A precision detection system for surgical robots

Abstract

The present invention relates to the field of precision monitoring technology, and in particular to a precision detection system for a surgical robot, comprising: a real-time data acquisition module for real-time acquisition of surgical equipment positioning data, torque parameters of each rotating axis, vibration data and pressure of surgical tools within a monitoring period, a standard data acquisition module for acquiring standard surgical data of the surgical robot, an error analysis module for analyzing the abnormality of trajectory error and torque error of the surgical robot, and analyzing the error state of the surgical robot within the monitoring period, a jitter analysis module for analyzing the jitter state within the monitoring period, a force feedback analysis module for analyzing the fluctuation of surgical force, and a precision detection module for generating precision detection results of the surgical robot and outputting the detection results to a user. The present invention effectively improves the efficiency of precision detection of surgical robots.

Description

Technical Field

[0001] The present invention relates to the technical field of precision monitoring, and in particular to a precision detection system for a surgical robot. Background Art

[0002] Surgical robots play an increasingly important role in modern medicine. They can improve the accuracy and safety of surgery, reduce doctors' fatigue, and shorten operation time. However, the accuracy of surgical robots directly affects the effect of surgery and the safety of patients. Therefore, it is very necessary to regularly test and calibrate the accuracy of surgical robots. At present, the accuracy detection of surgical robots mainly relies on manual measurement and visual inspection, which is not only time-consuming and labor-intensive, but also has low accuracy and reliability. Therefore, it is of great significance to develop an automated and high-precision surgical robot accuracy detection system.

[0003] Chinese patent publication number CN112006779A discloses an image scanning device, an optical tracking system, a control system, a robot positioning and navigation system, a ruler and an accuracy detection device, which constitute a robot coordinate system, an optical tracking coordinate system, and a medical image coordinate system, and realizes a coordinate system through spatial coordinate conversion. This invention proposes a method for accuracy detection of a surgical navigation system, which can complete the accuracy verification work intuitively and efficiently, and can be used for accuracy inspection every time the machine is turned on or used. It can be seen that the accuracy detection of the surgical robot in this invention does not involve the analysis of the torque of the surgical robot, the force of the surgical tools, and the vibration of the surgical robot. The scope of its accuracy detection only involves positioning accuracy, and it is impossible to achieve efficient accuracy detection of the surgical robot, and there is a problem of low efficiency in accuracy detection of the surgical robot. Summary of the invention

[0004] An object of the present invention is to provide a precision detection system for a surgical robot to solve at least one of the problems existing in the prior art.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A precision detection system for a surgical robot, comprising:

[0007] A real-time data acquisition module is used to collect the positioning data of surgical instruments, the torque parameters of each rotating axis, vibration data and the pressure of surgical tools in real time during the monitoring period;

[0008] A standard data acquisition module, used to acquire standard surgical data of the surgical robot;

[0009] An error analysis module is used to analyze the trajectory error abnormality and torque error abnormality of the surgical robot according to the surgical equipment positioning data, the torque parameters of each rotating axis and the standard surgical data during the monitoring period, and to analyze the error state of the surgical robot during the monitoring period according to the trajectory error abnormality and the torque error abnormality;

[0010] A jitter analysis module, used to analyze the jitter state within the monitoring period according to the vibration data collected within the monitoring period;

[0011] A force feedback analysis module is used to analyze the fluctuation of surgical force according to the pressure of surgical tools collected during the monitoring period;

[0012] The accuracy detection module is used to generate the accuracy detection results of the surgical robot according to the error state analysis results, jitter state analysis results and surgical force fluctuations of the surgical robot within the monitoring period, and output the detection results to the user.

[0013] Furthermore, the error analysis module is provided with a trajectory error analysis unit, and the trajectory error analysis unit is used to calculate the real-time trajectory matching degree α;

[0014] The trajectory error analysis unit is used to compare the trajectory matching degree α with the preset trajectory matching degree A to determine the trajectory error abnormality. The analysis result of the trajectory error abnormality includes a normal trajectory error and an abnormal trajectory error.

[0015] Furthermore, the error analysis module also includes a torque error analysis unit, which is used to compare the torque parameter f(i) of each rotating shaft with the standard rotation data F(i) of each rotating shaft to determine the torque error abnormality of each transmission shaft. The analysis results of the torque error abnormality of each transmission shaft include torque error abnormality and torque error normality.

[0016] Furthermore, the error analysis module is also provided with an error state analysis unit, which is used to analyze the error state of the surgical robot within the monitoring period according to the analysis results of trajectory error abnormality and torque error abnormality within the monitoring period, and the error state analysis results of the surgical robot include normal and abnormal.

[0017] Furthermore, the error analysis module also includes an electromagnetic analysis unit, which is used to compare the magnetic field strength b within the monitoring period with the preset electromagnetic strength B to determine the electromagnetic interference state, and the analysis results of the electromagnetic interference state include normal electromagnetic interference state and abnormal electromagnetic interference state, and when the electromagnetic interference state is abnormal, the error state judgment threshold is adjusted to K'.

[0018] Furthermore, the error analysis module also includes a historical data analysis unit, which is used to compare the historical accuracy qualification rate p of the surgical robot with the preset qualification rate P, and when the historical accuracy qualification rate p exceeds the preset qualification rate P, optimize the preset electromagnetic intensity to B'.

[0019] Further, the jitter analysis module includes a vibration anomaly analysis unit, and the vibration anomaly analysis unit is used to calculate the vibration anomaly coefficient β according to the average vibration amplitude zf and the average vibration frequency zp;

[0020] The vibration abnormality analysis unit compares the vibration abnormality coefficient β with the preset abnormality coefficient H to determine the vibration abnormality of the surgical robot within the monitoring period. The analysis results of the vibration abnormality of the surgical robot include normal vibration and abnormal vibration.

[0021] Furthermore, the jitter analysis module also includes a contact analysis unit, which is used to analyze the jitter state within the monitoring period according to the surgical robot vibration abnormality analysis results and the contact vibration attenuation ratio r within the monitoring period, and the jitter state analysis results include normal, fixed abnormality and jitter abnormality.

[0022] Furthermore, the force feedback analysis module is used to calculate the pressure fluctuation coefficient γ, and compare the pressure fluctuation coefficient γ with the preset fluctuation coefficient Y to determine the surgical force fluctuation, which includes normal and abnormal.

[0023] Furthermore, the accuracy detection module includes an accuracy detection unit, which is used to generate an accuracy detection result of the surgical robot according to an error state analysis result, a jitter state analysis result and surgical force fluctuation of the surgical robot within a monitoring period:

[0024] If the error state of the surgical robot is normal, the jitter state is normal, and the surgical force fluctuation is normal, the accuracy detection unit determines that the accuracy detection result of the surgical robot within the monitoring period is qualified;

[0025] If the error state of the surgical robot is abnormal and the shaking state is normal, the accuracy monitoring unit determines that the accuracy detection result of the surgical robot within the monitoring period is abnormal electromagnetic positioning;

[0026] If the error state of the surgical robot is abnormal and the jitter state is fixed abnormal or jitter abnormal, the accuracy monitoring unit determines that the accuracy detection result of the surgical robot within the monitoring period is that the mechanical operation of the robot is unqualified;

[0027] If the error state of the surgical robot is normal, the jitter state is normal, and the surgical force fluctuation is abnormal, the accuracy monitoring unit determines that the accuracy detection result of the surgical robot within the monitoring period is unqualified in force judgment;

[0028] If the error state of the surgical robot is abnormal and the surgical force fluctuation is abnormal, the accuracy monitoring unit determines that the accuracy detection result of the surgical robot within the monitoring period is that the data acquisition accuracy is unqualified;

[0029] If the error state of the surgical robot is abnormal, the jitter state is fixed abnormal or jitter abnormal and the surgical force fluctuation is abnormal, the accuracy monitoring unit determines that the accuracy detection result of the surgical robot within the monitoring period is a robot failure.

[0030] Compared with the prior art, the beneficial effects of the present invention are: by conducting a specific analysis of the positioning error, torque error, and vibration abnormality of the surgical robot, the error state and jitter state of the surgical robot within the monitoring period are obtained, and the surgical force fluctuation is analyzed, and then the analysis results of the error state, jitter state, and surgical force fluctuation are combined to detect the accuracy of the surgical robot within the monitoring period, thereby improving the efficiency of the surgical robot accuracy detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 It is a structural schematic diagram of the accuracy detection system of the surgical robot in this embodiment.

[0033] Figure 2 Schematic diagram of the structure of the error analysis module in this embodiment.

[0034] Figure 3 FIG. 4 is a schematic diagram of the structure of the jitter analysis module of this embodiment.

[0035] Figure 4 Schematic diagram of the structure of the accuracy detection module of this embodiment. DETAILED DESCRIPTION

[0036] In order to more clearly illustrate the present invention, the present invention is further described below in conjunction with preferred embodiments and accompanying drawings. Similar components in the accompanying drawings are represented by the same reference numerals. It should be understood by those skilled in the art that the content specifically described below is illustrative rather than restrictive, and should not be used to limit the scope of protection of the present invention.

[0037] It should be noted that, although the terms first, second, third, etc. may be used to describe in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0038] Specifically, the precision detection system of a surgical robot described in this embodiment is applied to the precision detection of surgical robots; the surgical robot described in this embodiment is specifically a minimally invasive surgical robot, and its minimally invasive surgical robot realizes the positioning of the surgical position and surgical equipment through an electromagnetic positioning system; the precision detection of the surgical robot described in this embodiment is the precision analysis of the data monitored and acquired during the operation of the surgical robot.

[0039] See also Figure 1 As shown, it is a schematic diagram of the structure of the precision detection system of the surgical robot described in this embodiment, including:

[0040] The real-time data acquisition module is used to collect the positioning data of surgical instruments, the torque parameters of each rotating axis, vibration data and the pressure of surgical tools in real time during the monitoring period.

[0041] Specifically, the real-time acquisition process described in this embodiment is an uninterrupted acquisition, and its acquisition frequency is 100 times / second; the surgical instrument positioning data is the positioning position data of the surgical instrument, and its format is a coordinate point in a three-dimensional coordinate system; the construction process of the three-dimensional coordinate system is: taking the fixed position of the surgical robot as the coordinate origin, the longitude direction from south to north as the vertical coordinate axis, the latitude from west to east as the horizontal coordinate axis, 1mm as the unit length, and the upward direction perpendicular to the horizontal ground as the vertical coordinate axis to establish a spatial rectangular coordinate system; the power data includes the torque of each rotating axis of the surgical robot and the force applied by the surgical instrument; the vibration data includes the vibration amplitude and vibration frequency of the surgical instrument; the surgical instrument described in this embodiment includes each rotating axis and surgical tools; the rotating axis is the part of the surgical robot used to achieve fine angle rotation and position movement; the pressure of the surgical tool is the pressure exerted on the surgical tool when the surgical tool contacts the target tissue; the torque parameter of each rotating axis is the torque provided to each rotating axis by the surgical robot.

[0042] Specifically, this embodiment does not specifically limit the method for collecting the surgical equipment positioning data, power data, vibration data and pressure of surgical instruments of the surgical robot. Technical personnel in this field can set it freely as long as the collection requirements of the surgical equipment positioning data, power data and vibration data of the surgical robot are met. In this embodiment, the surgical equipment positioning data is collected in real time through an electromagnetic positioning system, and the collection results are projected into a three-dimensional coordinate system; the power data is obtained by setting a force sensor and a torque sensor; the vibration data is collected through a vibration sensor.

[0043] Please continue reading Figure 1 As shown, the system also includes a standard data acquisition module, which is used to obtain standard surgical data of the surgical robot; the standard surgical data includes a standard surgical equipment trajectory, a standard rotational torque set of each rotating axis and a standard surgical equipment applied force set; the standard surgical equipment trajectory is a set movement trajectory of the surgical equipment, and the surgical equipment will move along the standard surgical equipment trajectory; the standard surgical equipment trajectory described in this embodiment is a continuous standard positioning position.

[0044] Specifically, this embodiment does not specifically limit the method for obtaining standard surgical data of the surgical robot. Technical personnel in this field can set it freely as long as the requirements for obtaining standard surgical data of the surgical robot are met. The standard surgical data of the surgical robot described in this embodiment are obtained by user interactive input; the data format of the standard rotational torque set of each rotating axis and the standard surgical equipment application force set is a continuous data sequence, the standard rotational torque set of each rotating axis includes continuous standard rotational torques of each rotating axis, and the standard surgical equipment application force set includes continuous standard surgical equipment application forces, and its continuity is defined as time continuity.

[0045] It can be understood that, in this embodiment, each rotating axis is specifically an axis that drives the movement of various mechanical components of the surgical robot, and their number is determined by the surgical robot's built-in parameter table; the method of obtaining standard surgical data in this embodiment is to obtain it through the surgical robot's built-in trajectory generation software.

[0046] Please continue reading Figure 1 As shown, the system also includes an error analysis module, which is connected to the real-time data acquisition module and the standard data acquisition module. The error analysis module is used to analyze the position error within the monitoring period based on the surgical equipment positioning data and standard surgical data within the monitoring period.

[0047] Specifically, this embodiment does not impose any specific limitation on the value of the duration of the monitoring period, and those skilled in the art can freely set it as long as the value requirement of the duration of the monitoring period is met. In this embodiment, the value of the duration of the monitoring period is 2 seconds.

[0048] See also Figure 2 As shown, the error analysis module is provided with a trajectory error analysis unit, which is used to construct a real-time trajectory matching degree according to the surgical equipment positioning data and the standard surgical data, so as to quantify the accuracy of the surgical robot's running trajectory, and analyze the trajectory error abnormality according to the analysis result of the trajectory matching degree;

[0049] The trajectory error analysis unit calculates the real-time trajectory matching degree α and sets ;

[0050] Wherein, N is the number of rotation axes of the surgical robot, d(i) represents the positioning position of the i-th rotation axis, and D(i) represents the standard positioning position of the i-th rotation axis;

[0051] The trajectory error analysis unit is used to compare the trajectory matching degree α with the preset trajectory matching degree A, and analyze the abnormality of the trajectory error according to the comparison result: if α<A, the trajectory error analysis unit determines that the trajectory error of the surgical robot is normal; if α≥A, the trajectory error analysis unit determines that the trajectory error of the surgical robot is abnormal; by calculating the real-time trajectory matching degree, the real-time quantification of the trajectory error is realized, which facilitates the judgment of the abnormality of the trajectory error, and then through the real-time judgment of the abnormality of the trajectory error, the positioning error of the surgical robot is analyzed.

[0052] Specifically, this embodiment does not impose any specific limitation on the value of the preset trajectory matching degree A. Those skilled in the art can freely set it as long as the value requirement of the preset trajectory matching degree A is met. In this embodiment, the value of the preset trajectory matching degree A is 1 mm. At the same time, it can be understood that in this embodiment, "|d(i)-D(i)|" represents the distance between point d(i) and point D(i).

[0053] Please continue reading Figure 2 As shown, the error analysis module also includes a torque error analysis unit, which is used to compare the torque parameter f(i) of each rotating axis with the standard rotation data F(i) of each rotating axis, and analyze the torque error abnormality based on the comparison result to determine the error abnormality in the torque of the rotating axis of the surgical robot: if |f(i)-F(i)| / F(i)≥μ2, the torque error analysis determines that the torque error of the rotating axis is abnormal; if |f(i)-F(i)| / F(i)<μ2, the torque error analysis determines that the torque error of the rotating axis is normal; wherein μ2 is a preset torque error value; by comparing the torque parameters of each transmission shaft collected in real time with the standard rotation data of each rotating axis to accurately determine whether the torque parameters of each transmission shaft exceed the preset specified range, thereby achieving accurate judgment of the torque error abnormality.

[0054] Specifically, the preset torque error value described in this embodiment is divided into a percentage of μ2 less than 1 and greater than 0, which is used to represent the range of the difference between f(i) and F(i). This embodiment does not make specific limitations on its value, and technicians in this field can set it freely as long as the value requirements of μ2 are met. In this embodiment, the specific value of μ2 is 0.2%.

[0055] Please continue reading Figure 2 As shown, the error analysis module is also provided with an error state analysis unit, and the error state analysis unit is connected to the torque error analysis unit and the trajectory error analysis unit, and the error state analysis unit is used to analyze the error state of the surgical robot within the monitoring period according to the analysis results of the trajectory error abnormality and the torque error abnormality within the monitoring period: if (a1×t1+a2×t2×v) / T<K, the error state analysis unit determines that the error state of the surgical robot within the monitoring period is normal; if (a1×t1+a2×t2) / T≥K, the error state analysis unit determines that the error state of the surgical robot within the monitoring period is abnormal; wherein, a1 is the positioning error weight, a2 is the torque error weight, a1+a2=1 and a1>a2, t1 is the duration of the abnormal positioning error within the monitoring period, t2 is the average duration of the rotating axis with abnormal torque error within the monitoring period, v is the proportion of the rotating axis with abnormal torque error within the monitoring period, K is the error state judgment threshold, and T is the duration of the monitoring period; by performing a comprehensive error judgment on the errors within a period of time (monitoring period) to determine whether the errors are accidental phenomena, the situation in which the error state of the surgical robot within the monitoring period of this embodiment is abnormal is specifically expressed as the error within the monitoring period is a non-accidental phenomenon, thereby achieving accurate judgment of the error state of the surgical robot.

[0056] Specifically, this embodiment does not impose any specific limitation on the value of the error state judgment threshold K, and those skilled in the art can freely set it as long as the value requirement of the error state judgment threshold is met. In this embodiment, the value of the error state judgment threshold K is 0.23.

[0057] Please continue reading Figure 2As shown, the error analysis module also includes an electromagnetic analysis unit, which is connected to the error state analysis unit. The electromagnetic analysis unit is used to compare the magnetic field strength b within the monitoring period with the preset electromagnetic strength B, and analyze the electromagnetic interference state according to the comparison result to eliminate the influence of electromagnetic interference on the accuracy of the surgical robot, and adjust the analysis process of the error state of the surgical robot according to the analysis result of the electromagnetic interference state. The analysis process is as follows: if b<B, the electromagnetic analysis unit determines that the electromagnetic interference state within the monitoring period is normal and does not make any adjustments; if b≥B, the electromagnetic analysis unit determines that the electromagnetic interference state within the monitoring period is abnormal, and adjusts the error state judgment threshold to K', setting K'=K×[1-(bB) / B]; the positioning of the surgical robot described in this embodiment is achieved through an electromagnetic positioning system, and the value of its magnetic field strength will affect the result of the precision detection of the surgical robot in real time. This embodiment compares and analyzes the magnetic field strength within the monitoring period to eliminate electromagnetic interference in the precision detection process, thereby improving the accuracy of the error state analysis.

[0058] Specifically, this embodiment does not impose any specific limitation on the value of the preset electromagnetic intensity B. Technical personnel in this field can set it freely as long as the value requirement of the preset electromagnetic intensity B is met. In this embodiment, the value of the preset electromagnetic intensity B is 0.5 μT; it can be understood that the method for obtaining the magnetic field intensity b within the monitoring period described in this embodiment is to obtain it through the electromagnetic positioning system of the surgical robot.

[0059] Please continue reading Figure 2 As shown, the error analysis module also includes a historical data analysis unit, which is connected to the electromagnetic analysis unit. The historical data analysis unit is used to compare the historical accuracy qualification rate p of the surgical robot with the preset qualification rate P, and optimize the adjustment process of the error state of the surgical robot according to the comparison result: if p<P, the historical data analysis unit does not optimize; if p≥P, the historical data analysis unit optimizes the preset electromagnetic intensity to B', and sets B'=B×exp{[pP] / P}; the analysis process of the electromagnetic interference state is optimized through the historical accuracy qualification rate to eliminate the influence of the surgical robot itself, thereby improving the accuracy of the error state analysis.

[0060] Specifically, this embodiment does not impose any specific limitation on the value of the preset pass rate P, and those skilled in the art can freely set it as long as the value requirement of the preset pass rate P is met. For example, the preset pass rate P can be set to 90%.

[0061] Please continue reading Figure 1As shown, the system further includes a jitter analysis module, which is connected to the real-time data acquisition module, and the jitter analysis module is used to analyze the jitter state within the monitoring period according to the vibration data.

[0062] See also Figure 3 As shown, the jitter analysis module includes a vibration anomaly analysis unit, which is used to calculate the vibration anomaly coefficient β according to the average vibration amplitude zf and the average vibration frequency zp, so as to fuse the vibration data of the surgical robot, and set β=ln[1+(zf-ZF) / ZF+(zp-ZP) / ZP]; wherein ZF is the vibration amplitude threshold of the surgical robot, and ZP is the vibration frequency threshold of the surgical robot;

[0063] The vibration abnormality analysis unit compares the vibration abnormality coefficient β with the preset abnormality coefficient H, and analyzes the vibration abnormality of the surgical robot within the monitoring period according to the comparison result: if β<H, the vibration abnormality analysis unit determines that the vibration of the surgical robot within the monitoring period is normal; if β≥H, the vibration abnormality analysis unit determines that the vibration of the surgical robot within the monitoring period is abnormal; by analyzing the vibration abnormality, the vibration data of the surgical robot is fused, and then the fused vibration abnormality coefficient β is compared and judged, thereby achieving accurate analysis of the vibration abnormality of the surgical robot.

[0064] Specifically, this embodiment does not impose any specific limitation on the value of the preset abnormal coefficient H, and those skilled in the art can freely set it as long as the value requirement of the preset abnormal coefficient H is met. In this embodiment, the value of the preset abnormal coefficient H is 0.3.

[0065] It can be understood that the average vibration amplitude zf and the average vibration frequency zp described in this embodiment are obtained by respectively obtaining the average values ​​of the vibration amplitude and the vibration frequency within the monitoring period.

[0066] Please continue reading Figure 3As shown, the jitter analysis module also includes a contact analysis unit, which is connected to the vibration abnormality analysis unit, and the contact analysis unit is used to analyze the jitter state within the monitoring period according to the vibration abnormality analysis result of the surgical robot within the monitoring period and the contact vibration attenuation ratio r: if the vibration of the surgical robot is normal and r<R, the contact analysis unit determines that the jitter state within the monitoring period is normal; if the vibration of the surgical robot is normal and r≥R, the contact analysis unit determines that the jitter state within the monitoring period is a fixed abnormality; if the vibration of the surgical robot is abnormal and r<R, the contact analysis unit determines that the jitter state within the monitoring period is a robot jitter abnormality; if the vibration of the surgical robot is abnormal and r≥R, the contact analysis unit determines that the jitter state within the monitoring period is a jitter abnormality; wherein R is a preset contact attenuation ratio; by analyzing the contact vibration attenuation ratio after the surgical robot contacts the target tissue to determine its jitter state, accurate analysis of the jitter state is achieved.

[0067] Specifically, the contact vibration attenuation ratio r described in this embodiment is specifically the ratio between the vibration amplitude of the surgical instrument when it is not in contact with the target tissue and the vibration amplitude when it is in contact with the target resistance; at the same time, this embodiment does not specifically limit the value of the preset contact attenuation ratio R, and those skilled in the art can set it freely, as long as the value requirement of the preset contact attenuation ratio R is met. In this embodiment, the preset contact attenuation ratio R is set to 0.6; it can be understood that the contact vibration attenuation ratio r described in this embodiment is obtained by setting a vibration sensor on the surgical instrument of the surgical robot.

[0068] Please continue reading Figure 1 As shown, the system further includes a force feedback analysis module, which is connected to the real-time data acquisition module, and is used to analyze the fluctuation of surgical force according to the pressure of surgical tools within a monitoring period, so as to determine whether the surgical robot is uniformly stressed during the operation according to the fluctuation of surgical force;

[0069] The force feedback analysis module calculates the pressure fluctuation coefficient γ and sets:

[0070] ;

[0071] ;

[0072] Where E is the average pressure of surgical tools during the monitoring period, s(j) represents the pressure of the jth surgical tool during the monitoring period, and J is the number of surgical tool pressures collected during the monitoring period;

[0073] The force feedback analysis module is used to compare the pressure fluctuation coefficient γ with the preset fluctuation coefficient Y, and analyze the surgical force fluctuation according to the comparison result: if γ<Y, the force feedback analysis module determines that the surgical force fluctuation within the monitoring period is normal; if γ≥Y, the force feedback analysis module determines that the surgical force fluctuation within the monitoring period is abnormal; by analyzing the force feedback when the surgical tool contacts the target tissue, the stability of the force applied by the surgical robot to control the surgical tool can be accurately reflected. The abnormal surgical force fluctuation reflects that the force applied by the surgical robot to control the surgical tool is unstable.

[0074] Specifically, this embodiment does not impose any specific limitation on the value of the preset fluctuation coefficient Y, and those skilled in the art can freely set it as long as the value requirement of the preset fluctuation coefficient Y is met. In this embodiment, the preset fluctuation coefficient Y is set to 0.1.

[0075] Please continue reading Figure 1 As shown, the system also includes an accuracy detection module, which is connected to the error analysis module, the jitter analysis module and the force feedback analysis module. The accuracy detection module is used to generate an accuracy detection result of the surgical robot according to the error state analysis result, jitter state analysis result and surgical force volatility of the surgical robot within a monitoring period, and output the detection result to the user.

[0076] See also Figure 4 As shown, the accuracy detection module includes an accuracy detection unit, which is used to generate an accuracy detection result of the surgical robot according to the error state analysis result, the jitter state analysis result and the surgical force fluctuation of the surgical robot within the monitoring period, so as to accurately determine the accuracy state of the surgical robot in the three directions of error, jitter and surgical force fluctuation. The analysis process is as follows:

[0077] If the error state of the surgical robot is normal, the jitter state is normal, and the surgical force fluctuation is normal, the accuracy detection unit determines that the accuracy detection result of the surgical robot within the monitoring period is qualified;

[0078] If the error state of the surgical robot is abnormal and the shaking state is normal, the accuracy monitoring unit determines that the accuracy detection result of the surgical robot within the monitoring period is abnormal electromagnetic positioning;

[0079] If the error state of the surgical robot is abnormal and the jitter state is fixed abnormal or jitter abnormal, the accuracy monitoring unit determines that the accuracy detection result of the surgical robot within the monitoring period is that the mechanical operation of the robot is unqualified;

[0080] If the error state of the surgical robot is normal, the jitter state is normal, and the surgical force fluctuation is abnormal, the accuracy monitoring unit determines that the accuracy detection result of the surgical robot within the monitoring period is unqualified in force judgment;

[0081] If the error state of the surgical robot is abnormal and the surgical force fluctuation is abnormal, the accuracy monitoring unit determines that the accuracy detection result of the surgical robot within the monitoring period is that the data acquisition accuracy is unqualified;

[0082] If the error state of the surgical robot is abnormal, the jitter state is a fixed abnormality, or the jitter is abnormal and the surgical force fluctuation is abnormal, the accuracy monitoring unit determines that the surgical robot accuracy detection result within the monitoring period is a robot failure; by arranging and combining the error state, jitter state and surgical force fluctuation under different states, the detection of different conditions of the surgical robot accuracy can be achieved, which is convenient for users to perform accuracy calibration and improves the efficiency of surgical robot accuracy detection.

[0083] Please continue reading Figure 4 As shown, the accuracy detection module also includes an output unit, and the output unit is used to output the accuracy detection result of the surgical robot to the user.

[0084] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A surgical robot accuracy detection system, characterized in that: include: A real-time data acquisition module is used to collect the positioning data of surgical instruments, the torque parameters of each rotating axis, vibration data and the pressure of surgical tools in real time during the monitoring period; A standard data acquisition module, used to acquire standard surgical data of the surgical robot; An error analysis module is used to analyze the trajectory error abnormality and torque error abnormality of the surgical robot according to the surgical equipment positioning data, the torque parameters of each rotating axis and the standard surgical data during the monitoring period, and to analyze the error state of the surgical robot during the monitoring period according to the trajectory error abnormality and the torque error abnormality; A jitter analysis module, used to analyze the jitter state within the monitoring period according to the vibration data collected within the monitoring period; A force feedback analysis module is used to analyze the fluctuation of surgical force according to the pressure of surgical tools collected during the monitoring period; The precision detection module is used to generate the precision detection results of the surgical robot according to the error state analysis results, the jitter state analysis results and the surgical force fluctuation of the surgical robot within the monitoring period, and output the detection results to the user; The error analysis module also includes an electromagnetic analysis unit, which is used to compare the magnetic field strength b within the monitoring period with the preset electromagnetic strength B to determine the electromagnetic interference state. The analysis results of the electromagnetic interference state include normal electromagnetic interference state and abnormal electromagnetic interference state, and when the electromagnetic interference state is abnormal, the error state judgment threshold is adjusted to K'.

2. The accuracy detection system of the surgical robot according to claim 1, characterized in that: The error analysis module is provided with a trajectory error analysis unit, and the trajectory error analysis unit is used to calculate the real-time trajectory matching degree α; The trajectory error analysis unit is used to compare the trajectory matching degree α with the preset trajectory matching degree A to determine the trajectory error abnormality. The analysis result of the trajectory error abnormality includes a normal trajectory error and an abnormal trajectory error.

3. The accuracy detection system of the surgical robot according to claim 2, characterized in that: The error analysis module also includes a torque error analysis unit, which is used to compare the torque parameter f(i) of each rotating shaft with the standard rotation data F(i) of each rotating shaft to determine the torque error abnormality of each transmission shaft. The analysis results of the torque error abnormality of each transmission shaft include torque error abnormality and torque error normality.

4. The accuracy detection system of the surgical robot according to claim 3, characterized in that: The error analysis module is also provided with an error state analysis unit, which is used to analyze the error state of the surgical robot within the monitoring period according to the analysis results of trajectory error abnormality and torque error abnormality within the monitoring period. The error state analysis results of the surgical robot include normal and abnormal.

5. The accuracy detection system for a surgical robot according to claim 4, characterized in that: The error analysis module also includes a historical data analysis unit, which is used to compare the historical accuracy qualification rate p of the surgical robot with the preset qualification rate P, and when the historical accuracy qualification rate p exceeds the preset qualification rate P, optimize the preset electromagnetic intensity to B'.

6. The accuracy detection system of the surgical robot according to claim 5, characterized in that: The jitter analysis module includes a vibration anomaly analysis unit, which is used to calculate the vibration anomaly coefficient β according to the average vibration amplitude zf and the average vibration frequency zp; The vibration abnormality analysis unit compares the vibration abnormality coefficient β with the preset abnormality coefficient H to determine the vibration abnormality of the surgical robot within the monitoring period. The analysis results of the vibration abnormality of the surgical robot include normal vibration and abnormal vibration.

7. The accuracy detection system of a surgical robot according to claim 6, characterized in that: The jitter analysis module also includes a contact analysis unit, which is used to analyze the jitter state within the monitoring period according to the surgical robot vibration abnormality analysis results and the contact vibration attenuation ratio r within the monitoring period. The jitter state analysis results include normal, fixed abnormality and jitter abnormality.

8. The accuracy detection system for a surgical robot according to claim 7, characterized in that: The force feedback analysis module is used to calculate the pressure fluctuation coefficient γ, and compare the pressure fluctuation coefficient γ with the preset fluctuation coefficient Y to determine the surgical force fluctuation, which includes normal and abnormal.

9. The accuracy detection system of the surgical robot according to claim 8, characterized in that: The precision detection module includes a precision detection unit, which is used to generate a precision detection result of the surgical robot according to the error state analysis result, the jitter state analysis result and the surgical force fluctuation of the surgical robot within a monitoring period: If the error state of the surgical robot is normal, the jitter state is normal, and the surgical force fluctuation is normal, the accuracy detection unit determines that the accuracy detection result of the surgical robot within the monitoring period is qualified; If the error state of the surgical robot is abnormal and the shaking state is normal, the accuracy monitoring unit determines that the accuracy detection result of the surgical robot within the monitoring period is abnormal electromagnetic positioning; If the error state of the surgical robot is abnormal and the jitter state is fixed abnormal or jitter abnormal, the accuracy monitoring unit determines that the accuracy detection result of the surgical robot within the monitoring period is that the mechanical operation of the robot is unqualified; If the error state of the surgical robot is normal, the jitter state is normal, and the surgical force fluctuation is abnormal, the accuracy monitoring unit determines that the accuracy detection result of the surgical robot within the monitoring period is unqualified in force judgment; If the error state of the surgical robot is abnormal and the surgical force fluctuation is abnormal, the accuracy monitoring unit determines that the accuracy detection result of the surgical robot within the monitoring period is that the data acquisition accuracy is unqualified; If the error state of the surgical robot is abnormal, the jitter state is fixed abnormal or jitter abnormal and the surgical force fluctuation is abnormal, the accuracy monitoring unit determines that the accuracy detection result of the surgical robot within the monitoring period is a robot failure.

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