Telecentric mechanism testing system and method

Abstract

This application relates to a telecentric mechanism testing system and method. The system includes a control device, a tracking device, and a device simulation device. The control device is connected to the tracking device, and the device simulation device is disposed on the telecentric mechanism. The device simulation device is used to simulate the motion of the device end of the telecentric mechanism. The tracking device is used to collect target position information of the device simulation device and send the target position information to the control device. The control device is used to determine the motion accuracy of the telecentric mechanism based on the target position information. Using the telecentric mechanism testing system provided in this application, the motion accuracy of the telecentric mechanism can be tested.

Description

Technical Field

[0001] This application relates to the field of kinematics, and in particular to a telecentric mechanism testing system and method. Background Technology

[0002] The telecentric mechanism is a core component of the surgical cart in a minimally invasive laparoscopic surgical robot system. Medical staff control the movement of instruments at the distal end of the telecentric mechanism via the main operator. The pose control accuracy of the distal end of the telecentric mechanism directly affects the control accuracy of the medical staff over the telecentric mechanism; therefore, determining the motion accuracy of the distal end of the telecentric mechanism is crucial.

[0003] However, traditional techniques lack methods for determining the accuracy of the movement at the end of the instrument. Summary of the Invention

[0004] Therefore, it is necessary to provide a telecentric mechanism testing system and method that can determine the motion accuracy of the telecentric mechanism in response to the above-mentioned technical problems.

[0005] In a first aspect, this application provides a telecentric mechanism testing system, including 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 disposed on the telecentric mechanism.

[0006] Instrument simulation device, used to simulate the movement of the instrument end of a telecentric mechanism;

[0007] The tracking device is used to collect the target position information of the instrument simulation device and send the target position information to the control device;

[0008] A 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 unit connected to the instrument simulation device;

[0010] A drive unit is used to drive the instrument simulation device to move according to preset motion commands;

[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 via a first connecting rod.

[0013] The first target ball holder is used to support the first target ball, and the target ball array holder is used to support 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 a drive device; the instrument simulation base is connected to a first target ball seat or a first connecting rod via the second connecting rod.

[0015] In one embodiment, the telecentric mechanism further includes a telecentric point positioning device;

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

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

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

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

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

[0021] Secondly, this application provides a method for testing telecentric mechanisms, using the telecentric mechanism testing system provided in the first aspect above, the method comprising:

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

[0023] The control device in the telecentric mechanism testing system determines the motion accuracy of the telecentric mechanism based on 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 the position information of a first target ball in the first target ball seat and the position information of a second target ball in the target ball array unit. The method for acquiring the target position information of the instrument simulation device includes:

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

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

[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 telecentric positioning device is collected to obtain the position information of the telecentric positioning device.

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

[0030] Based on the position information of the telecentric positioning device and the target position information, determine the transformation relationship between the coordinate system of the first target ball and the coordinate system of the second target ball; the reference coordinate system is the coordinate system of the first target ball.

[0031] Obtain the target rotation angle;

[0032] The theoretical pose of the telecentric mechanism's end effector in the reference coordinate system is determined based on the target rotation angle.

[0033] Based on the theoretical pose, transformation relationship, and target position information, the motion accuracy is determined.

[0034] This 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, and the instrument simulation device is disposed 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 use 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 motion accuracy of the telecentric mechanism based on the target position information. In this embodiment, the instrument simulation device in the telecentric mechanism testing system provided in this embodiment is used to simulate the movement of the instrument end of the telecentric mechanism during actual use. The control device can determine the motion accuracy of the telecentric mechanism based on the target position information of the instrument simulation device collected by the tracking device, thereby facilitating subsequent improvement of the control accuracy of the instrument end of the telecentric mechanism based on the motion accuracy. Attached Figure Description

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

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

[0037] Figure 3 This is a schematic diagram of the telecentric mechanism testing system in another embodiment;

[0038] Figure 4 This is a schematic diagram of the instrument simulation device in one embodiment;

[0039] Figure 5This is a schematic diagram of the telecentric point positioning device in one embodiment;

[0040] Figure 6 This is a schematic diagram of the drive device in one embodiment;

[0041] Figure 7 This is a flowchart illustrating the steps of a telecentric mechanism testing method in one embodiment;

[0042] Figure 8 This is a flowchart illustrating the steps of a telecentric mechanism testing method in another embodiment;

[0043] Figure 9 This is a flowchart illustrating the steps of a telecentric mechanism testing method in another embodiment;

[0044] Figure 10 This is a flowchart illustrating the steps of a telecentric mechanism testing method in another embodiment;

[0045] Figure 11 This is a flowchart illustrating the steps of a telecentric mechanism testing method in another embodiment.

[0046] Explanation of reference numerals in the attached figures:

[0047] 10. Telecentric mechanism testing system; 20. Telecentric mechanism; 21. Drive 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 table; 212. First rotating axis; 213. Second rotating axis; 214. Fourth connecting rod; 400. Bearing platform. Detailed Implementation

[0048] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0049] The serial numbers assigned to components in this application, such as "first" and "second," are merely for distinguishing the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages). It should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing this application and for simplification, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0050] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0051] First, before introducing the technical solutions of the embodiments disclosed in this application, the technical background or evolution of the embodiments of this application is first introduced. The telecentric mechanism is a core component of the operating trolley in a minimally invasive laparoscopic surgical robot system. Medical personnel control the movement of the instruments at the end of the telecentric mechanism through the main operator. The pose control accuracy of the end of the telecentric mechanism directly affects the control accuracy and intuitiveness of the medical personnel. Improving the control accuracy of the end of the telecentric mechanism not only allows medical personnel to have a good intuitive operating experience, but also improves the accuracy of their operation, fully leveraging the advantages of the minimally invasive laparoscopic surgical robot system. Therefore, determining the motion accuracy of the end of the telecentric mechanism is very important. However, traditional technologies lack methods for determining the motion accuracy of the instrument end. Therefore, this application provides a telecentric mechanism testing system capable of testing the motion accuracy of the end of the telecentric mechanism.

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

[0053] In one embodiment, such as Figure 1As shown, a telecentric mechanism testing system 10 is provided, which is applied to a telecentric mechanism 20. The telecentric mechanism testing 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 disposed on the telecentric mechanism 20.

[0054] The control device 100 and the tracking device 200 can be connected via wired or wireless communication; this embodiment does not impose any restrictions as long as the function can be achieved. The instrument simulation device 300 is detachably mounted on the telecentric mechanism 20. The instrument simulation device 300 and the telecentric mechanism 20 can be connected by threads or flanges; this embodiment does not impose any restrictions on the specific manner in which the instrument simulation device 300 is mounted 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 distal end of the telecentric mechanism 20. That is, when testing the movement accuracy of the telecentric mechanism 20, the instrument simulation device 300 is used to simulate the distal end of the telecentric mechanism 20 during actual use. The specific structure and materials of the instrument simulation device 300 can be configured according to the components at the distal 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 its function can be achieved.

[0056] The tracking device 200 is used to collect target position information from 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 attitude of the instrument simulation device 300. During the simulation of the movement of the instrument end of the telecentric mechanism 20 by the instrument simulation device 300, 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 sends the target position information to the control device 100. The tracking device 200 can first store the collected target position information in its corresponding storage device, and send the corresponding target position information from the storage device to the control device 100 when needed; alternatively, the tracking device 200 can send the collected target position to the control device 100 in real time, and the control device 100 stores it in its corresponding memory. When the control device 100 needs to determine the movement accuracy of the telecentric mechanism 20 based on the target position information, it can directly retrieve it from 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 based on the target position information. Furthermore, this embodiment does not limit the specific type, structure, or location 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. The tracking device 200 is positioned around the telecentric mechanism 20 and can acquire the motion trajectory of the instrument simulation device 300 in real time during its movement.

[0059] The control device 100 is used to determine the motion accuracy of the telecentric mechanism 20 based on the target position information of the instrument simulation device 300. The instrument simulation device 300 simulates the end effector of the telecentric mechanism 20 during actual use. During the movement of the instrument simulation device 300, after receiving the target position information from the instrument simulation device 300, the control device 100 can calculate the motion accuracy of the telecentric mechanism 20 based on this target position information and the theoretical position information for controlling the movement of the end effector of the telecentric mechanism 20. The theoretical position information for controlling the movement of the end effector can be calculated by the control device 100 based on control commands and kinematic relationships. The control device 100 can be a computer device, a microprocessor chip, or other devices. The computer device can be, but is not limited to, an industrial computer, a laptop computer, a smartphone, a tablet computer, and a portable wearable device.

[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, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[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 position information of the theoretically moving mechanical simulation device 300 and the target position information.

[0062] The telecentric mechanism testing 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. The instrument simulation device 300 is disposed on the telecentric mechanism 20. The instrument simulation device 300 is used to simulate the end effector 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. The control device 100 is used to determine the movement accuracy of the telecentric mechanism 20 based on the target position information. In this embodiment, the movement of the instrument simulation device 300 in the telecentric mechanism testing system 10 is used to simulate the movement of the end effector of the telecentric mechanism 20 during actual use. The control device 100 can determine the movement accuracy of the telecentric mechanism 20 based on the target position information of the instrument simulation device 300 collected by the tracking device 200, thereby facilitating the subsequent improvement of the control accuracy of the end effector of the telecentric mechanism 20 based on the movement accuracy. In addition, the motion simulation device 300 in the telecentric mechanism testing system 10 simulates the motion of the instrument end in the actual telecentric mechanism. This ensures that the motion accuracy of the telecentric mechanism 20 obtained by using the telecentric mechanism testing system 10 is consistent with the motion accuracy of the actual telecentric mechanism. As a result, the control accuracy of the instrument end of the telecentric mechanism 20 can be improved to a greater extent based on this motion accuracy.

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

[0064] The drive device 21 is used to drive the instrument simulation device 300 to move according to preset motion commands. The preset motion commands can be commands received by the drive device 21 from the control device 100, and can include the required angle or position of movement for the instrument simulation device 300. The preset motion commands are stored in the control device 100, which is communicatively connected to the drive device 21. The control device 100 drives the instrument simulation device 300 to move according to the preset motion commands via the drive device 21. This embodiment does not limit the specific structure of the drive device 21, as long as it can achieve its function.

[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 preset motion commands under the drive of the drive 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 drive device 21. During the process of the drive device 21 driving the instrument simulation device 300 to move according to a preset motion command, the tracking device 200 collects the target position information of the instrument simulation device 300. Thus, by having the drive device 21 in the telecentric mechanism 20 drive the instrument simulation device 300 to move according to the preset motion command, the instrument simulation device 300 can be made closer to the actual instrument end of the telecentric mechanism 20. Therefore, based on the obtained target position information, the motion accuracy of the telecentric mechanism 20 can be determined more accurately.

[0067] In one embodiment, such as Figure 4 As shown, the instrument simulation device 300 includes a common component 310, a first target ball holder 320, and a target ball array unit 330. The target ball array unit 330 includes a target ball array base 331. The common component 310 is connected to the first target ball holder 320, and the common component 310 is connected to the target ball array base 331 via a first connecting rod 311. The first target ball holder 320 is used to support the first target ball 321, and the target ball array base 331 is used to support 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 holder 320 is used to support the first target ball 321. A magnetic attraction device is embedded in the first target ball holder 320, and the first target ball 321 is attracted to the first target ball holder 320 by the magnetic attraction device. The target ball array holder 331 is used to support the second target ball 332, and the target ball array holder 331 supports at least three second target balls 332. This embodiment does not limit the structure, material, and quantity of the first target ball holder 320, the target ball array holder 331, the first target ball 321, and the second target ball 332, as long as their functions can be achieved.

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

[0070] The common component 310 in the instrument simulation device 300 can be connected to the first target ball holder 320 or the target ball array holder 331 in the target ball array unit 330. In other words, both the first target ball holder 320 and the target ball array holder 331 are detachably connected to the common component 310. During use, when the first target ball seat 320 is connected to the common component 310, and the control device 100 controls the drive 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 attitude of the first target ball 321; when 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, and the control device 100 controls the drive 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 attitude 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 is described as including 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, and the common component 310 is connected to the first target ball 321. The common component 310 is connected to the target ball array seat 331 via a first connecting rod 311. The instrument simulation device 300 in this embodiment has a simple structure.

[0072] Please continue reading 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 drive device 21; 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.

[0073] The instrument simulation base 312 is a connecting component between the instrument simulation device 300 and the drive device 21. The instrument simulation base 312 and the drive device 21 can be connected by screws or by a flange. This embodiment does not limit the connection method between the instrument simulation base 312 and the drive device 21, nor the shape and material of the instrument simulation base 312, as long as its function can be achieved.

[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 movably connected. The second end of the second connecting rod 313 is movably connected to either the first target ball seat 320 or the first connecting rod 311. The length of the second connecting rod 313 can be set according to the actual position of the instrument end during 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 an adjustable rod, and the first target ball 321 can be adjusted to a specified position (the position of the actual instrument end) by adjusting the length of the second connecting rod 313.

[0075] Please continue reading Figure 4 In an optional embodiment, the common component 310 further includes a counterweight unit 314 disposed on the second connecting rod 313. The counterweight unit 314 is used to simulate an actual load, i.e., the weight of the end effector 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, which makes the instrument simulation device 300 more similar to the instrument end of the actual telecentric mechanism 20, thereby improving the accuracy of the final determined motion precision.

[0077] In one embodiment, the telecentric mechanism 20 further includes a telecentric point positioning device, which is used to locate 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 achieve its function.

[0078] The tracking device 200 is also used to collect the position information of the telecentric positioning device and transmit the position information of the telecentric 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 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 can determine 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 incorporates the position information of the telecentric point positioning device when determining the motion accuracy of the telecentric mechanism 20. This improves the accuracy of determining the motion accuracy of the telecentric mechanism 20.

[0081] In one embodiment, such as Figure 5 As shown, the telecentric positioning device includes a transition plate 220, a third connecting rod 221, and a second target ball seat 222; the transition plate 220 is connected to the drive device 21, and the third connecting rod 221 is connected between the transition plate 220 and the second target ball seat 222; the second target ball seat 222 is used to support the third target ball 223; the position information of the telecentric 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 drive device 21, and the second end of the adapter plate 220 is connected to the second target ball seat 222 via a third connecting rod 221. The second target ball seat 222 is equipped with a magnetic device, and the third target ball 223 is magnetically attached to the second target ball seat 222. The length of the third connecting rod 221 can be determined according to the position of the telecentric point of the telecentric mechanism 20. That is, after the telecentric 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 telecentric point of the telecentric mechanism 20. The telecentric point of the telecentric mechanism 20 refers to the intersection of the instrument end and the body cavity of the target object in the telecentric mechanism 20. This embodiment does not limit the shape, length, and material of the adapter plate 220 and the third connecting rod 221, as long as their functions can be realized.

[0083] In an optional embodiment, the second target ball holder 222 is a 1.5-inch target ball holder, and the third target ball 223 is 1.5 inches in size. The length of the third connecting rod 221 is adjustable, so that 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 telecentric positioning device 22 includes a transition plate 220, a third connecting rod 221, and a second target ball seat 222. The transition plate 220 is connected to the driving device 21, and the third connecting rod 221 is connected between the transition plate 220 and the second target ball seat 222. The second target ball seat 222 is used to support the third target ball 223. Such a telecentric positioning device 22 has a simple structure and is easy to implement.

[0085] Please continue reading Figure 3 In one embodiment, the drive 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 telecentric positioning device 22 via a fourth connecting rod 214; the slide 210 is connected to the instrument simulation device 300.

[0086] The instrument simulation device 300 is mounted on the slide 210 of the drive device 21, meaning that 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. The drive 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 a fourth connecting rod 214. The slide table 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 placed on the slide table 210. 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 the 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 telecentric 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 As shown. Figure 6 J1 represents the first degree of freedom, and J2 represents the second degree of freedom.

[0090] Please continue reading Figure 3 In an optional embodiment, the telecentric mechanism testing system 10 further includes a support platform 400 for supporting the telecentric mechanism 20. The support platform 400 may be a cast iron platform. This embodiment does not limit the structure, height, or material of the support platform 400, as long as its function can be achieved.

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

[0092] After obtaining the motion accuracy of the telecentric mechanism 20, the control device 100 compares the calculated motion accuracy of the telecentric mechanism 20 with a preset threshold for achieving the required accuracy to determine whether the motion accuracy of the telecentric mechanism 20 meets the preset standard. If the motion accuracy of the telecentric mechanism 20 is not greater than the preset threshold, it indicates that the motion accuracy of the telecentric mechanism 20 meets the standard; if the motion accuracy of the telecentric mechanism 20 is greater than the preset threshold, it indicates that the motion accuracy of the telecentric mechanism 20 does not meet 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 and determines whether the motion accuracy meets the preset standard based on the comparison result. This facilitates subsequent compensation of the kinematic parameters of the telecentric mechanism 20 based on the motion accuracy when the motion accuracy is determined to be below the preset standard, thereby improving the control accuracy of the instrument end effector 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 is not up to standard, it will enter the motion accuracy calibration stage. That is, 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, thereby improving the control accuracy of the instrument end effector of the telecentric mechanism 20.

[0095] One embodiment of this application provides a method for testing telecentric mechanisms, which applies the telecentric mechanism testing system provided in the above embodiment. In this embodiment, as... Figure 7 As shown, the steps of this method include:

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

[0097] For a detailed description of the tracking device and the instrument simulation device, please refer to the detailed description in the above embodiments of the telecentric mechanism testing system, 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 testing system determines the motion accuracy of the telecentric mechanism based on the target position information.

[0100] After the tracking device acquires the target position information of the instrument simulation device, it sends the target position information to the control device. 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 theoretical motion position information of the instrument end effector and the target position information of the acquired instrument simulation device. The theoretical motion position information of the instrument end effector can be calculated by the control device based on a preset angle of movement of the instrument end effector 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 testing system collects the target position information of the instrument simulation device and sends the target position information to the control device in the running mechanism testing system. The control device can determine the motion accuracy of the telecentric mechanism based on the target position information. The telecentric mechanism testing method provided in this embodiment uses the telecentric mechanism testing system, therefore this method has all the beneficial effects of the running mechanism testing system, which will not be elaborated further here.

[0103] In one embodiment, if the telecentric mechanism includes a drive device, a method for acquiring target position information of a device for simulating an instrument includes the following steps:

[0104] During the movement of the instrument simulation device driven by the drive device, the target position information of the instrument simulation device is collected.

[0105] For a detailed description of the drive device, please refer to the specific description in the embodiments of the above-mentioned telecentric mechanism test system, which will not be repeated here.

[0106] The control device controls the drive device to move the instrument simulation device. During the movement of the instrument simulation device, the tracking device collects the target position information of the instrument simulation device. In other words, the tracking device can collect the movement trajectory of the instrument simulation device during its movement.

[0107] The instrument simulation device includes at least three second target balls carried in a target ball array unit, and a first target ball carried in a first target ball seat. The target position information of the instrument simulation device includes the position information of the second target balls. In one embodiment, such as... Figure 8 As shown, one method for acquiring target location 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] During the movement of the target ball array unit in the instrument simulation device under the drive of the drive 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 in the telecentric mechanism, the control device controls the movement of the first and second rotation axes in the drive device, and the tracking device collects the position of the first target ball, i.e., the position information of the first target ball. In other words, the control device controls the movement of the first rotation axis in the drive 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 drive device, and the tracking device collects the position information of the first target ball again. That is to say, the tracking device collects two position information of the first target ball.

[0112] In this embodiment, a drive device in the telecentric mechanism is used to drive the movement of the instrument simulation device. During the movement of the instrument simulation device, the tracking device collects the position information of at least three second target balls on the target ball array unit; when the first target ball seat is set in the telecentric mechanism, the position information of the first target ball is collected. This method for 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 telecentric positioning device is collected to obtain the position information of the telecentric positioning device.

[0115] The telecentric 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 positioning device, and the center position of the third target ball is used as the position information of the telecentric positioning device.

[0116] In one embodiment, such as Figure 9 As shown, if the telecentric mechanism includes a telecentric point positioning device, the steps of the telecentric mechanism testing method further include:

[0117] Step 900: Based on the position information of the telecentric positioning device and the target position information, determine the transformation relationship between the coordinate system of the first target ball and the coordinate system of the second target ball.

[0118] After the tracking device collects the position information of the telecentric positioning device and the target position information of the instrument simulation device, namely the position information of the first target ball and the second position information of the second target ball, it will send the position information of the telecentric 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 positioning device and the target position information, the control device determines the origin of the reference coordinate system based on the telecentric positioning device, specifically using the center position of the third target ball in the telecentric positioning device as the origin of the reference coordinate system. The target position information includes the position information of the first target ball. As described in 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 rotation axis in the driving device, and the position information corresponding to the movement of the second rotation axis in the driving device. After obtaining the position information of the first target ball, the control device can fit a movement trajectory of the first target ball based on the position information of the first target ball corresponding to the movement of the first rotation axis, and determine the direction corresponding to this movement trajectory as one direction of the reference coordinate system; similarly, the control device can fit another movement trajectory of the first target ball based on the position information of the first target ball corresponding to the movement of the second rotation axis, and determine the direction corresponding to this movement trajectory as another direction of the reference coordinate system, thereby determining two coordinate system directions of the reference coordinate system. Based on these two coordinate system directions, a third coordinate system direction of the reference coordinate system can be determined, thus obtaining the transformation relationship between the reference coordinate system and the measurement coordinate system in which the tracking device is located.

[0120] When the control device moves the instrument simulation device, including the first target ball, to its initial position, the tracking device acquires the position information of the first target ball. The center position of the first target ball is used as the origin of the coordinate system (instrument end coordinate system) where the first target ball is located. The directions of the three coordinate systems of the reference coordinate system are used as the directions of the three coordinate systems of the instrument end coordinate system; that is, the directions of the reference coordinate system and the instrument end coordinate system are the same. Upon receiving the position information of the first target ball acquired by the tracking device, the control device can determine the transformation 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 from the target position information, the control device determines the coordinate system (target ball array coordinate system) of the two target balls based on the position information of the three target balls, and determines the transformation relationship between the target ball array coordinate system and the measurement coordinate system based on the position information of the three second target balls. Based on the transformation relationships between the reference coordinate system and the measurement coordinate system, and between the target ball array coordinate system and the measurement coordinate system, the control device determines the transformation relationship between the reference coordinate system and the target ball array coordinate system. Based on the transformation relationships between the target ball array coordinate system and the measurement coordinate system, and between the measurement coordinate system and the instrument end-effector coordinate system, the control device determines the transformation relationship between the instrument end-effector coordinate system and the target ball array coordinate system.

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

[0123] The target rotation angle refers to the rotation angle of the first and second rotation axes in the drive device that the user has preset and stored in the control device. The control device can directly retrieve this angle when needed.

[0124] Step 920: Determine the theoretical pose of the telecentric mechanism's end effector in the reference coordinate system based on the target rotation angle.

[0125] After the target rotation angle, the control device can calculate the theoretical pose of the telecentric mechanism's end effector in the reference coordinate system based on the target rotation angle and the transformation relationship.

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

[0127] Based on the position information of the second target ball in the target position information and the transformation relationship, the control device can calculate the pose of the instrument's end effector in the reference coordinate system. Based on the theoretical pose (i.e., the theoretical pose of the instrument's end effector in the reference coordinate system) and the difference between the theoretical pose and the actual pose of the instrument's end effector in the reference coordinate system, the control device can obtain the motion accuracy of the telecentric mechanism.

[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. Based on the transformation relationship between the measurement coordinate system and the target ball array coordinate system, the transformation relationship between the measurement coordinate system and the reference coordinate system, and the transformation relationship between the instrument end coordinate system and the target ball array coordinate system, the pose 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 pose of the instrument end effector in the reference coordinate system based on the target rotation angle. Based on the theoretical pose, the transformation relationship, and the position information of the second target ball in the target position information, the motion accuracy of the telecentric mechanism can be determined. This method for determining the motion accuracy of the telecentric mechanism is simple, fast, and easy to implement.

[0130] In one embodiment, such as Figure 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 the preset threshold.

[0132] The preset threshold can be the motion accuracy that the user pre-sets when the telecentric mechanism achieves the required standard. After determining the motion accuracy of the telecentric mechanism, the control device compares this motion accuracy with the preset threshold to determine whether the motion accuracy is not greater than the preset threshold, that is, whether the motion accuracy is less than or equal to the preset threshold.

[0133] Step 102: If the motion accuracy is not greater than the preset threshold, then the motion accuracy is determined to have reached the 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 pose and the target position information is less than or equal to the preset threshold, then the motion accuracy has reached the preset standard.

[0135] Step 103: If the motion accuracy is greater than the preset threshold, then it is determined that the motion accuracy has not reached 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 pose and the target position information is greater than the preset threshold, it means that the motion accuracy has not reached the preset standard.

[0137] In this embodiment, after determining the motion accuracy of the telecentric mechanism, the control device compares the motion accuracy with a preset threshold and determines whether the motion accuracy meets 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 meet the preset standard, thereby improving the control accuracy of the instrument end effector of the telecentric mechanism.

[0138] In an optional embodiment, the calculated theoretical pose of the instrument end effector in the reference coordinate system can be expressed as: Where P0 represents the theoretical Cartesian position corresponding to the instrument's end effector, and the theoretical attitude angle corresponding to the instrument's end effector is calculated based on R0. The pose of the second target ball in the measurement coordinate system, acquired by the tracking device, can be expressed as: Where P0 represents the Cartesian position corresponding to the second target ball, and the acquisition attitude angle corresponding to the second target ball is calculated based on R1. Based on the acquired pose of the second target ball in the measurement coordinate system, the transformation relationship between the measurement coordinate system and the reference coordinate system, the transformation relationship between the measurement coordinate system and the target ball array coordinate system, and the transformation relationship between the instrument end-effector coordinate system and the target ball array coordinate system, the pose of the instrument end-effector corresponding to the second target ball in the reference coordinate system can be obtained. For the position information of the second target ball acquired by the tracking device, the calculated pose of the instrument end-effector in the reference coordinate system can be expressed as: The corresponding Cartesian position is: The corresponding attitude angle can be expressed as: Where Atan2(a,b) represents the arctangent function of the two-parameter variables, and cβ represents cosβ. Similarly, the theoretical pose of the instrument's end effector 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, it can compensate for the kinematic parameters of the telecentric mechanism based on the corresponding attitude angle error and Cartesian position error, thereby improving the control accuracy of the telecentric mechanism over the instrument's end effector.

[0139] Please see Figure 11 One embodiment of this application provides a method for testing a running mechanism, the method comprising the following steps:

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

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

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

[0143] Step 113: The control device determines the origin of the reference coordinate system based on the position information of the third target ball, and determines the coordinate system direction of the reference coordinate system based on the first position information and the second position information of the first target ball.

[0144] Step 114: The control device controls the drive device to drive the instrument simulation device 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 origin of the coordinate system at the end of the instrument (the coordinate system where the first target ball is located) based on the third position information of the first target ball; the coordinate system direction of the measurement coordinate system is the same as that of the reference coordinate system.

[0146] Step 116: The tracking device collects the position information of the 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 in which the second target balls are located) based on the position information of the three second target balls.

[0148] Step 118: The control device determines the transformation relationship between the target ball array coordinate system and the instrument end coordinate system based on the position information of the second target ball, the third target ball, and the first target ball.

[0149] Step 119: The control device calculates the theoretical pose of the instrument end based on the acquired target rotation angle;

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

[0151] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0152] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this 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), magnetic 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0153] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A telecentric mechanism testing system, characterized in that, It 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); the instrument simulation device (300) is disposed on the 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 the 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) based on the target position information; The telecentric mechanism (20) includes a drive device (21) and a telecentric point positioning device. The drive device (21) is connected to the instrument simulation device (300). The drive 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 telecentric point positioning device via a fourth connecting rod (214). The slide (210) is connected to the instrument simulation device (300). 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 placed on the slide (210).

2. The system according to claim 1, characterized in that, The driving device (21) is used to drive the instrument simulation device (300) to move according to the preset motion command; 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) 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) via a first connecting rod (311); The first target ball holder (320) is used to carry the first target ball (321), and the target ball array holder (331) is used to carry the second target ball (332); the target position information includes the position information of the second target ball (332) and the position information of the first target ball (321).

4. The system according to claim 3, characterized in that, 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 drive 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).

5. The system according to any one of claims 2-4, characterized in that, The tracking device (200) is also used to collect the position information of the telecentric positioning device and transmit the position information of the telecentric 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 positioning device and the target position information.

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

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

8. A method for testing a telecentric mechanism, characterized in that, The method of using the telecentric mechanism testing system as described in any one of claims 1-7 includes: The tracking device in the telecentric mechanism testing system collects the 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 based on the target position information.

9. The method according to claim 8, characterized in that, The instrument simulation device includes a first target ball seat and a target ball array unit. The target position information includes the position information of a first target ball in the first target ball seat and the position information of a second target ball in the target ball array unit. The method for acquiring the target position information of the instrument simulation device includes: The positions of any three second target balls in the target ball array unit are collected 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.

10. The method according to claim 9, characterized in that, The telecentric mechanism includes a telecentric point positioning device, and the method further includes: The position information of the telecentric point positioning device is obtained by acquiring the center position of the third target ball in the telecentric point positioning device.

11. The method according to claim 10, characterized in that, The method further includes: Based on the position information of the telecentric point positioning device and the target position information, determine the transformation relationship between the coordinate system of the first target ball and the coordinate system of the second target ball; Obtain the target rotation angle; The theoretical pose of the telecentric mechanism's end effector in the reference coordinate system is determined based on the target rotation angle. The motion accuracy is determined based on the theoretical pose, the transformation relationship, and the target position information.

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