Telecentric mechanism testing system and method

Abstract

The invention relates to a telecentric mechanism testing system and method.The system comprises a control device, a tracking device and an instrument simulation device, the control device is connected with the tracking device, and the instrument simulation device is arranged on a telecentric mechanism; the instrument simulation device is used for simulating the movement of the instrument end of the telecentric mechanism; the tracking device is used for collecting target position information of the instrument simulation device and sending the target position information to the control device; the control device is used for determining the motion precision of the telecentric mechanism according to the target position information. By using the telecentric mechanism test system provided by the invention, the motion precision of the telecentric mechanism can be tested.

Description

Technical Field

[0001] The present application relates to the field of kinematics technology, and in particular to a telecentric mechanism testing system and method. Background Art

[0002] The telecentric mechanism is the core component of the surgical trolley in the laparoscopic minimally invasive surgical robot system. Medical staff control the movement of the instrument at the end of the telecentric mechanism through the main operator. The position control accuracy of the end of the telecentric mechanism instrument directly affects the control accuracy of the telecentric mechanism by medical staff. Therefore, it is very important to determine the movement accuracy of the end of the telecentric mechanism instrument.

[0003] However, conventional techniques lack methods for determining the accuracy of the end-point motion of the instrument. Summary of the invention

[0004] Based on this, it is necessary to provide a telecentric mechanism testing system and method that can determine the motion accuracy of the telecentric mechanism in order to address the above technical issues.

[0005] In a first aspect, the present application provides a telecentric mechanism testing system, comprising a control device, a tracking device and an instrument simulation device; the control device is connected to the tracking device; the instrument simulation device is arranged on the telecentric mechanism;

[0006] An instrument simulation device for simulating the movement of the instrument end of the telecentric mechanism;

[0007] A tracking device, used for collecting target position information of the instrument simulation device and sending the target position information to the control device;

[0008] The control device is used to determine the motion accuracy of the telecentric mechanism based on the target position information.

[0009] In one embodiment, the telecentric mechanism includes a drive device connected to the instrument simulation device;

[0010] A driving device, used for driving the instrument simulation device to move according to a preset motion instruction;

[0011] The tracking device is used to collect target position information during the movement of the instrument simulation device.

[0012] In one embodiment, the instrument simulation device includes a common component, a first target ball seat and a target ball array unit; the target ball array unit includes a target ball array seat, the common component is connected to the first target ball seat, and the common component is connected to the target ball array seat through a first connecting rod;

[0013] The first target ball seat is used to carry the first target ball, and the target ball array seat is used to carry the second target ball; the target position information includes the position information of the second target ball and the position information of the first target ball.

[0014] In one embodiment, the common components include: an instrument simulation base and a second connecting rod; the instrument simulation base is connected to the driving device; and the instrument simulation base is connected to the first target ball seat or the first connecting rod via the second connecting rod.

[0015] In one of the embodiments, the telecentric mechanism further comprises a telecentric point positioning device;

[0016] The tracking device is also used to collect the position information of the telecentric point positioning device and transmit the position information of the telecentric point positioning device to the control device;

[0017] The control device is used to determine the motion accuracy of the telecentric mechanism according to the position information of the telecentric point positioning device and the target position information.

[0018] In one embodiment, the distal point positioning device includes an adapter plate, a third connecting rod and a second target ball seat; the adapter plate is connected to the driving device, and the third connecting rod is connected between the adapter plate and the second target ball seat; the second target ball seat is used to carry the third target ball; the position information of the distal point positioning device includes the position information of the third target ball.

[0019] In one embodiment, the driving device includes a slide, a first rotating shaft and a second rotating shaft; the second rotating shaft is connected to the distal point positioning device through a fourth connecting rod; and the slide is connected to the instrument simulation device.

[0020] In one of the embodiments, the control device is further used to compare the motion accuracy of the telecentric mechanism with a preset threshold value, and determine whether the motion accuracy reaches the preset standard based on the comparison result.

[0021] In a second aspect, the present application provides a telecentric mechanism testing method, using the telecentric mechanism testing system provided in the first aspect above, the method comprising:

[0022] The tracking device in the telecentric mechanism test system collects the target position information of the instrument simulation device;

[0023] The control device in the telecentric mechanism test system determines the motion accuracy of the telecentric mechanism according to the target position information.

[0024] In one embodiment, the instrument simulation device includes a first target ball seat and a target ball array unit, the target position information includes position information of a first target ball in the first target ball seat and position information of a second target ball in the target ball array unit, and the method for collecting the target position information of the instrument simulation device includes:

[0025] Collecting the positions of any three second target balls in the target ball array unit to obtain the position information of the second target balls;

[0026] The position of the first target ball is collected to obtain the position information of the first target ball.

[0027] In one embodiment, the telecentric mechanism includes a telecentric point positioning device, and the method further includes:

[0028] The center position of the third target ball in the apocenter positioning device is collected to obtain the position information of the apocenter positioning device.

[0029] In one embodiment, the method further comprises:

[0030] According to the position information of the telecentric positioning device and the target position information, the conversion relationship between the coordinate system where the first target ball is located and the coordinate system where the second target ball is located is determined; the reference coordinate system is the coordinate system where the first target ball is located;

[0031] Get the target rotation angle;

[0032] Determine the theoretical position of the instrument end of the telecentric mechanism in the reference coordinate system according to the target rotation angle;

[0033] The motion accuracy is determined based on the theoretical posture, transformation relationship and target position information.

[0034] The embodiment of the present application provides a telecentric mechanism testing system and method, the telecentric mechanism testing system includes a control device, a tracking device and an instrument simulation device, the control device is connected to the tracking device, the instrument simulation device is arranged on the telecentric mechanism; the instrument simulation device is used to simulate the movement of the instrument end of the telecentric mechanism; the tracking device is used to adopt the target position information of the instrument simulation device and send the target position information to the control device; the control device is used to determine the movement accuracy of the telecentric mechanism according to the target position information. In this embodiment, the instrument simulation device in the telecentric mechanism testing system provided by this embodiment is used to simulate the movement of the instrument end during the actual use of the telecentric mechanism, and the control device can determine the movement accuracy of the telecentric mechanism according to the target position information of the instrument simulation device collected by the tracking device, so as to facilitate the subsequent improvement of the control accuracy of the instrument end of the telecentric mechanism according to the movement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of the structure of a telecentric mechanism testing system in one embodiment;

[0036] Figure 2 is a schematic diagram of the structure of a computer device in one embodiment;

[0037] Figure 3 A schematic structural diagram of a telecentric mechanism testing system in another embodiment;

[0038] Figure 4 A schematic diagram of the structure of an instrument simulation device in one embodiment;

[0039] Figure 5is a schematic structural diagram of a far-center point positioning device in one embodiment;

[0040] Figure 6 A schematic diagram of a driving device in one embodiment;

[0041] Figure 7 A schematic diagram of the steps of a telecentric mechanism testing method in one embodiment;

[0042] Figure 8 A schematic diagram of the steps of a telecentric mechanism testing method in another embodiment;

[0043] Fig. 9 A schematic diagram of the steps of a telecentric mechanism testing method in another embodiment;

[0044] Fig.10 A schematic diagram of the steps of a telecentric mechanism testing method in another embodiment;

[0045] Fig.11 Schematic diagram of the process flow of a telecentric mechanism testing method in another embodiment.

[0046] Description of reference numerals:

[0047] 10. Telecentric mechanism test system; 20. Telecentric mechanism; 21. Driving device; 100. Control device; 200. Tracking device; 300. Instrument simulation device; 310. Common component; 311. First connecting rod; 312. Instrument simulation base; 313. Second connecting rod; 314. Counterweight unit; 320. First target ball seat; 321. First target ball; 330. Target ball array unit; 331. Target ball array seat; 332. Second target ball; 220. Adapter plate; 221. Third connecting rod; 222. Second target ball seat; 223. Third target ball; 210. Slide; 212. First rotation axis; 213. Second rotation axis; 214. Fourth connecting rod; 400. Carrying platform. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] The serial numbers assigned to the components in this application, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings). In the description of this application, it should be understood that the orientation or position relationship indicated by the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. are based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0050] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0051] First of all, before specifically introducing the technical solutions of the disclosed embodiments of the present application, the technical background or technical evolution context on which the embodiments of the present application are based is introduced. The telecentric mechanism is the core component of the operating trolley in the abdominal minimally invasive surgical robot system. Medical staff control the movement of the instrument at the end of the telecentric mechanism through the main operator. The posture control accuracy of the instrument end of the telecentric mechanism directly affects the control accuracy and intuition of the telecentric mechanism by medical staff. Improving the control accuracy of the instrument end of the telecentric mechanism can not only enable medical staff to have a good intuitive operating experience, but also improve the accuracy of medical staff's operation and give full play to the advantages of the abdominal minimally invasive surgical robot system. Therefore, it is very important to determine the motion accuracy of the instrument end of the telecentric mechanism. However, traditional technologies lack methods for determining the motion accuracy of the instrument end. In this regard, the present application provides a telecentric mechanism testing system that can test the motion accuracy of the instrument end of the telecentric mechanism.

[0052] The technical solution of the present application and how the technical solution of the present application solves the technical problem are described in detail below with specific embodiments.

[0053] In one embodiment, Figure 1As shown, a telecentric mechanism test system 10 is provided, and the telecentric mechanism test system 10 is applied to a telecentric mechanism 20. The telecentric mechanism test system 10 includes a control device 100, a tracking device 200, and an instrument simulation device 300. The control device 100 is connected to the tracking device 200, and the instrument simulation device 300 is arranged on the telecentric mechanism 20.

[0054] The control device 100 and the tracking device 200 may be connected by wired communication or wireless communication. This embodiment does not limit this, as long as the function can be achieved. The instrument simulation device 300 is detachably arranged on the telecentric mechanism 20. The instrument simulation device 300 and the telecentric mechanism 20 may be threaded or flanged. This embodiment does not limit the specific way in which the instrument simulation device 300 is arranged on the telecentric mechanism 20, as long as the function can be achieved.

[0055] The instrument simulation device 300 is used to simulate the movement of the instrument end of the telecentric mechanism 20. That is, when the movement accuracy of the telecentric mechanism 20 is tested, the instrument simulation device 300 is used to simulate the instrument end of the telecentric mechanism 20 during actual use. The specific structure and materials of the instrument simulation device 300 can be set according to the components of the instrument end of the telecentric mechanism 20 during actual use. This embodiment does not limit the specific structure and materials of the instrument simulation device 300, as long as it can achieve its function.

[0056] The tracking device 200 is used to collect the target position information of the instrument simulation device 300 and send the target position information to the control device 100. The target position information includes the position coordinates and posture of the instrument simulation device 300. In the process of the instrument simulation device 300 simulating the movement of the instrument end of the telecentric mechanism 20, the tracking device 200 can collect the movement trajectory of the instrument simulation device 300, thereby obtaining the target position information. After collecting the target position information of the instrument simulation device 300, the tracking device 200 will send the target position information to the control device 100. The tracking device 200 can first save the collected target position information in its corresponding storage device, and when the control device 100 needs it, the tracking device 200 sends the corresponding target position information in the storage device to the control device 100; the tracking device 200 can also send the collected target position to the control device 100 in real time, and the control device 100 stores it in the corresponding memory. When the control device 100 needs to determine the movement accuracy of the telecentric mechanism 20 according to the target position information, it can be directly obtained in the memory.

[0057] This embodiment does not limit the specific content of the target position information, as long as the subsequent control device 100 can determine the motion accuracy of the telecentric mechanism 20 according to the target position information. In addition, this embodiment does not limit the specific type, structure, and installation position of the tracking device 200, as long as its function can be achieved.

[0058] In an optional embodiment, the tracking device 200 is an optical position tracking device, such as a laser tracker or a camera, etc. The tracking device 200 is arranged around the telecentric mechanism 20 and can collect the motion trajectory of the instrument simulation device 300 in real time during the movement of the instrument simulation device 300.

[0059] The control device 100 is used to determine the motion accuracy of the telecentric mechanism 20 according to the target position information of the instrument simulation device 300. The instrument simulation device 300 simulates the instrument end of the telecentric mechanism 20 during actual use. During the movement of the instrument simulation device 300, after receiving the target position information of the instrument simulation device 300, the control device 100 can calculate the motion accuracy of the telecentric mechanism 20 according to the target position information and the position information of the instrument end of the telecentric mechanism 20 controlled by the control device 100 in theory. Among them, the position information of the movement of the instrument end controlled by the control device 100 in theory can be calculated by the control device 100 according to the control instructions and the kinematic relationship. The control device 100 can be a computer device, a microprocessor chip or other device. The computer device can be, but is not limited to, an industrial computer, a laptop computer, a smart phone, a tablet computer, a portable wearable device, etc.

[0060] In an optional embodiment, the control device 100 may be a computer device, the structure of which is as follows: Figure 2 As shown. The control device 100 includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0061] In an optional embodiment, the control device 100 can obtain the motion accuracy of the telecentric mechanism 20 by calculating the difference between the theoretical position information of the movement of the instrument simulation device 300 and the target position information.

[0062] The telecentric mechanism test system 10 provided in this embodiment includes a control device 100, a tracking device 200 and an instrument simulation device 300; the control device 100 is connected to the tracking device 200; and the instrument simulation device 300 is arranged on the telecentric mechanism 20. The instrument simulation device 300 is used to simulate the instrument end of the telecentric mechanism; the tracking device 200 is used to collect the target position information of the movement of the instrument simulation device 300, and send the target position information to the control device 100, and the control device 100 is used to determine the motion accuracy of the telecentric mechanism 20 according to the target position information. In this embodiment, the movement of the instrument simulation device 300 in the telecentric mechanism test system 10 provided in this embodiment is used to simulate the movement of the instrument end during the actual use of the telecentric mechanism 20. The control device 100 can determine the motion accuracy of the telecentric mechanism 20 according to the target position information of the instrument simulation device 300 collected by the tracking device 200, so as to facilitate the subsequent improvement of the control accuracy of the instrument end of the telecentric mechanism 20 according to the motion accuracy. In addition, the movement of the instrument simulation device 300 in the telecentric mechanism testing system 10 simulates the movement of the instrument end in the actual telecentric mechanism. This can ensure that the movement accuracy of the telecentric mechanism 20 obtained using the telecentric mechanism testing system 10 is consistent with the movement accuracy of the actual telecentric mechanism, thereby being able to improve the control accuracy of the instrument end of the telecentric mechanism 20 to a greater extent based on the movement accuracy.

[0063] In one embodiment, Figure 3 As shown, the telecentric mechanism 20 includes a driving device 21, and the driving device 21 is connected to the instrument simulation device 300. The driving device 21 is detachably connected to the instrument simulation device 300. Optionally, the instrument simulation device 300 and the driving device 21 can be threadedly connected or connected by a top screw. This embodiment does not limit the specific connection method between the driving device 21 and the instrument simulation device 300.

[0064] The driving device 21 is used to drive the instrument simulation device 300 to move according to the preset motion instruction. The preset motion instruction may be an instruction received by the driving device 21 from the control device 100. The preset motion instruction may include the angle at which the instrument simulation device 300 needs to move, or may include the position at which the instrument simulation device 300 needs to move. The preset motion instruction is stored in the control device 100, and the control device 100 is connected to the driving device 21 for communication. The control device 100 drives the instrument simulation device 300 to move according to the preset motion instruction through the driving device 21. This embodiment does not limit the specific structure of the driving device 21, as long as its function can be achieved.

[0065] The tracking device 200 is used to collect target position information during the movement of the instrument simulation device 300. The instrument simulation device 300 moves according to the preset motion instructions under the drive of the driving device 21, and the tracking device 200 collects the movement trajectory of the instrument simulation device 300 in real time to obtain the target position information of the instrument simulation device 300.

[0066] In this embodiment, the telecentric mechanism 20 includes a driving device 21. When the driving device 21 drives the instrument simulation device 300 to move according to the preset motion instruction, the tracking device 200 collects the target position information of the instrument simulation device 300. In this way, the driving device 21 in the telecentric mechanism 20 drives the instrument simulation device 300 to move according to the preset motion instruction, so that the instrument simulation device 300 can be closer to the actual instrument end of the telecentric mechanism 20, so that the motion accuracy of the telecentric mechanism 20 can be more accurately determined according to the obtained target position information.

[0067] In one embodiment, Figure 4 As shown, the instrument simulation device 300 includes a common component 310, a first target ball seat 320 and a target ball array unit 330; the target ball array unit 330 includes a target ball array seat 331, the common component 310 is connected to the first target ball seat 320, and the common component 310 is connected to the target ball array seat 331 through a first connecting rod 311. The first target ball seat 320 is used to carry the first target ball 321, and the target ball array seat 331 is used to carry the second target ball 332; the target position information of the instrument simulation device 300 includes the position information of the second target ball 332 and the position information of the first target ball 321.

[0068] The first target ball seat 320 is used to carry the first target ball 321. A magnetic device is embedded in the first target ball seat 320, and the first target ball 321 is adsorbed on the first target ball seat 320 through the magnetic device. The target ball array seat 331 is used to carry the second target ball 332. The target ball array seat 331 carries at least three second target balls 332. In this embodiment, the structure, material, and quantity of the first target ball seat 320, the target ball array seat 331, the first target ball 321, and the second target ball 332 are not limited, as long as their functions can be achieved.

[0069] In an optional embodiment, the size of the first target ball 321 is 1.5 inches. The structure of the target ball array unit 330 is as follows: Figure 4 As shown, the target ball array seat 331 in the target ball array unit 330 has a through hole in the middle, and the first connecting rod 311 is connected to the target ball array seat 331 through the through hole. The target ball array seat 331 is distributed with four non-collinear threaded holes, and a target ball magnetic seat is installed in each threaded hole. The second target ball 332 is fixed on the target ball magnetic seat by magnetic attraction. The size of the second target ball 332 is 0.5 inches.

[0070] The common component 310 in the instrument simulation device 300 can be connected to the first target ball seat 320, and can also be connected to the target ball array seat 331 in the target ball array unit 330. In other words, the first target ball seat 320 and the target ball array seat 331 are both detachably connected to the common component 310. During use, the first target ball seat 320 is connected to the common component 310. When the control device 100 controls the driving device 21 to drive the instrument simulation device 300 to move, the tracking device 200 can collect the position information of the first target ball 321 in the first target ball seat 320, that is, the position coordinates and posture of the first target ball 321; the first target ball seat 320 is disassembled, and the target ball array seat 331 in the target ball array unit 330 is connected to the common component 310 through the first connecting rod 311. When the control device 100 controls the driving device 21 to drive the instrument simulation device 300 to move, the tracking device 200 can collect the position information of the second target ball 332 in the target ball array seat 331, that is, the position coordinates and posture of the second target ball 332, thereby obtaining the target position information of the instrument simulation device 300.

[0071] In this embodiment, the instrument simulation device 300 includes a common component 310, a first target ball seat 320 and a target ball array unit 330; the target ball array unit 330 includes a target ball array seat 331, the common component 310 is connected to the first target ball 321, and the common component 310 is connected to the target ball array seat 331 via a first connecting rod 311. The structure of the instrument simulation device 300 in this embodiment is simple.

[0072] Please continue to see Figure 4 In one embodiment, the common component 310 includes: an instrument simulation base 312 and a second connecting rod 313; the instrument simulation base 312 is connected to the driving device 21; the instrument simulation base 312 is connected to the first target ball seat 320 or the first connecting rod 311 through the second connecting rod 313.

[0073] The instrument simulation base 312 is a connection component between the instrument simulation device 300 and the driving device 21. The instrument simulation base 312 and the driving device 21 can be connected by screws or flanges. This embodiment does not limit the connection method between the instrument simulation base 312 and the driving device 21, and the shape and material of the instrument simulation base 312, as long as it can achieve its function.

[0074] The second connecting rod 313 is used to connect the instrument simulation base 312 and the first target ball seat 320 or the first connecting rod 311. The first connecting end 313 includes a first end and a second end. The first end of the second connecting rod 313 can be fixedly connected to the instrument simulation base 312 or can be movably connected; the second end of the second connecting rod 313 is movably connected to any one of the first target ball seat 320 and the first connecting rod 311. The length of the second connecting rod 313 can be set according to the position of the actual instrument end during the actual use of the telecentric mechanism 20 to ensure that the center position of the first target ball 321 in the first target ball seat 320 is consistent with the position of the actual instrument end. This embodiment does not limit the material and length of the second connecting rod 313, as long as it can achieve its function. Optionally, the second connecting rod 313 is a rod with adjustable length, and the first target ball 321 can reach a specified position (the position of the actual instrument end) by adjusting the length of the second connecting rod 313.

[0075] Please continue to see Figure 4 In an optional embodiment, the common component 310 further includes a counterweight unit 314, which is disposed on the second connecting rod 313. The counterweight unit 314 is used to simulate an actual load, that is, the weight of the end instrument during actual use of the telecentric mechanism.

[0076] In this embodiment, the common component 310 of the instrument simulation device 300 includes a counterweight unit 314, so that the instrument simulation device 300 is more similar to the instrument end of the telecentric mechanism 20 actually used, thereby improving the accuracy of the motion precision finally determined.

[0077] In one embodiment, the telecentric mechanism 20 further includes a telecentric point positioning device, which is used to realize the positioning of the telecentric point of the telecentric mechanism 20. This embodiment does not limit the specific structure of the telecentric point positioning device as long as it can realize its function.

[0078] The tracking device 200 is also used to collect the position information of the telecentric point positioning device and transmit the position information of the telecentric point positioning device to the control device 100. The control device 100 is used to determine the motion accuracy of the telecentric mechanism 20 according to the position information of the telecentric point positioning device and the target position information.

[0079] When the telecentric mechanism 20 includes a telecentric point positioning device, the tracking device 200 will collect the position information of the telecentric point positioning device and send the position information to the control device 100, so that the control device 100 determines the motion accuracy of the telecentric mechanism 20 based on the received position information of the telecentric point positioning device and the target position information.

[0080] In this embodiment, when the telecentric mechanism 20 includes a telecentric point positioning device, the control device 100 combines the position information of the telecentric point positioning device when determining the motion accuracy of the telecentric mechanism 20. This can improve the accuracy of determining the motion accuracy of the telecentric mechanism 20.

[0081] In one embodiment, Figure 5 As shown, the distal point positioning device includes an adapter plate 220, a third connecting rod 221 and a second target ball seat 222; the adapter plate 220 is connected to the driving device 21, and the third connecting rod 221 is connected between the adapter plate 220 and the second target ball seat 222; the second target ball seat 222 is used to carry the third target ball 223; the position information of the distal point positioning device 22 includes the position information of the third target ball 223.

[0082] The adapter plate 220 includes a first end and a second end. The first end of the adapter plate 220 is movably connected to the driving device 21, and the second end of the adapter plate 220 is connected to the second target ball seat 222 through the third connecting rod 221. The second target ball seat 222 is equipped with a magnetic device, and the third target ball 223 is adsorbed on the second target ball seat 222 through the magnetic device. The length of the third connecting rod 221 can be determined according to the position of the distal point of the telecentric mechanism 20, that is, after the distal point positioning device 22 is fixed, it is necessary to ensure that the position of the center of the third target ball 223 is consistent with the position of the distal point of the telecentric mechanism 20. Among them, the distal point of the telecentric mechanism 20 refers to the intersection of the end of the instrument in the telecentric mechanism 20 and the body cavity of the target object. This embodiment does not limit the shape, length and material of the adapter plate 220 and the third connecting rod 221, as long as they can achieve their functions.

[0083] In an optional embodiment, the second target ball seat 222 is a 1.5-inch target ball seat, and the size of the third target ball 223 is 1.5 inches. The length of the third connecting rod 221 is adjustable, and by adjusting the length of the third connecting rod 221, the position of the center of the third target ball 223 is consistent with the position of the telecentric point of the telecentric mechanism 20.

[0084] In this embodiment, the distal point positioning device 22 includes an adapter plate 220, a third connecting rod 221 and a second target ball seat 222. The adapter plate 220 is connected to the driving device 21, the third connecting rod 221 is connected between the adapter plate 220 and the second target ball seat 222, and the second target ball seat 222 is used to carry the third target ball 223. Such a distal point positioning device 22 has a simple structure and is easy to implement.

[0085] Please continue to see Figure 3 In one embodiment, the driving device 21 includes a slide 210, a first rotating shaft 212 and a second rotating shaft 213; the second rotating shaft 213 is connected to the distal point positioning device 22 via a fourth connecting rod 214; and the slide 210 is connected to the instrument simulation device 300.

[0086] The instrument simulation device 300 is disposed on the slide 210 of the driving device 21 , that is, the instrument simulation device 300 can move on the slide 210 .

[0087] In this embodiment, the telecentric mechanism 20 is a two-degree-of-freedom telecentric mechanism, and the driving device 21 in the telecentric mechanism 20 includes a first rotating shaft 212 and a second rotating shaft 213, the first rotating shaft 212 and the second rotating shaft 213 are flange-connected, the second rotating shaft 213 is connected to the telecentric point positioning device through the fourth connecting rod 214, and the slide 210 is also connected to the fourth connecting rod 214. That is, when it is necessary to determine the position information of the telecentric point positioning device, the telecentric point positioning device is connected to the fourth connecting rod 214; when it is necessary to determine the target position information, the telecentric point positioning device is removed, and the instrument simulation device 300 is set on the slide 210, and the instrument simulation device 300 moves with the rotation of the first rotating shaft 212 and the second rotating shaft 213.

[0088] In an optional embodiment, the first rotating shaft 212 and the second rotating shaft 213 are active driving shafts of the driving device 21 , and a driven shaft in the driving device 21 may also be included between the second rotating shaft 213 and the distal point positioning device.

[0089] In an optional embodiment, the positions of the first rotation axis 212 and the second rotation axis 213 of the two degrees of freedom are as follows: Figure 6 shown. Figure 6 Here J1 is the first degree of freedom and J2 is the second degree of freedom.

[0090] Please continue to see Figure 3 In an optional embodiment, the telecentric mechanism test system 10 further includes a carrying platform 400, and the carrying platform 400 is used to carry the telecentric mechanism 20. The carrying platform 400 can be a cast iron platform. This embodiment does not limit the structure, height, and material of the carrying platform 400, as long as its function can be achieved.

[0091] In one embodiment, the control device 100 is further used to compare the motion accuracy of the telecentric mechanism 20 with a preset threshold value, and determine whether the motion accuracy reaches a preset standard based on the comparison result.

[0092] After obtaining the motion accuracy of the telecentric mechanism 20, the control device 100 will compare the calculated motion accuracy of the telecentric mechanism 20 with the preset threshold value when the accuracy reaches the standard, so as to determine whether the motion accuracy of the telecentric mechanism 20 reaches the preset standard. If the motion accuracy of the telecentric mechanism 20 is not greater than the preset threshold value, it means that the motion accuracy of the telecentric mechanism 20 reaches the standard; if the motion accuracy of the telecentric mechanism 20 is greater than the preset threshold value, it means that the motion accuracy of the telecentric mechanism 20 does not reach the standard.

[0093] In this embodiment, after calculating the motion accuracy of the telecentric mechanism 20, the control device 100 compares the motion accuracy with a preset threshold value, and determines whether the motion accuracy reaches the preset standard according to the comparison result. In this way, when it is determined that the motion accuracy of the telecentric mechanism 20 does not reach the preset standard, it is convenient to subsequently compensate the kinematic parameters of the telecentric mechanism 20 according to the motion accuracy, so as to improve the control accuracy of the instrument end of the telecentric mechanism 20.

[0094] In an optional embodiment, when the control device 100 determines that the motion accuracy of the telecentric mechanism 20 does not meet the standard, it will enter the motion accuracy calibration link. In other words, the control device 100 will obtain the direction of the error deviation of the telecentric mechanism 20 based on the calculated motion accuracy of the telecentric mechanism 20, and then compensate the kinematic parameters according to the direction of the error deviation, so as to improve the control accuracy of the instrument end of the telecentric mechanism 20.

[0095] One embodiment of the present application provides a telecentric mechanism testing method, which uses the telecentric mechanism testing system provided in the above embodiment. Figure 7 As shown, the steps of the method include:

[0096] Step 700: The tracking device in the telecentric mechanism test system collects target position information of the instrument simulation device.

[0097] For the detailed description of the tracking device and the instrument simulation device, reference can be made to the detailed description of the telecentric mechanism test system in the above embodiment, which will not be repeated here.

[0098] During the movement of the instrument simulation device, the tracking device can collect the target position information of the instrument simulation device.

[0099] Step 710: The control device in the telecentric mechanism test system determines the motion accuracy of the telecentric mechanism according to the target position information.

[0100] After collecting the target position information of the instrument simulation device, the tracking device sends the target position information to the control device, and the control device determines the motion accuracy of the telecentric mechanism based on the received target position information.

[0101] In an optional embodiment, the control device can obtain the motion accuracy of the telecentric mechanism by calculating the difference between the motion position information of the instrument end of the telecentric mechanism in theory and the target position information of the instrument simulation device collected. The theoretical motion position information of the instrument end can be calculated by the control device according to the preset angle of movement of the instrument end and the kinematic parameters of the telecentric mechanism and stored in the control device.

[0102] In this embodiment, the tracking device in the telecentric mechanism test system is used to collect the target position information of the instrument simulation device, and the target position information is sent to the control device in the operating mechanism test system. The control device can determine the motion accuracy of the telecentric mechanism based on the target position information. The telecentric mechanism test method provided in this embodiment uses the telecentric mechanism test system, so the method has all the beneficial effects of the operating mechanism test system, which will not be repeated here.

[0103] In one embodiment, if the telecentric mechanism includes a driving device, a method for collecting target position information of an instrument simulation device is provided, the method comprising the steps of:

[0104] When the driving device drives the instrument simulation device to move, target position information of the instrument simulation device is collected.

[0105] For the specific description of the driving device, reference may be made to the specific description in the above-mentioned embodiment of the telecentric mechanism testing system, which will not be repeated here.

[0106] The control device controls the driving device to drive the instrument simulation device to move. During the movement of the instrument simulation device, the tracking device collects the target position information of the instrument simulation device. That is, the tracking device can collect the movement trajectory of the instrument simulation device during the movement.

[0107] The instrument simulation device includes at least three second target balls carried by the target ball array unit and the first target ball carried by the first target ball seat. The target position information of the instrument simulation device includes the position information of the second target ball and the position information of the second target ball. In one embodiment, Figure 8 As shown, one implementation method of collecting target position information of the instrument simulation device includes:

[0108] Step 800: Collect the positions of any three second target balls in the target ball array unit to obtain the position information of the second target balls.

[0109] When the target ball array unit in the instrument simulation device moves under the driving of the driving device, the tracking device collects the position information of any three second target balls in the target ball array unit. Any three second target balls in the target ball array unit are not collinear.

[0110] Step 810: Collect the position of the first target ball to obtain the position information of the first target ball.

[0111] When the first target ball seat in the instrument simulation device is connected to the common component and arranged in the telecentric mechanism, the control device controls the movement of the first rotation axis and the second rotation axis in the driving device, and the tracking device collects the position of the first target ball, that is, the position information of the first target ball. In other words, the control device controls the movement of the first rotation axis in the driving device, and the tracking device collects the position information of the first target ball; the control device controls the movement of the second rotation axis in the driving device, and the tracking device collects the position information of the first target ball again. In other words, the tracking device collects two pieces of position information of the first target ball.

[0112] In this embodiment, the driving device in the telecentric mechanism is used to drive the instrument simulation device to move, and the tracking device collects the position information of at least three second target balls on the target ball array unit during the movement of the instrument simulation device; when the first target ball seat is set on the telecentric mechanism, the position information of the first target ball is collected. This method of determining the target position information of the instrument simulation device is fast and easy to implement.

[0113] In one embodiment, if the telecentric mechanism includes a telecentric mechanism positioning device, the telecentric mechanism testing method further includes:

[0114] The center position of the third target ball in the apocenter positioning device is collected to obtain the position information of the apocenter positioning device.

[0115] The telecentric point positioning device includes a third target ball. After the telecentric mechanism positioning device is set on the telecentric mechanism, the tracking device is used to collect the position information of the third target ball in the telecentric point positioning device, and the center position of the third target ball is used as the position information of the telecentric point positioning device.

[0116] In one embodiment, Fig. 9 As shown, if the telecentric mechanism includes a telecentric point positioning device, the steps of the telecentric mechanism testing method also include:

[0117] Step 900: Determine the conversion relationship between the coordinate system where the first target ball is located and the coordinate system where the second target ball is located according to the position information of the apocenter positioning device and the target position information.

[0118] After collecting the position information of the distal point positioning device and the target position information of the instrument simulation device, that is, the position information of the first target ball and the second position information of the second target ball, the tracking device will send the position information of the distal point positioning device and the target position information of the instrument simulation device to the control device.

[0119] After obtaining the position information of the telecentric point positioning device and the target position information, the control device determines the coordinate origin of the reference coordinate system according to the telecentric point positioning device, that is, the center position of the third target ball in the telecentric point positioning device is used as the coordinate origin of the reference coordinate system. The target position information includes the position information of the first target ball. As can be seen from the description of the above embodiment, the position information of the first target ball collected by the tracking device includes the position information corresponding to the movement of the first rotating axis in the driving device and the position information corresponding to the movement of the second rotating axis in the driving device. After obtaining the position information of the first target ball, the control device can fit a moving trajectory of the first target ball according to the position information of the first target ball corresponding to the movement of the first rotating axis, and determine the direction corresponding to the moving trajectory as a direction of the reference coordinate system; similarly, the control device can fit another moving trajectory of the first target ball according to the position information of the first target ball corresponding to the movement of the second rotating axis, and determine the direction corresponding to the moving trajectory as another direction of the reference coordinate system, thereby determining two coordinate system directions of the reference coordinate system, and the third coordinate system direction of the reference coordinate system can be determined according to these two coordinate system directions, and then the conversion relationship between the reference coordinate system and the measurement coordinate system where the tracking device is located is obtained.

[0120] When the control device controls the instrument simulation device including the first target ball to move to the initial position, the tracking device collects the position information of the first target ball, takes the center position of the first target ball as the coordinate origin of the coordinate system (the instrument end coordinate system) where the first target ball is located, and takes the directions of the three coordinate systems of the reference coordinate system as the directions of the three coordinate systems of the instrument end coordinate system, that is, the coordinate system directions of the reference coordinate system are the same as the coordinate system directions of the instrument end coordinate system. After receiving the position information of the first target ball collected by the tracking device, the control device can determine the conversion relationship between the measurement coordinate system and the instrument end coordinate system.

[0121] After obtaining the position information of at least three second target balls in the target position information, the control device determines the coordinate system (target ball array coordinate system) where the second target balls are located according to the three second target balls, and determines the conversion relationship between the target ball array coordinate system and the measurement coordinate system according to the position information of the three second target balls. According to the conversion relationship between the reference coordinate system and the measurement coordinate system, and the conversion relationship between the target ball array coordinate system and the measurement coordinate system, the conversion relationship between the reference coordinate system and the target ball array coordinate system is determined. According to the conversion relationship between the target ball array coordinate system and the measurement coordinate system, and the conversion relationship between the measurement coordinate system and the instrument end coordinate system, the conversion relationship between the instrument end coordinate system and the target ball array coordinate system is determined.

[0122] Step 910: Obtain the target rotation angle.

[0123] The target rotation angle refers to the rotation angle of the first rotation axis and the second rotation axis in the driving device which is preset by the user and stored in the control device. The control device can directly obtain it when needed.

[0124] Step 920: Determine the theoretical position of the instrument end of the telecentric mechanism in the reference coordinate system according to the target rotation angle.

[0125] After the target rotation angle is reached, the control device can calculate the theoretical position and posture of the instrument end of the telecentric mechanism in the reference coordinate system according to the target rotation angle and the conversion relationship.

[0126] Step 930: Determine the motion accuracy based on the theoretical posture, conversion relationship and target position information.

[0127] The control device can calculate the posture of the instrument end in the reference coordinate system based on the position information of the second target ball in the target position information and the conversion relationship. The control device can obtain the motion accuracy of the telecentric mechanism based on the theoretical posture, that is, the theoretical posture of the instrument end in the reference coordinate system and the difference between the posture of the instrument end in the reference coordinate system.

[0128] The position information of the second target ball in the target position information is the position information of the second target ball in the measurement coordinate system. According to the conversion relationship between the measurement coordinate system and the target ball array coordinate system, the conversion relationship between the measurement coordinate system and the reference coordinate system, and the conversion relationship between the instrument end coordinate system and the target ball array coordinate system, the position and posture of the instrument end corresponding to the target ball array unit in the reference coordinate system can be obtained.

[0129] In this embodiment, the control device can calculate the theoretical position of the end of the instrument in the reference coordinate system according to the target rotation angle, and can determine the motion accuracy of the telecentric mechanism according to the theoretical position, the conversion relationship and the position information of the second target ball in the target position information. This method for determining the motion accuracy of the telecentric mechanism is simple, fast and easy to implement.

[0130] In one embodiment, Fig.10 As shown, the steps of the telecentric mechanism testing method also include:

[0131] Step 101: Determine whether the motion accuracy is not greater than a preset threshold.

[0132] The preset threshold value may be the motion accuracy of the telecentric mechanism preset by the user when the motion accuracy reaches the required standard. After determining the motion accuracy of the telecentric mechanism, the control device compares the motion accuracy with the preset threshold value to determine whether the motion accuracy is not greater than the preset threshold value, that is, whether the motion accuracy is less than or equal to the preset threshold value.

[0133] Step 102: If the motion accuracy is not greater than a preset threshold, it is determined that the motion accuracy reaches a preset standard.

[0134] If the control device determines that the motion accuracy is not greater than the preset threshold by comparing the motion accuracy with the preset threshold, that is, the deviation between the theoretical posture and the target position information is less than or equal to the preset threshold, it means that the motion accuracy meets the preset standard.

[0135] Step 103: If the motion accuracy is greater than a preset threshold, it is determined that the motion accuracy does not meet the preset standard.

[0136] If the control device determines that the motion accuracy is less than the preset threshold by comparing the motion accuracy with the preset threshold, that is, the deviation between the theoretical posture and the target position information is greater than the preset threshold, it means that the motion accuracy does not meet the preset standard.

[0137] In this embodiment, after determining the motion accuracy of the telecentric mechanism, the control device will compare the motion accuracy with a preset threshold value, and determine whether the motion accuracy reaches the preset standard based on the comparison result. This facilitates the subsequent supplementation of the kinematic parameters of the telecentric mechanism based on the motion accuracy when it is determined that the motion accuracy of the telecentric mechanism does not reach the preset standard, so as to improve the control accuracy of the instrument end of the telecentric mechanism.

[0138] In an optional embodiment, the calculated theoretical position of the instrument end in the reference coordinate system can be expressed as Among them, P0 represents the theoretical Cartesian position corresponding to the end of the instrument, and the theoretical attitude angle corresponding to the end of the instrument is calculated according to R0. The position and posture of the second target ball collected by the tracking device in the measurement coordinate system can be expressed as: Among them, P0 represents the collected Cartesian position corresponding to the second target ball, and the collected attitude angle corresponding to the second target ball is calculated according to R1. According to the collected pose of the second target ball in the measurement coordinate system, the conversion relationship between the measurement coordinate system and the reference coordinate system, the conversion relationship between the measurement coordinate system and the target ball array coordinate system, and the conversion relationship between the instrument end coordinate system and the target ball array coordinate system, the pose of the instrument end corresponding to the second target ball in the reference coordinate system can be obtained. For the position information of the second target ball collected by the tracking device, the calculated pose of the instrument end in the reference coordinate system can be expressed as The corresponding Cartesian positions are: The corresponding attitude angle can be expressed as: Among them, Atan2(a,b) represents the inverse tangent function of two parameters, and cβ represents cosβ. Similarly, the theoretical position and posture of the end of the instrument in the reference coordinate system can also be expressed as the corresponding Cartesian position and attitude angle. When the control device determines that the motion accuracy of the telecentric mechanism does not meet the preset standard, the kinematic parameters of the telecentric mechanism can be compensated according to the corresponding attitude angle error and Cartesian position error to improve the control accuracy of the telecentric mechanism over the end of the instrument.

[0139] See also Fig.11 An embodiment of the present application provides a method for testing an operating mechanism, the method comprising the steps of:

[0140] Step 110: The tracking device collects the position information of the third target ball in the apocenter positioning device;

[0141] Step 111: The control device controls the driving device to drive the first rotating axis to move, and the tracking device collects first position information of the first target ball in the instrument simulation device;

[0142] Step 112: The control device controls the driving device to drive the second rotating axis to move, and the tracking device collects second position information of the first target ball in the instrument simulation device;

[0143] Step 113, the control device determines the coordinate origin of the reference coordinate system according to the position information of the third target ball, and determines the coordinate system direction of the reference coordinate system according to the first position information of the first target ball and the second position information of the first target ball;

[0144] Step 114: The control device controls the driving device to drive the instrument simulation device to move to the initial position, and the tracking device collects the third position information of the first target ball in the instrument simulation device;

[0145] Step 115: the control device determines the coordinate origin of the coordinate system of the instrument end (the coordinate system where the first target ball is located) according to the third position information of the first target ball; the coordinate system direction of the measurement coordinate system is the same as the coordinate system direction of the reference coordinate system;

[0146] Step 116: The tracking device collects position information of three second target balls in the instrument simulation device;

[0147] Step 117: The control device determines the target ball array coordinate system (the coordinate system where the second target balls are located) according to the position information of the three second target balls.

[0148] Step 118: The control device determines the conversion relationship between the target ball array coordinate system and the instrument end coordinate system according to the position information of the second target ball, the position information of the third target ball and the position information of the first target ball;

[0149] Step 119: The control device calculates the theoretical position and posture of the end of the instrument according to the acquired target rotation angle;

[0150] Step 120: The control device determines the motion accuracy of the telecentric mechanism according to the theoretical posture, the conversion relationship and the position information of the second target ball.

[0151] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0152] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0153] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0154] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A telecentric mechanism testing system, characterized in that: It comprises a control device (100), a tracking device (200) and an instrument simulation device (300); the control device (100) is connected to the tracking device (200); the instrument simulation device (300) is arranged on a telecentric mechanism (20); The instrument simulation device (300) is used to simulate the movement of the instrument end of the telecentric mechanism (20); The tracking device (200) is used to collect target position information of the instrument simulation device (300) and send the target position information to the control device (100); The control device (100) is used to determine the motion accuracy of the telecentric mechanism (20) according to the target position information.

2. The system according to claim 1, characterized in that The telecentric mechanism (20) comprises a driving device (21), and the driving device (21) is connected to the instrument simulation device (300); The driving device (21) is used to drive the instrument simulation device (300) to move according to a preset motion instruction; The tracking device (200) is used to collect the target position information during the movement of the instrument simulation device (300).

3. The system according to claim 2, characterized in that: The instrument simulation device (300) comprises a common component (310), a first target ball seat (320) and a target ball array unit (330); the target ball array unit (330) comprises a target ball array seat (331); the common component (310) is connected to the first target ball seat (320); and the common component (310) is connected to the target ball array seat (331) via a first connecting rod (311); The first target ball seat (320) is used to carry a first target ball (321), and the target ball array seat (331) is used to carry a second target ball (332); the target position information includes position information of the second target ball (332) and position information of the first target ball (321).

4. The system according to claim 3, characterized in that The common component (310) comprises: an instrument simulation base (312) and a second connecting rod (313); the instrument simulation base (312) is connected to the driving device (21); and the instrument simulation base (312) is connected to the first target ball seat (320) or the first connecting rod (311) via the second connecting rod (313).

5. The system according to any one of claims 2 to 4, characterized in that: The telecentric mechanism (20) also includes a telecentric point positioning device; The tracking device (200) is also used to collect the position information of the distal point positioning device, and transmit the position information of the distal point positioning device to the control device (100); The control device (100) is used to determine the motion accuracy of the telecentric mechanism (20) based on the position information of the telecentric point positioning device and the target position information.

6. The system according to claim 5, characterized in that The distal point positioning device comprises an adapter plate (220), a third connecting rod (221) and a second target ball seat (222); the adapter plate (220) is connected to the driving device (21); the third connecting rod (221) is connected between the adapter plate (220) and the second target ball seat (222); the second target ball seat (222) is used to carry a third target ball (223); and the position information of the distal point positioning device comprises the position information of the third target ball (223).

7. The system according to claim 6, characterized in that The driving device (21) comprises a slide (210), a first rotating shaft (212) and a second rotating shaft (213); the second rotating shaft (213) is connected to the distal point positioning device via a fourth connecting rod (214); the slide (210) is connected to the instrument simulation device (300).

8. The system according to any one of claims 2 to 4, characterized in that: The control device (100) is further used to compare the motion accuracy of the telecentric mechanism (20) with a preset threshold value, and determine whether the motion accuracy reaches a preset standard based on the comparison result.

9. A telecentric mechanism testing method, characterized in that: Using the telecentric mechanism testing system as described in any one of claims 1 to 8, the method comprises: The tracking device in the telecentric mechanism test system collects target position information of the instrument simulation device; The control device in the telecentric mechanism testing system determines the motion accuracy of the telecentric mechanism according to the target position information.

10. The method according to claim 9, characterized in that The instrument simulation device includes a first target ball seat and a target ball array unit, the target position information includes position information of a first target ball in the first target ball seat and position information of a second target ball in the target ball array unit, and the method for collecting the target position information of the instrument simulation device includes: Collecting the positions of any three second target balls in the target ball array unit to obtain the position information of the second target balls; The position of the first target ball is collected to obtain the position information of the first target ball.

11. The method according to claim 10, characterized in that The telecentric mechanism includes a telecentric point positioning device, and the method further includes: The center position of the third target sphere in the apocenter positioning device is collected to obtain the position information of the apocenter positioning device.

12. The method according to claim 11, characterized in that The method further comprises: Determine the conversion relationship between the coordinate system where the first target ball is located and the coordinate system where the second target ball is located according to the position information of the apocenter positioning device and the target position information; Get the target rotation angle; Determining the theoretical position of the instrument end of the telecentric mechanism in the reference coordinate system according to the target rotation angle; The motion accuracy is determined according to the theoretical posture, the conversion relationship and the target position information.

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