Surgical robot pose performance test system, method, device, medium and product

Abstract

The embodiment of the invention discloses a surgical robot pose performance test system, method and device, a medium and a product, and the system comprises a combined controller, a pose generator, an optical measuring instrument, a dynamic tracker and a universal test tool. The test system is connected with the target test surgical robot system through the universal test tool, and the joint controller is used for driving the pose generator according to a specified pose performance test item, so that the pose generator controls a main manipulator in the target test surgical robot system to perform test motion; the optical measuring instrument and the dynamic tracker are used for collecting motion data of a master manipulator and a slave manipulator in a target test surgical robot system in a test motion process; and the combined controller is also used for acquiring the motion data and analyzing a test result of the pose performance test item according to the motion data. According to the embodiment of the invention, a comprehensive test platform capable of carrying out multiple tests can be provided, so that the surgical robot can be tested according to the test standard.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of mechanical control technology, and in particular to a surgical robot posture performance testing system, method, device, medium and product. Background Art

[0002] Before a surgical robot is used in surgical operations, its posture performance, trajectory accuracy, delay and other indicators need to be tested to ensure that the surgical robot can operate safely during the application process.

[0003] However, in the actual application scenarios of testing the performance indicators of surgical robots, most of the current testing platforms are scattered and single-item testing platforms, and there is no complete and universal comprehensive testing platform to meet the testing requirements of all test indicators in the surgical robot industry testing standards. Summary of the invention

[0004] The embodiments of the present invention provide a surgical robot posture performance testing system, method, device and medium, and provide a comprehensive testing system that can complete corresponding multiple test items according to the surgical robot industry testing standards.

[0005] In a first aspect, an embodiment of the present invention provides a surgical robot posture performance testing system, the system comprising:

[0006] Target testing surgical robot systems, joint controllers, posture generators, optical measuring instruments, dynamic trackers and universal test fixtures;

[0007] The surgical robot posture performance test system establishes a connection with the target test surgical robot system through a universal test fixture;

[0008] The joint controller is used to drive the posture generator according to the specified posture performance test items, so that the posture generator controls the main manipulator in the target test surgical robot system to perform test movements;

[0009] The optical measuring instrument and the dynamic tracker are used to collect the motion data of the master operator and the slave operator in the target test surgical robot system during the test motion;

[0010] The joint controller is also used to obtain motion data and analyze test results of posture performance test items based on the motion data;

[0011] Among them, the posture performance test items include at least one test item from the performance tests of master-slave operation distance accuracy and repeatability, master-slave operation posture accuracy and repeatability, master-slave control delay time, master-slave operation position trajectory accuracy and repeatability, and master-slave operation posture trajectory accuracy and repeatability.

[0012] In a second aspect, an embodiment of the present invention further provides a method for testing the posture performance of a surgical robot, the method comprising:

[0013] In response to the test item selection operation and the configuration operation, determining the target posture performance test item and the configuration parameters corresponding to the target posture performance test item;

[0014] In response to a test start operation of a target posture performance test item, a test flow of the target posture performance test item is started;

[0015] In the test process of the target posture performance test item, a control instruction is issued to the posture generator according to the standard test method and configuration parameters corresponding to the target posture performance test item, so that the master operator and the slave operator of the target test surgical robot system perform the test movement;

[0016] Obtain the motion data of the master operator and the slave operator during the test motion, and perform data analysis according to the test result analysis algorithm corresponding to the target posture performance test item to obtain the test result;

[0017] Among them, the target posture performance test items include the master-slave operation distance accuracy and repeatability test between the master operator and the slave operator, the master-slave operation posture accuracy and repeatability test, the master-slave control delay time test, the master-slave operation position trajectory accuracy and repeatability test, and one of the master-slave operation posture trajectory accuracy and repeatability tests.

[0018] In a third aspect, an embodiment of the present invention further provides a computer device, the computer device comprising:

[0019] one or more processors;

[0020] A memory for storing one or more programs;

[0021] When the one or more programs are executed by the one or more processors, the one or more processors implement the surgical robot posture performance testing method provided by any embodiment of the present invention.

[0022] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a surgical robot posture performance testing method as provided in any embodiment of the present invention.

[0023] In a fifth aspect, an embodiment of the present invention further provides a computer program product, including a computer program, characterized in that when the computer program is executed by a processor, it implements a surgical robot posture performance testing method as provided in any embodiment of the present invention.

[0024] The embodiment of the present invention provides a comprehensive test system for a surgical robot, which includes a joint controller, a posture generator, an optical measuring instrument, a dynamic tracker, and a universal test fixture; the surgical robot posture performance test system is connected to the target test surgical robot system through the universal test fixture; wherein the joint controller is used to drive the posture generator according to the specified posture performance test items, so that the posture generator controls the master operator in the target test surgical robot system to perform test movement; the optical measuring instrument and the dynamic tracker are used to collect motion data of the master operator and the slave operator in the target test surgical robot system during the test movement; the joint controller is also used to obtain motion data, and analyze the test results of the posture performance test items according to the motion data; wherein the posture performance test items include at least one test item in the performance test of the master-slave operation distance accuracy and distance repeatability, the master-slave operation posture accuracy and repeatability, the master-slave control delay time, the master-slave operation position trajectory accuracy and repeatability, and the master-slave operation posture trajectory accuracy and repeatability. The embodiment of the present invention solves the problem that there is no comprehensive test platform that meets the test standards, and can provide a universal comprehensive test platform that can perform multiple tests, so as to test the surgical robot according to the test standards. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of a surgical robot posture performance testing system provided by an embodiment of the present invention;

[0026] Figure 2 It is a structural schematic diagram of a surgical robot posture performance testing system provided by an embodiment of the present invention;

[0027] Figure 3 It is a flow chart of a method for testing the posture performance of a surgical robot provided by an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the main hand operating space of a main operator of a surgical robot provided by an embodiment of the present invention;

[0029] Figure 5 It is a schematic diagram of a reference coordinate system of a master device and a slave device in a target test surgical robot system provided by an embodiment of the present invention;

[0030] Figure 6 is a schematic diagram of different master-slave operation postures provided by an embodiment of the present invention;

[0031] Figure 7 It is an example of the position of a straight line and a circular trajectory on a test plane provided by an embodiment of the present invention;

[0032] Figure 8 It is an example of the position of a straight line and a circular trajectory on a test plane provided by an embodiment of the present invention;

[0033] Fig. 9 It is an example of the position of a straight line and a circular trajectory on a test plane provided by an embodiment of the present invention;

[0034] Fig.10 It is an example of the position of a straight line and a circular trajectory on a test plane provided by an embodiment of the present invention;

[0035] Fig.11 is a schematic diagram of an example of a test trajectory provided by an embodiment of the present invention;

[0036] Fig.12 It is a schematic diagram of the master-slave operation posture accuracy and repeatability trajectory provided by an embodiment of the present invention;

[0037] Fig.13 It is a schematic diagram of a reference point position change curve of a manual controller and an end effector provided by an embodiment of the present invention;

[0038] Fig.14 is a schematic diagram of display delay measurement provided by an embodiment of the present invention;

[0039] Fig.15 A schematic diagram of the structure of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0041] Figure 1 A schematic diagram of the structure of a surgical robot posture performance testing system provided in an embodiment of the present invention. This embodiment can be applied to scenarios of surgical robot posture performance testing.

[0042] like Figure 1 As shown, the surgical robot posture performance testing system of this embodiment includes:

[0043] Combined controller, posture generator, optical measuring instrument, dynamic tracker and universal test fixture.

[0044] The target test surgical robot system is the tested object, and the target test surgical robot system is usually composed of a doctor's console, a patient surgical platform, an imaging subsystem system, and an end effector (slave operator). Among them, the endoscope and system display in the imaging system, the master operator, the patient surgical platform, and the end effector are the main test components for the surgical robot's control performance test.

[0045] The surgical robot posture performance test system can establish a connection with the target test surgical robot system through a universal test fixture to be compatible with different models of surgical robot systems.

[0046] The joint controller is the core control component used to manage the test process of the target test surgical robot system. Specifically, it can be used to drive the posture generator according to the specified posture performance test items, so that the posture generator controls the main operator in the target test surgical robot system to perform test movements.

[0047] As the motion execution unit of the surgical robot posture performance test system, the posture generator establishes a physical connection with the main operator. For example, the end of the posture generator can be connected to the main operator of the doctor's console through a matching test tooling to realize the drive control of the main operator. The posture generator is mainly used to accurately execute the motion instructions issued by the joint controller and drive the main hand to reciprocate along the preset test trajectory. The posture generator can be a high-precision, lightweight, multi-degree-of-freedom collaborative arm. The positional relationship between the posture generator and the main operating arm can satisfy that its workspace can cover the motion range of the main operator, so that the motion instructions can be accurately reproduced and executed under the control of the joint controller.

[0048] The optical measuring instrument and the dynamic tracking instrument are used to collect the motion data of the master operator and the slave operator during the test motion of the target test surgical robot system.

[0049] Among them, the optical measuring instrument, as the spatial measurement unit of the surgical robot posture performance test system, is mainly used to respond to the control instructions of the joint controller, capture the position coordinates of the measurement target (test object, such as the master operator and the slave operator) in the Cartesian space, and generate the posture information data of the master and slave ends of the surgical robot to be tested. The optical measuring instrument can be a high-precision spatial measuring instrument as the core component of this module. Its test space can cover the maximum working space of the surgical robot to be tested, and the measurement accuracy meets the test requirements of the surgical robot's control performance. Based on the main features of the optical measuring instrument test data, a data interface between the optical measuring instrument and the joint controller can be established to realize the automatic transmission and processing of motion data (test data). It can be used to measure the master-slave operation distance accuracy and repeatability test, the master-slave operation posture accuracy and repeatability test, the master-slave operation position trajectory accuracy and repeatability test, and the master-slave operation posture trajectory accuracy and repeatability test, which can ensure the accuracy, stability and traceability of the measurement data.

[0050] As the spatial measurement unit of the surgical robot posture performance test system, the dynamic tracker is mainly used to respond to the control instructions of the joint controller and dynamically capture the motion trajectory of the measurement target. The dynamic tracker can be a dynamic space measuring instrument as the core component of this module. Its test space can cover the maximum working space of the surgical robot, and its sampling frequency and measurement accuracy can meet the test requirements of the surgical robot's control performance. Based on the main characteristics of the dynamic tracker test data, a data interface between the dynamic tracker and the joint controller is established to realize the automatic transmission and processing of motion data (test data). It can be used to measure the master-slave operation delay time test, the master-slave operation position trajectory accuracy and repeatability test, and the master-slave operation posture trajectory accuracy and repeatability test, which can ensure the accuracy, stability and traceability of the measurement data.

[0051] Furthermore, the joint controller is also used to obtain motion data collected by motion data acquisition equipment, such as optical measuring instruments and dynamic trackers, and analyze the test results of posture performance test items based on the motion data. Among them, the posture performance test items include at least one test item of the performance tests of master-slave operation distance accuracy and repeatability, master-slave operation posture accuracy and repeatability, master-slave control delay time, master-slave operation position trajectory accuracy and repeatability, and master-slave operation posture trajectory accuracy and repeatability.

[0052] Specifically, the joint controller can be divided into three modules, including a test control module, a data processing module and a result evaluation module. The modules work together to achieve multiple functions such as real-time control, precise measurement, efficient data processing and data visualization.

[0053] Among them, the test control module is used to determine the posture performance test item according to the test item selection instruction input by the user, and is also used to determine the test control instruction according to the test parameters of the posture performance test item input by the user, and send the test control instruction to the posture generator. The data processing module is used to obtain motion data, and perform data analysis according to the test result analysis algorithm corresponding to the posture performance test item to obtain the test result. The result evaluation module is used to display the test results and generate a test report based on the test results.

[0054] The test control module is the core component of the comprehensive test platform for robot control performance. Through this module, custom planning of test trajectories can be realized to meet the requirements of different test tasks. That is, users can configure different test parameters according to test requirements. The test control module can perform automated test tasks according to test indicators, control the periodic motion of the pose generator according to the preset trajectory, track its pose information in real time, and control the optical measuring instrument to measure the target information according to the test target, or control the dynamic tracker to dynamically capture the target information. The test control module transmits the feedback data of each measuring device to the data processing module, which automatically analyzes and calculates the test data according to the predetermined evaluation method and generates the test results. The result evaluation module can dynamically present the characteristics of the test data in real time, and automatically generate standardized test reports, providing comprehensive and accurate data support for evaluating the robot control performance.

[0055] The embodiment of the present invention provides a comprehensive test system for a surgical robot, which includes a joint controller, a posture generator, an optical measuring instrument, a dynamic tracker and a universal test fixture; wherein the joint controller is used to drive the posture generator according to the specified posture performance test items, so that the posture generator controls the master operator in the target test surgical robot system to perform test movement; the optical measuring instrument and the dynamic tracker are used to collect motion data of the master operator and the slave operator in the target test surgical robot system during the test movement; the joint controller is also used to obtain motion data, and analyze the test results of the posture performance test items according to the motion data; wherein the posture performance test items include at least one test item in the performance tests of master-slave operation distance accuracy and distance repeatability, master-slave operation posture accuracy and repeatability, master-slave control delay time, master-slave operation position trajectory accuracy and repeatability, and master-slave operation posture trajectory accuracy and repeatability. The embodiment of the present invention solves the problem of no comprehensive test platform that meets the test standards, and can provide a comprehensive test platform that can perform multiple tests, so as to test the surgical robot according to the test standards.

[0056] In an optional embodiment, if Figure 2 As shown, the surgical robot posture performance test system also includes a controllable light source, a photoelectric sensor and an oscilloscope. Accordingly, the joint controller is also used to control the controllable light source to emit light, so that the endoscope of the target test surgical robot system can obtain the light source information of the controllable light source, and display the information according to the light source information through the display of the target test surgical robot system; the photoelectric sensor is used to collect the light emission change information of the controllable light source and the display, and send the light emission change signal to the oscilloscope; the oscilloscope converts the light emission change signal into the corresponding high and low level signals, and sends the high and low level signals to the joint controller for test data analysis to complete the display delay test of the target test surgical robot system.

[0057] Furthermore, when the posture performance test item targets the master-slave operation distance, posture accuracy and repeatability measurement of the master and slave operators of the surgical robot system, the test control module is also used to establish the reference coordinate system and reference coordinate system of the master and slave operators according to the standardized test method corresponding to the posture performance test item, and determine the master-slave mapping relationship; it is also used to determine the position and size of the test space cube within the system, and start the automated testing function of the posture performance test item.

[0058] Furthermore, when the posture performance test item targets the measurement of the accuracy and repeatability of the master-slave operation trajectory between the master operator and the slave operator of the surgical robot system, the test control module is also used to establish the reference coordinate system and reference coordinate system of the master operator and the slave operator according to the standardized test method corresponding to the posture performance test item, and determine the master-slave mapping relationship; it is also used to determine the shape, position, posture, size, and movement speed of the test trajectory within the system, and start the automated testing function of the posture performance test item.

[0059] like Figure 2 In the surgical robot posture performance test system shown, the target test surgical robot system can be connected to the joint controller, posture generator, optical measuring instrument and dynamic tracker respectively through universal test fixtures, including measuring fixtures and connecting fixtures. Specifically, the lightweight, high-precision, multi-modal test fixtures of the test system can be subdivided into connecting fixtures and measuring fixtures according to their uses. The structural relationship between the target test surgical robot system and the various modules of the surgical robot posture performance test system can be established through the connecting fixture, and the motion information of the surgical robot can be collected in cooperation with the measuring equipment. As a data transmission bridge between the measuring equipment and the target test surgical robot system, the test fixture has an adjustable interface, is flexible to adapt to a variety of conventional surgical robots, is compatible with a variety of measuring equipment, and is suitable for a variety of test tasks. It can quickly and accurately establish the posture conversion relationship between the test fixture and the coordinate system of the surgical robot, ensuring the accurate transmission of the measurement information of the master and slave ends of the surgical robot, thereby ensuring the efficiency and accuracy of the master-slave control performance test.

[0060] Figure 3 A flowchart of a surgical robot posture performance testing method provided in an embodiment of the present invention. This embodiment and the surgical robot posture performance testing system in the above-mentioned embodiment belong to the same inventive concept, and the method can be executed by the surgical robot posture performance testing system.

[0061] like Figure 3 As shown, the surgical robot posture performance testing method includes the following steps:

[0062] S110. In response to the test item selection operation and the configuration operation, determine the target posture performance test item and the configuration parameters corresponding to the target posture performance test item.

[0063] In the surgical robot posture performance test system, the joint controller can provide an interactive interface for the user. The user can configure the test process of the target test surgical robot system in the interactive interface. First, the user can select the target test item and then configure the configurable parameters in the test item. Thus, the joint controller can determine the target posture performance test item and the configuration parameters corresponding to the target posture performance test item in response to the test item selection operation and the configuration operation.

[0064] Among them, the target posture performance test items can be one or multiple items. It can be understood that when testing the target test surgical robot system, one posture performance test item can be configured and then one item can be tested. It is also possible to complete the configuration of multiple target posture performance test items first, and execute the corresponding test contents in the order of the target posture performance test items configured by the user.

[0065] S120. In response to the test start operation of the target posture performance test item, start the test process of the target posture performance test item.

[0066] After completing the configuration of the target posture performance test item, the user can start the test process through the actual or virtual test start control, so that the joint controller can respond to the test start operation of the target posture performance test item and start the test process of the target posture performance test item.

[0067] In an optional implementation, the test start operation may also be a voice command from the user.

[0068] S130. In the test process of the target posture performance test item, a control instruction is issued to the posture generator according to the standard test method and configuration parameters corresponding to the target posture performance test item, so that the master operator and the slave operator of the target test surgical robot system perform test movements.

[0069] Different target posture performance test items correspond to different standard test methods. According to the standardized test methods corresponding to the target posture performance test items, the reference coordinate system and reference coordinate system of the master operator and the slave operator can be established, and the master-slave mapping relationship can be determined; the position and size of the test space cube can be determined in the surgical robot posture performance test, and the test control instructions can be determined based on the position and size, as well as the configuration parameters; wherein the configuration parameters include at least one of the master-slave control ratio, the test cycle, and the number of test repetitions; and then the test control instructions are sent to the posture generator, so that the master operator and the slave operator of the target test surgical robot system can perform test movements in the test space cube based on the master-slave mapping relationship.

[0070] S140, obtaining the motion data of the master operator and the slave operator during the test motion, and performing data analysis according to the test result analysis algorithm corresponding to the target posture performance test item to obtain the test result.

[0071] Different target posture performance test items correspond to different test result analysis algorithms. The corresponding test result analysis algorithm performs data analysis on the collected motion data (test data) to obtain the corresponding test results.

[0072] The test results may be displayed on a display screen of the joint controller, and a test report may be further generated based on the test results.

[0073] The test process and test result analysis process of different target posture performance test items are now explained.

[0074] First, the target posture performance test items are the master-slave operation posture accuracy and repeatability tests.

[0075] The master-slave operation distance accuracy refers to the difference between the theoretical movement distance of the end effector reference point and the average actual movement distance under master-slave operation. The master-slave operation distance repeatability refers to the consistency of the actual movement distance of the end effector reference point when the master device reference point moves n times in the same direction under master-slave operation.

[0076] The test methods for master-slave operation distance accuracy and master-slave operation distance repeatability are as follows:

[0077] a) According to the hexahedron of the master hand workspace, select four diagonals as the test path (such as Figure 4 As shown in the figure, the test is performed along the four diagonals of the body respectively; in the test, the test space of the slave hand is the space reached by the reference point of the end effector when the manual controller does not use the clutch function; when the master-slave mapping is not disconnected, the reference point of the manual controller and the reference point of the end effector can move to any point in the test workspace; when the master-slave mapping ratio is not 1, the test workspace of the manual controller and the instrument operating arm are similar hexahedrons.

[0078] b) Under master-slave control, move the manual controller reference point to one end of the diagonal of any body (such as point A) and maintain it.

[0079] c) Use measuring instruments to measure the position P of the manual controller reference point in the master device reference coordinate system. mA , and the position P of the end effector reference point in the slave device reference coordinate system sA .

[0080] It should be noted that the reference coordinate system of the master device is determined according to the line of sight of the operator observing the monitor, and the reference coordinate system of the slave device is determined according to the observation plane of the visual image acquisition device (such as Figure 5 shown).

[0081] d) Move the manual controller reference point to the other end of the body diagonal (point G) and maintain it.

[0082] e) Measure the position P of the reference point of the master device in its reference coordinate system mG , and the position P of the end effector reference point in its reference coordinate system sG .

[0083] f) Move the manual controller reference point along AG and repeat for no less than 10 times.

[0084] g) Repeat the above steps to test the remaining three body diagonals and record the corresponding data.

[0085] The evaluation methods for master-slave operation distance accuracy and master-slave operation distance repeatability are as follows:

[0086] a) Master-slave operation distance accuracy AD p And the percentage of accuracy PD p Calculate according to formulas 1 and 2.

[0087]

[0088]

[0089] The parameters in formulas (1) to (2) are calculated according to formulas 3 to 6:

[0090]

[0091] Where: n is the number of repetitions; i is the i-th measurement; D m D is the movement distance of the reference point of the manual controller; s is the movement distance of the end effector reference point; k is the master-slave distance scaling ratio, which is determined by the manufacturer in the random documents; x mA ,y mA 、z mA P is the reference point of the manual controller mA The coordinates of mG ,y mG 、z mG P is the reference point of the manual controller mG The coordinates of sA ,y sA 、z sA is the end effector reference point P sA The coordinates ofsG ,y sG 、z sG is the end effector reference point P sG The coordinates of .

[0092] b) Master-slave operation distance accuracy AD of each axis component x , A.D. y , A.D. z Calculate according to formulas 7 to 9:

[0093]

[0094] The parameters in formulas 7 to 9 are calculated according to formulas 10 to 15:

[0095]

[0096] Where: D mx , D my , D mz D is the component of the manual controller reference point movement distance along the x, y, and z directions; sx , D sy , D sz are the components of the end effector reference point motion distance along the x, y, and z directions.

[0097] c) Master-slave operation distance accuracy percentage PD of each axis component x , PD y , PD z Calculate according to formulas 16 to 18:

[0098]

[0099] d) Master-slave operation distance repeatability RD p Calculate according to formulas 19 to 20:

[0100] ΔD i =D si -D mi / k (19);

[0101]

[0102] Where: ΔD is the difference between the movement distance of the manual controller and the end effector; S ΔD is the standard deviation of ΔD.

[0103] e) Repeat the above operation to calculate the remaining three body diagonals. Take the worst set of data as the final result.

[0104] The master-slave operation distance accuracy results include: AD p , PD p , A.D.x , A.D. y , A.D. z , PD x , PD y , PD z Distance repeatability includes RD p , must be given separately.

[0105] Second, master-slave operation posture accuracy and repeatability test

[0106] The master-slave operation posture accuracy refers to the difference between the average posture of the master-end device reference system and the average posture of the end-effector reference coordinate system under master-slave operation. The master-slave operation posture repeatability refers to the consistency of the posture of the end-effector reference coordinate system when the posture of the master-end device reference system repeats n times in the same direction under master-slave operation.

[0107] The master-slave operation posture accuracy and master-slave operation posture repeatability test methods are as follows:

[0108] a) According to the effective working space of the manual controller and the end effector, a hexahedron with four body diagonals is selected as the test working space, and the 8 vertex positions of the test working space are taken for testing.

[0109] b) Under the master-slave control, move the manual controller reference point to any vertex of the test workspace and maintain a certain posture.

[0110] c) The posture of the manual controller reference coordinate system in the master device reference coordinate system and the posture of the end effector reference coordinate system in the slave device reference coordinate system are measured by measuring instruments.

[0111] d) Under the master-slave control, move the manual controller reference point to the remaining 7 vertices in the specified order, and select different postures for measurement. The rotation axis angle change between any two of the 8 postures must be greater than 15°. See the schematic diagram. Figure 6 , and the change between postures is obtained by the transformation of at least two posture driving axes.

[0112] f) Repeat the above steps to test the remaining seven points.

[0113] g) Repeat the above operation for at least 10 cycles;

[0114] The evaluation methods for master-slave operation posture accuracy and master-slave operation posture repeatability are as follows:

[0115] a) Master-slave operation attitude accuracy AP θ Calculate according to formulas 21 to 24:

[0116]

[0117] Among them, the relevant parameters in formula 21 are calculated according to formulas 22 to 24:

[0118]

[0119] Where: n is the number of repetitions; i is the i-th measurement; R m is the attitude description matrix of the manual controller reference coordinate system in the master device reference coordinate system; R s is the attitude description matrix of the end effector reference coordinate system in the slave device reference coordinate system; ΔR is R m and R s The relative posture of ; θ is the axis angle corresponding to ΔR.

[0120] b) Master-slave operation posture repeatability RP θ Calculated according to formula 25:

[0121]

[0122] Where: S θ is the standard deviation of θ.

[0123] c) Repeat the above operation to calculate the attitude accuracy and repeatability of the remaining seven points. Take the worst group of data as the final result. The master-slave operation attitude accuracy result is AP θ ; Posture repeatability result is RP θ , must be given separately.

[0124] d) Repeat test steps a) to h) for instrument manipulator arms of different structures and record the test results of each manipulator arm respectively.

[0125] The master-slave operation posture trajectory accuracy and repeatability test method and evaluation method are as follows:

[0126] The selection principle of the tracking trajectory of the master-slave operation posture trajectory test is that the plane where the test trajectory is located should be Figure 7-Figure 10 The test report shall indicate which plane was chosen and shall illustrate the position of the test workspace with a graphic. Figure 7 For plane (a), C1-C2-C7-C8 constitute the plane. Figure 8 It is plane (b), and C2-C3-C8-C5 constitutes the plane. Fig. 9 It is plane (c), and C3-C4-C5-C6 constitutes the plane. Fig.10 It is plane (d), and C4-C1-C6-C7 constitutes the plane.

[0127] The shape of the test track should be a straight track or two concentric circular tracks. Figure 7-Figure 10Examples of the positions of straight and circular trajectories on the test plane are given. For a straight trajectory, the starting and ending points should be on the diagonal of the test plane, and the trajectory length should be 80% of the length of the diagonal of the selected test plane, e.g. Fig.11 The distance from P2 to P4 is shown in the figure. For circular trajectories, two concentric trajectories of different sizes need to be tested, such as Fig.11 As shown, the diameter of the large circle should be 80% of the side length, the center of the circle is P1, and the diameter of the small circle should be 10% of the diameter of the large circle in the same plane.

[0128] Third, master-slave operation position trajectory accuracy and repeatability test

[0129] The master-slave operation position trajectory accuracy refers to the maximum deviation of the slave reference point moving along the master reference point command trajectory n times in the same direction under master-slave operation. The master-slave operation position trajectory repeatability refers to the consistency of the actual trajectory when the slave reference point repeats the same command trajectory of the master reference point n times under master-slave operation.

[0130] The test method for the master-slave operation position trajectory accuracy and repeatability is as follows:

[0131] a) Select the test trajectory according to the tracking trajectory example of the pose trajectory test.

[0132] b) The position coordinates of the trajectory points of the reference point of the master device in the master reference coordinate system and the position coordinates of the trajectory points of the end effector of the slave device in the slave reference coordinate system are measured by measuring equipment.

[0133] c) Repeat step b), move from the starting point to the end point of the trajectory at 100%, 50% and 10% of the rated speed respectively, and repeat the measurement N (N=10) times.

[0134] The evaluation method for the master-slave operation position trajectory accuracy and repeatability is as follows:

[0135] a) At the i-th position point of the position trajectory, the calculation formula for the position command of the end effector reference point in the slave end reference coordinate system is shown in equations 26-28:

[0136]

[0137] Where: (x mij ,y mij , z mij ) In the jth repeated trajectory measurement, at the ith trajectory point, the actual position coordinates of the master device reference point in the master reference coordinate system; (x sij ,y sij , z sij) In the j-th repeated trajectory measurement, at the ith trajectory point, the actual position coordinates of the reference point of the end effector of the slave device in the slave reference coordinate system.

[0138] b) The master-slave operation position trajectory accuracy is the cluster center of the position trajectory of the M command positions on the master device position command trajectory and the N measured slave device end effector reference point The maximum value of the distance between the master and slave, the master-slave operation position trajectory accuracy is calculated by formula 29:

[0139]

[0140] Where:

[0141]

[0142]

[0143] k——Master-slave mapping ratio, determined by the manufacturer in the random documents.

[0144] c) The repeatability of the master-slave operation position trajectory can be calculated by formula 33:

[0145]

[0146] Where:

[0147]

[0148] Fourth, the target test item is the master-slave operation posture trajectory accuracy and repeatability test (the test trajectory can be as follows Fig.12 (shown)

[0149] The master-slave operation posture trajectory accuracy refers to the maximum deviation of the slave reference coordinate system in the same direction when moving along the master reference coordinate system's command trajectory n times under master-slave operation. The master-slave operation posture trajectory repeatability refers to the consistency of the trajectory when the slave reference coordinate system repeats the same command trajectory of the master reference coordinate system n times under master-slave operation.

[0150] The test method for the accuracy and repeatability of the master-slave operation posture trajectory is as follows:

[0151] a) Select the test trajectory according to the tracking trajectory example of the pose trajectory test.

[0152] b) The posture of each track point in the master end device reference system in the master end reference coordinate system is measured by the measuring device. mi , and the posture O of each trajectory point of the end effector reference system of the slave device in the slave reference coordinate system si .

[0153] c) Repeat step b), move from the starting point to the end point of the trajectory at 100%, 50% and 10% of the rated speed respectively, and repeat the measurement N (N=10) times.

[0154] The evaluation method for the master-slave operation posture trajectory accuracy and repeatability is as follows:

[0155] a) Calculate the posture command of the end effector reference point in the slave reference coordinate system at the i-th trajectory point according to equations 37-39:

[0156]

[0157] Where: a mij 、b mij 、c mij It represents the actual attitude O of the master device reference system in the master reference coordinate system at the i-th trajectory point in the j-th repeated trajectory measurement. mij The corresponding Euler angle description.

[0158] b) Master-slave operation posture trajectory accuracy AT a , AT b , AT c It can be calculated by formula 40-42:

[0159]

[0160] Where:

[0161]

[0162] a sij 、b sij 、c sij It represents the actual attitude O of the slave device reference system in the slave reference coordinate system at the i-th trajectory point in the j-th repeated trajectory measurement. sij The corresponding Euler angle description.

[0163] c) The master-slave operation trajectory repeatability refers to the consistency of the actual trajectory when the same command trajectory is repeated n times, and is calculated according to formula 46-48:

[0164]

[0165] Fifth, the target test item is the master-slave delay test

[0166] The master-slave control delay time refers to the delay time for the slave device to reproduce the movement of the master device.

[0167] The master-slave control delay test method is as follows:

[0168] a) Connect the moving part on the motion generating device to the operating handle of the manual controller so that it can control the reference point of the manual controller to move along the measured direction.

[0169] b) Under the master-slave control mapping ratio of 1:1 (if there is no such ratio, use the closest larger value), control the motion generating device to make the reference point of the master device move according to the following requirements: the manual controller reference point accelerates from static to 100±20mm / s within 200ms, and after moving at a constant speed for a specified distance, decelerates to a static state within 200ms.

[0170] c) Using a position measurement device, the displacement changes of the manual controller reference point and the end effector reference point during the above process are simultaneously measured over time.

[0171] d) Test three mutually perpendicular motion directions (X, Y, and Z) separately, repeat the test three times, and record the test data.

[0172] The master-slave control delay evaluation method is as follows:

[0173] a) According to the master and slave device terminal position change curve (such as Fig.13 , the measurement curve is corrected according to the set ratio so that the displacements of the master and slave are the same when the motion stops), and the time difference between the start of motion of the manual controller reference point and the end effector reference point is taken as the start delay.

[0174] b) Within the 10%-90% movement range of the manual controller, the maximum value of the time difference between the manual controller reference point and the end effector reference point when moving the same displacement is taken as the following delay.

[0175] c) The time difference between the manual controller reference point and the end effector reference point reaching the stop state is taken as the stop delay.

[0176] d) Take the average value of the three test results as the start delay, follow delay and stop delay in each direction.

[0177] e) Take the maximum value of the start delay in the three movement directions of X, Y, and Z as the master-slave control start delay time.

[0178] f) Take the maximum value of the following delay in the three movement directions of X, Y, and Z as the master-slave control following delay time.

[0179] g) Take the maximum value of the stop delay in the three movement directions of X, Y, and Z as the master-slave control stop delay time.

[0180] Sixth, the target test item is the system display delay test of the target test surgical robot system

[0181] System display delay refers to the total image delay between the 3D laparoscopy and image processing platform and the main display system.

[0182] The system display delay test method and evaluation method are as follows:

[0183] a) Prepare a light source with controllable brightness, two photoelectric sensors of the same type (such as photodiodes), and an oscilloscope with at least two signal channels and edge trigger function. Connect the output signals of the two photoelectric sensors to the oscilloscope and set the edge trigger function. Aim one of the photoelectric sensors 1 at the light source with controllable brightness, and the other photoelectric sensor 2 at the main display system, such as Fig.14 shown.

[0184] b) Make the endoscopic surgical system under test operate normally, and display the two images of the endoscope on the corresponding display screen. Aim the photoelectric sensor 2 at the light source in one of the images. At this time, control the brightness of the light source, and the photoelectric sensor 1 will output a step signal ( Fig.14 The output signal of the sensor shown in changes from a high level to a low level. If the sensor type is different, the step signal may also change from a low level to a high level, and the measurement method is similar). The endoscope collects the changes in the light source and displays it on the display screen of the surgical system, then the photoelectric sensor 2 will output a step signal of the same type at time t1. The time difference between the two step signals is measured on the oscilloscope (based on the end time of the step signal) Δt = t1-t0, which is the display delay. Repeat the measurement three times and take the average of the three test results as the display delay of the image.

[0185] c) Then, the photoelectric sensor 2 is aligned with the light source in another image on the display screen, and the above measurement steps a) and b) are repeated to obtain the display delay of another image in the three-dimensional laparoscopic endoscope.

[0186] d) Align photoelectric sensor 1 and photoelectric sensor 2 to the two images on the display screen (left and right split screen display can be used for 3D display), and measure the time difference between the two step signals on the oscilloscope, which is the delay difference between the left and right images.

[0187] The technical solution of the embodiment of the present invention determines the target posture performance test item and the configuration parameters corresponding to the target posture performance test item by responding to the test item selection operation and the configuration operation; starts the test process of the target posture performance test item in response to the test start operation of the target posture performance test item; in the test process of the target posture performance test item, sends a control instruction to the posture generator according to the standard test method and configuration parameters corresponding to the target posture performance test item, so that the master operator and the slave operator of the target test surgical robot system perform test movements; obtains the motion data of the master operator and the slave operator during the test movement, and performs data analysis according to the test result analysis algorithm corresponding to the target posture performance test item to obtain the test result; wherein the target posture performance test item includes one of the master-slave operation distance accuracy and distance repeatability test between the master operator and the slave operator, the master-slave operation posture accuracy and repeatability test, the master-slave control delay time test, the master-slave operation position trajectory accuracy and repeatability test, and the master-slave operation posture trajectory accuracy and repeatability test. The embodiments of the present invention solve the problem of lack of a comprehensive testing platform that meets the testing standards. A surgical robot to be tested can be tested according to the testing standards based on a comprehensive testing platform that can perform multiple tests.

[0188] Fig.15 A schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Fig.15 A block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention is shown. Fig.15 The computer device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention. The computer device 12 can be any terminal device with computing capability and can be configured in the surgical robot posture performance test system.

[0189] like Fig.15 As shown, the computer device 12 is in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0190] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0191] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0192] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Fig.15 not shown, usually called a "hard drive"). Although Fig.15 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0193] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0194] The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), one or more devices that enable a user to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 22. Furthermore, the computer device 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with the other modules of the computer device 12 via the bus 18. It should be understood that although Fig.15Not shown, other hardware and / or software modules may be used in conjunction with computer device 12, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0195] The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, implementing the surgical robot posture performance testing method provided in the embodiment of the present invention, the method comprising:

[0196] In response to the test item selection operation and the configuration operation, determining the target posture performance test item and the configuration parameters corresponding to the target posture performance test item;

[0197] In response to a test start operation of a target posture performance test item, a test flow of the target posture performance test item is started;

[0198] In the test process of the target posture performance test item, a control instruction is issued to the posture generator according to the standard test method and configuration parameters corresponding to the target posture performance test item, so that the master operator and the slave operator of the target test surgical robot system perform the test movement;

[0199] Obtain the motion data of the master operator and the slave operator during the test motion, and perform data analysis according to the test result analysis algorithm corresponding to the target posture performance test item to obtain the test result;

[0200] Among them, the target posture performance test items include the master-slave operation distance accuracy and repeatability test between the master operator and the slave operator, the master-slave operation posture accuracy and repeatability test, the master-slave control delay time test, the master-slave operation position trajectory accuracy and repeatability test, and one of the master-slave operation posture trajectory accuracy and repeatability tests.

[0201] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, a surgical robot posture performance testing method as provided in any embodiment of the present invention is implemented. The method includes:

[0202] In response to the test item selection operation and the configuration operation, determining the target posture performance test item and the configuration parameters corresponding to the target posture performance test item;

[0203] In response to a test start operation of a target posture performance test item, a test flow of the target posture performance test item is started;

[0204] In the test process of the target posture performance test item, a control instruction is issued to the posture generator according to the standard test method and configuration parameters corresponding to the target posture performance test item, so that the master operator and the slave operator of the target test surgical robot system perform the test movement;

[0205] Obtain the motion data of the master operator and the slave operator during the test motion, and perform data analysis according to the test result analysis algorithm corresponding to the target posture performance test item to obtain the test result;

[0206] Among them, the target posture performance test items include the master-slave operation distance accuracy and repeatability test between the master operator and the slave operator, the master-slave operation posture accuracy and repeatability test, the master-slave control delay time test, the master-slave operation position trajectory accuracy and repeatability test, and one of the master-slave operation posture trajectory accuracy and repeatability tests.

[0207] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0208] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0209] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0210] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or combinations thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0211] An embodiment of the present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements the surgical robot posture performance test provided in any embodiment of the present application.

[0212] In the process of implementation, the computer program product can be written in one or more programming languages ​​or a combination thereof to perform the computer program code of the present invention, including object-oriented programming languages, such as Java, Smalltalk, Python, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0213] It should be understood by those skilled in the art that the modules or steps of the present invention described above can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, optionally, they can be implemented by a program code executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0214] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A surgical robot posture performance testing system, characterized in that: include: Combined controller, posture generator, optical measuring instrument, dynamic tracker and universal test fixture; The surgical robot posture performance test system establishes a connection with the target test surgical robot system through the universal test fixture; Wherein, the joint controller is used to drive the posture generator according to the specified posture performance test items, so that the posture generator controls the main manipulator in the target test surgical robot system to perform test movements; The optical measuring instrument and the dynamic tracker are used to collect the motion data of the master operator and the slave operator in the target test surgical robot system during the test motion process; The joint controller is also used to obtain the motion data and analyze the test results of the posture performance test items based on the motion data; wherein the posture performance test items include one of the master-slave operation distance accuracy and distance repeatability test between the master operator and the slave operator, the master-slave operation posture accuracy and repeatability test, the master-slave control delay time test, the master-slave operation position trajectory accuracy and repeatability test, and the master-slave operation posture trajectory accuracy and repeatability test.

2. The system according to claim 1, characterized in that The joint controller includes a test control module, a data processing module and a result evaluation module; The test control module is used to determine the posture performance test item according to the test item selection instruction input by the user, and is also used to determine the test control instruction according to the test parameters of the posture performance test item input by the user, and send the test control instruction to the posture generator; The data processing module is used to obtain the motion data, and perform data analysis according to the test result analysis algorithm corresponding to the posture performance test item to obtain the test result; The result evaluation module is used to display the test results and generate a test report based on the test results.

3. The system according to claim 1 or 2, characterized in that: The system also includes a controllable light source, a photoelectric sensor and an oscilloscope; accordingly, The joint controller is also used to control the controllable light source to emit light, so that the endoscope of the target test surgical robot system can obtain the light source information of the controllable light source, and display information according to the light source information through the display of the target test surgical robot system; The photoelectric sensor is used to collect the light emission change information signal of the controllable light source and the display, and send the light emission change signal to the oscilloscope; The oscilloscope converts the luminous change signal into corresponding high and low level signals, and sends the high and low level signals to the joint controller for test data analysis to complete the display delay test of the target test surgical robot system.

4. The system according to claim 2, characterized in that When the posture performance test item is the master-slave operation distance, posture accuracy and repeatability measurement of the master operator and the slave operator of the target test surgical robot system, the test control module is also used to establish the reference coordinate system and the reference coordinate system of the master operator and the slave operator according to the standardized test method corresponding to the posture performance test item, and determine the master-slave mapping relationship; It is also used to determine the position and size of the test space cube within the system and to start the automated testing function of the posture performance test item.

5. The system according to claim 2, characterized in that When the posture performance test item is the master-slave operation trajectory accuracy and repeatability measurement between the master operator and the slave operator of the target test surgical robot system, the test control module is also used to establish the reference coordinate system and the reference coordinate system of the master operator and the slave operator according to the standardized test method corresponding to the posture performance test item, and determine the master-slave mapping relationship; It is also used to determine the shape, position, posture, size, and movement speed of the test trajectory within the system, and to start the automated testing function of the posture performance test item.

6. A method for testing the posture performance of a surgical robot, applied to the system described in any one of claims 1 to 5, characterized in that: include: In response to the test item selection operation and the configuration operation, determining the target posture performance test item and the configuration parameters corresponding to the target posture performance test item; In response to a test start operation of the target posture performance test item, starting a test process of the target posture performance test item; In the test process of the target posture performance test item, a control instruction is issued to the posture generator according to the standard test method corresponding to the target posture performance test item and the configuration parameters, so that the master operator and the slave operator of the target test surgical robot system perform test movements; Acquire the motion data of the master operator and the slave operator during the test motion, and perform data analysis according to the test result analysis algorithm corresponding to the target posture performance test item to obtain a test result; Among them, the target posture performance test items include one of the master-slave operation distance accuracy and distance repeatability test between the master operator and the slave operator, the master-slave operation posture accuracy and repeatability test, the master-slave control delay time test, the master-slave operation position trajectory accuracy and repeatability test, and the master-slave operation posture trajectory accuracy and repeatability test.

7. The method according to claim 6, characterized in that The step of sending a control instruction to the posture generator according to the standard test method corresponding to the target posture performance test item and the configuration parameters so that the master operator and the slave operator of the target test surgical robot system perform test movements includes: According to the standardized test method corresponding to the target posture performance test item, the reference coordinate system and the reference coordinate system of the master operator and the slave operator are established, and the master-slave mapping relationship is determined; Determining the position and size of the test space cube in the system, and determining the test control instruction based on the position and size, and the configuration parameters; wherein the configuration parameters include at least one of a master-slave control ratio, a test cycle, and a test repetition number; The test control instruction is sent to the posture generator so that the master operator and the slave operator of the target test surgical robot system perform test movements in the test space cube based on the master-slave mapping relationship.

8. A computer device, characterized in that: The computer device comprises: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the surgical robot posture performance testing method as described in claim 6 or 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the surgical robot posture performance testing method as described in claim 6 or 7 is implemented.

10. A computer program product, comprising a computer program, characterized in that When executed by a processor, the computer program implements the surgical robot posture performance testing method as described in claim 6 or 7.

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