Surgical robot pose performance testing system, method, apparatus, medium, and product

Abstract

Embodiments of the present application disclose a surgical robot pose performance test system, method, device, medium and product, wherein the system comprises a joint controller, a pose generator, an optical measuring instrument, a dynamic tracking instrument and a general test tool; the test system is connected with a target test surgical robot system through the general test tool, the joint controller is used to drive the pose generator to control the master operating hand in the target test surgical robot system to perform test motion according to a specified pose performance test item; the optical measuring instrument and the dynamic tracking instrument are used to collect motion data of the master operating hand and the slave operating hand in the test motion process; and the joint controller is further used to acquire the motion data and analyze the test result of the pose performance test item according to the motion data. The embodiments of the present application can provide a comprehensive test platform capable of performing multiple tests, so as to test the surgical robot according to the test standard.

Description

Technical Field

[0001] This invention relates to the field of mechanical control technology, and in particular to a surgical robot pose performance testing system, method, device, medium, and product. Background Technology

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

[0003] However, in current practical applications of testing various performance indicators of surgical robots, most tests are conducted using scattered, single-item testing platforms. There is no complete and universally applicable comprehensive testing platform to meet the testing requirements of all test indicators in the surgical robot industry testing standards. Summary of the Invention

[0004] This invention provides a surgical robot pose performance testing system, method, equipment, and medium, offering a comprehensive testing system capable of performing multiple tests according to surgical robot industry testing standards.

[0005] In a first aspect, embodiments of the present invention provide a surgical robot pose performance testing system, the system comprising:

[0006] The target testing components include surgical robot systems, joint controllers, pose generators, optical measuring instruments, dynamic trackers, and general-purpose testing fixtures.

[0007] The surgical robot pose performance testing system establishes a connection with the target surgical robot system through a general-purpose testing fixture;

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

[0009] Optical measuring instruments and dynamic trackers are used to collect motion data of the master and slave manipulators during the test motion process in the target testing surgical robot system;

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

[0011] The pose performance test items include at least one of the following: 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] Secondly, embodiments of the present invention also provide a method for testing the pose performance of a surgical robot, the method comprising:

[0013] In response to test item selection and configuration operations, determine the target pose performance test item and the corresponding configuration parameters;

[0014] In response to the test start operation of the target pose performance test item, the test process of the target pose performance test item is started;

[0015] In the test process of the target pose performance test item, control commands are sent to the pose generator according to the standard test method and configuration parameters corresponding to the target pose performance test item, so that the master manipulator and slave manipulator of the target test surgical robot system can perform test movements.

[0016] Acquire motion data of the master and slave hands during the test motion, and perform data analysis based on the test result analysis algorithm corresponding to the target pose performance test item to obtain the test results;

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

[0018] Thirdly, embodiments of the present invention also provide a computer device, the computer device comprising:

[0019] One or more processors;

[0020] Memory, used to store 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 pose performance testing method provided in any embodiment of the present invention.

[0022] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the surgical robot pose performance testing method provided in any embodiment of the present invention.

[0023] Fifthly, embodiments of the present invention also provide a computer program product, including a computer program, characterized in that, when the computer program is executed by a processor, it implements the surgical robot pose performance testing method provided in any embodiment of the present invention.

[0024] This invention provides a comprehensive testing system for surgical robots. The system includes a joint controller, a pose generator, an optical measuring instrument, a dynamic tracker, and a general-purpose testing fixture. The surgical robot pose performance testing system establishes a connection with the target surgical robot system through the general-purpose testing fixture. The joint controller drives the pose generator according to specified pose performance test items, enabling the pose generator to control the master manipulator in the target surgical robot system to perform test movements. The optical measuring instrument and dynamic tracker collect motion data of the master and slave manipulators during the test movements in the target surgical robot system. The joint controller also acquires motion data and analyzes the test results of the pose performance test items based on the motion data. The pose performance test items include at least one of the following: 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. This invention solves the problem of the lack of a comprehensive testing platform that meets testing standards, providing a general-purpose comprehensive testing platform capable of performing multiple tests to test surgical robots according to testing standards. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of a surgical robot pose performance testing system provided in an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of the structure of a surgical robot pose performance testing system provided in an embodiment of the present invention;

[0027] Figure 3 This is a flowchart of a surgical robot pose performance testing method provided in an embodiment of the present invention;

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

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

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

[0031] Figure 7 This 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 This 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] Figure 9 This 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] Figure 10 This 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] Figure 11 This is a schematic diagram of an example of a test trajectory provided in an embodiment of the present invention;

[0036] Figure 12 This is a schematic diagram of the pose accuracy and repeatability trajectory of a master-slave operation provided by an embodiment of the present invention;

[0037] Figure 13 This is a schematic diagram of the reference point position change curve of a manual controller and an end effector provided in an embodiment of the present invention;

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

[0039] Figure 15 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0040] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

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

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

[0043] Combined controller, pose generator, optical measuring instrument, dynamic tracker and general-purpose test fixture.

[0044] The target test surgical robot system is the object of the test. This system typically consists of a physician control console, a patient operating platform, an imaging subsystem, and an end effector (from the operator). The endoscope and system display within the imaging system, the master operator, the patient operating platform, and the end effector are the main test components for evaluating the surgical robot's maneuverability.

[0045] The surgical robot pose performance testing system can establish a connection with the target surgical robot system through a universal testing fixture to ensure compatibility with different models of surgical robot systems.

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

[0047] The pose generator, as the motion execution unit of the surgical robot pose performance testing system, establishes a physical connection with the main operator. For example, the end effector of the pose generator can be connected to the main operator's control panel via a matching testing fixture to achieve drive control of the main operator. The pose generator is mainly used to accurately execute motion commands issued by the joint controller and drive the main operator to reciprocate along a preset test trajectory. The pose generator can be a high-precision, lightweight, multi-degree-of-freedom collaborative arm. The positional relationship between the pose generator and the main operator is sufficient to ensure that its workspace covers the range of motion of the main operator, so that motion commands can be accurately reproduced and executed under the control of the joint controller.

[0048] Optical measuring instruments and dynamic trackers are used to collect motion data of the master and slave manipulators during the test motion process in the target test surgical robot system.

[0049] The optical measuring instrument, serving as the spatial measurement unit of the surgical robot pose performance testing system, primarily responds to control commands from the joint controller, captures the position coordinates of the measurement target (test object, such as the master and slave manipulators) in Cartesian space, and generates pose information data for the master and slave ends of the surgical robot under test. The optical measuring instrument, a high-precision spatial measuring instrument, serves as the core component of this module. Its test space can cover the maximum workspace of the surgical robot under test, and its measurement accuracy meets the testing requirements for the surgical robot's maneuverability. Based on the main characteristics of the optical measuring instrument's test data, a data interface can be established between the optical measuring instrument and the joint controller to achieve automatic transmission and processing of motion data (test data). This data can be used for testing the accuracy and repeatability of master-slave operation distance, master-slave operation posture, master-slave operation position trajectory, and master-slave operation posture trajectory, ensuring the accuracy, stability, and traceability of the measurement data.

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

[0051] Furthermore, the joint controller is also used to acquire motion data collected by motion data acquisition devices, such as optical measuring instruments and dynamic trackers, and to analyze the test results of pose performance test items based on the motion data. These pose performance test items include at least one of the following: 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: a test control module, a data processing module, and a result evaluation module. These modules work together to achieve multiple functions such as real-time control, accurate measurement, efficient data processing, and data visualization.

[0053] The test control module determines the pose performance test items based on the user-input test item selection instructions, and also determines the test control instructions based on the test parameters of the pose performance test items input by the user, and sends the test control instructions to the pose generator. The data processing module acquires motion data and performs data analysis according to the test result analysis algorithm corresponding to the pose performance test items to obtain the test results. The result evaluation module displays the test results and generates a test report based on the test results.

[0054] The test control module is the core component of the comprehensive robot maneuverability testing platform. This module enables customized planning of test trajectories to meet diverse testing task requirements. Users can configure different test parameters according to their specific needs. The test control module executes automated test tasks based on test indicators. It controls the pose generator to move periodically according to a preset trajectory, tracking its pose information in real time. It also controls an optical measuring instrument to measure target information or a dynamic tracker to dynamically capture target information based on the test objective. The test control module transmits feedback data from each measuring device to the data processing module. The data processing module automatically analyzes and calculates the test data according to a predetermined evaluation method and generates test results. The result evaluation module dynamically presents the characteristics of the test data in real time and automatically generates standardized test reports, providing comprehensive and accurate data support for evaluating robot maneuverability.

[0055] This invention provides a comprehensive testing system for surgical robots. The system includes a joint controller, a pose generator, an optical measuring instrument, a dynamic tracker, and a general-purpose testing fixture. The joint controller drives the pose generator according to specified pose performance test items, enabling the pose generator to control the master hand in the target surgical robot system to perform test movements. The optical measuring instrument and the dynamic tracker collect motion data of the master and slave hands during the test movements in the target surgical robot system. The joint controller also acquires motion data and analyzes the test results of the pose performance test items based on the motion data. The pose performance test items include at least one of the following: 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. This invention solves the problem of the lack of a comprehensive testing platform that meets testing standards, providing a comprehensive testing platform capable of performing multiple tests to test surgical robots according to testing standards.

[0056] In an optional embodiment, such as Figure 2 As shown, the surgical robot pose performance testing system also includes a controllable light source, a photoelectric sensor, and an oscilloscope. Correspondingly, the joint controller is used to control the controllable light source to emit light, so that the endoscope of the target surgical robot system can acquire the light source information and display the information on the target surgical robot system's display. The photoelectric sensor is used to collect the light emission change information signals from the controllable light source and the display, and sends the light emission change signals to the oscilloscope. The oscilloscope converts the light emission change signals 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 surgical robot system.

[0057] Furthermore, when the pose performance test item is used to measure the accuracy and repeatability of the master-slave operation distance and posture of the master and slave manipulators of the surgical robot system, the test control module is also used to establish the reference coordinate system and the master-slave coordinate system of the master and slave manipulators according to the standardized test method corresponding to the pose performance test item, and to 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 test function of the pose performance test item.

[0058] Furthermore, when the pose performance test item is used to measure the accuracy and repeatability of the master-slave operation trajectory between the master and slave manipulators of the surgical robot system, the test control module is also used to establish the reference coordinate system and the master-slave coordinate system of the master and slave manipulators according to the standardized test method corresponding to the pose performance test item, and to 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 test function of the pose performance test item.

[0059] like Figure 2 The surgical robot pose performance testing system shown allows the target surgical robot system to connect to a joint controller, pose generator, optical measuring instrument, and dynamic tracker via a general-purpose testing fixture, including a measurement fixture and a connection fixture. Specifically, the lightweight, high-precision, multi-modal testing fixture used in this system can be further divided into connection fixtures and measurement fixtures. The connection fixture establishes the structural relationship between the target surgical robot system and the various modules of the surgical robot pose performance testing system, and can be used with the measuring equipment to collect motion information of the surgical robot. The testing fixture, acting as a data transmission bridge between the measuring equipment and the target surgical robot system, has an adjustable interface, flexibly adapts to various conventional surgical robots, is compatible with diverse measuring equipment, and is suitable for various testing tasks. It can quickly and accurately establish the pose transformation relationship between the coordinate systems of the testing fixture and the surgical robot, ensuring accurate transmission of master and slave measurement information of the surgical robot, thereby guaranteeing the efficiency and accuracy of master-slave control performance testing.

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

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

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

[0063] In a surgical robot pose performance testing system, a joint controller provides an interactive interface for users. Users can configure the testing process for the target surgical robot system through this interface. First, users can select the target test item, and then configure the configurable parameters within that test item. The joint controller then responds to the test item selection and configuration operations, determining the target pose performance test item and its corresponding configuration parameters.

[0064] The target pose performance test item can be one or multiple. This can be understood as follows: when testing a target surgical robot system, one pose performance test item can be configured, and then tested one item at a time. Alternatively, multiple target pose performance test items can be configured first, and the corresponding tests can be executed sequentially according to the order configured by the user.

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

[0066] After configuring the target pose performance test item, the user can start the test process through the actual or virtual test start control. The controller can then respond to the test start operation of the target pose performance test item and start the test process of the target pose performance test item.

[0067] In one alternative implementation, the test initiation operation can also be a user's voice command.

[0068] S130. In the test process of the target pose performance test item, control commands are sent to the pose generator according to the standard test method and configuration parameters corresponding to the target pose performance test item, so that the master operator and slave operator of the target test surgical robot system can perform test movements.

[0069] Different target pose performance test items correspond to different standard test methods. Based on the standardized test methods corresponding to the target pose performance test items, a reference coordinate system and a master-slave coordinate system can be established for the master and slave manipulators, and the master-slave mapping relationship can be determined. Within the surgical robot pose performance test, the position and size of the test space cube can be determined, and the test control commands can be determined based on the position and size, as well as the configuration parameters. Among them, the configuration parameters include at least one of the master-slave control ratio, test cycle, and number of test repetitions. Then, the test control commands are sent to the pose generator so that the master and slave manipulators of the target test surgical robot system can perform test movements within the test space cube based on the master-slave mapping relationship.

[0070] S140. Acquire motion data of the master and slave hands during the test motion, and perform data analysis according to the test result analysis algorithm corresponding to the target pose performance test item to obtain the test results.

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

[0072] Test results can be displayed on the screen of the joint controller, and test reports can be generated based on the test results.

[0073] The testing process and result analysis process for different target pose performance test items will now be explained.

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

[0075] Among them, master-slave operation distance accuracy refers to the difference between the theoretical movement distance and the average actual movement distance of the end effector reference point under master-slave operation. 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 testing methods for master-slave operation distance accuracy and master-slave operation distance repeatability are as follows:

[0077] a) Based on the hexahedron of the master hand's workspace, select four body diagonals as the test path (e.g., Figure 4 As shown), and tests are performed along the four body diagonals respectively; during the test, the test space of the slave is the space reached by the end effector reference point when the manual controller does not use the clutch function; when the master-slave mapping is not disconnected, both the manual controller reference point and the end effector reference point 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 manipulator is a similar hexahedron.

[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 hold it.

[0079] c) Measure the position P of the manual controller reference point in the master device's reference coordinate system using measuring instruments. mA And the position P of the end effector reference point in the slave device's reference coordinate system. sA .

[0080] It should be noted here that the master device's reference coordinate system is determined based on the surgeon's line of sight when viewing the monitor, while the slave device's reference coordinate system is determined based on the viewing plane of the visual image acquisition device (e.g., ...). Figure 5 (As shown).

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

[0082] e) Measure the position P of the master device reference point 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, repeating at least 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 percentage of accuracy (PD) p Calculate according to formulas 1 and 2.

[0087]

[0088]

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

[0090]

[0091] In the formula: n is the number of repetitions; i is the i-th measurement; D m The movement distance of the manual controller reference point; D s The distance traveled from the end effector reference point; k is the master-slave distance scaling factor, claimed by the manufacturer in the accompanying documentation; x mA y mA z mA For manual controller reference point P mA The coordinates; x mG y mG z mG For manual controller reference point P mG The coordinates; x sA y sA z sA Reference point P for the end effector sA The coordinates; xsG y sG z sG Reference point P for the end effector sG The coordinates.

[0092] b) Master-slave operation distance accuracy of each axis component (AD) x AD y AD z Calculate using formulas 7-9:

[0093]

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

[0095]

[0096] In the formula: D mx D my D mz The components of the movement distance of the manual controller reference point along the x, y, and z directions; D sx D sy D sz The components of the movement distance of the end effector reference point along the x, y, and z directions.

[0097] c) Percentage accuracy of master-slave operation distance for each axis component (PD) x PD y PD z Calculate using formulas 16-18:

[0098]

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

[0100] ΔD i =D si -D mi / k (19);

[0101]

[0102] In the formula: ΔD is the difference in movement distance between the manual controller and the end effector; S ΔD Let ΔD be the standard deviation.

[0103] e) Repeat the above steps to calculate the remaining three body diagonals. Take the worst result from the multiple sets of data as the final result.

[0104] Master-slave operation distance accuracy results include: AD p PD p ADx AD y AD z PD x PD y PD z Distance repeatability includes RD p Each of these needs to be provided separately.

[0105] Second, the accuracy and repeatability of master-slave operation posture testing.

[0106] Master-slave operation attitude accuracy refers to the difference between the average attitude of the master device reference system and the average attitude of the end effector reference coordinate system under master-slave operation. Master-slave operation attitude repeatability refers to the degree of consistency of the actual attitude of the end effector reference coordinate system when the attitude of the master device reference system is repeatedly moved n times in the same direction under master-slave operation.

[0107] The methods for testing the accuracy and repeatability of master-slave operation postures are as follows:

[0108] a) Based on 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 eight vertex positions of the test working space are tested.

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

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

[0111] d) Under master-slave control, move the manual controller reference point to the remaining 7 vertices in a specified order, and perform measurements in different postures. The change in rotation axis angle between any two postures among the 8 postures must be greater than 15°. See the schematic diagram. Figure 6 Furthermore, the changes in attitude are obtained by the transformation of at least two attitude drive axes.

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

[0113] g) Repeat the above operation for a total of no less than 10 cycles;

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

[0115] a) Master-slave operation posture accuracy (AP) θ Calculate using formulas 21-24:

[0116]

[0117] The relevant parameters in Equation 21 are calculated according to Equations 22 to 24:

[0118]

[0119] In the formula: n is the number of repetitions; i is the i-th measurement; R m R is the attitude description matrix of the manual controller reference coordinate system in the master device's reference coordinate system; s 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 attitude; θ is the axis angle corresponding to ΔR.

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

[0121]

[0122] In the formula: S θ Let θ be the standard deviation.

[0123] c) Repeat the above steps to calculate the attitude accuracy and repeatability for the remaining seven points. Take the worst-performing set of data as the final result. The master-slave operation attitude accuracy result is AP. θ The pose repeatability result is RP. θ Each of these needs to be provided separately.

[0124] d) Repeat the test steps a) to h) for different mechanical arms and record the test results for each mechanical arm.

[0125] The methods for testing and evaluating the accuracy and repeatability of master-slave operation pose trajectories are as follows:

[0126] The principle for selecting the tracking trajectory in the master-slave operation pose trajectory test is that the plane in which the test trajectory is located should be... Figures 7-10 One of the test planes shown should be indicated in the test report, specifying which plane was selected and illustrating the test workspace location graphically. Figure 7 Let plane (a) be a plane, and C1-C2-C7-C8 form a plane. Figure 8 Plane (b) is formed by C2-C3-C8-C5. Figure 9 Let C3-C4-C5-C6 form a plane (c). Figure 10 Let d be a plane, and C4-C1-C6-C7 form a plane.

[0127] The shape of the test trajectory should be either a straight line or two concentric circles. Figures 7-10Examples of straight and circular trajectories on the test plane are given. For straight trajectories, 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 selected test plane diagonal. Figure 11 The distance from P2 to P4 is shown; for a circular trajectory, two concentric circular trajectories of different sizes need to be tested, such as... Figure 11 As shown, the diameter of the large circle should be 80% of the side length, with the center at P1, and the diameter of the small circle should be 10% of the diameter of the large circle in the same plane.

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

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

[0130] The testing methods for the accuracy and repeatability of master-slave operation position trajectories are 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 point of the master device reference point in the master reference coordinate system and the position coordinates of the trajectory point of the slave device end effector reference point in the slave reference coordinate system are measured by measuring equipment.

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

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

[0135] a) The formula for calculating the position command of the end effector reference point in the slave reference coordinate system at the i-th position point of the position trajectory is shown in Equation 26-28:

[0136]

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

[0138] b) Master-slave operation position trajectory accuracy: The position trajectory cluster center of the master device position command trajectory with M command positions and N measurements of the slave device end effector reference point. The maximum distance between them, and the accuracy of the master-slave operation position trajectory are calculated by Equation 29:

[0139]

[0140] In the formula:

[0141]

[0142]

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

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

[0145]

[0146] In the formula:

[0147]

[0148] Fourth, the target test items are the accuracy and repeatability tests of the master-slave operation attitude trajectory (the test trajectory can be as follows). Figure 12 (As shown)

[0149] Master-slave operation attitude trajectory accuracy refers to the maximum deviation of the slave reference coordinate system during n movements along the command trajectory of the master reference coordinate system in the same direction under master-slave operation. Master-slave operation attitude trajectory repeatability refers to the degree of consistency of the actual 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 testing methods for the accuracy and repeatability of master-slave operation attitude trajectories are as follows:

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

[0152] b) Measure the attitude O of each trajectory point of the master device reference system in the master reference coordinate system using measuring equipment. mi And the attitude 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), moving from the starting point to the ending point at 100%, 50%, and 10% of the rated speed respectively, and repeat the measurement N (N=10) times.

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

[0155] a) Calculate the attitude 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] In the formula: a mij b mij c mij This represents the actual attitude O of the master device reference system at the i-th trajectory point in the master reference coordinate system during the j-th repeated trajectory measurement. mij The corresponding Euler angle description.

[0158] b) Master-slave operation attitude trajectory accuracy AT a AT b AT c It can be calculated using equations 40-42:

[0159]

[0160] In the formula:

[0161]

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

[0163] c) Master-slave operation trajectory repeatability represents the degree of consistency of the actual trajectory when the same instruction trajectory is repeated n times, calculated according to formulas 46-48:

[0164]

[0165] Fifth, the target test item is master-slave latency testing.

[0166] 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 latency test method is as follows:

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

[0169] b) With a master-slave control mapping ratio of 1:1 (if no such ratio exists, use the largest value that is closest), control the motion generator to make the master device reference point move as follows: the manual controller reference point accelerates from rest to 100±20mm / s within 200ms, and after moving a specified distance at a constant speed, decelerates to rest within 200ms.

[0170] c) Simultaneously measure the displacement of the manual controller reference point and the end effector reference point over time during the above process using a position measuring device.

[0171] d) Test the three mutually perpendicular directions of motion (X, Y, Z) respectively, repeat the test 3 times, and record the test data.

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

[0173] a) Based on the curve of the change in the terminal position of the master and slave devices (e.g.) Figure 13 The measurement curve is corrected according to the set ratio to make the displacements when the master and slave movements stop the same. The time difference between the start of movement of the manual controller reference point and the end effector reference point is taken as the start delay.

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

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

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

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

[0178] f) Take the maximum follow delay value among the three motion directions X, Y, and Z as the master-slave control follow delay time.

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

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

[0181] System display latency refers to the total image latency between the 3D laparoscopic endoscope and image processing platform and the main display system.

[0182] The system display latency testing and evaluation methods are as follows:

[0183] a) Prepare a light source with controllable brightness, two identical photoelectric sensors (such as photodiodes), and an oscilloscope with at least two signal channels and edge-triggered functionality. Connect the output signals of the two photoelectric sensors to the oscilloscope and configure the edge-triggered function. Point one photoelectric sensor 1 at the light source with controllable brightness, and the other photoelectric sensor 2 at the main display system, such as... Figure 14 As shown.

[0184] b) Ensure the endoscopic surgical system is operating normally. The two images from the endoscope are displayed on their respective screens. Align the photoelectric sensor 2 with the light source in one of the images. Control the brightness of the light source; at time t0, the photoelectric sensor 1 will output a step signal (…). Figure 14 The sensor output signal changes from high to low level. (If the sensor type is different, the step signal may also change from low to high level; the measurement method is similar). The endoscope collects the change in light source and displays it on the surgical system's screen. At time t1, photoelectric sensor 2 will output a step signal of the same type. The time difference between the two step signals (based on the end time of the step signal) Δt = t1 - t0 is measured on an oscilloscope; this is the display delay. The measurement is repeated three times, and the average of the three test results is taken as the display delay of that image channel.

[0185] c) Align the photoelectric sensor 2 with the light source in another image on the display screen and repeat the measurement steps a) and b) above to obtain the display delay of the other image in the three-dimensional laparoscopic endoscope.

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

[0187] The technical solution of this invention, in response to test item selection and configuration operations, determines the target pose performance test item and the configuration parameters corresponding to the target pose performance test item; in response to the test start operation of the target pose performance test item, it initiates the test process of the target pose performance test item; in the test process of the target pose performance test item, it sends control commands to the pose generator according to the standard test method and configuration parameters corresponding to the target pose performance test item, so that the master and slave manipulators of the target test surgical robot system perform test movements; it acquires the motion data of the master and slave manipulators during the test movements, and performs data analysis according to the test result analysis algorithm corresponding to the target pose performance test item to obtain test results; wherein, the target pose performance test item includes one of the following: master-slave operation distance accuracy and repeatability test, master-slave operation posture accuracy and repeatability test, master-slave control delay time test, master-slave operation position trajectory accuracy and repeatability test, and master-slave operation posture trajectory accuracy and repeatability test. The embodiments of the present invention solve the problem of the lack of a comprehensive testing platform that meets the testing standards. It allows the surgical robot to be tested to be tested according to the testing standards based on a comprehensive testing platform that can perform multiple tests.

[0188] Figure 15 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Figure 15 A block diagram of an exemplary computer device 12 suitable for implementing embodiments of the present invention is shown. Figure 15 The computer device 12 shown is merely an example and should not be construed as limiting the functionality or scope of the embodiments of the present invention. The computer device 12 can be any terminal device with computing capabilities and can be configured in a surgical robot pose performance testing system.

[0189] like Figure 15 As shown, the computer device 12 is represented 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, system memory 28, and a bus 18 connecting different system components (including system memory 28 and processing unit 16).

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

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

[0192] 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. Computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (…). Figure 15 Not shown; usually referred to as a "hard drive"). Although Figure 15 Not shown, 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, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the 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 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0194] Computer device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with the computer device 12, and / or with any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 22. Furthermore, computer device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with other modules of computer device 12 via bus 18. It should be understood that, although... Figure 15As not shown, it can be used in conjunction with computer device 12 with other hardware and / or software modules, 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] Processing unit 16 executes various functional applications and data processing by running programs stored in system memory 28, such as implementing the surgical robot pose performance testing method provided in this embodiment, the method including:

[0196] In response to test item selection and configuration operations, determine the target pose performance test item and the corresponding configuration parameters;

[0197] In response to the test start operation of the target pose performance test item, the test process of the target pose performance test item is started;

[0198] In the test process of the target pose performance test item, control commands are sent to the pose generator according to the standard test method and configuration parameters corresponding to the target pose performance test item, so that the master manipulator and slave manipulator of the target test surgical robot system can perform test movements.

[0199] Acquire motion data of the master and slave hands during the test motion, and perform data analysis based on the test result analysis algorithm corresponding to the target pose performance test item to obtain the test results;

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

[0201] This embodiment provides a computer-readable storage medium storing a computer program thereon. When executed by a processor, the program implements the surgical robot pose performance testing method as provided in any embodiment of the present invention. The method includes:

[0202] In response to test item selection and configuration operations, determine the target pose performance test item and the corresponding configuration parameters;

[0203] In response to the test start operation of the target pose performance test item, the test process of the target pose performance test item is started;

[0204] In the test process of the target pose performance test item, control commands are sent to the pose generator according to the standard test method and configuration parameters corresponding to the target pose performance test item, so that the master manipulator and slave manipulator of the target test surgical robot system can perform test movements.

[0205] Acquire motion data of the master and slave hands during the test motion, and perform data analysis based on the test result analysis algorithm corresponding to the target pose performance test item to obtain the test results;

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

[0207] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0208] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0209] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0210] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone 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 remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0211] This invention also provides a computer program product, including a computer program that, when executed by a processor, performs surgical robot pose performance testing as provided in any embodiment of this application.

[0212] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, Python, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone 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 remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0213] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

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

Claims

1. A surgical robot pose performance testing system, characterized in that, include: Combined controller, pose generator, optical measuring instrument, dynamic tracker, and general-purpose test fixture; The surgical robot pose performance testing system establishes a connection with the target surgical robot system through the general-purpose testing fixture; The joint controller is used to drive the pose generator according to the specified pose performance test items, so that the pose 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 motion data of the master operator and slave operator in the target test surgical robot system during the test motion. The joint controller is also used to acquire the motion data and analyze the test results of the pose performance test items based on the motion data; wherein, the pose performance test items include the accuracy and repeatability test of the master-slave operation distance between the master operator and the slave operator, the accuracy and repeatability test of the master-slave operation posture, the master-slave control delay time test, the accuracy and repeatability test of the master-slave operation position trajectory, and the accuracy and repeatability test of the master-slave operation posture trajectory. The system also includes a controllable light source, a photoelectric sensor, and an oscilloscope; correspondingly, 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 signals of the controllable light source and the display, and send the light emission change signals to the oscilloscope; The oscilloscope converts the light emission change signal into a corresponding high or low level signal, and sends the high or low level signal to the joint controller for test data analysis to complete the display delay test of the target test surgical robot system.

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 pose 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 pose performance test item input by the user, and send the test control instruction to the pose generator. The data processing module is used to acquire the motion data and perform data analysis according to the test result analysis algorithm corresponding to the pose performance test item to obtain the test results; 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 2, characterized in that, When the pose performance test item is the measurement of the master-slave operation distance, posture accuracy and repeatability of the master and slave manipulators of the target test 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 manipulators according to the standardized test method corresponding to the pose 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 initiate the automated testing function of the pose performance test item.

4. The system according to claim 2, characterized in that, When the pose performance test item is the measurement of the accuracy and repeatability of the master-slave operation trajectory between the master and slave manipulators of the target test 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 manipulators according to the standardized test method corresponding to the pose performance test item, and determine the master-slave mapping relationship. It is also used to determine the shape, position, posture, size, and speed of the test trajectory within the system, and to initiate the automated testing function of the posture performance test item.

5. A method for testing the pose performance of a surgical robot, applied to the system described in any one of claims 1-4, characterized in that, include: In response to the test item selection operation and configuration operation, the target pose performance test item and the configuration parameters corresponding to the target pose performance test item are determined; The target pose performance test items are multiple; In response to the test start operation of the target pose performance test item, the test process of the target pose performance test item is started; The corresponding test contents are executed sequentially according to the configured target pose performance test items. In the test process of each target pose performance test item, control commands are sent to the pose generator according to the standard test method and the configuration parameters corresponding to the target pose performance test item, so that the master operator and slave operator of the target test surgical robot system can perform test movements. The motion data of the master hand and the slave hand during the test motion are acquired, and the data is analyzed according to the test result analysis algorithm corresponding to the target pose performance test item to obtain the test result; Display the test results on the screen and generate a test report; The target pose performance test items include the accuracy and repeatability test of the master-slave operation distance between the master operator and the slave operator, the accuracy and repeatability test of the master-slave operation posture, the master-slave control delay time test, the accuracy and repeatability test of the master-slave operation position trajectory, and the accuracy and repeatability test of the master-slave operation posture trajectory.

6. The method according to claim 5, characterized in that, The step of issuing control commands to the pose generator according to the standard test method corresponding to the target pose performance test item and the configuration parameters, so as to enable the master and slave manipulators of the target test surgical robot system to perform test movements, includes: Based on the standardized test method corresponding to the target pose performance test item, establish the reference coordinate system and the master operator and slave operator, and determine the master-slave mapping relationship; The system determines the position and size of a test space cube, and determines test control commands based on the position and size and the configuration parameters; wherein the configuration parameters include at least one of master-slave control ratio, test cycle, and number of test repetitions. The test control command is sent to the pose generator so that the master and slave manipulators of the target test surgical robot system perform test movements within the test space cube based on the master-slave mapping relationship.

7. A computer device, characterized in that, The computer device includes: One or more processors; Memory, used to store 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 pose performance testing method as described in claim 5 or 6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the surgical robot pose performance testing method as described in claim 5 or 6.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the surgical robot pose performance testing method as described in claim 5 or 6.

Images