A method for zero-point calibration and control of needle insertion of an ophthalmic surgical robot

Abstract

The present invention discloses a zero-point calibration and control method for needle insertion of an ophthalmic surgical robot, comprising the following steps: system initialization, a sensor is arranged at the zero-point position, and it is determined whether a slider with a surgical instrument triggers the sensor; if triggered, the slider is controlled to move in the direction of needle insertion until the sensor changes to an untriggered state; if not triggered, the next step is directly performed; zero-point addressing, the slider is controlled to move in the opposite direction of needle insertion, and when the sensor state changes from untriggered to triggered, the position is recorded as the zero-point position; then the slider continues to move in the opposite direction of needle insertion; zero-point position verification is performed to complete zero-point calibration. The beneficial effects of the present invention are: it brings innovative technical solutions to the field of ophthalmic surgery, which not only improves the accuracy and efficiency of surgical operations, but also reduces the cost of equipment, and ensures the long-term stability of the system, which has a positive impact on the treatment of patients and the development of medical institutions.

Description

Technical Field

[0001] The present invention relates to the medical field, and in particular to a method for zero-point calibration and control of needle insertion of an ophthalmic surgical robot. Background Art

[0002] In the field of ophthalmic surgery, effectively avoiding doctor's operating jitter and providing high-precision control have always been important goals of medical technology research and development. Ophthalmic surgery usually needs to be performed on the side of the patient's head. The surgical space is limited, and the doctor needs to accurately position and control the surgical instruments during the operation, which puts strict requirements on the design of surgical equipment. However, some existing technical solutions have some obvious shortcomings that need to be improved and solved.

[0003] First, some fundus injection systems rely on external laser-marked components for feedback and control the needle insertion by manually holding the needle. This operation requires doctors to have a high level of technical skills and professional experience. The operation process is complicated and easily affected by the doctor's hand shaking, which affects the accuracy and stability of the surgical operation. In addition, the reliance on external laser-marked components increases the complexity and cost of the system.

[0004] Secondly, some fundus injection systems have complex structures and rely on expensive and bulky laser displacement sensors for control. This control method results in a larger overall system weight and places higher demands on the stability of the RCM (Remote Center of Motion) mechanism, increasing the difficulty and cost of system design.

[0005] In addition, although some technical solutions can achieve high-precision needle insertion control, the overall cost is high due to the use of complex structural design and expensive closed-loop control methods. In this case, it may not be practical for some medical institutions or doctors to purchase and maintain such high-cost equipment, limiting its application in clinical practice.

[0006] Therefore, in response to the above problems, a new technical solution is needed to achieve high-precision needle control in ophthalmic surgery, while being compact, simple, and low-cost to meet the requirements of operation accuracy and cost-effectiveness in ophthalmic surgery. Such a technical solution will help promote the development of ophthalmic surgical equipment, improve the efficiency and safety of surgical operations, and ultimately benefit patients. Summary of the invention

[0007] In order to solve the above technical problems, the present invention provides an ophthalmic surgical robot needle insertion zero point calibration and control method.

[0008] The present invention is achieved through the following technical solutions:

[0009] The invention provides an ophthalmic surgical robot needle insertion zero point calibration and control method, comprising the following steps:

[0010] The system is initialized, and a sensor is set at the zero position to determine whether the slider with the surgical instrument triggers the sensor; if triggered, the slider is controlled to move in the needle insertion direction until the sensor becomes untriggered; if not triggered, proceed directly to the next step;

[0011] Zero point addressing, control the slider to move in the opposite direction of the needle insertion. When the sensor status changes from untriggered to triggered, record this position, which is the zero point position; then continue to move the slider in the opposite direction of the needle insertion;

[0012] Verify the zero point position and complete the zero point calibration;

[0013] The key to zero point calibration is to accurately determine the initial position of the mechanical system so that subsequent motion control can be performed based on an accurate reference point. This process involves precise sensor perception and accurate system response. During the system initialization phase, the sensor detects the position of the slider, and initializes and calibrates the zero point position to ensure that subsequent motion control can be performed at the correct starting point.

[0014] After zero point calibration, you can start the needle insertion operation. During needle insertion control, the single-step movement of the slider and the multi-step movement after reversing are compensated for loss of step and hysteresis to eliminate the mechanical error generated during the movement of the slider.

[0015] During the system initialization process, if the sensor is damaged or cannot be triggered, the system has the ability to self-diagnose and provide corresponding prompts in the user interface to guide the operator to take necessary manual calibration measures to ensure the reliability of the surgical robot.

[0016] Similarly, during the process of verifying the zero position, if the sensor status is abnormal or the verification fails, the system can automatically record the abnormal situation and warn the operator, while providing relevant fault diagnosis information. The operator can choose to recalibrate the system or calibrate manually to ensure the accuracy and safety of the surgical robot.

[0017] Furthermore, the ophthalmic surgical robot includes a first slider driven by a motor and a screw, the first slider is provided with a first trigger cooperating with a first sensor, and the first sensor is arranged at the zero position; a second slider is arranged between the first slider and the zero point, the second slider is detachably connected to the first slider through a hook, the second slider is provided with a second sensor, the first slider is provided with a second trigger, and the second sensor and the second trigger cooperate with each other.

[0018] The motor enables the surgical instrument to be accurately moved and positioned within a small range by providing precise force and motion control. The first slider is driven by a motor and a lead screw, and the rotational motion of the lead screw is converted into linear motion, thereby driving the movement of the first slider.

[0019] Therefore, motion control is not just about moving forward and backward, but also needs to take into account step-out compensation and hysteresis compensation. Step-out compensation refers to compensating for the position deviation caused by mechanical error in single-step motion and multi-step motion after commutation to ensure the accuracy of the final position. Hysteresis compensation corrects the position deviation caused by commutation to ensure that the surgical instrument can accurately reach the target position after commutation.

[0020] Furthermore, the system initialization includes the following steps: performing an initial zero-point reset operation when the device is started, and determining the current reset state according to the state of the first sensor; unifying the initial reset state, and if the feedback state of the first sensor is triggered, controlling the motor to move the first slider forward until the state of the first sensor changes to not triggered; if the feedback state of the first sensor is not triggered, directly starting the next step.

[0021] Furthermore, the zero-point addressing includes the following steps: zero-point addressing, controlling the motor to move the first slider backward, continuously monitoring the state of the first sensor, and recording the point when the first sensor is triggered for the first time as the zero point; continuing to move the first slider, the moving stroke is greater than the distance of the first sensor measurement window and less than the allowable stroke from the first sensor window to the structural stop, at which time the first slider and the second slider are locked with each other.

[0022] Furthermore, the zero point position verification includes the following steps: zero point verification, controlling the motor to move the first slider and the second slider forward together, continuously monitoring the state of the first sensor, and verifying whether the position information of the motor movement when the first sensor changes from triggered to untriggered matches the zero point position.

[0023] Furthermore, the compensation during needle insertion control includes the following steps: the system performs stroke compensation for the single-step movement of a fixed distance performed by the user operating the controller unit based on the operator's expected needle insertion stroke relative to the zero point; based on the original pulse number value, according to the compensation parameters recorded in the database, the corresponding pulse number is compensated to achieve compensation for the actual movement distance; the movement of several steps after the motor is commutated is compensated, and the corresponding pulse number is compensated according to the compensation parameters recorded in the database; when the commutation backlash compensation is not completed, the commutation is performed again, and compensation is performed again according to the compensation parameters recorded in the database.

[0024] Furthermore, the stroke compensation includes the following steps: the recording method of the compensation parameters recorded in the database includes the following steps: dividing the total stroke that the slider can move into several sections, each section being an independent measurement interval; the system controls the slider to perform single-step forward, single-step backward, continuous single-step forward after reversing, continuous single-step backward after reversing, and continuous reversing in each independent measurement interval, and its stroke is measured by an external measuring device; based on the measured actual stroke and the expected stroke of the slider movement, the single-step compensation parameters and hysteresis compensation parameters of each interval are calculated, that is, when performing different movements in the interval, the corresponding number of motor pulses that need to be compensated; the compensation parameters are written into the storage unit through the communication protocol; the system re-executes and compensates the single-step forward, single-step backward, continuous single-step forward after reversing, continuous single-step backward after reversing, and continuous reversing movements of each interval according to the compensation parameters, and verifies whether the accuracy of the actual movement of each interval is within the tolerance range; if it is within the tolerance range, the compensation parameter recording is completed, if it exceeds the tolerance range, the above steps are re-executed.

[0025] In order to ensure that the surgical robot can maintain high accuracy after long-term operation, system performance detection and compensation parameter update should be performed regularly. The system can also update compensation parameters through built-in automatic calibration procedures or regular user intervention to ensure the accuracy and reliability of the system.

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

[0027] High-precision needle insertion control: The zero-point calibration and control method for needle insertion of an ophthalmic surgical robot provided by the present invention realizes high-precision needle insertion control. The use of sensor sensing technology and accurate system response ensures the precise movement and positioning of surgical instruments within a small range, thereby improving the accuracy and stability of surgical operations.

[0028] Simplified operation: Compared with the existing technical solutions, this invention adopts simple operation steps and automatic calibration function, which reduces the complexity and professional requirements of doctors' operation. Through system initialization and self-diagnosis functions, even in the case of sensor damage or abnormality, the system can provide prompts and guide operators to take necessary manual calibration measures to ensure the reliability and stability of the surgical robot.

[0029] Improved cost-effectiveness: The technical solution adopted by the present invention is compact, simple and low-cost, which is more practical and cost-effective than some existing high-cost equipment. This helps to reduce the purchase and maintenance costs of medical institutions and doctors, and improves the popularity of the equipment and its application in clinical practice.

[0030] Improve surgical efficiency and safety: By eliminating the mechanical error generated during the movement of the slider, as well as compensating for the step loss and backlash during needle insertion control, the present invention ensures accurate positioning of surgical instruments, thereby improving the efficiency and safety of surgical operations. Operators can focus more on the treatment of patients during surgery, reducing the impact of human factors on surgical results.

[0031] Long-term maintenance of system performance: The present invention proposes to regularly test system performance and update compensation parameters to ensure that the surgical robot can maintain high accuracy after long-term operation. The system has built-in automatic calibration procedures or regular user intervention mechanisms to ensure the continuous stability and reliability of the system, providing reliable technical support for ophthalmic surgery.

[0032] In summary, the present invention brings an innovative technical solution to the field of ophthalmic surgery, which not only improves the accuracy and efficiency of surgical operations, but also reduces the cost of equipment and ensures the long-term stability of the system, bringing positive impacts to the treatment of patients and the development of medical institutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 : A schematic structural diagram of the present invention;

[0034] Figure 2 : Schematic diagram of the trip segmentation process of the present invention;

[0035] Figure 3 : Schematic diagram of the single-step compensation process of the present invention;

[0036] Figure 4 : Schematic diagram of the commutation compensation process of the present invention. DETAILED DESCRIPTION

[0037] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0038] Example: Figure 1-4 As shown, a method for zero-point calibration and control of needle insertion of an ophthalmic surgical robot is intended to ensure high-precision operation of surgical instruments within a small range through precise positioning and compensation mechanisms. The method includes the following steps:

[0039] 1. System initialization

[0040] A sensor is set at the zero position to determine whether the slider with the surgical instrument triggers the sensor. If triggered, the slider is controlled to move in the needle insertion direction until the sensor becomes untriggered; if not triggered, proceed directly to the next step.

[0041] 2. Zero point addressing

[0042] Control the slider to move in the opposite direction of the needle insertion. When the sensor state changes from untriggered to triggered, record this position as the zero position; continue to move the slider in the opposite direction of the needle insertion to ensure the accuracy of positioning.

[0043] 3. Zero point position verification

[0044] The zero point calibration is completed.

[0045] The key to zero point calibration is to accurately determine the initial position of the mechanical system so that subsequent motion control can be based on an accurate reference point. This process involves precise sensing of the sensor and accurate response of the system. During the system initialization phase, the sensor detects the position of the slider, initializes and calibrates the zero point position, and ensures that subsequent motion control is performed at the correct starting point.

[0046] After zero point calibration, you can start the needle insertion operation. During needle insertion control, the single-step motion of the slider and the multi-step motion after reversing are compensated for out-of-step and hysteresis compensation to eliminate the mechanical error during the slider movement. Out-of-step compensation is to compensate for the position deviation caused by mechanical error in single-step motion and multi-step motion after reversing to ensure the final position accuracy. Hysteresis compensation is to correct the position deviation caused by reversing to ensure that the surgical instrument can accurately reach the target position after reversing.

[0047] The sensor plays a key role in the entire system, monitoring the position of the slider in real time. Through sensor feedback, the system can detect whether the slider has reached the predetermined position and make necessary adjustments. This closed-loop control system ensures the accuracy of each movement and can compensate for errors in a timely manner when they are detected.

[0048] During the system initialization process, if the sensor is damaged or cannot be triggered, the system has self-diagnosis capabilities and provides prompts on the user interface to guide the operator to perform manual calibration to ensure the reliability of the surgical robot. During the verification of the zero point position, if the sensor status is abnormal or the verification fails, the system automatically records the abnormal situation and warns the operator, while providing fault diagnosis information. The operator can choose to recalibrate the system or calibrate manually to ensure the accuracy and safety of the surgical robot.

[0049] The ophthalmic surgical robot includes a first slider driven by a motor and a screw rod, the first slider is provided with a first trigger cooperating with a first sensor, and the first sensor is set at the zero point; a second slider is provided between the first slider and the zero point, the second slider is detachably connected to the first slider through a hook, the second slider is provided with a second sensor, the first slider is provided with a second trigger, and the second sensor cooperates with the second trigger.

[0050] The motor provides precise force and motion control, allowing surgical instruments to be moved and positioned precisely within a small range. The first slider is driven by a motor and a lead screw, and the rotational motion of the lead screw is converted into linear motion, thereby driving the slider to move.

[0051] System initialization includes the following steps:

[0052] When the device is started, an initial zero point reset operation is performed, and the current reset state is determined according to the state of the first sensor;

[0053] The initial reset state is unified. If the feedback state of the first sensor is triggered, the motor is controlled to move the first slider forward until the state of the first sensor changes to not triggered; if the feedback state of the first sensor is not triggered, the next step is started directly.

[0054] Zero addressing includes the following steps:

[0055] Control the motor to move the first slider backward, continuously monitor the state of the first sensor, and record the point when the first sensor is triggered for the first time as the zero point;

[0056] The first slider continues to be moved, and the moving stroke is greater than the distance of the first sensor measuring window and less than the allowable stroke from the first sensor window to the structural stop. At this time, the first slider and the second slider are locked with each other.

[0057] Zero position verification includes the following steps:

[0058] The motor is controlled to move the first slider and the second slider forward together, and the state of the first sensor is continuously monitored to verify whether the position information of the motor movement matches the zero position when the first sensor changes from being triggered to being not triggered.

[0059] Compensation during needle advancement control includes the following steps:

[0060] The system performs stroke compensation for a single-step motion of a fixed distance performed by a user-operated controller unit based on the operator's desired stroke relative to the zero-point needle insertion;

[0061] Based on the original number of pulses, according to the compensation parameters recorded in the database, the corresponding number of pulses is compensated to achieve compensation of the actual movement distance;

[0062] Compensate for the motor's movement after several steps of commutation, and compensate the corresponding number of pulses according to the compensation parameters recorded in the database;

[0063] When the commutation hysteresis compensation is not completed, commutation is performed again and compensation is performed again according to the compensation parameters recorded in the database.

[0064] Stroke compensation includes the following steps:

[0065] Divide the total travel distance of the slider into several sections, each section as an independent measurement interval;

[0066] The system controls the slider to move forward in a single step, backward in a single step, forward in a continuous single step after reversing, backward in a continuous single step after reversing, and reverse in a continuous manner in each independent measurement interval, and the stroke is measured by an external measuring device;

[0067] According to the measured actual stroke and the expected slider movement stroke, the single-step compensation parameters and hysteresis compensation parameters of each interval are calculated, that is, the number of motor pulses that need to be compensated when performing different movements in the interval;

[0068] Writing the compensation parameters into the storage unit through the communication protocol;

[0069] The system re-executes and compensates the single-step forward, single-step backward, continuous single-step forward after reversing, continuous single-step backward after reversing, and continuous reversing motion in each section according to the compensation parameters to verify whether the actual motion accuracy of each section is within the tolerance range;

[0070] If it is within the tolerance range, the compensation parameter recording is completed. If it is beyond the tolerance range, the above steps are executed again.

[0071] In order to ensure that the surgical robot can maintain high accuracy after long-term operation, system performance detection and compensation parameter update should be performed regularly. The system can update the compensation parameters through the built-in automatic calibration program or regular user intervention to ensure the accuracy and reliability of the system.

[0072] This method ensures that the ophthalmic surgical robot always maintains high precision and high reliability during operation through precise zero-point calibration, compensation mechanism and self-diagnosis function, thereby improving the safety and success rate of the operation.

[0073] In summary, through precise zero-point calibration, real-time compensation mechanism and perfect self-diagnosis function, the ophthalmic surgical robot system can maintain high accuracy and reliability in complex and minor surgical operations, greatly improving the success rate and safety of the operation.

[0074] Workflow:

[0075] For example, when performing retinal surgery, an ophthalmic surgical robot equipped with the above-mentioned needle insertion zero point calibration and control method is used, and the process is as follows:

[0076] 1. System initialization

[0077] Equipment startup: After the surgical robot is started, it first enters the system initialization phase.

[0078] At the zero position, the sensor detects the current state of the slider.

[0079] Detection result: The slider is in the sensor triggering state.

[0080] Action: Move the control slider toward the needle insertion direction until the sensor changes to the untriggered state.

[0081] Status Verification: After the slider moves, the system checks the sensor status again to confirm that the slider has successfully left the sensor range at the zero position.

[0082] 2. Zero point addressing

[0083] Initial movement: The slider starts to move in the opposite direction of needle insertion, and the sensor continuously monitors the slider position.

[0084] When the sensor status changes from untriggered to triggered, the system records this position as the initial zero position.

[0085] Precise calibration: The slider continues to move in the opposite direction to ensure the accuracy of the zero point position.

[0086] The system fine-tunes the slider position and confirms the final zero position through multiple small movements and feedback.

[0087] 3. Zero point position verification

[0088] Bidirectional verification: The slider moves in the direction of needle insertion, and the zero position is verified again through the change of sensor status.

[0089] If the sensor state change is consistent with the previously recorded zero position, the calibration is successful.

[0090] 4. Needle control and compensation mechanism

[0091] Surgical preparation: The surgeon sets the needle distance and path via the control unit.

[0092] The system performs stroke compensation and hysteresis compensation on the slider movement according to the set parameters.

[0093] Real-time compensation: During surgery, the system monitors and compensates for every movement.

[0094] Single-step motion compensation: Each time the slider moves a small step, the system adjusts the number of pulses according to the compensation parameters to ensure precise positioning.

[0095] Commutation compensation: After the slider changes direction, the system automatically adjusts the position to eliminate mechanical errors.

[0096] 5. Self-diagnosis and manual calibration

[0097] Sensor Failure: During surgery, the system detected that a sensor failed to respond properly.

[0098] The system immediately initiates self-diagnostics to determine the cause of the sensor failure.

[0099] Warns the operator and provides instructions for manual calibration.

[0100] Manual calibration: The operator performs manual calibration according to the system instructions.

[0101] Adjust the slider position to ensure the sensor functions properly again.

[0102] 6. Structure and driving mechanism

[0103] Slider drive: The surgical robot uses a motor and a screw to drive the slider.

[0104] The motor rotates to drive the lead screw, and the rotational motion of the lead screw is converted into the linear motion of the slider.

[0105] Sensor engagement: The trigger on the slide engages the sensor in the zero position.

[0106] The system uses sensor feedback to adjust the slider position in real time to ensure the accuracy of each movement.

[0107] 7. System maintenance and updates

[0108] Periodic testing: After the operation, the system automatically enters the performance testing mode.

[0109] Carry out a comprehensive inspection of sensors, sliders and motors to ensure that all components are in good condition.

[0110] Compensation parameter update: Based on the detection results, the system updates the compensation parameters.

[0111] The automatic calibration procedure runs and adjusts the compensation parameters to ensure accuracy and reliability for the next surgery.

[0112] 8. Summary

[0113] Through this example, we can see that the ophthalmic surgical robot successfully completed a complex retinal surgery through precise zero-point calibration, real-time compensation mechanism and perfect self-diagnosis function. Throughout the process, the system showed a high degree of accuracy and reliability, greatly improving the safety and success rate of the surgery.

[0114] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An ophthalmic surgical robot needle insertion zero point calibration control system, characterized in that: The control system performs the following steps: The system is initialized, and a sensor is set at the zero position to determine whether the slider with the surgical instrument triggers the sensor; if triggered, the slider is controlled to move in the needle insertion direction until the sensor becomes untriggered; if not triggered, proceed directly to the next step; Zero point addressing, control the slider to move in the opposite direction of the needle insertion. When the sensor status changes from untriggered to triggered, record this position, which is the zero point position; then continue to move the slider in the opposite direction of the needle insertion; Verify the zero point position and complete the zero point calibration; After zero point calibration, you can start to operate the needle insertion. During needle insertion control, the single-step movement of the slider and the multi-step movement after reversing are compensated for step loss and hysteresis to eliminate the mechanical error generated during the movement of the slider. The ophthalmic surgical robot includes a first slider driven by a motor and a screw rod, the first slider is provided with a first trigger that cooperates with a first sensor, and the first sensor is set at the zero point; a second slider is provided between the first slider and the zero point, the second slider is detachably connected to the first slider through a hook, the second slider is provided with a second sensor, the first slider is provided with a second trigger, and the second sensor and the second trigger cooperate with each other.

2. The ophthalmic surgical robot needle insertion zero point calibration control system according to claim 1, characterized in that: The system initialization includes the following steps: When the device is started, an initial zero point reset operation is performed, and the current reset state is determined according to the state of the first sensor; The initial reset state is unified. If the feedback state of the first sensor is triggered, the motor is controlled to move the first slider forward until the state of the first sensor changes to not triggered; if the feedback state of the first sensor is not triggered, the next step is started directly.

3. The ophthalmic surgical robot needle insertion zero point calibration control system according to claim 1, characterized in that: The zero point addressing comprises the following steps: Zero point addressing, controlling the motor to move the first slider backward, continuously monitoring the state of the first sensor, and recording the point when the first sensor is triggered for the first time as the zero point; Continue to move the first slider, the moving stroke is greater than the distance of the first sensor measuring window and less than the allowable stroke from the first sensor window to the structural stop, and the first slider and the second slider are locked with each other.

4. The ophthalmic surgical robot needle insertion zero point calibration control system according to claim 1, characterized in that: The zero point position verification comprises the following steps: Zero point verification, controlling the motor to move the first slider and the second slider forward together, continuously monitoring the state of the first sensor, and verifying whether the position information of the motor movement when the first sensor changes from triggered to not triggered matches the zero point position.

5. The ophthalmic surgical robot needle insertion zero point calibration control system according to claim 1, characterized in that: The compensation during the needle insertion control comprises the following steps: The system performs stroke compensation for the single-step movement of a fixed distance performed by the user operating the controller unit based on the operator's desired stroke relative to the zero point of the needle insertion; based on the original pulse number value, the system compensates the corresponding pulse number according to the compensation parameters recorded in the database to achieve compensation of the actual movement distance; Compensate for several steps of movement after the motor is commutated, and compensate the corresponding number of pulses according to the compensation parameters recorded in the database; commutate again when the commutation hysteresis compensation is not completed, and compensate again according to the compensation parameters recorded in the database.

6. The ophthalmic surgical robot needle insertion zero point calibration control system according to claim 5, characterized in that: The stroke compensation comprises the following steps: The recording method of the compensation parameters recorded in the database comprises the following steps: Divide the total travel distance of the slider into several sections, each section as an independent measurement interval; The system controls the slider to move forward in a single step, backward in a single step, forward in a continuous single step after reversing, backward in a continuous single step after reversing, and reverse in a continuous manner in each independent measurement interval, and the stroke is measured by an external measuring device; According to the measured actual stroke and the expected slider movement stroke, the single-step compensation parameters and hysteresis compensation parameters of each interval are calculated, that is, the number of motor pulses that need to be compensated when performing different movements in the interval; Writing the compensation parameters into the storage unit through the communication protocol; The system re-executes and compensates the single-step forward, single-step backward, continuous single-step forward after reversing, continuous single-step backward after reversing, and continuous reversing motion in each section according to the compensation parameters to verify whether the accuracy of the actual motion in each section is within the tolerance range; If it is within the tolerance range, the compensation parameter recording is completed. If it is beyond the tolerance range, the above steps are executed again.

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