of the second test column to obtain the second fitted spatial line. Vector calculation steps: Vectorize the straight line in the first fitting space to obtain the first vector; vectorize the straight line in the second fitting space to obtain the second vector; Steps to obtain the unit vector: Calculate the unit vector of the first vector and the unit vector of the second vector; Steps for obtaining the angle between the lines: Obtain the angle between the first test column and the second test column based on the unit vectors of the first vector and the second vector; The steps for obtaining the straight-line distance are as follows: Set a temporary vector based on the coordinates of the measurement points of the first test column and the second test column; obtain the straight-line distance between the first test column and the second test column based on the temporary vector, the unit vector of the first vector, and the unit vector of the second vector.

2. The surgical robotic system positioning accuracy testing method of claim 1, wherein, In the model fixing step, the spine model is set within the effective workspace; the effective workspace is the visual range of the binocular camera and the range of motion of the robotic arm.

3. The surgical robotic system positioning accuracy testing method of claim 2, wherein, In the surgical planning step, the position of the channel tube is obtained based on the scanning data of the spinal model, and the surgical path is planned using the central axis of the channel tube to determine the implantation trajectory.

4. The method for testing the positioning accuracy of a surgical robot system according to claim 1, characterized in that, In the straight line angle obtaining step, a straight line angle between the first test column and the second test column is calculated : wherein denotes a unit vector of the first vector; denotes a unit vector of the second vector.

5. The method for testing the positioning accuracy of a surgical robot system according to claim 1, characterized in that, In the straight-line distance acquisition step, the straight-line distance between the first test post and the second test post is calculated. : in, Represents a temporary vector; The unit vector representing the first vector; This represents the unit vector of the second vector.

6. The method for testing the positioning accuracy of a surgical robot system according to claim 1, characterized in that, The system also includes a column installation step: a first test column is set at the end of the robotic arm, and a second test column is inserted into the channel tube, with the second test column and the channel tube working together.

7. The method for testing the positioning accuracy of a surgical robot system according to claim 1, characterized in that, In the column installation step, test columns are inserted into the multiple channel tubes respectively; The method also includes a repeating step: for the remaining test columns, the calculation value acquisition step is repeated to obtain the remaining calculated values; In the step of obtaining accuracy, the maximum value among multiple calculated values ​​is selected as the positioning accuracy of the surgical robot system.

8. The method for testing the positioning accuracy of a surgical robot system according to claim 1, characterized in that, The method also includes an accuracy judgment step: comparing the positioning accuracy of the surgical robot system with the set value or the system positioning accuracy requirement; and judging whether the positioning accuracy of the surgical robot system is qualified.

9. A system for implementing the positioning accuracy testing method of the surgical robot system according to claim 1, characterized in that, Includes the following modules: Surgical planning module: Based on the scan data of the spinal model with the access tube, surgical planning is performed to obtain the implantation trajectory; Robotic arm control module: According to the implantation trajectory, control the robotic arm to move the first test column at the end of the robotic arm to the corresponding position of the second test column in the channel tube; Calculation value acquisition module: used to obtain the calculated value between the first test column and the second test column; Accuracy Module: Obtains the positioning accuracy of the surgical robot system based on the calculated values.

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