Surgical robotic instrument end-of-stroke vibration testing system and method

Abstract

The embodiment of the application discloses a surgical robot instrument end vibration test system and method, wherein the system comprises: a to-be-tested surgical robot, a collaborative robot, a test data acquisition device and a test control analysis device; the instrument arm end of the to-be-tested surgical robot holds a preset instrument; the collaborative robot is used for being connected with the operation master hand of the to-be-tested surgical robot to drive the instrument end of the to-be-tested surgical robot to perform collaborative motion with the collaborative robot; the test data acquisition device is used for collecting dynamic motion data of the to-be-tested surgical robot in the collaborative motion process; and the test control analysis device is used for controlling the motion process of the collaborative motion. The technical scheme of the embodiment of the application solves the problem that the existing vibration test scheme cannot be applied to fine test objects with small dimensions, can perform vibration test on the instrument end of the surgical robot, and improves the accuracy of evaluating the structure and performance of the surgical robot.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to a vibration testing system and method for the end effector of a surgical robot. Background Technology

[0002] As the surgical instruments of laparoscopic surgical robots, which are the execution mechanisms for surgeons, their excellent structural and mechanical properties ensure the reliability and quality of laparoscopic robotic surgery. Among these, the vibration of the end effector of the surgical instrument reflects the reliability and stability of the surgical robot and can be used to evaluate its performance.

[0003] However, current vibration testing solutions for robots are all feasible solutions for industrial robots, which are large-dimensional vibration testing objects, and are not suitable for surgical robots, which are small-dimensional and delicate testing objects. Summary of the Invention

[0004] This invention provides a vibration testing system and method for the end effector of a surgical robot, which solves the problem that existing vibration testing methods cannot be applied to fine test objects with small dimensions. It can perform vibration testing on the end effector of a surgical robot, thereby improving the accuracy of evaluating the structure and performance of the surgical robot.

[0005] In a first aspect, embodiments of the present invention provide a vibration testing system for the end effector of a surgical robot, the system comprising:

[0006] The surgical robot to be tested, the collaborative robot, the test data acquisition equipment, and the test control and analysis equipment;

[0007] The surgical robot under test has a pre-set instrument at the end of its instrument arm;

[0008] The collaborative robot is used to connect with the operating hand of the surgical robot under test to drive the instrument end effector of the surgical robot under test to move in coordination with the collaborative robot.

[0009] The test data acquisition device is used to collect the dynamic motion data of the surgical robot under test during the coordinated motion process;

[0010] The test control and analysis equipment is used to control the motion process of the coordinated motion, and also to receive and analyze the dynamic motion data to obtain the vibration test results of the end effector of the surgical robot under test.

[0011] Secondly, embodiments of the present invention provide a method for testing the vibration of the end effector of a surgical robot, the method comprising:

[0012] The dynamic motion data of the end effector of the surgical robot under test is acquired, wherein the surgical robot under test moves according to a preset test path under the control of the collaborative robot;

[0013] Vibration analysis of the instrument end is performed based on the dynamic motion parameters of at least one preset test point in the preset test path.

[0014] The technical solution provided by this invention includes a surgical robot under test, a collaborative robot, a test data acquisition device, and a test control and analysis device. The surgical robot under test has a pre-set instrument at its end effector arm. The collaborative robot connects to the operating arm of the surgical robot under test to drive the end effector of the surgical robot under test to move in coordination with the collaborative robot. The test data acquisition device collects dynamic motion data of the surgical robot under test during the coordinated motion. The test control and analysis device controls the motion process of the coordinated motion and receives and analyzes the dynamic motion data to obtain vibration test results for the end effector of the surgical robot under test. This invention solves the problem that existing vibration testing methods are not applicable to finely detailed test objects with small dimensions. It can perform vibration testing on the end effector of surgical robots, improving the accuracy of evaluating the structure and performance of surgical robots.

[0015] The technical solution provided by this invention includes a surgical robot under test, a collaborative robot, a test data acquisition device, and a test control and analysis device. The surgical robot under test has a pre-set instrument at its end effector arm. The collaborative robot connects to the operating arm of the surgical robot under test to drive the end effector of the surgical robot under test to move in coordination with the collaborative robot. The test data acquisition device collects dynamic motion data of the surgical robot under test during the coordinated motion. The test control and analysis device controls the motion process of the coordinated motion and receives and analyzes the dynamic motion data to obtain vibration test results for the end effector of the surgical robot under test. This invention solves the problem that existing vibration testing methods are not applicable to finely detailed test objects with small dimensions. It can perform vibration testing on the end effector of surgical robots, improving the accuracy of evaluating the structure and performance of surgical robots. Attached Figure Description

[0016] Figure 1 This is a structural diagram of a surgical robot instrument end-effector vibration testing system provided in an embodiment of the present invention;

[0017] Figure 1a This is a schematic diagram of a collaborative robot connection provided in an embodiment of the present invention;

[0018] Figure 2 This is a structural diagram of another surgical robot instrument end-effector vibration testing system provided in an embodiment of the present invention;

[0019] Figure 2a This is a schematic diagram of a motion trajectory provided in an embodiment of the present invention;

[0020] Figure 2b This is a schematic diagram of position overshoot calculation provided by an embodiment of the present invention;

[0021] Figure 2c This is a schematic diagram of a displacement vibration cycle in the X direction provided by an embodiment of the present invention;

[0022] Figure 2d This is a schematic diagram of a target test point for vibration displacement in the X direction provided in an embodiment of the present invention;

[0023] Figure 2e This is a schematic diagram of the vibration displacement and vibration time time spectrum in the X-axis direction provided by an embodiment of the present invention;

[0024] Figure 2f This is a schematic diagram of the vibration displacement and vibration time time spectrum in the Y-axis direction provided by an embodiment of the present invention;

[0025] Figure 2g This is a schematic diagram of the vibration displacement and vibration time time spectrum in the Z-axis direction provided by an embodiment of the present invention;

[0026] Figure 3 This is a flowchart of a vibration testing method for the end effector of a surgical robot provided in an embodiment of the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Figure 1 This is a structural diagram of a vibration testing system for the end effector of a surgical robot provided in an embodiment of the present invention. This embodiment of the present invention is applicable to scenarios involving vibration testing of the end effector of surgical robots, such as... Figure 1 As shown, the surgical robot instrument end-effector vibration testing system includes:

[0029] The test surgical robot 11, collaborative robot 12, test data acquisition equipment 13, and test control and analysis equipment 14 are included.

[0030] Among them, the surgical robot 11 to be tested can be a laparoscopic surgical robot, and its instrument arm end holds a preset instrument. The preset instrument can be an instrument forceps head, which can be set at a distance of 2 / 3 of the instrument stroke relative to the trocar.

[0031] The surgical robot under test has three proportional control modes: conventional (1:2), fine (1:3), and ultra-fine (1:4). The proportional value (1:2) is the ratio of the distance the slave hand moves to the distance the master hand surgical instrument moves. The higher the ratio, the smaller the distance the slave hand moves, and the smaller the relative end-effector vibration amplitude. Therefore, among the three proportional control modes, the conventional mode is the worst. So the preferred proportional control mode for testing is the conventional mode (1:2).

[0032] like Figure 1a As shown, the collaborative robot 12 is used to connect with the operating master hand 111 of the surgical robot 11 under test. The operating master hand 111 is connected to the operating table, i.e., the test control and analysis device 14, to drive the end effector of the surgical robot 11 under test to move in coordination with the collaborative robot 12, so as to ensure the consistency of the motion conditions.

[0033] The test data acquisition device 13 is used to collect dynamic motion data of the surgical robot under test during the coordinated movement process.

[0034] Dynamic motion data can include acceleration data and vibration-related data generated during coordinated motion.

[0035] The test control and analysis device 14 is used to control the motion process of the coordinated motion, and also to receive and analyze dynamic motion data to obtain the vibration test results of the end effector of the surgical robot 11 under test.

[0036] Optionally, the test control and analysis device 14 is also used to adjust the initial poses of the collaborative robot 12 and the surgical robot 11 under test before conducting vibration testing, so that the corresponding collaborative robot coordinate system and the surgical robot coordinate system satisfy the preset coordinate system mapping relationship.

[0037] Pose can describe the position and orientation of a collaborative robot and a surgical robot under test in their respective spatial coordinate systems. Position refers to the location in space, and orientation refers to the orientation in space.

[0038] By adjusting the initial pose, a one-to-one correspondence is established between the X-axis and X-axis, Y-axis and Y-axis, and Z-axis of the collaborative robot coordinate system and the surgical robot coordinate system, thereby ensuring the consistency of collaborative motion.

[0039] The X-axis points towards the center of the instrument's clamp head, which is also the robot's forward and backward movement direction; the Y-axis points towards the robot's up and down movement direction; and the Z-axis points towards the robot's left and right movement direction.

[0040] Furthermore, by setting reasonable initial poses, the movement trajectories of the collaborative robot and the surgical robot under test are ensured to run smoothly without interfering with each other or experiencing any stuttering.

[0041] The technical solution provided by this invention includes a surgical robot under test, a collaborative robot, a test data acquisition device, and a test control and analysis device. The surgical robot under test has a pre-set instrument at its end effector arm. The collaborative robot connects to the operating arm of the surgical robot under test to drive the end effector of the surgical robot under test to move in coordination with the collaborative robot. The test data acquisition device collects dynamic motion data of the surgical robot under test during the coordinated motion. The test control and analysis device controls the motion process of the coordinated motion and receives and analyzes the dynamic motion data to obtain vibration test results for the end effector of the surgical robot under test. This invention solves the problem that existing vibration testing methods are not applicable to finely detailed test objects with small dimensions. It can perform vibration testing on the end effector of surgical robots, improving the accuracy of evaluating the structure and performance of surgical robots.

[0042] Example 2

[0043] Figure 2 This is a structural diagram of a surgical robot instrument end-effector vibration testing system provided by an embodiment of the present invention. This embodiment of the present invention is applicable to scenarios involving vibration testing of the surgical robot instrument end-effector. As shown in the figure, the surgical robot instrument end-effector vibration testing system includes a surgical robot under test 11, a collaborative robot 12, a test data acquisition device 13, and a test control and analysis device 14. The test data acquisition device 13 includes a motion sensor 131 and a multi-channel dynamic signal analyzer 132.

[0044] Among them, the motion sensor is set at the end of the surgical robot under test to sense the dynamic signals of the surgical robot under test during the cooperative movement process; the multi-channel dynamic signal analyzer is used to receive the dynamic signals collected by the motion sensor and send the dynamic signals as dynamic motion data to the test control and analysis equipment.

[0045] Specifically, the motion sensor can be a triaxial vibration acceleration sensor, which can be fixed to the instrument forceps of the surgical robot under test using double-ended studs. The sensor is positioned at the measurement location on the surgical robot, and the principle for selecting the measurement point is to be as close as possible to the target analysis area. The target analysis area can be set according to the actual test requirements. Due to the installation requirements of the vibration acceleration sensor, a lightweight and rigid circular plate is glued to the instrument forceps, and the sensor is glued and fixed onto the circular plate. The motion sensor senses the vibration acceleration signal generated by the surgical robot under test during its coordinated movement. The X, Y, and Z terminals of the motion sensor correspond to the CH1, CH2, and CH3 channels of the multi-channel dynamic signal analyzer, respectively. The test type of the multi-channel dynamic signal analyzer can be set to displacement, and the sampling frequency can be set to 100Hz. This allows the multi-channel dynamic signal analyzer to receive the vibration acceleration signal, process it into dynamic motion data, and send it to the test control and analysis equipment.

[0046] Optionally, the collaborative robot is used to: move according to a preset test motion trajectory based on preset motion parameters, so as to drive the surgical robot under test to perform multiple cyclic movements according to the preset test motion trajectory.

[0047] Specifically, motion parameters can include motion trajectory, motion speed, motion acceleration, and number of cycles. The motion trajectory can be the coordinates of trajectory points. By inputting motion parameters, the collaborative robot drives the surgical robot under test to repeatedly cycle along the same motion trajectory under preset test load and preset test speed. One cycle can be from the starting point, through several other fixed preset points to the ending point, and then from the ending point back to the starting point. Multiple cycles are performed to ensure that sufficient data can be collected for analysis and to reduce the error caused by a single motion in the test.

[0048] Optionally, the preset test motion trajectory includes multiple target test trajectory points.

[0049] The target test trajectory points can include a start point, an end point, and multiple intermediate points, such as... Figure 2a As shown, there are 5 target test trajectory points, namely P1, P2, P3, P4 and P5. Among them, P1 is the starting point of the movement and P5 is the ending point of the movement. The pose of the collaborative robot is P1-P2-P3-P4-P5. The trajectory of the first cycle is: P1-P2-P3-P4-P5-P1. The trajectory of the first and second cycles is consecutive: P1-P2-P3-P4-P5-P1-P2-P3-P4-P5-P1, and so on.

[0050] Furthermore, the starting point P1 is located at the intersection of the diagonals of the example plane C1-C2-C7-C8, P3 and P5 are on one diagonal of the example plane C2-C8, and P2 and P4 are on the other diagonal of the example plane C1-C7. The distance P2-C1 between P2 and the plane vertex C1 closest to P2 is equal to the distance P4-C7 between P4 and the plane vertex C7 closest to P4. These two distances can be controlled to be equal to (0.1±0.02)*L, where L is the length of the diagonal.

[0051] Optionally, the test control and analysis equipment is specifically used for:

[0052] Based on the dynamic motion data of multiple target test points, the position overshoot at each target test point is analyzed, and the vibration test results of the instrument end effector of the surgical robot under test at multiple target test points are determined based on the position overshoot. The position overshoot is the maximum distance between the instrument end effector and the corresponding target test point, determined based on the acceleration fluctuation of the instrument end effector of the surgical robot under test.

[0053] Specifically, position overshoot measures a robot’s ability to stop smoothly and accurately in its actual position. Position overshoot refers to the maximum distance between the instantaneous position of the surgical robot’s instrument end effector after it first enters and then exceeds the threshold zone and the actual stable position.

[0054] Specifically, such as Figure 2b As shown, the position overshoot can be determined as follows:

[0055] Position overshoot OV = max OV j j is the loop count, OV j =maxD ij If maxD ij > Threshold band, OV j =0, if maxD ij ≤ Threshold band,

[0056]

[0057] i represents the sampling point number measured after the robot enters the threshold zone, and m represents the number of sampling points.

[0058] The test control and analysis equipment may include data acquisition and analysis tools to obtain vibration displacement and vibration time. To avoid interference from single data anomalies, five sets of tests are performed, with each set consisting of five cycles. The average of the five sets of data is then used as the corresponding vibration displacement and vibration time. Figure 2b As shown, taking the calculation of the average vibration displacement in the X direction as an example, the calculation of vibration displacement and vibration time in other directions is the same. The formula for calculating the average vibration displacement in the X direction is:

[0059]

[0060] In the formula, X1 is the X-direction vibration displacement value corresponding to the first selected cycle, and the unit of vibration displacement value is millimeters; X2 is the X-direction vibration displacement value corresponding to the second selected cycle; X3 is the X-direction vibration displacement value corresponding to the third selected cycle; X4 is the X-direction vibration displacement value corresponding to the fourth selected cycle; and X5 is the X-direction vibration displacement value corresponding to the fifth selected cycle.

[0061] The data collection process involves first eliminating anomalies from five cycles of vibration displacement at point P1 in the X direction for each group, and then selecting the cycle with the largest vibration displacement as the analysis object. For the selected cycle, the vibration displacement and vibration time at point P1 are analyzed and plotted for solution.

[0062] The process of solving the problem by drawing diagrams can be as follows: Figure 2c As shown, data was collected for 5 cycles. The vibration displacement at point P1 where the action stopped was compared in each of the 5 cycles. The vibration displacement was the largest in the first cycle, so the first cycle was selected as the analysis object.

[0063] like Figure 2d As shown, a single cycle involves a motion process of "P1-P2-P3-P4-P5-P1", where the analysis focuses on the vibration displacement and vibration time t of the instrument clamp head returning to point P1. Figure 2e , Figure 2f and Figure 2g The image shows the time-domain spectra of vibration displacement and vibration time in the X, Y, and Z axes of the sensor. The surgical instrument tip is evaluated by calculating the vibration displacement and vibration time in each direction.

[0064] The technical solution provided in this invention includes a surgical robot under test, a collaborative robot, a test data acquisition device, and a test control and analysis device. The surgical robot under test has a pre-set instrument at the end of its instrument arm. The collaborative robot is connected to the operating arm of the surgical robot under test to drive the instrument end of the surgical robot under test to move in coordination with the collaborative robot.

[0065] The test data acquisition device is used to collect dynamic motion data of the surgical robot under test during the coordinated movement process. The test data acquisition device includes motion sensors and a multi-channel dynamic signal analyzer. The test control and analysis device is used to control the motion process of the coordinated movement and also to receive and analyze the dynamic motion data to obtain the vibration test results of the surgical robot's end effector. The technical solution of this invention solves the problem that existing vibration testing schemes are not applicable to finely detailed test objects with small dimensions, and can perform vibration testing on the end effector of surgical robots, improving the accuracy of evaluating the structure and performance of surgical robots.

[0066] Example 3

[0067] Figure 3 This is a flowchart of a vibration testing method for the end effector of a surgical robot provided in an embodiment of the present invention. This method is applied to a vibration testing system for the end effector of a surgical robot. Figure 3 As shown, the vibration testing method for the end effector of a surgical robot includes the following steps:

[0068] S210. Acquire dynamic motion data of the end effector of the surgical robot under test.

[0069] The surgical robot under test moves along a preset test path under the control of the collaborative robot.

[0070] S220. Perform vibration analysis on the end of the instrument based on the dynamic motion parameters of at least one preset test point in the preset test path.

[0071] Among them, at least one preset test point in the preset test path can be the coordinates of the trajectory point input to the collaborative robot.

[0072] In one optional implementation, vibration analysis of the instrument end based on the dynamic motion parameters of at least one preset test point in the preset test path can be performed by: for each preset test point, determining the position overshoot of the instrument end based on the time information, displacement and acceleration values ​​in the dynamic motion parameters.

[0073] In one optional implementation, the position overshoot of the instrument's end effector is determined based on the time information, displacement, and acceleration values ​​in the dynamic motion parameters. This can be achieved by:

[0074] The time threshold band is determined based on the numerical change of acceleration; the maximum distance between the first position after the instrument tip first enters the time threshold band and then exceeds the threshold band and the second stable position is taken as the position overshoot.

[0075] In one alternative implementation, the surgical robot evaluation results are visually displayed by showing the vibration displacement of the instrument end effector in each coordinate direction of a preset surgical robot coordinate system.

[0076] like Figure 2e , Figure 2f and Figure 2g The image shows the time-domain spectra of vibration displacement and vibration time in the X, Y, and Z axes of the sensor. Taking the time-domain spectra of vibration displacement and vibration time in the X-axis direction as an example, the settling time of 0.43 seconds and the position overshoot can be clearly obtained.

[0077] The technical solution provided by this invention acquires dynamic motion data of the end effector of a surgical robot under test. The surgical robot moves along a preset test path under the control of a collaborative robot, and vibration analysis of the end effector is performed based on the dynamic motion parameters of at least one preset test point along the preset test path. This technical solution solves the problem that existing vibration testing methods are not applicable to finely detailed test objects with small dimensions. It enables vibration testing of the end effector of surgical robots, improving the accuracy of evaluating the structure and performance of surgical robots.

[0078] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A vibration testing system for the end effector of a surgical robot, characterized in that, include: The surgical robot to be tested, the collaborative robot, the test data acquisition equipment, and the test control and analysis equipment; The surgical robot under test has a pre-set instrument at the end of its instrument arm; The collaborative robot is used to connect with the operating hand of the surgical robot under test to drive the instrument end effector of the surgical robot under test to move in coordination with the collaborative robot. The test data acquisition device is used to collect the dynamic motion data of the surgical robot under test during the coordinated motion process; The test control and analysis equipment is used to control the motion process of the coordinated motion, and also to receive and analyze the dynamic motion data to obtain the vibration test results of the end effector of the surgical robot under test.

2. The system according to claim 1, characterized in that, The test data acquisition equipment includes a motion sensor and a multi-channel dynamic signal analyzer; The motion sensor is located at the end effector of the surgical robot under test and is used to sense the dynamic signals of the surgical robot under test during the coordinated movement process. The multi-channel dynamic signal analyzer is used to receive the dynamic signals collected by the motion sensor and send the dynamic signals as dynamic motion data to the test control and analysis equipment.

3. The system according to claim 1, characterized in that, The test control and analysis equipment is also used to adjust the initial poses of the collaborative robot and the surgical robot under test before conducting vibration tests, so that the coordinate system of the corresponding collaborative robot and the coordinate system of the surgical robot satisfy a preset coordinate system mapping relationship.

4. The system according to claim 1, characterized in that, The collaborative robot is used for: Based on preset motion parameters, the robot moves according to a preset test motion trajectory to drive the surgical robot under test to perform multiple cyclic movements according to the preset test motion trajectory.

5. The system according to claim 4, characterized in that, The preset test motion track includes multiple target test trajectory points.

6. The system according to claim 5, characterized in that, The test control and analysis equipment is specifically used for: Based on the dynamic motion data of the multiple target test points, the position overshoot at the multiple target test points is analyzed respectively, and the vibration test results of the instrument end of the surgical robot under test at the multiple target test points are determined based on the position overshoot. The position overshoot is the maximum distance between the surgical robot under test and the corresponding target test point, determined based on the fluctuation of the instrument end-effector acceleration.

7. A method for testing vibration at the end effector of a surgical robot, applied to the system described in any one of claims 1-6, characterized in that, include: The dynamic motion data of the end effector of the surgical robot under test is acquired, wherein the surgical robot under test moves according to a preset test path under the control of the collaborative robot; Vibration analysis of the instrument end is performed based on the dynamic motion parameters of at least one preset test point in the preset test path.

8. The method according to claim 7, characterized in that, Vibration analysis of the instrument end effector is performed based on the dynamic motion parameters of at least one preset test point in the preset test path, including: For each of the preset test points, the position overshoot of the instrument end is determined based on the time information, displacement, and acceleration values ​​in the dynamic motion parameters.

9. The method according to claim 8, characterized in that, Based on the time information, displacement, and acceleration values ​​in the dynamic motion parameters, the position overshoot of the instrument's end effector is determined, including: The time threshold band is determined based on the numerical change of the acceleration. The maximum distance between the first position after the instrument tip first enters the time threshold band and then exceeds the threshold band and the second position that actually stabilizes is taken as the position overshoot.

10. The method according to claim 7, characterized in that, The method further includes: The vibration displacement of the instrument end effector in each coordinate direction of the preset surgical robot coordinate system is visualized.

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