Security boundary test method, device and equipment, storage medium, test tool and test system

Abstract

The invention relates to a safety boundary test method, device and equipment, a storage medium, a test tool and a test system, and belongs to the technical field of medical instruments. The method comprises the following steps: acquiring a first position of a mobile platform when a moving part touches a virtual test plane to trigger a sensing assembly; the virtual test plane coincides with the virtual safety wall; acquiring a second position of the moving platform when the moving part releases the triggering of the sensing assembly due to the backward movement of the moving platform; the moving platform retreats as the moving platform moves in the first direction and away from the moving part; and obtaining the distance between the first position and the second position, and determining the distance as the border crossing distance of the surgical robot in the safety border test. According to the technical scheme, whether the control system and the action part of the surgical robot are qualified or not can be tested.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a safety boundary testing method, device, equipment, storage medium, testing tooling and testing system. Background Art

[0002] With the frequent occurrence of traffic accidents and the increase in sports injuries, trauma has become one of the serious threats to human health. Therefore, the development of orthopedic surgery technology has become even more important. Surgical robots are a new application field that has developed rapidly in the past decade. Most of them use computers to overlay and analyze the patient's imaging data such as X-rays, CT, and MRI images, and then control the robot arm to complete some actions and steps that doctors cannot complete or complete as well as machines based on the analysis results. In addition, surgical robots can also shorten the operation time, etc. In short, compared with human doctors, there are many advantages, which will not be elaborated.

[0003] In the prior art, in order to prevent the scalpel of a surgical robot from cutting human tissue that should not be cut due to control errors, the concept of a virtual safety wall is set in the control system of the surgical robot; before the operation, the spatial position of the virtual safety wall is preset; when the scalpel of the surgical robot touches the virtual safety wall, the movement will stop immediately.

[0004] However, there is no effective way to detect whether the virtual security wall can play its role accurately in actual operation. Summary of the invention

[0005] In view of this, the present application provides a safety boundary testing method, device, equipment, storage medium, testing tooling and testing system to solve at least one problem existing in the background technology.

[0006] To achieve the above purpose, the technical solution of this application is implemented as follows:

[0007] In a first aspect, an embodiment of the present application provides a safety boundary testing method, which is applied to testing a surgical robot through a safety boundary testing system, wherein the safety boundary testing system comprises: a safety boundary testing device and a testing tool; the surgical robot comprises a moving part moving along a first direction, the surgical robot can preset a virtual safety wall in the testing tool, and control the moving part to stop moving after the moving part touches the virtual safety wall; the testing tool comprises a mobile platform and a test support mounted on the mobile platform, the test support is preset with a virtual test plane formed by a sensor component, and the method comprises:

[0008] Acquiring a first position of the mobile platform when the moving part touches the virtual test plane and triggers the sensor component; the virtual test plane coincides with the virtual safety wall;

[0009] Acquiring a second position of the mobile platform when the mobile platform retreats and causes the moving part to release the triggering of the sensor component; the retreat of the mobile platform is the movement of the mobile platform along the first direction and away from the moving part;

[0010] The distance between the first position and the second position is obtained, and determined as the crossing distance of the surgical robot in the safety boundary test.

[0011] In conjunction with the first aspect of the embodiment of the present application, in an optional implementation manner, before obtaining the first position of the mobile platform when the moving part touches the virtual test plane and triggers the sensor component, the method further includes:

[0012] An instruction or prompt information is issued to instruct the moving part of the surgical robot to move toward the virtual safety wall at the fastest speed.

[0013] In conjunction with the first aspect of the embodiment of the present application, in an optional implementation manner, before obtaining the second position of the mobile platform when the moving member releases the triggering of the sensor component due to the retreat of the mobile platform, the method further includes:

[0014] An instruction or prompt message is issued to instruct the mobile platform to retreat in a direction away from the moving part.

[0015] In conjunction with the first aspect of the embodiment of the present application, in an optional implementation manner, the method further includes:

[0016] An instruction or prompt message is issued to instruct the surgical robot to establish a spatial connection with at least three registration points on the test support through a registration probe and to perform software compensation to form a virtual safety wall that overlaps with the virtual test plane.

[0017] In conjunction with the first aspect of the embodiment of the present application, in an optional implementation manner, the method further includes:

[0018] Acquire a first time point at which the moving part touches the virtual test plane and triggers the sensor component;

[0019] Acquiring a second time point at which the surgical robot issues an instruction to stop the movement of the moving part;

[0020] The difference between the first time point and the second time point is determined as the response time of the surgical robot in the safety margin test.

[0021] In conjunction with the first aspect of the embodiment of the present application, in an optional implementation manner, before obtaining the first time point at which the moving part touches the virtual test plane and triggers the sensor component, the method further includes:

[0022] An instruction or prompt information is issued to instruct the moving part of the surgical robot to move toward the virtual safety wall at the fastest speed.

[0023] In a second aspect, an embodiment of the present application provides a safety boundary testing device, which is used to test a surgical robot through a safety boundary testing system, wherein the safety boundary testing system comprises: a safety boundary testing device and a testing tool; the surgical robot comprises a moving part moving along a first direction, the surgical robot can preset a virtual safety wall in the testing tool, and control the moving part to stop moving after the moving part touches the virtual safety wall; the testing tool comprises a mobile platform and a test support mounted on the mobile platform, the test support is preset with a virtual test plane formed by a sensor component, and the device comprises:

[0024] A first acquisition module is used to acquire a first position of the mobile platform when the moving part touches the virtual test plane and triggers the sensor component; the virtual test plane coincides with the virtual safety wall;

[0025] A second acquisition module is used to acquire a second position of the mobile platform when the mobile platform moves backward and causes the moving part to release the triggering of the sensor component;

[0026] The first determination module is used to obtain the moving distance of the mobile platform in its own moving direction when the first position and the second position are generated, and determine it as the crossing distance of the surgical robot in the safety boundary test.

[0027] In a third aspect, an embodiment of the present application provides a computing device, which is used to test a surgical robot through a safety boundary test system, wherein the safety boundary test system comprises: a safety boundary test device and a test fixture; the surgical robot comprises a moving part moving along a first direction, the surgical robot can preset a virtual safety wall in the test fixture, and control the moving part to stop moving after the moving part touches the virtual safety wall; the test fixture comprises a mobile platform and a test support mounted on the mobile platform, the test support is preset with a virtual test plane formed by a sensor component, and the computing device comprises: a storage component, a communication bus and a processing component, wherein:

[0028] The storage component is used to store the safety boundary test method program;

[0029] The communication bus is used to realize the connection and communication between the storage component and the processing component;

[0030] The processing component is used to execute the safety boundary testing method program to implement the steps of any one of the methods described above.

[0031] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which is used to test a surgical robot through a safety boundary test system, wherein the safety boundary test system comprises: a safety boundary test device and a test fixture; the surgical robot comprises a moving part moving along a first direction, the surgical robot can preset a virtual safety wall in the test fixture, and control the moving part to stop moving after the moving part touches the virtual safety wall; the test fixture comprises a mobile platform and a test support mounted on the mobile platform, the test support is preset with a virtual test plane formed by a sensor component;

[0032] The computer-readable storage medium stores an executable program, and when the executable program is executed by a processor, the steps of any one of the methods described above are implemented.

[0033] In a fifth aspect, an embodiment of the present application provides a testing tool, including:

[0034] Base;

[0035] A mobile platform, disposed on the base, capable of moving in a first direction relative to the base;

[0036] The sensing component is installed on the mobile platform and can move with the movement of the mobile platform to form a virtual test plane; the mobile platform is also provided with at least three blind holes for forming registration points.

[0037] In combination with the fifth aspect of the embodiment of the present application, in an optional implementation, the mobile platform also includes a test support, the test support includes a support body, the support body is provided with a through hole in a first direction, and the through hole is configured to provide a moving space for the moving parts of the surgical robot before and after touching the virtual test plane; the sensor component is arranged on any one side or two opposite sides of the through hole to form a virtual test plane arranged on at least a portion of the cross-section of the through hole.

[0038] In combination with the fifth aspect of the embodiment of the present application, in an optional implementation, the sensing component is a grating, and the grating includes a light emitter and a light receiver; the light emitter and the light receiver are respectively arranged on two opposite sides of the through hole.

[0039] In combination with the fifth aspect of the embodiment of the present application, in an optional implementation, the test support also includes a sensor seat for mounting the sensor assembly; the sensor seat includes a first mounting surface for mounting the light emitter and a second mounting surface for mounting the light receiver, and the first mounting surface and the second mounting surface are formed by one processing device.

[0040] In combination with the fifth aspect of the embodiment of the present application, in an optional implementation, the test support also includes a motion reference block configured for a reference position of the moving parts of the surgical robot before moving, and the motion guide block is installed in the middle area of ​​the cross-section of the through hole.

[0041] In combination with the fifth aspect of the embodiment of the present application, in an optional implementation, the test tool also includes a ruler for recording the position of the mobile platform, and the ruler is made according to the principle of a micrometer; the ruler includes a ruler body fixed to the base and a measuring rod linked to the mobile platform.

[0042] In combination with the fifth aspect of the embodiment of the present application, in an optional implementation, the test fixture also includes a movable guide assembly, and the movable guide assembly includes a guide rail and a slider; the guide rail is fixedly mounted on the base, and the slider is mounted on the mobile platform.

[0043] In combination with the fifth aspect of the embodiment of the present application, in an optional implementation, the test fixture also includes: an optical tracer, configured to allow the surgical robot to establish a position association with the test fixture to facilitate the formation of a virtual safety wall and a moving path of the moving part.

[0044] In a sixth aspect, an embodiment of the present application provides a security boundary testing system, including:

[0045] Any of the safety boundary test devices described above;

[0046] Any of the test fixtures described above.

[0047] The safety boundary test method, device, equipment, storage medium, test fixture and test system provided by the embodiment of the present application include: obtaining the first position of the mobile platform when the moving part touches the virtual test plane and triggers the sensor component; the virtual test plane coincides with the virtual safety wall; obtaining the second position of the mobile platform when the mobile platform retreats to cause the moving part to release the trigger of the sensor component; the retreat of the mobile platform is the movement of the mobile platform along the first direction and away from the moving part; obtaining the distance between the first position and the second position, and determining it as the cross-border distance of the surgical robot in the safety boundary test. It can be seen that the safety boundary test method, device, equipment, storage medium, test fixture and test system of the embodiment of the present application first obtains the first position of the mobile platform when the moving part touches the virtual test plane and triggers the sensor component, and then obtains the second position of the mobile platform when the moving platform retreats to cause the moving part to release the trigger of the sensor component, obtains the distance between the two positions, and determines this distance as the cross-border distance of the surgical robot in the safety boundary test to determine whether the control system and action components of the surgical robot are qualified. Therefore, the safety boundary testing method, device, equipment, storage medium, test tooling and test system of the embodiments of the present application can test whether the control system and action components of the surgical robot are qualified.

[0048] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0050] Figure 1 A schematic diagram of a flow chart of a security boundary testing method provided in Example 1 of the present application;

[0051] Figure 2 A schematic diagram of the structure of the safety boundary testing device provided in the second embodiment of the present application Figure 1 ;

[0052] Figure 3 A schematic diagram of the structure of the safety boundary testing device provided in the second embodiment of the present application Figure 2 ;

[0053] Figure 4 A schematic diagram of the structure of a computing device provided in Embodiment 3 of the present application;

[0054] Figure 5 A schematic diagram of the test tooling provided in Example 5 of the present application;

[0055] Figure 6 for Figure 5 Schematic diagram of the exploded view (decomposition diagram);

[0056] Figure 7 This is a schematic diagram of a security boundary testing system provided in Example 6 of the present application.

[0057] Description of reference numerals:

[0058] 300, safety boundary test device; 301, first acquisition module; 302, second acquisition module; 303, first determination module; 304, registration module; 305, second determination module; 500, computing device; 501, storage component; 502, communication bus; 503, processing component; 504, input device; 505, output device; 506, external communication interface; 600, test tool; 610, base; 611, bottom plate; 6111, storage slot; 612, storage slot; 613, storage slot; 614, storage slot; 615, storage slot; 616, storage slot; 617, storage slot; 618, storage slot; 619, storage slot; 620, storage slot; 621, storage slot; 622, storage slot; 623, storage slot; 624, storage slot; 625, storage slot; 626, storage slot; 627, storage slot; 628, storage slot; 629, storage slot; 630, storage slot; 631, storage slot; 632, storage slot; 633, storage slot; 634, storage slot; 635, storage slot; 636, storage slot; 637, storage slot; 638, storage slot; 639, storage slot; 640, storage slot; 641, storage slot; 642, storage slot; 643, storage slot; 644, storage slot; 645, storage slot; 646, storage slot; 647, storage slot; 648, storage slot; 649, storage slot; 650, storage slot; 651, storage slot; 652, storage slot; 653, storage slot; 654, storage slot; 655, storage slot; 656, storage slot 12. Support plate; 613. Top plate; 620. Mobile platform; 630. Test support; 631. Support body; 632. Through hole; 633. Blind hole; 634. Sensor seat; 640. Sensor assembly; 641. Virtual test plane; 650. Motion reference block; 660. Scale; 670. Motion guide assembly; 680. Optical tracer; 800. Safety boundary test system; 801. Dual-channel oscilloscope; 900. Surgical robot; 901. Moving parts. DETAILED DESCRIPTION

[0059] The exemplary embodiments disclosed in the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the specific embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present application and to fully convey the scope disclosed in the present application to those skilled in the art.

[0060] In the following description, a large number of specific details are given in order to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application, some technical features well known in the art are not described; that is, all features of the actual embodiments are not described here, and well-known functions and structures are not described in detail.

[0061] In order to thoroughly understand the present application, detailed steps and detailed structures will be presented in the following description to illustrate the technical solution of the present application. The preferred embodiments of the present application are described in detail below, but in addition to these detailed descriptions, the present application may also have other implementation methods.

[0062] The inventor of this application found in the research and development that the setting of the virtual safety wall is very necessary and theoretically very reliable. However, whether the virtual safety wall can play an accurate role in the specific implementation involves many factors, such as whether the control system software is defective, whether the parameters set in the software are accurate, whether the precision of the action parts, such as the robot arm, meets the requirements, whether the action parts and the software match, etc.

[0063] Therefore, it is necessary to test the surgical robot through actual movements, rather than just checking the accuracy of the software program or the action components. Therefore, the inventors have proposed the following technical solutions after further research and development.

[0064] Embodiment 1

[0065] The embodiment of the present application provides a method for testing a security boundary. The method can be implemented by a computer, which can be a computing device configured with a processor, which can be a general-purpose processor, a digital signal processor (DSP), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. In this embodiment, the method can be implemented by a security boundary testing device, which can include a computer.

[0066] The method is applied to test a surgical robot through a safety boundary test system, wherein the safety boundary test system comprises: a safety boundary test device and a test fixture; the surgical robot comprises a moving part moving along a first direction, the surgical robot can preset a virtual safety wall in the test fixture, and control the moving part to stop moving after the moving part touches the virtual safety wall; the test fixture comprises a mobile platform and a test support mounted on the mobile platform, and the test support is preset with a virtual test plane formed by a sensor component. Figure 1 , the method comprising:

[0067] Step 101: obtaining a first position of the mobile platform when the moving part touches the virtual test plane and triggers the sensor component; the virtual test plane coincides with the virtual safety wall;

[0068] Step 102: Acquire a second position of the mobile platform when the mobile platform retreats and causes the moving part to release the triggering of the sensor component; the retreat of the mobile platform is the movement of the mobile platform along the first direction and away from the moving part;

[0069] Step 103: Obtain the distance between the first position and the second position, and determine it as the crossing distance of the surgical robot in the safety boundary test.

[0070] It is understandable that in addition to hardware, such as test fixtures, the safety boundary test system also includes a software system for controlling the test fixtures and processing test data, etc. The software system in the safety boundary test system can be integrated into the software of the surgical robot, or it can be set in an intelligent terminal independent of the surgical robot, such as an industrial computer or an ordinary personal computer (PC).

[0071] The virtual safety wall is not a physical wall, but a virtual wall preset by the surgical robot in the associated space. The surgical robot can establish a spatial connection with the associated space through a position tracking tool, so that after the moving parts of the surgical robot enter the associated space, the relative position of the moving parts relative to the associated space can be accurately known, that is, it can be sensed when the moving parts touch the virtual safety wall. In this embodiment, the associated space is located in the test tooling.

[0072] Similarly, the virtual test plane is not a plane formed by a physical entity, but a virtual plane on which the sensor's sensing signal is driven.

[0073] The moving part is a simulation tool that simulates the scalpel in real surgery.

[0074] It can be understood that the first direction may be a direction in which the moving part approaches or moves away from the virtual safety wall.

[0075] In step 101, the touching of the moving part to the virtual test plane is detected by the sensor component, that is, the sensor component is triggered, and it can be confirmed that the moving part touches the virtual test plane. It should be noted that the triggering of the sensor component of this embodiment is directional. For example, after the sensor component is triggered, if the moving part continues to move along the original direction of movement, even if it passes through the virtual test plane, the sensor component is still in a triggered state. Only when the moving part moves backward or the mobile platform moves backward, causing the moving part to break away from the contact with the virtual test plane in the opposite direction, the sensor component will release the trigger state. Specifically, when the sensor component is triggered, a sound is emitted and / or an indicator light is turned on. At the same time, the safety boundary test device records the position of the mobile platform in the first direction.

[0076] The first position is the position of the mobile platform when the sensor component is just triggered. The position can be represented by coordinates. The coordinates are fixed in one direction and move in another direction. Therefore, it can be represented by a scale with scales in the first direction, or other electronic instruments that can represent the position. The coordinates of the position can be input into the safety boundary test device by the staff, or obtained by capturing the scale value by the camera.

[0077] In step 102, it should be noted that, in the process of testing the surgical robot through the safety boundary test system, the signal of the sensor component being triggered is earlier than the signal of the moving part stopping movement. On the one hand, the sensor component is directly triggered, and the signal that the moving part touches the virtual safety wall is received by the surgical robot when the moving part stops moving. The surgical robot sends a stop signal, which increases the time for transmitting the signal. On the other hand, the setting of the virtual safety wall of the surgical robot often presets a certain virtual thickness to ensure that the scalpel can cut more cleanly. Within the virtual thickness, the moving part does not need to stop.

[0078] As described above, since the signal of the sensor component being triggered is earlier than the signal of the moving part stopping movement, after the moving part stops, the position of the moving part in the first direction may have passed through the virtual test plane. During this process, the sensor component is always in a triggered state. Therefore, it is necessary to release the trigger state of the sensor component by moving the mobile platform backward.

[0079] In step 103, the distance between the first position and the second position is the retreat distance of the mobile platform. This distance can be used to represent the distance that the moving part continues to move after the sensor component is triggered, that is, the cross-border distance. The cross-border distance can illustrate the comprehensive accuracy of the control system and the action components of the surgical robot.

[0080] The safety boundary test method of the embodiment of the present application first obtains the first position of the mobile platform when the moving part touches the virtual test plane and triggers the sensor component, and then obtains the second position of the mobile platform when the mobile platform retreats, causing the moving part to release the trigger on the sensor component, and obtains the distance between the two positions. This distance is determined as the out-of-bounds distance of the surgical robot in the safety boundary test to determine whether the control system and action components of the surgical robot are qualified.

[0081] In some other embodiments of the present application, before acquiring the first position of the mobile platform when the moving part touches the virtual test plane and triggers the sensor component, the method further includes:

[0082] An instruction or prompt information is issued to instruct the moving part of the surgical robot to move toward the virtual safety wall at the fastest speed.

[0083] The fastest speed here can be the fastest option among the speed options for the moving parts set by the surgical robot. Understandably, the test needs to be performed at the limit, so the fastest option is selected. That is, only by moving the moving parts at the fastest speed can a more reliable test result be obtained. If the software system in the safety boundary test system is integrated into the software of the surgical robot, the safety boundary test device can directly issue instructions to control the operation of the surgical robot. Otherwise, a prompt message can be issued.

[0084] It can be understood that moving toward the virtual safety wall is moving along the first direction.

[0085] In some other embodiments of the present application, before acquiring the second position of the mobile platform when the moving platform moves backward and causes the moving member to release the triggering of the sensor component, the method further includes:

[0086] An instruction or prompt message is issued to instruct the mobile platform to retreat in a direction away from the moving part.

[0087] It can be understood that the direction away from the moving part can be the moving direction of the moving part before it stops moving.

[0088] If the safety boundary test system is equipped with a coupling software system and test fixture components, such as a driver, etc., a command can be issued directly. Otherwise, a prompt message can be issued.

[0089] In some other embodiments of the present application, the method further includes:

[0090] An instruction or prompt message is issued to instruct the surgical robot to establish a spatial connection with at least three registration points on the test support through a registration probe and to perform software compensation to form a virtual safety wall that overlaps with the virtual test plane.

[0091] It should be noted that the registration probe is provided with parts for establishing position association with the surgical robot. The test support includes an association space for establishing spatial association with the surgical robot, and the association space is a space in which the test support establishes spatial association with the surgical robot through the position tracking tool mentioned above. Therefore, the position of a virtual safety wall can be constructed on at least three registration points on the test support in sequence by the registration probe, and the position here can be a coordinate value in a three-dimensional space. The process of establishing a spatial association by the registration probe through-hole being in contact with the registration point is called spatial alignment in the industry.

[0092] In some other embodiments of the present application, the method further includes:

[0093] Acquire a first time point at which the moving part touches the virtual test plane and triggers the sensor component;

[0094] Acquiring a second time point at which the surgical robot issues an instruction to stop the movement of the moving part;

[0095] The difference between the first time point and the second time point is determined as the response time of the surgical robot in the safety margin test.

[0096] As mentioned above, the moving part touching the virtual test plane is detected by the sensor component, that is, the sensor component is triggered, and it can be confirmed that the moving part touches the virtual test plane. Specifically, when the sensor component is triggered, a sound is emitted and / or an indicator light is turned on. At the same time, the safety boundary test device records the first time point when the sensor component is triggered.

[0097] It is understandable that the safety boundary test device itself has the function of recording time. It is understandable that a separate time recorder can also be set to record time.

[0098] As mentioned above, during the process of testing the surgical robot by the safety boundary test system, the signal of the sensor component being triggered is earlier than the signal of the moving part stopping movement.

[0099] Since the signal of the sensor component being triggered is earlier than the signal of the moving part stopping movement, the difference between the two signals can be obtained through the time points when they are generated. The difference is used as the response time of the surgical robot in the safety boundary test to evaluate the reaction speed of the surgical robot's tool after touching the virtual safety wall. The response time is also one of the indicators to determine whether the control system and action components of the surgical robot are qualified.

[0100] In some other embodiments of the present application, before obtaining the first time point at which the moving part touches the virtual test plane to trigger the sensor component, the method further includes:

[0101] An instruction or prompt information is issued to instruct the moving part of the surgical robot to move toward the virtual safety wall at the fastest speed.

[0102] As mentioned above, the fastest speed may be the fastest option among the speed options of the moving parts set by the surgical robot. Understandably, the test needs to be performed to the limit, so the fastest option is selected.

[0103] Embodiment 2

[0104] An embodiment of the present application provides a safety boundary testing device 300, which is used to test a surgical robot through a safety boundary testing system. The safety boundary testing system includes: a safety boundary testing device 300 and a testing tool. The surgical robot includes a moving part. The surgical robot can preset a virtual safety wall in the testing tool and control the moving part to stop moving after the moving part touches the virtual safety wall; the testing tool includes a mobile platform and a test support installed on the mobile platform. The test support is preset with a virtual test plane formed by a sensor component.

[0105] refer to Figure 2 , the safety boundary testing device 300 comprises:

[0106] A first acquisition module 301 is used to acquire a first position of the mobile platform when the moving part touches the virtual test plane and triggers the sensor component; the virtual test plane coincides with the virtual safety wall;

[0107] A second acquisition module 302 is used to acquire a second position of the mobile platform when the mobile platform moves backward and causes the moving part to release the trigger on the sensor component;

[0108] The first determination module 303 is used to obtain the moving distance of the mobile platform in its own moving direction when the first position and the second position are generated, and determine it as the crossing distance of the surgical robot in the safety boundary test.

[0109] In some other embodiments of the present application, the first acquisition module 301 is further used for:

[0110] An instruction or prompt information is issued to instruct the moving part of the surgical robot to move toward the virtual safety wall at the fastest speed.

[0111] The fastest speed here can be the fastest option among the speed options for the moving parts set by the surgical robot. It can be understood that the test needs to be performed at the limit test, so the fastest option is selected. That is, only by moving the moving parts at the fastest speed can a more reliable test result be obtained. If the software system in the safety boundary test system is integrated into the software of the surgical robot, the safety boundary test device 300 can directly issue instructions to control the operation of the surgical robot. Otherwise, a prompt message can be issued.

[0112] It can be understood that moving toward the virtual safety wall is moving along the first direction.

[0113] In some other embodiments of the present application, the second acquisition module 302 is further used for:

[0114] An instruction or prompt message is issued to instruct the mobile platform to retreat in a direction away from the moving part.

[0115] It can be understood that the direction away from the moving part can be the moving direction of the moving part before it stops moving.

[0116] If the safety boundary test system is equipped with a coupling software system and test fixture components, such as a driver, etc., a command can be issued directly. Otherwise, a prompt message can be issued.

[0117] In other embodiments of the present application, reference Figure 3 The device further includes a registration module 304, wherein the registration module 304 is used to:

[0118] An instruction or prompt message is issued to instruct the surgical robot to establish a spatial connection with at least three registration points on the test support through a registration probe and to perform software compensation to form a virtual safety wall that overlaps with the virtual test plane.

[0119] It should be noted that the registration probe is provided with parts for establishing position association with the surgical robot. The test support includes an association space for establishing spatial association with the surgical robot, and the association space is a space in which the test support establishes spatial association with the surgical robot through the position tracking tool mentioned above. Therefore, the position of a virtual safety wall can be constructed on at least three registration points on the test support in sequence by the registration probe, and the position here can be a coordinate value in a three-dimensional space. The process of establishing a spatial association by the registration probe through-hole being in contact with the registration point is called spatial alignment in the industry.

[0120] In other embodiments of the present application, reference Figure 3 The device further includes a second determining module 305, wherein the second determining module 305 is configured to:

[0121] Acquire a first time point at which the moving part touches the virtual test plane and triggers the sensor component;

[0122] Acquiring a second time point at which the surgical robot issues an instruction to stop the movement of the moving part;

[0123] The difference between the first time point and the second time point is determined as the response time of the surgical robot in the safety margin test.

[0124] As mentioned above, the moving part touching the virtual test plane is detected by the sensor component, that is, the sensor component is triggered, and it can be confirmed that the moving part touches the virtual test plane. Specifically, when the sensor component is triggered, a sound is emitted and / or an indicator light is turned on. At the same time, the safety boundary test device 300 records the first time point when the sensor component is triggered.

[0125] As mentioned above, during the process of testing the surgical robot by the safety boundary test system, the signal of the sensor component being triggered is earlier than the signal of the moving part stopping movement.

[0126] Since the signal of the sensor component being triggered is earlier than the signal of the moving part stopping moving, the difference between the two signals can be obtained through the time points when they are generated. The difference is used as the response time of the surgical robot in the safety boundary test to evaluate the reaction speed of the surgical robot's tool after touching the virtual safety wall.

[0127] In some other embodiments of the present application, the second determining module 305 is further configured to:

[0128] An instruction or prompt information is issued to instruct the moving part of the surgical robot to move toward the virtual safety wall at the fastest speed.

[0129] As mentioned above, the fastest speed may be the fastest option among the speed options of the moving parts set by the surgical robot. Understandably, the test needs to be performed to the limit, so the fastest option is selected.

[0130] Each module included in this embodiment can be implemented by a processor in a computer; of course, it can also be implemented by a logic circuit in a computer. The processor can be a general-purpose processor, a digital signal processor (DSP), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor can be a central processing unit (CPU), a microprocessor (MPU) or any other conventional processor.

[0131] The description of the above device embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the device embodiment of this application, please refer to the description of the method embodiment in this application for understanding.

[0132] Embodiment 3

[0133] An embodiment of the present application provides a computing device 500, which is used to test a surgical robot through a safety boundary testing system, wherein the safety boundary testing system includes: a safety boundary testing device and a testing tool; the surgical robot includes a moving part that moves along a first direction, the surgical robot can preset a virtual safety wall in the testing tool, and control the moving part to stop moving after the moving part touches the virtual safety wall; the testing tool includes a mobile platform and a test support mounted on the mobile platform, and the test support is preset with a virtual test plane formed by a sensor component.

[0134] refer to Figure 4 , the computing device 500 comprises: a storage component 501, a communication bus 502 and a processing component 503, wherein:

[0135] The storage component 501 is used to store the safety boundary test method program;

[0136] The communication bus 502 is used to realize the connection and communication between the storage component 501 and the processing component 503;

[0137] The processing component 503 is used to execute the safety boundary test method program to implement the steps of the method described in the first embodiment.

[0138] The type or structure of the storage component 501 can be found in the storage medium below, and will not be described in detail here.

[0139] The processing unit 503 may be a general-purpose processor, a digital signal processor (DSP), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a central processing unit (CPU), a microprocessor (MPU), or any other conventional processor.

[0140] In some embodiments, the computing device 500 may further include: an input device 504, an output device 505, and an external communication interface 506, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown in the figure). In this embodiment, the input device may be a network connector, an analog-to-digital converter, etc., and the output device may be a display, a speaker, etc.

[0141] In some embodiments, the input device 504 may also include, for example, a keyboard, a mouse, a microphone, etc. The output device 505 may output various information to the outside, for example, in addition to the above-mentioned display and speaker, it may also be a printer, a projector, and a communication network and its connected remote output device, etc. The external communication interface 506 may be wired, such as a standard serial port (RS232), a general-purpose interface bus (GPIB) interface, an Ethernet interface, a universal serial bus (USB) interface, or may be wireless, such as wireless network communication technology (WiFi), Bluetooth, etc.

[0142] The description of the computing device 500 embodiment above is similar to the description of the method embodiment above, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the computing device 500 embodiment of the present application, please refer to the description of the method embodiment in the present application for understanding.

[0143] Embodiment 4

[0144] An embodiment of the present application provides a computer-readable storage medium, which is used to test a surgical robot through a safety boundary testing system, wherein the safety boundary testing system comprises: a safety boundary testing device and a testing tool; the surgical robot comprises a moving part that moves along a first direction, the surgical robot can preset a virtual safety wall in the testing tool, and control the moving part to stop moving after the moving part touches the virtual safety wall; the testing tool comprises a mobile platform and a test support mounted on the mobile platform, the test support is preset with a virtual test plane formed by a sensor component, and an executable program is stored on the computer-readable storage medium, and when the executable program is executed by a processor, the steps of the method described in Example 1 are implemented.

[0145] Exemplarily, the computer-readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The computer-readable storage medium is a tangible device that can hold and store instructions used by the instruction execution device. The readable storage medium can include, for example, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: portable computer disks, hard disks, random access memory (RAM, Random Access Memory), read-only memory (ROM, Read Only Memory), flash memory (Flash Memory), portable compact disc read-only memory (CD-ROM, Compact Disc Read-Only Memory), digital versatile disk (DVD, Digital Versatile Disc), memory stick, floppy disk, mechanical encoding device, such as a punch card or a protruding structure in a groove on which instructions are stored, and any suitable combination of the above. Wherein:

[0146] The RAM includes: static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAM bus random access memory (DRRAM, Direct Rambus Random Access Memory).

[0147] The ROM includes: a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), and an electrically erasable programmable read-only memory (EEPROM).

[0148] The computer-readable storage medium used herein is not to be interpreted as a transient signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (for example, light pulses through a fiber optic cable), or an electrical signal transmitted through wires.

[0149] The description of the above computer-readable storage medium embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the computer-readable storage medium of this embodiment, please refer to the description of the method embodiment in this application for understanding.

[0150] Embodiment 5

[0151] The present application embodiment provides a test tool 600, referring to Figure 5 and Figure 6 , the test tool 600 comprises:

[0152] Base 610;

[0153] The mobile platform 620 is disposed on the base 610 and can move in a first direction relative to the base 610;

[0154] The sensor assembly 640 is mounted on the mobile platform 620 and can move with the movement of the mobile platform to form a virtual test plane; the mobile platform 620 is also provided with at least three blind holes 633 for forming registration points. The movement of the mobile platform 620 relative to the base 610 can be achieved by sliding connection or rolling connection, which is not limited.

[0155] As described above, the first direction may be the direction in which the moving member 901 approaches or moves away from the virtual safety wall.

[0156] The registration point mentioned here is the position reference point mentioned above, which is used to establish a spatial connection between the test support 630 and the surgical robot 900.

[0157] The test fixture 600 of the embodiment of the present application provides the sensor component 640 required in the implementation of the safety boundary test device 300, and provides a virtual test plane 641, and also provides a registration point to form a virtual safety wall. And the mobile platform 620 can move in a first direction relative to the base 610, so as to control the mobile platform 620 to retreat when the cross-border distance is determined.

[0158] In other embodiments of the present application, the mobile platform 620 also includes a test support 630, and the test support 630 includes a support body 631, and the support body 631 is provided with a through hole 632 in a first direction, and the through hole 632 is configured to provide a moving space for the moving part 901 of the surgical robot 900 before and after touching the virtual test plane 641; the sensor component 640 is arranged on any one side or two opposite sides of the through hole 632 to form a virtual test plane 641 arranged on at least a partial cross-section of the through hole 632.

[0159] The test support 630 may be detachably mounted on the mobile platform 620 and fixed relative to the mobile platform 620 after being mounted. Therefore, the test support 630 can move along with the movement of the mobile platform 620 .

[0160] That is, through the through hole 632, enough space can be left for the moving member 901 to move in the first direction. Specifically, the through hole 632 can be a rectangular hole, so that it is easier to process corresponding to the shape of the support body 631, and it is also convenient to verify the movement trajectory of the moving member 901 by measuring the inner wall of the through hole 632.

[0161] Specifically, the blind holes 633 can be arranged on the support body 631, for example, at three different positions on any surface of the support body 631, so that a safety wall can be formed according to the principle that three points form a plane.

[0162] The sensor component 640 may be of a through-beam type, and thus, needs to be arranged on two opposite sides of the through hole 632. The sensor component 640 may also be of a reflective type, and thus, only needs to be arranged on one side of the through hole 632.

[0163] Specifically, the sensing component 640 is a grating, and the grating includes a light emitter and a light receiver; the light emitter and the light receiver are respectively arranged on two opposite sides of the through hole 632.

[0164] That is, the grating is a through-type grating, so that the detection is more accurate.

[0165] In some other embodiments of the present application, the test support 630 also includes a sensor seat 634 for mounting the sensor assembly 640; the sensor seat 634 includes a first mounting surface for mounting the light emitter and a second mounting surface for mounting the light receiver, and the first mounting surface and the second mounting surface are formed by one processing device.

[0166] In this way, the first mounting surface and the second mounting surface are closer to being overlapped in the same plane, which can improve the measurement accuracy of the sensor assembly 640.

[0167] Specifically, the first mounting surface and the second mounting surface can be milled at one time on a CNC milling machine.

[0168] In other embodiments of the present application, the test support 630 also includes a motion reference block 650 configured to provide a reference position for the moving part 901 of the surgical robot 900 before moving, and the motion guide block is installed in the middle area of ​​the cross-section of the through hole 632.

[0169] Since the cross-sectional area of ​​the through hole 632 is relatively large, a relatively more precise motion guide is provided by setting the motion reference block 650 .

[0170] In other embodiments of the present application, the test tool 600 also includes a ruler 660 for recording the position of the mobile platform 620, and the ruler 660 is made according to the principle of a micrometer; the ruler 660 includes a ruler body fixed on the base 610 and a measuring rod linked to the mobile platform 620.

[0171] Specifically, when the mobile platform 620 needs to move backward, the adjusting nut at the tail of the scale 660 is rotated counterclockwise to move the measuring rod along the first direction and toward the end away from the moving member 901. The measuring rod is linked with the mobile platform 620, and the mobile platform 620 also moves with it to move backward.

[0172] The principle of the micrometer screw has the characteristics of high measurement accuracy and is a purely mechanical structure, which is reliable and stable. Specifically, an ordinary micrometer screw can be simply modified and set on the test fixture 600. It can be understood that a digital grating ruler can also be used to record the position of the mobile platform 620, so that the measurement result can be directly displayed without reading.

[0173] In some other embodiments of the present application, the test fixture 600 further includes a movable guide assembly 670 , and the movable guide assembly 670 includes a guide rail and a slider; the guide rail is fixedly mounted on the base 610 , and the slider is mounted on the movable platform 620 .

[0174] In this way, the moving platform 620 has less moving resistance and is smoother. Specifically, the guide assembly may be a linear guide rail.

[0175] In some other embodiments of the present application, the test fixture 600 further includes: an optical tracer 680 configured to allow the surgical robot 900 to establish a position association with the test fixture 600 to facilitate the formation of a virtual safety wall and a moving path of the moving part 901 .

[0176] Similar to the previous registration points, at least three light-emitting points or light-reflecting points are set on the optical tracer 680. The surgical robot 900 determines the position of the optical tracer 680 based on the light reflected by the three light-emitting points or light-reflecting points, and can also determine the position of the test fixture 600. When the registration probe passes through the three registration points and establishes the spatial connection between the surgical robot 900 and the test support 630, a position reference is provided.

[0177] In some other embodiments of the present application, the base 610 includes:

[0178] Bottom plate 611;

[0179] At least two support plates 612 are installed on the bottom wall or side wall on two opposite sides of the bottom plate 611; the optical tracer 680 is detachably installed on the outward side of the support plate 612;

[0180] The top plate 613 is installed on at least two of the support plates 612 and is provided with a mounting structure for mounting the mobile platform 620 .

[0181] In this way, a relatively stable test support 630 can be provided and the entire test fixture 600 can have a sufficient height for easy operation by the staff.

[0182] Specifically, a receiving groove 6111 for receiving the motion reference block 650 is provided on the bottom plate 611 so as to receive the motion reference block 650 when not in operation.

[0183] The description of the above test fixture 600 embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the test fixture 600 embodiment of the present application, please refer to the description of the method embodiment in the present application for understanding.

[0184] Embodiment 6

[0185] The present application embodiment provides a safety boundary testing system 800, referring to Figure 7 , the safety boundary testing system 800 includes:

[0186] The safety boundary testing device 300 is the same as that described in the second embodiment;

[0187] The test tool 600 is the same as that described in the fifth embodiment.

[0188] As mentioned above, the safety boundary test system 800 is applied to test the surgical robot 900, and the surgical robot 900 includes a moving part 901 that moves along a first direction. The surgical robot 900 can preset a virtual safety wall in the test tooling 600, and control the moving part 901 to stop moving after the moving part 901 touches the virtual safety wall; the test tooling 600 includes a mobile platform 620 and a test support 630 installed on the mobile platform 620, and the test support 630 includes a sensor component 640 to form a virtual test plane 641.

[0189] Specifically, the safety boundary testing device 300 receives the signal, such as a trigger signal, from the sensor component 640 in the testing tool 600 through the dual-channel oscilloscope 801. The oscilloscope can also be used for synchronous display.

[0190] Another channel of the dual-channel oscilloscope 801 is used to receive a signal from the surgical robot 900 to control the moving part 901 to stop moving.

[0191] It should be noted that the methods, devices, equipment, storage media, test tools and test system embodiments provided in the embodiments of the present application belong to the same concept; the technical features in the technical solutions recorded in each embodiment can be combined arbitrarily without conflict.

[0192] In the above description, the terms "first\second\..." are only used to distinguish similar objects and do not represent a specific order of the objects. It can be understood that "first\second\third" can be interchanged in a specific order or sequence if permitted.

[0193] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0194] In the embodiments of the present application, unless otherwise specified and limited, the term "connection" should be understood in a broad sense. For example, it can be an electrical connection or internal connectivity between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0195] The purpose of the terms used herein is only to describe specific embodiments and is not intended to be limiting of the present application. When used herein, the singular forms "one", "an" and "said / the" are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "consisting of" and / or "comprising", when used in this specification, determine the presence of the features, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or groups. When used herein, the term "and / or" includes any and all combinations of the relevant listed items.

[0196] It should be understood that "one embodiment" or "some embodiments" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in some embodiments" appearing throughout the specification may not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned sequence numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0197] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as: multiple modules or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or modules can be electrical, mechanical or other forms.

[0198] The modules described above as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules; they may be located in one place or distributed on multiple network modules; some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0199] In addition, all functional modules in the embodiments of the present application may be integrated into one processing module, or each functional module may be a separate module, or two or more functional modules may be integrated into one module; the above-mentioned integrated modules may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0200] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiment.

[0201] Alternatively, if the above-mentioned integrated module of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application can be essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable an electronic device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present application. In this way, the embodiment of the present application is not limited to any specific combination of hardware and software.

[0202] The methods disclosed in several method embodiments provided in this application can be combined arbitrarily without conflict to obtain new method embodiments. The features disclosed in several product embodiments provided in this application can be combined arbitrarily without conflict to obtain new product embodiments.

[0203] It should be understood that the above embodiments are exemplary and are not intended to include all possible implementations included in the claims. Various modifications and changes may be made on the basis of the above embodiments without departing from the scope disclosed in the present application. Similarly, the various technical features of the above embodiments may be arbitrarily combined to form other embodiments of the present application that may not be explicitly described. Therefore, the above embodiments only express several implementations of the present application and do not limit the scope of protection of the patent of this application.

Claims

1. A security boundary testing method, It is characterized in that The invention is applied to test a surgical robot through a safety boundary test system, the safety boundary test system comprising: a safety boundary test device and a test fixture; the surgical robot comprises a moving part moving along a first direction, the surgical robot can preset a virtual safety wall in the test fixture, and control the moving part to stop moving after the moving part touches the virtual safety wall; the test fixture comprises a mobile platform and a test support mounted on the mobile platform, the test support is preset with a virtual test plane formed by a sensor component, and the method comprises: Acquiring a first position of the mobile platform when the moving part touches the virtual test plane and triggers the sensor component; the virtual test plane coincides with the virtual safety wall; Acquiring a second position of the mobile platform when the mobile platform retreats and causes the moving part to release the triggering of the sensor component; the retreat of the mobile platform is the movement of the mobile platform along the first direction and away from the moving part; The distance between the first position and the second position is obtained, and determined as the crossing distance of the surgical robot in the safety boundary test.

2. The security boundary testing method according to claim 1, It is characterized in that Before acquiring the first position of the mobile platform when the moving part touches the virtual test plane and triggers the sensor component, the method further includes: An instruction or prompt information is issued to instruct the moving part of the surgical robot to move toward the virtual safety wall at the fastest speed.

3. The security boundary testing method according to claim 1, It is characterized in that Before acquiring the second position of the mobile platform when the moving member releases the triggering of the sensor component due to the retreat of the mobile platform, the method further includes: An instruction or prompt message is issued to instruct the mobile platform to retreat in a direction away from the moving part.

4. The security boundary testing method according to claim 1, It is characterized in that The method further comprises: An instruction or prompt message is issued to instruct the surgical robot to establish a spatial connection with at least three registration points on the test support through a registration probe and to perform software compensation to form a virtual safety wall that overlaps with the virtual test plane.

5. The security boundary testing method according to claim 1, It is characterized in that The method further comprises: Acquire a first time point at which the moving part touches the virtual test plane and triggers the sensor component; Acquiring a second time point at which the surgical robot issues an instruction to stop the movement of the moving part; The difference between the first time point and the second time point is determined as the response time of the surgical robot in the safety margin test.

6. The security boundary testing method according to claim 5, It is characterized in that Before obtaining the first time point at which the moving part touches the virtual test plane and triggers the sensor component, the method further includes: An instruction or prompt information is issued to instruct the moving part of the surgical robot to move toward the virtual safety wall at the fastest speed.

7. A safety boundary testing device, It is characterized in that The invention is applied to test a surgical robot through a safety boundary test system, wherein the safety boundary test system comprises: a safety boundary test device and a test fixture; the surgical robot comprises a moving part moving along a first direction, the surgical robot can preset a virtual safety wall in the test fixture, and control the moving part to stop moving after the moving part touches the virtual safety wall; the test fixture comprises a mobile platform and a test support mounted on the mobile platform, the test support is preset with a virtual test plane formed by a sensor component, and the device comprises: A first acquisition module is used to acquire a first position of the mobile platform when the moving part touches the virtual test plane and triggers the sensor component; the virtual test plane coincides with the virtual safety wall; A second acquisition module is used to acquire a second position of the mobile platform when the mobile platform moves backward and causes the moving part to release the triggering of the sensor component; The first determination module is used to obtain the moving distance of the mobile platform in its own moving direction when the first position and the second position are generated, and determine it as the crossing distance of the surgical robot in the safety boundary test.

8. A computing device, It is characterized in that The invention is applied to test a surgical robot through a safety boundary test system, wherein the safety boundary test system comprises: a safety boundary test device and a test fixture; the surgical robot comprises a moving part moving along a first direction, the surgical robot can preset a virtual safety wall in the test fixture, and control the moving part to stop moving after the moving part touches the virtual safety wall; the test fixture comprises a mobile platform and a test support mounted on the mobile platform, the test support is preset with a virtual test plane formed by a sensor component, and the computing device comprises: a storage component, a communication bus and a processing component, wherein: The storage component is used to store the safety boundary test method program; The communication bus is used to realize the connection and communication between the storage component and the processing component; The processing component is used to execute the safety boundary test method program to implement the steps of the method as claimed in any one of claims 1 to 6.

9. A computer-readable storage medium, It is characterized in that The invention is applied to test a surgical robot through a safety boundary test system, wherein the safety boundary test system comprises: a safety boundary test device and a test fixture; the surgical robot comprises a moving part moving along a first direction, the surgical robot can preset a virtual safety wall in the test fixture, and control the moving part to stop moving after the moving part touches the virtual safety wall; the test fixture comprises a mobile platform and a test support mounted on the mobile platform, and the test support is preset with a virtual test plane formed by a sensor component; The computer-readable storage medium stores an executable program, and when the executable program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A test tool, It is characterized in that include: Base; A mobile platform, disposed on the base, capable of moving in a first direction relative to the base; The sensing component is installed on the mobile platform and can move with the movement of the mobile platform to form a virtual test plane; the mobile platform is also provided with at least three blind holes for forming registration points.

11. The test tool according to claim 10, It is characterized in that The mobile platform also includes a test support, which includes a support body, the support body having a through hole in a first direction, and the through hole is configured to provide a moving space for the moving parts of the surgical robot before and after touching the virtual test plane; the sensor component is arranged on any one side or two opposite sides of the through hole to form a virtual test plane arranged on at least a partial cross-section of the through hole.

12. The test tool according to claim 11, It is characterized in that The sensing component is a grating, and the grating includes a light emitter and a light receiver; the light emitter and the light receiver are respectively arranged on two opposite sides of the through hole.

13. The test tool according to claim 12, It is characterized in that The test support also includes a sensor seat for mounting the sensor assembly; the sensor seat includes a first mounting surface for mounting the light emitter and a second mounting surface for mounting the light receiver, and the first mounting surface and the second mounting surface are formed by one-time processing by the same processing equipment.

14. The test tool according to claim 11, It is characterized in that The test support further comprises a motion reference block configured to provide a reference position for a moving part of the surgical robot before moving, and the motion guide block is installed in a middle area of ​​a cross section of the through hole.

15. The test tool according to claim 10, It is characterized in that The test fixture also includes a scale for recording the position of the mobile platform, and the scale is made according to the principle of a micrometer screw; the scale includes a ruler body fixed to the base and a measuring rod linked to the mobile platform.

16. The test tool according to claim 10, It is characterized in that The testing fixture further comprises a movable guide assembly, which comprises a guide rail and a slider; the guide rail is fixedly mounted on the base, and the slider is mounted on the movable platform.

17. The test tool according to claim 10, It is characterized in that The test fixture also includes: an optical tracer configured to allow the surgical robot to establish a position association with the test fixture to facilitate the formation of a virtual safety wall and a moving path of the moving part.

18. A safety boundary testing system, It is characterized in that include: The safety boundary testing device as claimed in claim 7; The test tool as claimed in any one of claims 10 to 17.

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