An instrument performance testing system, method, apparatus, and storage medium

Abstract

The application relates to an instrument performance test system, method, device and storage medium, the system comprising: a base, a driving device arranged on the base for driving the articulation of an instrument, and test target balls arranged on the instrument; the instrument is arranged on the base; the test target balls comprise a first test target ball arranged on a first articulation of the instrument, a second test target ball arranged on a second articulation of the instrument, and a third test target ball arranged on a third articulation of the instrument; the positional distance relationship between the test target balls is fixed. According to the application, the test target balls are arranged on each articulation of the instrument respectively, and the positional relationship between the test target balls is fixed, the test target balls collected by a data collector are identified through the fixed positional relationship, and thus the performance test of each articulation is realized, and the test process is simple and does not involve complex calibration work.

Description

Technical Field

[0001] This application relates to the field of medical devices, and in particular to a device performance testing system, method, apparatus, and storage medium. Background Technology

[0002] Surgical instruments are the parts of a minimally invasive surgical robot that come into direct contact with the patient. Their ends can penetrate the patient's body and perform surgical procedures under the doctor's control. The performance of the instruments largely determines the overall performance of the robot system and even directly affects the quality of the surgery. The movement precision and flexibility of the surgical instruments are important indicators for measuring the overall performance of a minimally invasive surgical robot.

[0003] Current methods for measuring the joint motion performance of surgical instruments mainly include measurements based on industrial cameras and measurements based on binocular vision. Industrial cameras offer high accuracy in 2D planes but have larger measurement errors in 3D space, require more auxiliary tooling, and are more complex to test. Binocular vision-based measurements require setting many markers on the instrument, but the size of the joints is small, which limits the number of markers that can be set. This method can also cover fewer test indicators and is also more complex to test.

[0004] There is currently no effective solution to the problem of the complexity of the joint motion performance testing process in related technologies. Summary of the Invention

[0005] This embodiment provides a device performance testing system, method, apparatus, and storage medium to solve the problem of complex device joint motion performance testing process in related technologies.

[0006] In a first aspect, this embodiment provides a device performance testing system, the system comprising: a base, a driving device disposed on the base for driving the joint movement of the device, and a test target ball disposed on the device; the device is disposed on the base;

[0007] The test target ball includes a first test target ball disposed on the first joint of the instrument, a second test target ball disposed on the second joint of the instrument, and a third test target ball disposed on the third joint of the instrument; the positional distance relationship between the test target balls is fixed.

[0008] In some embodiments, the system further includes: a data acquisition unit and a controller;

[0009] The data acquisition device is used to acquire the position data of the first test target ball, the second test target ball, and the third test target ball;

[0010] The controller is connected to the drive device and the data acquisition instrument respectively. The controller is used to control the drive device to drive the joint movement of the instrument and to control the data acquisition instrument to perform data acquisition.

[0011] In some embodiments, the distance between the first test target ball and the third test target ball is the largest, and the distance between the first test target ball and the second test target ball is the smallest.

[0012] Secondly, this embodiment provides another instrument performance testing system for testing the performance parameters of multiple instruments. The system includes: a base, a test target ball disposed on the multiple instruments, a drive device disposed on the base for driving the joint movement of the multiple instruments, and a fixed target ball disposed on the base; the multiple instruments are disposed on the base.

[0013] The test target ball includes a first test target ball set on the first joint of each instrument, a second test target ball set on the second joint of each instrument, and a third test target ball set on the third joint of each instrument; the positional distance relationship between the test target balls of each instrument is fixed, and the positional distance relationship between the test target balls of different instruments and the fixed target ball is fixed.

[0014] In some embodiments, the system further includes: a data acquisition unit and a controller;

[0015] The data acquisition instrument is used to acquire the position data of the first test target ball, the second test target ball, the third test target ball of each instrument, and the position data of the fixed target ball.

[0016] The controller is connected to the drive device and the data acquisition device respectively. The controller is used to control the drive device to drive the joint movement of the multiple instruments and to control the data acquisition device to perform data acquisition.

[0017] Thirdly, this embodiment provides a device performance testing method using the device performance testing system described in the first aspect, the method comprising:

[0018] In response to the input performance test command, the target test ball is identified and the joint movement of the device is controlled; the target test ball is one of the test balls;

[0019] Collect the position data of the test target ball;

[0020] The target test ball is identified based on the position data of the test target ball and the positional distance relationship between the test target balls;

[0021] The performance parameters of the instrument are calculated based on the position data of the target test ball.

[0022] Fourthly, this embodiment provides a device performance testing method using the device performance testing system described in the second aspect, the method comprising:

[0023] In response to an input performance test command, the target test instrument and the target test ball of the target test instrument are determined, and the joint movement of the target test instrument is controlled; the target test ball is one of the test balls.

[0024] Collect the position data of the test target ball;

[0025] Based on the position data of the test target ball and the positional distance relationship between the test target ball and the fixed target ball, the test target ball of the target testing instrument is identified;

[0026] Based on the position data of the test target ball and the positional distance relationship between the test target balls, the target test target ball of the target testing instrument is identified;

[0027] The performance parameters of the target testing device are calculated based on the position data of the target test ball.

[0028] Fifthly, this embodiment provides a device for testing the performance of a medical device, the device comprising:

[0029] The first determining module is used to determine the target test ball and control the joint movement of the instrument in response to the input performance test command; the target test ball is one of the test balls;

[0030] The first acquisition module is used to acquire the position data of the test target ball;

[0031] The first identification module is used to identify the target test ball based on the position data of the test target ball and the positional distance relationship between the test target balls;

[0032] The first calculation module is used to calculate the performance parameters of the instrument based on the position data of the target test ball.

[0033] In a sixth aspect, this embodiment provides a device for testing the performance of a medical device, the device comprising:

[0034] The second determining device is configured to, in response to an input performance test command, determine a target test instrument and a target test ball of the target test instrument, and control the joint movement of the target test instrument; the target test ball is one of the test balls.

[0035] The second acquisition module is used to acquire the position data of the test target ball;

[0036] The second identification module is used to identify the test target ball of the target testing instrument based on the position data of the test target ball and the positional distance relationship between the test target ball and the fixed target ball;

[0037] The third identification module is used to identify the target test ball of the target testing instrument based on the position data of the test target ball and the positional distance relationship between the test target balls;

[0038] The second calculation module is used to calculate the performance parameters of the target testing device based on the position data of the target test ball.

[0039] In a seventh aspect, this embodiment provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the instrument performance testing method described in the third or fourth aspect.

[0040] Compared with related technologies, the device performance testing system, method, apparatus and storage medium provided in this embodiment achieves the performance testing of each joint by setting test target balls on each joint of the device and setting a fixed positional relationship between the test target balls. The fixed positional relationship is used to identify each test target ball collected by the data acquisition instrument, thereby realizing the performance testing of each joint without involving complex calibration work and the testing process is simple.

[0041] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0042] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0043] Figure 1 This is a schematic diagram of the structure of a device performance testing system according to this embodiment;

[0044] Figure 2 This is a schematic diagram of another instrument performance testing system in this embodiment;

[0045] Figure 3 This is a flowchart of a device performance testing method according to this embodiment;

[0046] Figure 4 This is a schematic diagram of the rotation of the rotary joint and the pitch joint in this embodiment;

[0047] Figure 5This is a schematic diagram of the rotation of the yaw joint in this embodiment;

[0048] Figure 6 This is a schematic diagram of the test target ball installation in this embodiment;

[0049] Figure 7 This is a flowchart of another instrument performance testing method in this embodiment;

[0050] Figure 8 This is a schematic diagram showing the distance relationship between the test target ball and the fixed target ball in this embodiment;

[0051] Figure 9 This is a structural block diagram of a device performance testing apparatus according to this embodiment;

[0052] Figure 10 This is a structural block diagram of another instrument performance testing device in this embodiment. Detailed Implementation

[0053] To better understand the purpose, technical solution, and advantages of this application, the application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0054] Unless otherwise defined, the technical or scientific terms used in this application shall have the general meaning as understood by one of ordinary skill in the art to which this application pertains. Words such as “a,” “an,” “an,” “the,” “the,” and “these,” used in this application, do not indicate quantitative limitation and may be singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or modules (units) is not limited to the listed steps or modules (units) but may include steps or modules (units) not listed, or may include other steps or modules (units) inherent to such processes, methods, products, or devices. The terms “connected,” “linked,” and “coupled,” used in this application, are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. The term “multiple” used in this application refers to two or more. The "and / or" operator describes the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: A alone, A and B simultaneously, and B alone. Typically, the character " / " indicates that the objects before and after it are in an "or" relationship. The terms "first," "second," and "third," etc., used in this application are merely for distinguishing similar objects and do not represent a specific ordering of the objects.

[0055] This embodiment provides a device performance testing system. Figure 1This is a schematic diagram of the structure of a device performance testing system according to this embodiment, as shown below. Figure 1 As shown, the system includes: a base 102, a drive device 104 mounted on the base for driving the joint movement of the instrument, test target balls mounted on the instrument 106, a data acquisition device 122, and a controller 124. The instrument 106 is mounted on the base 102. The test target balls include a first test target ball 112 mounted on a first joint 110 of the instrument 106, a second test target ball 116 mounted on a second joint 114 of the instrument 106, and a third test target ball 120 mounted on a third joint 118 of the instrument 106. The positional distance between the test target balls is fixed. The data acquisition device 122 is used to collect positional data of the first test target ball 112, the second test target ball 116, and the third test target ball 120. The controller 124 is connected to both the drive device 104 and the data acquisition device 122. The controller 124 controls the drive device 104 to drive the joint movement of the instrument 106 and controls the data acquisition device 122 to perform data acquisition.

[0056] Specifically, the device 106 includes multiple joints, including a first joint 110, a second joint 114, and a third joint 118. Performance parameters of the device 106 can be obtained by testing the performance parameters of each joint, such as motion parameters. For example, the joints of the device 106 can be rotational joints, pitch joints, and yaw joints. Performance parameters of the joints are tested by installing test target balls on each joint. The user can issue performance test commands to the device 106 through the controller 124. The controller 124 controls the drive device 104 to drive the movement of each joint of the device 106 according to the performance test commands. The test target balls installed on each joint of the device 106 move with the joints. For example, the test target balls can be installed on each joint using a target ball fixture 126. The data acquisition unit 122 collects data from each test target ball and sends the collected data to the controller 124 for processing. The controller 124 calculates the performance parameters of each joint based on the collected test target ball data.

[0057] The positional distance relationship between the first test target ball 112 disposed on the first joint 110 of the device 106, the second test target ball 116 disposed on the second joint 114 of the device 106, and the third test target ball 120 disposed on the third joint 118 of the device 106 is fixed. For example, this fixed positional distance relationship between the test target balls can be achieved by deploying the test target balls such that the distance between each test target ball is a different fixed value when the device 106 moves, or by deploying the test target balls such that the distance between two test target balls is always three test balls when the device 106 moves. The maximum value among the distances between the target balls and the minimum value among the distances between the other two test target balls are always the maximum value among the distances between the three test target balls. For example, when the device 106 moves, the distances between each pair of the first test target ball 112, the second test target ball 116, and the third test target ball 120 are all different fixed values. Or, when the device 106 moves, the distance between the first test target ball 112 and the third test target ball 120 is the maximum value among the distances between the three test target balls, and the distance between the first test target ball 112 and the second test target ball 116 is the minimum value among the distances between the three test target balls. At the deployment location of the test target balls, the positional distance between each test target ball is fixed. Here, the positional distance between each test target ball can be adjusted by the target ball fixture 126. The data acquisition instrument 122 collects the positional data of the test target balls at a certain sampling frequency. By identifying the distance and position between the test target balls, it is determined which of the test target balls collected by the data acquisition instrument 122 is the first test target ball 112, the second test target ball 116, and the third test target ball 120. Based on the identified test target balls installed on the joint, the performance parameters of the corresponding joint are calculated.

[0058] Here, the data acquisition device 122 and the instrument 106 must satisfy the positional relationship: when each joint of the instrument 106 is in motion, the data acquisition device 122 can acquire the position of the test target ball installed on each joint of the instrument 106.

[0059] The instrument performance testing system in this embodiment includes a test target ball, a target ball fixture 126, a drive device 104, a base 102, and a data acquisition device 122. The drive device 104 consists of multiple motors and drivers, used to drive the movement of each instrument 106. The target ball fixture 126 can be fixed to each joint of the instrument 106 and has a test target ball mounting interface. The data acquisition device 122 can be a target point acquisition instrument, which uses optical or electromagnetic means to acquire the position of the target point, thereby acquiring the position of the test target ball in real time and feeding it back to the host computer. The host computer processes the test target ball position information fed back by the target point acquisition instrument in real time and converts it into motion indicators of each joint of the instrument through an internal algorithm. Furthermore, different automated testing programs can be edited and defined on the host computer according to different instrument types, and the host computer controls the drive device to achieve fully automated testing of the instrument's motion performance. By collecting the spatial position information of the test target ball, the joint rotation angle of the instrument is indirectly measured, and the rotation accuracy of the joint of the instrument is obtained. Under the premise that the accuracy of the data acquisition instrument 122 is constant, the accuracy of joint motion performance testing can be improved by optimizing the length of the target ball fixture 126. Under the condition that the target ball position error is constant, the longer the target ball fixture 126 is, the smaller the angle error.

[0060] In this embodiment, the instrument performance testing system sets test target balls on each joint of the instrument 106 and sets a fixed positional relationship between the test target balls. By using the fixed positional relationship, it identifies each test target ball collected by the data acquisition instrument 122, thereby realizing the performance testing of each joint. It does not involve complex calibration work and the testing process is simple.

[0061] In some of these embodiments, the first joint 110 is a rotational joint, the second joint 114 is a pitch joint, and the third joint 118 is a yaw joint.

[0062] Before conducting the instrument performance test, the test target balls of each joint are deployed in a fixed positional relationship using the target ball fixture 126. This fixed positional relationship means that, during the movement of the instrument 106, the distance between two test target balls is always the maximum value among the distances between the three test target balls, and the distance between the other two test target balls is always the minimum value among the distances between the three test target balls.

[0063] When testing the performance parameters of the rotary joint, only the rotary joint rotates. At this time, the distance between the three test target balls remains unchanged. The distance between the three test target balls is always the same as the distance between the three test target balls when the instrument 106 is in the initial position. According to the fixed positional relationship that the distance between two test target balls is always the maximum value among the distances between the three test target balls and the distance between the other two test target balls is always the minimum value among the distances between the three test target balls when the instrument 106 moves, the data acquisition instrument 122 collects the position data of the test target balls at a certain sampling frequency. Through the distance relationship between the test target balls, it identifies which of the test target balls collected by the data acquisition instrument 122 is the first test target ball 112, the second test target ball 116, and the third test target ball 120. Thus, the performance parameters of the rotary joint are calculated based on the identified test target balls installed on the rotary joint.

[0064] When testing the parameters of the pitch and / or yaw joints, the distance between the three test target balls is not fixed during the movement of the pitch and / or yaw joints. According to the pre-set fixed positional relationship that the distance between two test target balls is always the maximum value among the distances between the three test target balls and the distance between the other two test target balls is always the minimum value among the distances between the three test target balls during the movement of the device 106, the data acquisition instrument 122 collects the position data of the test target balls at a certain sampling frequency. Through the distance relationship between the test target balls, it identifies which of the test target balls collected by the data acquisition instrument 122 is the first test target ball 112, the second test target ball 116, and the third test target ball 120. Based on the identified test target balls installed in the pitch and / or yaw joints, the performance parameters of the pitch and / or yaw joints are calculated.

[0065] In some embodiments, the controller 124 can be a host computer, through which the user can issue performance test commands to the device 106. The control unit of the host computer controls the drive device 104 to drive the movement of each joint of the device 106 according to the performance test commands.

[0066] This embodiment provides a device performance testing system, which is used to test the performance parameters of multiple devices. Figure 2 This is a schematic diagram of another instrument performance testing system in this embodiment, as shown below. Figure 2As shown, the system includes: a base 102, test target balls mounted on multiple instruments, a drive device 104 mounted on the base 102 for driving the joint movements of the multiple instruments, a fixed target ball 208 mounted on the base 102, a data acquisition unit 122, and a controller 124. The multiple instruments are mounted on the base 102. The fixed target ball 208 can be mounted on the same base as the instruments or on separate bases. The test target balls include a first test target ball 112 mounted on the first joint 110 of each instrument, a second test target ball 116 mounted on the second joint 114 of each instrument, and a third test target ball 120 mounted on the third joint 118 of each instrument. The positional distance between the test target balls of each instrument is fixed, and the positional distance between the test target balls of different instruments and the fixed target ball 208 is also fixed. The data acquisition device 122 is used to acquire the position data of the first test target ball 112, the second test target ball 116, the third test target ball 120 and the position data of the fixed target ball 208 of each instrument. The controller 124 is connected to the drive device 104 and the data acquisition device 122 respectively. The controller 124 is used to control the drive device 104 to drive the joint movement of multiple instruments and to control the data acquisition device 122 to acquire data.

[0067] Specifically, such as Figure 2 As shown, the system includes three instruments: the first instrument 202, the second instrument 204, and the third instrument 206. Figure 2 The first instrument 202, the second instrument 204, and the third instrument 206 are in conjunction with Figure 1 The structures of the devices 106 in the text are the same or similar, such as having joints with 3 degrees of freedom. (Refer to...) Figure 1 and Figure 2 Specifically, the first instrument 202, the second instrument 204, and the third instrument 206 each have a first test target ball 112, a second test target ball 116, and a third test target ball 120. The positional distance relationship between the first test target ball 112, the second test target ball 116, and the third test target ball 120 of each instrument is fixed. This can be achieved by deploying the test target balls such that the distance between each test target ball on that instrument is a different fixed value when any instrument moves, or by deploying the test target balls such that the distance between two test target balls on that instrument is always the maximum value among the three distances, and the distance between the other two test target balls is always the minimum value among the three distances. The positional distance relationship between the test target balls of different instruments and the fixed target ball 208 is fixed. This can be achieved by deploying the test target balls such that the distance between all test target balls of each instrument and the fixed target ball 208 is within a different range when any instrument moves. The coverage area of ​​the data acquisition instrument 122 is... Figure 2 The S1 region in the example. Figure 2By deploying the test target ball and the fixed target ball 208, the distances between all the test target balls of the first instrument 202 and the fixed target ball 208 during the test are arranged such that, during the test, the distances between all the test target balls of the second instrument 204 and the fixed target ball 208 are in the first range, the distances between all the test target balls of the second instrument 204 and the fixed target ball 208 are in the second range, and the distances between all the test target balls of the third instrument 206 and the fixed target ball 208 are in the third range. The first range, the second range, and the third range do not overlap with each other. When deploying the test target ball and the fixed target ball 208, the positional distance between each test target ball is adjusted by the target ball fixture 126 to fix the positional distance relationship between each test target ball. The data acquisition instrument 122 collects the positional data of the test target balls at a certain sampling frequency. By the distance and position of the test target ball and the fixed target ball, different target balls of different instruments are identified. That is, the test target ball of the instrument to be tested is first identified by the distance and position of all test target balls and the fixed target ball. Then, the first test target ball 112, the second test target ball 116 and the third test target ball 120 of the instrument to be tested are identified according to the distance relationship between the test target balls. Thus, the performance parameters of the corresponding joint are calculated based on the identified test target balls installed on the joint.

[0068] In this embodiment, the instrument performance testing system uses test target balls and fixed target balls 208 set on each joint of multiple instruments. The positional distance between the test target balls of each instrument is fixed, and the positional distance between the test target balls and the fixed target balls 208 of different instruments is also fixed. By using the fixed positional relationship, the system identifies each test target ball collected by the data acquisition unit 122, thereby realizing the performance testing of each joint of multiple instruments. This eliminates the need for complex calibration work and simplifies the testing process. Instrument testing systems have high hardware costs, especially data acquisition units. To improve testing efficiency and reduce the overall cost of the testing platform, the instrument performance testing system provided in this embodiment can test the performance of multiple instruments in parallel on a single testing system or testing platform (equipped with one data acquisition unit).

[0069] This embodiment provides a device performance testing method, which is applied to, for example... Figure 1 The instrument performance testing system shown is Figure 3 This is a flowchart of a device performance testing method according to this embodiment, such as... Figure 3 As shown, the process includes the following steps:

[0070] Step S310: In response to the input performance test command, confirm the joint movement of the target test ball and the control device 106; the target test ball is one of the test balls.

[0071] Specifically, such as Figure 1As shown, the controller 124 responds to a performance test command input by the user. Based on the performance test command, the controller 124 confirms the target test ball and the corresponding joint movement of the control device 106. The target test ball is one of the test balls. For example, if the user inputs a performance test command to test the performance parameters of the first joint 110, the controller 124 determines that the target test ball is the first test ball 112 mounted on the first joint 110, and simultaneously controls the first joint 110 to move.

[0072] Step S320: Collect the position data of the test target ball.

[0073] Specifically, the controller 124 controls the data acquisition unit 122 to collect the position data of all the test target balls. For example, the data acquisition unit 122 collects the position data of the first test target ball 112, the second test target ball 116, and the third test target ball 120.

[0074] Step S330: Identify the target test ball based on the position data of the test target ball and the positional distance relationship between the test target balls.

[0075] Specifically, the controller 124 identifies the target test ball based on the position data of each test target ball collected by the data acquisition unit 122 and the positional distance relationship between the test target balls. For example, if the target test target ball is the first test target ball 112, the controller 124 identifies the first test target ball 112 based on the position data of the test target balls collected by the data acquisition unit 122 and the preset positional distance relationship between the test target balls. For instance, the preset positional distance relationship between the test target balls is that the distance between the first test target ball 112 and the second test target ball 116 is S1, and the distance between the first test target ball 112 and the third test target ball 120 is S2. S1 and S2 are not the same. If the distance between one of the test target balls collected by the data acquisition unit 122 and the other two test target balls is S1 and S2 respectively, then that one test target ball is the first test target ball 112, thus identifying the first test target ball 112. For example, the preset positional distance relationship between the test target balls is as follows: the distance D1 between the first test target ball 112 and the third test target ball 120 is the largest, the distance D2 between the first test target ball 112 and the second test target ball 116 is the smallest, and the distance D3 between the second test target ball 116 and the third test target ball 120 is in the middle. When the joint of the device 106 moves, D1 is always the maximum value among the three, and D2 is always the minimum value among the three. If the distance between one of the test target balls and the other two test target balls collected by the data acquisition instrument 122 is always the maximum and minimum values ​​among the three distances, then the one test target ball is the first test target ball 112, thereby identifying the first test target ball 112.

[0076] Step S340: Calculate the performance parameters of the instrument 106 based on the position data of the target test ball.

[0077] Specifically, based on the target test ball identified in step S330, the position data of the target test ball is obtained. Based on the position data of the target test ball collected multiple times, the performance parameters of the device 106 are calculated. For example, if the target test ball is the first test ball 112, after identifying the first test ball 112 in step S330, the current position data of the first test ball 112 is collected. Based on the position data of the first test ball 112 collected multiple times, the performance parameters of the first joint 110 are calculated. The performance parameters of the first joint 110 include, but are not limited to, the following: given the sampling frequency and the real-time position of the first test ball 112, the real-time rotation speed and speed fluctuation of the first joint 110 can be calculated; given the initial position A0, rotation center O1, and stop position A1 of the first test ball 112, the actual rotation angle of the first joint 110 can be calculated; multiple measurements of the rotation angle can be used to calculate the repeatability of the first joint 110. The testing methods for the motion performance of other joints (such as real-time speed, speed fluctuation, real-time rotation angle, repeatability, etc.) are similar to those for the first joint 110 and will not be repeated here.

[0078] In this embodiment, by setting test target balls on each joint of the device 106 and establishing a fixed positional relationship between the test target balls, the performance test of each joint is realized by identifying each test target ball collected by the data acquisition instrument 122 through the fixed positional relationship, without involving complex calibration work and the test process is simple.

[0079] In some embodiments, the first joint 110 is a rotational joint, the second joint 114 is a pitch joint, and the third joint 118 is a yaw joint. The performance testing methods for each joint of the device 106 are described in detail below when the first joint 110 is a rotational joint, the second joint 114 is a pitch joint, and the third joint 118 is a yaw joint.

[0080] The rotation, pitch, and yaw joints of apparatus 106 exhibit coupled motion; that is, when the rotational joint moves, the pitch and yaw joints are disturbed, and when the pitch joint moves, the yaw joint is disturbed (but the rotational joint is unaffected). Conversely, when the yaw joint moves, the rotation and pitch joints are unaffected. All three joints perform only rotational movements: the rotation angle of the rotational joint is ±180°, the rotation angle of the pitch joint is ±120°, and the rotation angle of the yaw joint is ±100°. A schematic diagram of the rotation and pitch joints of apparatus 106 is shown below. Figure 4 As shown, the rotational diagram of the yaw joint of device 106 is as follows. Figure 5 As shown.

[0081] Based on the above explanation, in order to improve testing efficiency and achieve fully automated testing, it is necessary to fix the first test target ball 112, the second test target ball 116, and the third test target ball 120, along with their target ball fixtures 126, to the corresponding joints before the test begins. A schematic diagram of the test target ball installation of the instrument 106 is shown below. Figure 6 As shown, the key technical point for achieving joint performance testing lies in corresponding the three test target balls acquired in real time by the data acquisition instrument 122 with the rotational joint, pitch joint, and yaw joint. The first test target ball 112, the second test target ball 116, and the third test target ball 120 are fixed to the rotational joint, pitch joint, and yaw joint of the instrument respectively by the target ball fixture 126. The configuration and size of the target ball fixture 126 are specially designed, and the position of the target ball is acquired in real time by the data acquisition instrument 122 at a set frequency.

[0082] First, the performance of the rotary joint is tested. The specific testing method is as follows:

[0083] The rotary joint is controlled to rotate, while other joints remain stationary (the pitch and yaw joints rotate with the rotary joint). The positions of the three test target balls are collected in real time, and the distance between each pair of balls is calculated at each sampling moment. The positional relationship between the test target balls is fixed through the design and installation position of the target ball fixture 126. The distance between the first test target ball 112 and the third test target ball 120 is denoted as D1, the distance between the first test target ball 112 and the second test target ball 116 as D2, and the distance between the second test target ball 116 and the third test target ball 120 as D3. This fixed positional relationship can be that D1, D2, and D3 are different fixed values, or that D1 is always the maximum value and D2 is always the minimum value among the three during the joint movement of the device 106. By calculating the distances between the test target balls, the three collected test target balls can be correlated with the rotary, pitch, and yaw joints, thus distinguishing the first test target ball 112, the second test target ball 116, and the third test target ball 120. The first test target ball 112 installed on the rotary joint is identified, and the performance test of the rotary joint is completed based on the position data of the first test target ball 112.

[0084] Next, the performance of the pitch joint was tested. The specific testing method is as follows:

[0085] All joints are fixed. The data acquisition unit 122 collects the positions of the three test target balls, calculates the distance between each pair of test target balls, and identifies the first test target ball 112 by referring to the performance testing method of the rotary joint, recording its position as p. The pitch joint is controlled to rotate, while the other joints remain fixed (the yaw joint rotates with the pitch joint). The data acquisition unit 122 collects the positions of the three test target balls in real time at a certain sampling frequency, calculating the distance between the three test target balls and the aforementioned position p at each sampling moment. If the distance between a certain test target ball and position p remains unchanged, this test target ball is the first test target ball 112. The positional relationship between the test target balls is fixed by the design and installation position of the target ball fixture 126. The second test target ball 116 and the third test target ball 120 can be identified through calculation. The second test target ball 116 installed on the pitch joint is identified, and the performance test of the pitch joint is completed based on the position data of the second test target ball 116.

[0086] Finally, the yaw joint was subjected to performance testing. The specific testing method was as follows:

[0087] All joints remain fixed. The data acquisition unit 122 collects the positions of the three test target balls, calculates the distances between each pair of the three test target balls, and compares them with the preset fixed positional relationships between the test target balls to identify the first test target ball 112 and the second test target ball 116, recording their positions as p1 and p2. The yaw joint is controlled to rotate, while the other joints remain fixed. The data acquisition unit 122 collects the positions of the three target balls in real time at a certain sampling frequency, calculating the distances between the three test target balls and p1 and p2 at each sampling moment. If the distance between a test target ball and p1 is zero, this target ball is the first test target ball 112; if the distance between a test target ball and p2 is zero, it is the second test target ball 116; if the distance between a test target ball and both p1 and p2 is not zero, this target ball is the third test target ball 120. The third test target ball 120 installed on the yaw joint is identified, and the performance test of the yaw joint is completed based on the position data of the third test target ball 120.

[0088] The performance test parameters for the rotary joint are as follows: the rotary joint moves from its negative limit position to its positive limit position. During this movement, the data acquisition instrument 122 collects the position of the first test target ball 112 at a certain frequency, and the rotation center O1 is fitted based on the motion trajectory of the first test target ball 112. Given the sampling frequency and the real-time position of the first test target ball 112, the real-time rotational speed and speed fluctuation of the rotary joint can be calculated. Given the initial position A0 of the first test target ball 112, the rotation center O1, and the stopping position A1, the actual rotation angle of the rotary joint can be calculated. The repeatability accuracy of the rotary joint can be calculated by measuring the rotation angle multiple times. The test methods for the motion performance of other joints (such as real-time speed, speed fluctuation, real-time rotation angle, repeatability accuracy, etc.) are similar to those for the rotary joint and will not be elaborated here.

[0089] This embodiment provides a device performance testing method, which is applied to, for example... Figure 2 The instrument performance testing system shown is Figure 7 This is a flowchart of another instrument performance testing method in this embodiment, such as... Figure 7 As shown, the process includes the following steps:

[0090] Step S710: In response to the input performance test command, determine the target test instrument and the target test ball of the target test instrument, and control the joint movement of the target test instrument; the target test ball is one of the test balls.

[0091] Specifically, such as Figure 1 and Figure 2 As shown, the controller 124 responds to a performance test command input by the user. Based on the performance test command, the controller 124 identifies the target test instrument and the target test ball of the target test instrument, and controls the joint movement of the target test instrument. The target test instrument is one of multiple instruments, and the target test ball is one of the test balls of the target test instrument. For example, if the user inputs a performance test command to test the performance parameters of the first joint 110 of the first instrument 202, then the controller 124 determines that the target test instrument is the first instrument 202, and the target test ball is the first test ball 112 mounted on the first joint 110 of the first instrument 202. Simultaneously, the controller 124 controls the first joint 110 of the first instrument 202 to move.

[0092] Step S720: Collect the position data of the test target ball.

[0093] Specifically, controller 124 controls data acquisition unit 122 to collect position data of all test target balls. For example, data acquisition unit 122 collects position data of the first test target ball 112, the second test target ball 116, and the third test target ball 120 of all instruments.

[0094] Step S730: Identify the test target ball of the target testing instrument based on the position data of the test target ball and the positional distance relationship between the test target ball and the fixed target ball 208.

[0095] Specifically, the controller 124 identifies all the test target balls of the target testing device based on the position data of the test target balls and the positional distance relationship between the test target balls and the fixed target ball 208. For example, if the target testing device is the first device 202, the controller 124 identifies all the test target balls of the first device 202 based on the currently collected position data of all the test target balls and the preset positional distance relationship between the test target balls and the fixed target ball 208. Optionally, the fixed target ball 208 can be marked as G1 after the data acquisition device 122 has acquired the position of the fixed target ball 208 and marked it after all the devices have been positioned. The preset positional distance relationship can be that the distance between all the test target balls of the first device 202 and the fixed target ball 208 is in a first range, the distance between all the test target balls of the second device 204 and the fixed target ball 208 is in a second range, and the distance between all the test target balls of the third device 206 and the fixed target ball 208 is in a third range, with no overlap between the first, second, and third ranges. If the distance between three of the test target balls acquired by the data acquisition instrument 122 and the fixed target ball 208 is within the first range, then the three test target balls are the three test target balls of the first instrument 202.

[0096] Step S740: Identify the target test ball of the target testing instrument based on the position data of the test target ball and the positional distance relationship between the test target balls.

[0097] Specifically, the controller 124 identifies the target test ball of the target testing instrument based on the position data of the three test target balls of the target testing instrument identified in step S730 and the preset positional distance relationship between the test target balls. For example, the target testing instrument is the first instrument 202, and the target test ball is the first test target ball 112 installed on the first joint 110 of the first instrument 202. Based on the position data of the test target balls collected by the data acquisition instrument 122 and the preset positional distance relationship between the test target balls, the first test target ball 112 is identified. For instance, the preset positional distance relationship between the test target balls is that the distance between the first test target ball 112 and the second test target ball 116 is S1, and the distance between the first test target ball 112 and the third test target ball 120 is S2. S1 and S2 are not the same. If the distance between one of the test target balls collected by the data acquisition instrument 122 and the other two test target balls is S1 and S2 respectively, then that one test target ball is the first test target ball 112, thus identifying the first test target ball 112. For example, the preset distance relationship between the test target balls is as follows: the distance between the first test target ball 112 and the third test target ball 120 is D1, the distance between the first test target ball 112 and the second test target ball 116 is D2, and the distance between the second test target ball 116 and the third test target ball 120 is D3. When the joints of the device move, D1 is always the maximum value among the three, and D2 is always the minimum value among the three. If the distance between one of the test target balls and the other two test target balls collected by the data acquisition instrument 122 is always the maximum and minimum values ​​among the three distances, then the one test target ball is the first test target ball 112, thereby identifying the first test target ball 112.

[0098] Step S750: Calculate the performance parameters of the target testing device based on the position data of the target test ball.

[0099] Specifically, based on the target test ball of the target testing instrument identified in step S740, the position data of the target test ball is obtained, and the performance parameters of the target testing instrument are calculated based on the position data of the target test ball collected multiple times. For example, the target testing instrument is the first instrument 202, and the target test ball is the first test ball 112 mounted on the first joint 110 of the first instrument 202. After identifying the first test ball 112 on the first joint 110 of the first instrument 202 in step S740, the current position data of the first test ball 112 is collected, and the performance parameters of the first joint 110 of the first instrument 202 are calculated based on the position data of the first test ball 112 collected multiple times.

[0100] In this embodiment, test target balls and fixed target balls 208 are respectively set on each joint of multiple instruments. The positional distance relationship between the test target balls of each instrument is fixed, and the positional distance relationship between the test target balls of different instruments and the fixed target balls 208 is fixed. By using the fixed positional relationship, the test target balls collected by the data acquisition instrument 122 are identified, thereby realizing the performance testing of each joint of multiple instruments. It does not involve complex calibration work and the testing process is simple.

[0101] Multiple instruments are arranged in the area covered by the data acquisition instrument 122. Each joint of each instrument is equipped with a test target ball, and a fixed target ball is also installed on a fixed base. The minimum distance between the test target ball on each joint of the first instrument 202 and the fixed target ball 208 when each joint moves within its respective range of motion is defined as SL1 and the maximum distance as SH1. The minimum distance between the test target ball on each joint of the second instrument 204 and the fixed target ball 208 when each joint moves within its range of motion is SL2 and the maximum distance as SH2. The minimum distance between the test target ball on each joint of the third instrument 206 and the fixed target ball 208 when each joint moves within its range of motion is SL3 and the maximum distance as SH3. In addition, the minimum distance between the test target ball on each joint of the other instruments and the fixed target ball 208 when each joint moves within its range of motion is SL4 and the maximum distance as SH4. By rationally arranging the positions of each instrument under test, it is ensured that the distance range between the test target ball on each joint of each instrument and the fixed target ball 208 does not overlap, i.e., SH1 < SL2, SH2 < SL3, SH3 < SL4. The distance relationship between the test target ball and the fixed target ball 208 is as follows: Figure 8 As shown.

[0102] At the same time, the data acquisition unit 122 can acquire data on all the test target balls and fixed target balls 208 on all the instruments. By calculating the distance between each test target ball and the fixed target ball 208, the test target balls are assigned to each instrument. For example, if the distance between a target ball and target ball O on a certain instrument is between SL2 and SH2, then the ball is determined to belong to instrument 2. The distinction of which joint each test target ball on each instrument belongs to has been described in detail in the previous embodiments and will not be repeated here.

[0103] This embodiment also provides a device for testing instrument performance, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. The terms "module," "unit," "subunit," etc., used below refer to combinations of software and / or hardware that perform a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0104] Figure 9 This is a structural block diagram of a device performance testing apparatus according to this embodiment, as shown below. Figure 9As shown, the device includes:

[0105] The first determining module 910 is used to determine the joint motion of the target test ball and the control device in response to the input performance test command; the target test ball is one of the test balls;

[0106] The first acquisition module 920 is used to acquire the position data of the test target ball;

[0107] The first identification module 930 is used to identify the target test ball based on the position data of the test target ball and the positional distance relationship between the test target balls;

[0108] The first calculation module 940 is used to calculate the performance parameters of the instrument based on the position data of the target test ball.

[0109] Figure 10 This is a structural block diagram of another instrument performance testing device in this embodiment, as shown below. Figure 10 As shown, the device includes:

[0110] The second determining device 1010 is used to determine the target testing instrument and the target testing ball of the target testing instrument in response to the input performance test command, and to control the joint movement of the target testing instrument; the target testing ball is one of the test balls;

[0111] The second acquisition module 1020 is used to acquire the position data of the test target ball;

[0112] The second identification module 1030 is used to identify the test target ball of the target testing instrument based on the position data of the test target ball and the positional distance relationship between the test target ball and the fixed target ball;

[0113] The third identification module 1040 is used to identify the target test ball of the target testing instrument based on the position data of the test target ball and the positional distance relationship between the test target balls;

[0114] The second calculation module 1050 is used to calculate the performance parameters of the target testing instrument based on the position data of the target test ball.

[0115] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can reside in the same processor; or the above modules can be located in different processors in any combination.

[0116] This embodiment also provides an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0117] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0118] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0119] S1, in response to the input performance test command, confirms the joint movement of the target test ball and the control device; the target test ball is one of the test balls;

[0120] S2, Collect the position data of the test target ball;

[0121] S3, Identify the target test ball based on the position data of the test target ball and the positional distance relationship between the test target balls;

[0122] S4. Calculate the performance parameters of the instrument based on the position data of the target test ball.

[0123] Alternatively, in this embodiment, the processor may also be configured to perform the following steps via a computer program:

[0124] Q1, in response to the input performance test command, determines the target test instrument and the target test ball of the target test instrument, and controls the joint movement of the target test instrument; the target test ball is one of the test balls;

[0125] Q2, Collect the position data of the test target ball;

[0126] Q3. Based on the position data of the test target ball and the positional distance relationship between the test target ball and the fixed target ball, identify the test target ball of the target testing instrument;

[0127] Q4. Based on the position data of the test target ball and the positional distance relationship between the test target balls, identify the target test target ball of the target testing instrument;

[0128] Q5. Calculate the performance parameters of the target testing instrument based on the position data of the target test ball.

[0129] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated in this embodiment.

[0130] Furthermore, in conjunction with the device performance testing methods provided in the above embodiments, this embodiment can also provide a storage medium for implementation. This storage medium stores a computer program; when executed by a processor, the computer program implements the steps of any of the device performance testing methods in the above embodiments.

[0131] It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. All other embodiments derived by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0132] Obviously, the accompanying drawings are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar situations based on these drawings without any creative effort. Furthermore, it is understood that although the work done in this development process may be complex and lengthy, for those skilled in the art, certain design, manufacturing, or production modifications made based on the technical content disclosed in this application are merely conventional technical means and should not be considered as insufficient disclosure of this application.

[0133] The term "embodiment" in this application refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily imply the same embodiment, nor does it imply that it is mutually exclusive with or independent of other embodiments. It will be clearly or implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0134] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A method for testing the performance of a device, characterized in that, An instrument performance testing system is adopted, the system comprising: a base, a driving device disposed on the base for driving the joint movement of the instrument, and a test target ball disposed on the instrument; The instrument is mounted on the base; the test target ball includes a first test target ball mounted on a first joint of the instrument, a second test target ball mounted on a second joint of the instrument, and a third test target ball mounted on a third joint of the instrument; the positional distance between the test target balls is fixed; The fixed positional distance relationship between the test target balls means that the distance between each test target ball is a different fixed value when the instrument moves, or that the distance between two test target balls is always the maximum value among the distances between the three test target balls and the distance between the other two test target balls is always the minimum value among the distances between the three test target balls when the instrument moves. The method includes: In response to the input performance test command, the target test ball is identified and the joint movement of the device is controlled; the target test ball is one of the test balls; Collect the position data of the test target ball; The target test ball is identified based on the position data of the test target ball and the positional distance relationship between the test target balls; The performance parameters of the instrument are calculated based on the position data of the target test ball.

2. A device performance testing system, characterized in that, The system includes: a base, a drive device disposed on the base for driving the joint movement of the instrument, and a test target ball disposed on the instrument; the instrument is disposed on the base. The test target ball includes a first test target ball disposed on the first joint of the instrument, a second test target ball disposed on the second joint of the instrument, and a third test target ball disposed on the third joint of the instrument; the positional distance relationship between the test target balls is fixed; The instrument performance testing system is configured to perform the instrument performance testing method as described in claim 1.

3. The instrument performance testing system according to claim 2, characterized in that, The system also includes: a data acquisition unit and a controller; The data acquisition device is used to acquire the position data of the first test target ball, the second test target ball, and the third test target ball; The controller is connected to the drive device and the data acquisition instrument respectively. The controller is used to control the drive device to drive the joint movement of the instrument and to control the data acquisition instrument to perform data acquisition.

4. The instrument performance testing system according to claim 2 or 3, characterized in that, The distance between the first test target ball and the third test target ball is the largest, and the distance between the first test target ball and the second test target ball is the smallest.

5. A method for testing the performance of a device, characterized in that, An instrument performance testing system is used to test the performance parameters of multiple instruments. The system includes: a base, a test target ball disposed on the multiple instruments, a drive device disposed on the base for driving the joint movement of the multiple instruments, and a fixed target ball disposed on the base; the multiple instruments are disposed on the base. The test target ball includes a first test target ball disposed on a first joint of each instrument, a second test target ball disposed on a second joint of each instrument, and a third test target ball disposed on a third joint of each instrument; the positional distance relationship between the test target balls of each instrument is fixed, and the positional distance relationship between the test target balls of different instruments and the fixed target ball is fixed; The fixed positional distance relationship between the test target balls and the fixed target balls of different instruments means that when any instrument moves, the distance between all the test target balls of each instrument and the fixed target ball is within a different range; The fixed positional distance relationship between the test target balls of each instrument means that when any instrument moves, the distance between each test target ball on that instrument is a different fixed value, or that when any instrument moves, the distance between two test target balls on that instrument is always the maximum value among the distances between the three test target balls and the distance between the other two test target balls is always the minimum value among the distances between the three test target balls. The method includes: In response to an input performance test command, the target test instrument and the target test ball of the target test instrument are determined, and the joint movement of the target test instrument is controlled; the target test ball is one of the test balls. Collect the position data of the test target ball; Based on the position data of the test target ball and the positional distance relationship between the test target ball and the fixed target ball, the test target ball of the target testing instrument is identified; Based on the position data of the test target ball and the positional distance relationship between the test target balls, the target test target ball of the target testing instrument is identified; The performance parameters of the target testing device are calculated based on the position data of the target test ball.

6. A device performance testing system, characterized in that, The system is used to test the performance parameters of multiple instruments. The system includes: a base, a test target ball disposed on the multiple instruments, a drive device disposed on the base for driving the joint movement of the multiple instruments, and a fixed target ball disposed on the base; the multiple instruments are disposed on the base. The test target ball includes a first test target ball disposed on a first joint of each instrument, a second test target ball disposed on a second joint of each instrument, and a third test target ball disposed on a third joint of each instrument; the positional distance relationship between the test target balls of each instrument is fixed, and the positional distance relationship between the test target balls of different instruments and the fixed target ball is fixed; The instrument performance testing system is configured to perform the instrument performance testing method as described in claim 5.

7. The instrument performance testing system according to claim 6, characterized in that, The system also includes: a data acquisition unit and a controller; The data acquisition instrument is used to acquire the position data of the first test target ball, the second test target ball, the third test target ball of each instrument, and the position data of the fixed target ball. The controller is connected to the drive device and the data acquisition device respectively. The controller is used to control the drive device to drive the joint movement of the multiple instruments and to control the data acquisition device to perform data acquisition.

8. A device for testing the performance of a medical instrument, characterized in that, The apparatus for performing the instrument performance testing method as described in claim 1, comprising: The first determining module is used to determine the target test ball and control the joint movement of the instrument in response to the input performance test command; the target test ball is one of the test balls; The first acquisition module is used to acquire the position data of the test target ball; The first identification module is used to identify the target test ball based on the position data of the test target ball and the positional distance relationship between the test target balls; The first calculation module is used to calculate the performance parameters of the instrument based on the position data of the target test ball.

9. A device for testing the performance of a medical instrument, characterized in that, The apparatus for performing the instrument performance testing method as described in claim 5 includes: The second determining device is configured to, in response to an input performance test command, determine a target test instrument and a target test ball of the target test instrument, and control the joint movement of the target test instrument; the target test ball is one of the test balls. The second acquisition module is used to acquire the position data of the test target ball; The second identification module is used to identify the test target ball of the target testing instrument based on the position data of the test target ball and the positional distance relationship between the test target ball and the fixed target ball; The third identification module is used to identify the target test ball of the target testing instrument based on the position data of the test target ball and the positional distance relationship between the test target balls; The second calculation module is used to calculate the performance parameters of the target testing device based on the position data of the target test ball.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the instrument performance testing method according to claim 1 or 5.

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