Medical robot precision testing tool and testing method

Abstract

The application discloses a kind of medical robot precision test tool and test method, the test tool includes: fixed part, including right-angle mounting frame;Registration part, including the frame body mounted on the outer side of the mounting frame, and multiple groups of registration disc groups are arranged on the frame body, each group of registration disc group includes two registration discs connected with frame body;Test part, including multiple groups of test groups arranged on the outer top surface of the mounting frame, each test group includes two test columns, each test column includes test strut movably connected with the mounting frame, and test sphere is arranged on the test strut.The application tests the system precision of robot guiding system by designing test tool, carries out registration registration work by designing registration part, unifies the coordinate system of medical robot and tool, and verifies the puncture intervention accuracy of medical robot after registration registration by the test sphere designed on test part.

Description

TECHNICAL FIELD

[0001] The present application relates to the medical field, and in particular to a medical robot precision testing tool and testing method. BACKGROUND

[0002] Minimally invasive high-precision surgery assisted by medical robots has become a popular research field, and robots for various therapeutic purposes are being developed by major companies.

[0003] The use process of most surgical robots (such as orthopedic and interventional puncture) can be divided into three processes: system registration, motion planning, and surgery execution. System accuracy is the basis for determining the execution results of medical robots.

[0004] For visually guided surgical robot systems, there is a recommended testing standard and consensus for system accuracy. However, for other types of guidance, such as ultrasound-guided medical robot systems, there is currently no good testing scheme and tool for system accuracy testing.

[0005] Ultrasound-guided robot systems have natural advantages, such as low radiation, strong applicability, and wide range. Remote ultrasound robots and ultrasound-guided precision interventional puncture robots are currently being widely developed and used in various departments.

[0006] Due to the choice of technical solutions and cost-based considerations, some ultrasound navigation robots directly use ultrasound images and mechanical arm position information to achieve navigation functions. Such robot systems cannot directly use existing standards to test system accuracy, and need to combine the actual needs of ultrasound image positioning, registration, and guidance to design the system accuracy of such medical robots. SUMMARY

[0007] The present application provides a medical robot precision testing tool and testing method to solve the above problems in the prior art.

[0008] Technical solution: a medical robot precision testing tool and testing method, comprising:

[0009] A fixing member comprising a right-angle mounting bracket;

[0010] characterized in that it further comprises:

[0011] A registration unit comprising a frame mounted on the outer side of the mounting bracket, and a plurality of registration disc sets arranged on the frame, each registration disc set comprising two registration discs connected to the frame;

[0012] The testing part comprises a plurality of testing groups arranged on the outer top surface of the mounting frame, each testing group comprising two testing columns, each testing column comprising a testing pillar movably connected with the mounting frame, and a testing sphere arranged on the testing pillar.

[0013] The testing column can be snap-fitted on the mounting frame or screwed on the mounting frame, and when screwed, threads are formed on the bottom of the testing column and the mounting frame.

[0014] The testing sphere is a high-precision rigid small ball, and the testing pillar and the testing sphere can be rigidly welded together.

[0015] After the tooling is measured, the position of the testing sphere relative to the developing test block is known, and the testing sphere can be used as a puncture target and target point for verifying the medical robot guiding system. The radius of the testing sphere is determined according to the system accuracy of the medical instrument to be tested, for example, for an ultrasound-guided medical robot system with a system accuracy requirement of 3 mm, the radius of the rigid small ball can be set to 3 mm; the pillar and the rigid small ball can be disassembled to adapt to the testing needs of different devices.

[0016] The present application tests the system accuracy of the robot guiding system by designing a testing tool, registers the registration work by designing a registration part, unifies the medical robot and the tooling in a coordinate system, and checks the puncture intervention accuracy of the medical robot after registration by the testing sphere designed on the testing part, and then quantitatively gives the precision error of the robot guiding system.

[0017] In a further embodiment, the two registration discs are provided with a developing test block made of a material with good ultrasound development, such as silicone, gelatin and the like. The test block needs to have good developing effect in water and clear edge contour for easy identification.

[0018] The shape of the developing test block can be determined according to actual needs, and can be designed as a cylindrical, conical column or other special-shaped structure.

[0019] The fixing member mainly plays a fixing role to firmly fix the registration part and the testing part together. The size of this part needs to consider the actual width of the medical robot and the ultrasound image used, and the fixing member should not be developed in the ultrasound image to avoid misidentification and affect the test effect.

[0020] In a further embodiment, the height of the testing column can be adjusted according to the actual angle of use.

[0021] In a specific preferred embodiment, the testing columns in the plurality of testing groups can be divided into two columns, one column of testing columns having different heights, and the other column of testing columns having the same height.

[0022] In further embodiments, the fixing member further comprises a fixing frame connected with the top surface of the mounting frame, and a screw rod screwed with the fixing frame, and the end of the screw rod has a fixing block.

[0023] After the tooling is fixed, the registration part is immersed in water, and the test part is on the water surface. The fixing member is designed to be adjustable to adapt to the thickness of the sink wall.

[0024] A medical robot precision testing method, characterized in that it comprises:

[0025] Step 1: Import tooling data: import the measured tooling model data into the medical robot guidance system, and perform three-dimensional point cloud processing on the developed test block to obtain the theoretical point cloud of the developed test block;

[0026] Step 2: Obtain the ultrasound image of the developed test block: fix the tooling on the edge of the water tank, and add enough water in the water tank. It is recommended to use pure water and stand for more than 3 hours to reduce air bubbles in the water and improve the imaging quality of the ultrasound;

[0027] Place the ultrasound probe connected to the mechanical arm of the medical robot above the developed test block, adjust the ultrasound settings to make the developed test block have good development, and move the mechanical arm to obtain a series of ultrasound images with position information;

[0028] Step 3: Construct real-time ultrasound data: according to the ultrasound images with mechanical arm position information in step 2, through recognition, contour extraction and sampling of the developed test block, construct the three-dimensional ultrasound point cloud of the developed test block based on the real mechanical arm coordinates;

[0029] Step 4: Point cloud registration: register the theoretical point cloud of the developed test block in step 1 and the real-time three-dimensional ultrasound point cloud obtained in step 3 to obtain a registration matrix;

[0030] After obtaining the registration matrix, the theoretical position of the puncture target point (A, B, C, D, E, F) in the robot coordinate system is known, and this registration matrix will be used in the subsequent guidance and puncture process;

[0031] The puncture target point is the position of each test sphere in the test group;

[0032] Step 5: Planning and guidance: for the set puncture target point of the medical robot guidance system, plan the puncture path according to each group of points (such as AB, CD, EF), wherein points A, C and E are taken as puncture target points;

[0033] The medical robot guidance system controls the mechanical arm carrying the actuator to reach the specified position according to the registration matrix in step 4 and the planned path and puncture target point as guidance.

[0034] Step 6, precision test of medical robot guiding system: the precision of system navigation can be tested, taking 3mm as an example of system precision requirement;

[0035] The radius of the test sphere is selected as 3mm, a puncture needle of a specified length is punctured through the executor, and if the needle tip can contact the puncture target small ball, it indicates that the system precision of the ultrasonic navigation robot reaches 3mm, otherwise it is not up to standard.

[0036] Beneficial effects: the application discloses a medical robot precision test tool and test method, the application tests the system precision of the robot guiding system by designing the test tool, performs registration and registration work through the registration part, unifies the coordinate system of the medical robot and the tool, and checks the puncture intervention accuracy of the medical robot after registration and registration through the test sphere designed on the test part, and then the precision error of the robot guiding system can be quantitatively given. DETAILED DESCRIPTION

[0037] Figure 1 is a structural schematic diagram of the application.

[0038] Figure 2 is a use state schematic diagram of the medical robot for precision test in the embodiment of the application.

[0039] Figure 3 is a precision test method schematic diagram of the application.

[0040] The reference signs are:

[0041] 1, mounting frame; 21, test support; 22, test sphere; 31, frame body; 32, registration disc; 41, fixing frame; 42, screw rod. DETAILED DESCRIPTION

[0042] The application relates to a medical robot precision test tool and test method, which will be explained in detail through specific embodiments.

[0043] Minimally invasive high-precision surgery assisted by medical robots has become a hot research field at present, and robots for various treatment purposes are being developed by major companies.

[0044] Most of the use processes of surgical robots (such as orthopedic and puncture intervention) can be divided into three processes of system registration, motion planning and surgery execution, and system precision is a basis for judging the execution result of the medical robot.

[0045] For the visual guidance of the surgical robot system, there is a set of recommended test standards and consensus for its system accuracy, but for other types of guidance, such as ultrasound-guided medical robot systems, there is currently no good test scheme and tooling to implement system accuracy testing.

[0046] Ultrasound-guided robot systems have natural advantages, with low radiation, strong applicability and wide range. Remote ultrasound robots and ultrasound-guided precision intervention puncture robots are currently being widely developed and used in various departments.

[0047] Due to the selection of technical solutions and cost-based considerations, some ultrasound navigation robots directly based on ultrasound images and position information of the mechanical arm to realize the navigation function, such robot systems cannot directly use the existing standards to test system accuracy, and need to combine the positioning, registration, and guidance of ultrasound images to design the system accuracy of such medical robots.

[0048] The present application combines the characteristics of ultrasound-guided robot systems, taking into account the clarity of ultrasound recognition, the reliability and ease of use of system accuracy testing, and designs and develops a robot guidance system precision testing tool and testing method. This method can not rely on other measuring equipment and can quantitatively give the accuracy error of the robot guidance system.

[0049] A medical robot precision testing tool, comprising:

[0050] The fixing member comprises a right-angle mounting bracket 1;

[0051] The registration part comprises a bracket 31 mounted on the outer side of the mounting bracket 1, and a plurality of sets of registration disc groups arranged on the bracket 31, each registration disc group comprising two registration discs 32 connected with the bracket 31;

[0052] The test part comprises a plurality of test groups arranged on the outer top surface of the mounting bracket 1, each test group comprising two test columns, each test column comprising a test column 21 movably connected with the mounting bracket 1, and a test ball 22 arranged on the test column 21.

[0053] The test column can be buckled and inserted on the mounting bracket 1, or can be screwed in. When screwed in, the bottom of the test column and the mounting bracket 1 are both threaded.

[0054] The test ball 22 is a high-precision rigid small ball, and the test column 21 and the test ball 22 can be rigidly welded together.

[0055] After the tooling is measured, the position of the test sphere 22 relative to the developing test block is known, which can be used as a verification of the puncture target and target point of the medical robot guiding system. The radius of the test sphere 22 is determined according to the system accuracy of the medical instrument required to be tested, for example, for an ultrasound-guided medical robot system with a system accuracy requirement of 2 mm, the radius of the rigid small ball can be set to 2 mm; the support and the rigid small ball can be disassembled to adapt to the testing needs of different devices.

[0056] The present application tests the system accuracy of the robot guiding system by designing a test tool, performs registration and registration work by designing a registration part, unifies the medical robot and the tool in a coordinate system, and checks the puncture intervention accuracy of the medical robot after registration and registration by the test sphere 22 designed on the test part, and further quantitatively gives the accuracy error of the robot guiding system.

[0057] The two registration discs 32 are provided with a developing test block made of a material with good ultrasound development, such as silicone, gelatin and the like. The test block needs to have good development effect in water and clear edge contour for easy identification.

[0058] The shape of the developing test block can be determined according to actual needs, and can be designed as a cylindrical, conical column or other special-shaped structure.

[0059] The fixing part mainly plays a fixing role to firmly fix the registration part and the test part together. The size of this part needs to consider the actual width of the medical robot and the ultrasound image used, and the fixing part should not be developed in the ultrasound image to avoid misidentification and affect the test effect.

[0060] The height of the test column can be adjusted and set according to the actual angle of use.

[0061] In a specific preferred embodiment, the test columns in the test groups can be divided into two columns, one column of test columns with different heights, and the other column of test columns with the same height.

[0062] The fixing part further includes a fixing frame 41 connected to the top surface of the mounting frame 1, and a lead screw 42 screwed with the fixing frame 41, and the end of the lead screw 42 has a fixing block.

[0063] After the tooling is fixed, the registration part will be immersed in water, and the test part will be on the water surface. The fixing part is designed to be adjustable to adapt to the thickness of the water tank wall.

[0064] A medical robot precision testing method, comprising:

[0065] Step 1, import of tooling data: import the measured tooling model data into the medical robot guidance system, and perform three-dimensional point cloud processing on the visualization test block to obtain the theoretical point cloud of the visualization test block;

[0066] Step 2, acquisition of ultrasound images of the visualization test block: fix the tooling at the edge of the water tank, and add sufficient water in the water tank. It is recommended to use pure water, and stand for more than 3 hours to reduce air bubbles in the water and improve the imaging quality of the ultrasound.

[0067] Place the ultrasound probe connected to the mechanical arm of the medical robot above the visualization test block, adjust the ultrasound settings to make the visualization test block have good visualization, and move the mechanical arm to obtain a series of ultrasound images with position information. This step solves the problem of quantitative testing of ultrasound image guidance. Because the shape and size of the visualization test block are known, and the relative position of the test target point is known, the ultrasound image information can be associated with the test target point information.

[0068] Step 3, construction of real-time ultrasound data: according to the ultrasound images with mechanical arm position information in step 2, the three-dimensional ultrasound point cloud of the visualization test block based on the real mechanical arm coordinates is constructed through recognition, contour extraction and sampling of the visualization test block. In this step, there are two reasons for constructing point cloud information from ultrasound images. First, ultrasound images are relatively complex, and direct use of registration may be affected by many interference factors. Second, ultrasound images are a two-dimensional structure. After converting multiple needle ultrasound images into point clouds, the loss of information perpendicular to the ultrasound image plane can be compensated, and the registration can be more accurate.

[0069] Step 4, point cloud registration: register the theoretical point cloud of the visualization test block in step 1 and the real-time three-dimensional ultrasound point cloud obtained in step 3 to obtain a registration matrix;

[0070] After obtaining the registration matrix, the theoretical position of the puncture target point (A, B, C, D, E, F) in the robot coordinate system is known. This registration matrix will be used in the subsequent guidance and puncture process;

[0071] The puncture target point is the position of each test sphere 22 in the test group;

[0072] Step 5, planning and guidance: for the set puncture target point of the medical robot guidance system, plan the puncture path for each group of points (such as AB, CD, EF), where points A, C, and E are taken as puncture target points.

[0073] The medical robot guidance system guides according to the registration matrix in step 4 and the planned path and puncture target point to control the mechanical arm carrying the effector to reach the specified position.

[0074] Step 6, precision test of medical robot guiding system: the precision of system navigation can be tested, for example, the system precision requirement is 3mm;

[0075] The radius of the test sphere 22 is selected as 3mm, and a puncture needle of a specified length is inserted through the navigation of the actuator. If the needle tip can contact the puncture target sphere, it means that the system precision of the ultrasonic navigation robot reaches 3mm, otherwise it does not meet the standard.

[0076] This method avoids the use of complex and expensive test equipment such as measuring arms, laser trackers, etc., and uses the simplest structure tooling to test the system precision under ultrasonic guidance. This scheme is simple and reliable, and eliminates the errors caused by human judgment and testing, and is accurate and effective.

[0077] Working principle:

[0078] Import of tooling data: import the measured tooling model data into the medical robot guiding system, and perform three-dimensional point cloud processing on the developed test block to obtain the theoretical point cloud of the developed test block;

[0079] Ultrasonic image acquisition of the developed test block: fix the tooling on the edge of the water tank, and add sufficient water in the water tank. It is recommended to use pure water, and stand for more than 3 hours to reduce air bubbles in the water and improve the imaging quality of the ultrasound;

[0080] Place the ultrasonic probe connected to the mechanical arm of the medical robot above the developed test block, adjust the ultrasonic settings to make the developed test block have good development, and move the mechanical arm to obtain a series of ultrasonic images with position information;

[0081] Construction of real-time ultrasonic data: according to the ultrasonic images with mechanical arm position information in step 2, through recognition, contour extraction and sampling of the developed test block, a three-dimensional ultrasonic point cloud of the developed test block based on the real mechanical arm coordinates is constructed;

[0082] Point cloud registration: register the theoretical point cloud of the developed test block in step 1 and the real-time three-dimensional ultrasonic point cloud obtained in step 3 to obtain a registration matrix;

[0083] After obtaining the registration matrix, the theoretical position of the puncture target points (A, B, C, D, E, F) in the robot coordinate system is known, and this registration matrix will be used in the subsequent guiding and puncture process;

[0084] The puncture target points are the positions of each test sphere 22 in the test group;

[0085] Step 5, planning and guiding: for the set puncture target points of the medical robot guiding system, plan the puncture path for each group of points (such as AB, CD, EF), wherein points A, C, and E are taken as puncture target points;

[0086] The medical robot guiding system controls the mechanical arm to carry the implement to the designated position according to the registration matrix in step 4 and the planned path and puncture target point as guidance.

[0087] Precision test of the medical robot guiding system: the precision of system navigation can be tested, for example, the system precision requirement is 3mm;

[0088] The radius of the test sphere 22 is selected as 3mm, and a puncture needle of a specified length is punctured through the implement navigation, if the needle tip can contact the puncture target sphere, it means that the system precision of the ultrasonic navigation robot reaches 3mm, otherwise it is not up to standard.

[0089] The preferred specific embodiments of the present application are described in detail above in combination with the drawings, however, the present application is not limited to the specific details in the above specific embodiments, within the technical concept range of the present application, various equivalent transformations can be made to the technical solutions of the present application, and these equivalent transformations all belong to the protection range of the present application.

Claims

1. A medical robot precision testing method, characterized in that, A medical robot precision testing tool is used, which comprises: a fixing part, including a right-angle mounting frame; a registration part, including a frame body mounted on the outer side of the mounting frame, and a plurality of sets of registration disc groups arranged on the frame body, each registration disc group comprising two registration discs connected with the frame body; and a developing test block arranged between the two registration discs; a test part, including a plurality of test groups arranged on the outer top surface of the mounting frame, each test group comprising two test columns, each test column comprising a test column connected with the mounting frame, and a test ball arranged on the test column; The test method comprises: Step 1, import of tool data: import the measured tool model data into the medical robot guidance system, perform three-dimensional point cloud processing on the developing test block, and obtain the theoretical point cloud of the developing test block; Step 2, ultrasonic image acquisition of the developing test block: place the ultrasonic probe connected to the mechanical arm of the medical robot above the developing test block, adjust the ultrasonic settings to make the developing test block have good development, and move the mechanical arm to obtain a series of ultrasonic images with position information; Step 3, construction of real-time ultrasonic data: according to the ultrasonic images with position information in step 2, the three-dimensional ultrasonic point cloud of the developing test block based on the real mechanical arm coordinates is constructed by identifying, contour extracting and sampling the developing test block; Step 4, point cloud registration: register the theoretical point cloud of the developing test block in step 1 and the three-dimensional ultrasonic point cloud obtained in step 3 to obtain a registration matrix; After obtaining the registration matrix, the theoretical position of the puncture target point in the robot coordinate system is known, and the puncture target point is the position of each test ball in the plurality of test groups; Step 5, planning and guidance: for the puncture target point set by the medical robot guidance system, the medical robot guidance system controls the mechanical arm to carry the effector to the specified position according to the registration matrix and the planned path and puncture target point as guidance; Step 6, precision test of the medical robot guidance system: the accuracy of the system navigation can be tested, for example, the system accuracy requirement is 3mm; The radius of the test ball is selected as 3mm, and the puncture needle of a specified length is inserted into the test ball through the puncture navigation of the effector, if the needle tip can contact the puncture target ball, it means that the system accuracy of the medical robot reaches 3mm, otherwise it does not meet the requirements.

2. The medical robot precision testing method of claim 1, wherein: The fixing part further comprises a fixing frame connected with the inner top surface of the mounting frame, and a lead screw screwed with the fixing frame, and the end of the lead screw has a fixing block.

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