Master testing organization and its testing methods

Abstract

This application relates to a master hand testing mechanism and its testing method. The testing mechanism includes a robotic arm, a testing component, and a positioning mechanism. The testing component includes a connecting component and a target ball array. One end of the connecting component is connected to the robotic arm, and the other end is connected to the master hand. The target ball array is mounted on the connecting component and includes a support member and at least three target balls that are not on the same plane. The target balls are detachably mounted on the support member. The positioning mechanism is used to record the position of the target balls in the target ball array. The pose accuracy fed back by the master hand can be tested through a measuring mechanism. The pose accuracy testing method includes moving the master hand by the robotic arm, obtaining the pose of the target ball array in the measurement coordinate system through the positioning mechanism, and the angle of the master hand reflecting the actual pose of the target ball array in the master hand coordinate system; converting the pose in the measurement coordinate system to the theoretical pose in the master hand coordinate system, and comparing the actual pose with the theoretical pose, thus directly obtaining the pose accuracy fed back by the master hand.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to master testing institutions and their testing methods. Background Technology

[0002] With the development of surgical robot technology, laparoscopic surgical robot systems include a surgeon's carriage, a surgical carriage, and a vision carriage. The surgeon controls the movement of the robotic arms (slave arms) on the surgical carriage by operating the master hand (master hand) on the surgeon's carriage, thereby completing the corresponding surgical procedures. The system calculates and converts the position and posture information fed back from the master hand into the motion posture of the slave arms, enabling the slave arms to replicate the surgeon's operations on the master hand and providing the surgeon with an immersive surgical experience.

[0003] The feedback accuracy of the master arm is fundamental to ensuring the accuracy of master-slave operation and is a crucial factor affecting surgical outcomes. In related technologies, the testing devices and methods for surgical robot performance generally obtain the operational accuracy of the slave arm by directly controlling its movement.

[0004] However, the aforementioned testing equipment and methods cannot directly obtain the feedback accuracy of the main hand itself. Summary of the Invention

[0005] Therefore, it is necessary to provide a master hand testing mechanism and its testing method to address the problem that the feedback accuracy of the master hand itself cannot be directly obtained in related technologies.

[0006] A master hand testing mechanism, the testing mechanism comprising:

[0007] robotic arm;

[0008] The test assembly includes a connecting component and a target ball array. One end of the connecting component is connected to a robotic arm, and the other end is used to connect to a master hand. The target ball array is disposed on the connecting component and includes a support member and at least three target balls that are not on the same plane. The target balls are detachably disposed on the support member.

[0009] A positioning mechanism is used to record the position of the target balls in the target ball array.

[0010] In one embodiment, the connection assembly includes a master end effector, an intermediate connector, and a robotic arm flange connected in sequence. The master end effector is used to fix the master hand, and the end of the robotic arm flange away from the intermediate connector is used to fix the robotic arm. The target ball array is disposed on the intermediate connector.

[0011] In one embodiment, the connection assembly further includes a quick-connect fitting, through which the main end cap is connected to the intermediate connector.

[0012] In one embodiment, the quick-connect includes a first magnet and a second magnet;

[0013] The main hand end fixing component includes a first sleeve, the first sleeve and a first magnet are located at one end of the main hand end fixing component near the intermediate connector, and the intermediate connector includes a second sleeve, the second sleeve and a second magnet are located at one end of the intermediate connector near the main hand end fixing component;

[0014] The first magnet and the second magnet attract each other, and the second sleeve is fitted outside the first sleeve, or the first sleeve is fitted outside the second sleeve.

[0015] In one embodiment, the intermediate connector has a positioning hole;

[0016] The test assembly also includes an array fixing component, one end of which is provided with a positioning post, which cooperates with the positioning hole, and the target ball array is disposed on the array fixing component.

[0017] In one embodiment, the testing mechanism further includes a force sensor, which may be selectively disposed between the intermediate connector and the robotic arm flange, or disposed at the end of the master end cap away from the intermediate connector.

[0018] In one embodiment, the intermediate connector has a third plane whose normal vector is the same as the X direction of the force sensor.

[0019] In one embodiment, the support includes at least four support rods extending in different directions from a central position, and any three of the at least four support rods are not coplanar, with the target ball being detachably disposed at the end of each support rod away from the central position.

[0020] A testing method for the aforementioned master hand testing mechanism, the testing method including a master hand feedback pose accuracy testing method, the master hand feedback pose accuracy testing method including the following steps:

[0021] Install at least three target balls that are not on the same plane on the target ball array;

[0022] The main hand and the target ball array are moved by a robotic arm;

[0023] The position of the target ball is acquired by the positioning mechanism, and the pose Tc of the target ball array in the measurement coordinate system is determined.

[0024] The pose of the target ball array in the measurement coordinate system is converted into the theoretical pose Tm′ in the master hand coordinate system;

[0025] The joint angles fed back by the main hand are collected to determine the actual pose Tm of the target ball array in the main hand coordinate system;

[0026] The actual pose Tm is compared with the theoretical pose Tm′ to obtain the pose accuracy of the master hand feedback.

[0027] In one embodiment, the specific steps of converting the pose of the target ball array in the measurement coordinate system to the theoretical pose in the master hand coordinate system include:

[0028] Obtain the transformation matrix T between the master coordinate system and the measurement coordinate system;

[0029] The theoretical pose in the master-hand coordinate system is Tm′=Tc×T.

[0030] A testing method for the aforementioned master hand testing mechanism, characterized in that the testing method includes a master hand feedback trajectory accuracy testing method, the master hand feedback trajectory accuracy testing method comprising the following steps:

[0031] At least three target balls that are not on the same plane are installed on the target ball array;

[0032] The robotic arm drives the main hand and the target ball array to move;

[0033] The positioning mechanism acquires the position of the target ball and determines the trajectory Lc of the target ball array in the measurement coordinate system.

[0034] The trajectory of the target ball array in the measurement coordinate system is converted into the theoretical trajectory Lm′ in the master hand coordinate system;

[0035] The joint angles fed back by the main hand are collected to determine the actual trajectory Lm of the target ball array in the main hand coordinate system;

[0036] The actual trajectory Lm is compared with the theoretical trajectory Lm′ to obtain the trajectory accuracy of the master hand feedback.

[0037] A testing method using a master hand testing mechanism, characterized in that the testing method includes a master hand zero-force drag performance testing method, the master hand zero-force drag performance testing method comprising the following steps:

[0038] The force sensor is installed between the intermediate connector and the robotic arm flange;

[0039] The robotic arm drives the main hand to move along a predetermined trajectory, collecting the readings Fi from the force sensor;

[0040] The force sensor is installed at the end of the main hand end fixture away from the intermediate connector;

[0041] The robotic arm drives the main hand to move along the predetermined trajectory, and collects the reading Fi′ of the force sensor;

[0042] Fi is compared with Fi′ to obtain the zero-force drag accuracy of the master hand.

[0043] The aforementioned master hand testing mechanism and method define a coordinate system using at least three target balls not on the same plane. The target ball array is positioned on the connecting component, between the master hand and the robotic arm, allowing direct connection between the array and the master hand. This facilitates direct conversion between the master hand coordinate system and the measurement coordinate system, simplifying the calculation of the master hand pose measurement accuracy. When testing the feedback pose accuracy of the master hand, the robotic arm moves the master hand. During this process, the pose Tc of the target ball array in the measurement coordinate system is directly obtained through the positioning mechanism, and the actual pose Tm of the target ball array in the master hand coordinate system is obtained through the angle of the master hand. The pose Tc in the measurement coordinate system is converted to the theoretical pose Tm′ in the master hand coordinate system. Comparing the actual pose Tm with the theoretical pose Tm′ directly yields the pose accuracy feedback from the master hand. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the main hand test mechanism in one embodiment.

[0045] Figure 2 This is a schematic diagram of the structure of the connecting component in one embodiment.

[0046] Figure 3 This is a schematic diagram of the structure of the end-fixing component of the main hand in one embodiment.

[0047] Figure 4 This is a schematic diagram of the structure of the intermediate connector in one embodiment.

[0048] Figure 5 This is a schematic diagram of the array fixing component in one embodiment.

[0049] Figure 6 This is a schematic diagram of the support member in one embodiment.

[0050] Attached image label: 100, Main hand;

[0051] 200. Robotic arm;

[0052] 300. Connecting assembly; 310. Master arm end effector; 311. First sleeve; 3111. First plane; 3112. First screw hole; 312. Third screw hole; 320. Intermediate connector; 321. Second sleeve; 3211. Second plane; 3212. Second screw hole; 322. Fourth screw hole; 323. Third plane; 3231. Positioning hole; 330. Robot arm flange;

[0053] 400. Test component; 410. Target ball array; 411. Support component; 420. Array fixing component; 421. Chassis; 4211. Positioning column; 422. Column; 430. Positioning mechanism;

[0054] 500. Force sensor. Detailed Implementation

[0055] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0056] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0057] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0058] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0059] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0060] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0061] See Figure 1 and Figure 2 An embodiment of this application provides a master hand testing mechanism, including a robotic arm 200, a testing component 400, and a positioning mechanism 430. The testing component 400 includes a connecting component 300 and a target ball array 410. One end of the connecting component 300 is connected to the robotic arm 200, and the other end is connected to the master hand 100. The target ball array 410 is disposed on the connecting component 300 and includes a support member 411 and at least three target balls not on the same plane. The target balls are detachably disposed on the support member 411. The positioning mechanism 430 is used to record the positions of the target balls in the target ball array 410.

[0062] In this embodiment, a coordinate system is defined by at least three target balls that are not on the same plane. The target ball array is set on the connecting component, that is, between the main hand 100 and the robotic arm 200, so that the target ball array is directly connected to the main hand 100, which facilitates the direct conversion between the main hand coordinate system and the measurement coordinate system, and makes it easier to calculate the pose of the main hand 100. When detecting the feedback pose accuracy of the main hand 100, the robotic arm 200 drives the main hand 100 to move. During this process, the pose Tc of the target ball array in the measurement coordinate system is directly obtained through the positioning mechanism 430, and the actual pose Tm of the target ball array in the main hand coordinate system is obtained through the angle change of the main hand 100. The pose Tc in the measurement coordinate system is converted to the theoretical pose Tm′ in the main hand coordinate system. The actual pose Tm and the theoretical pose Tm′ are compared, so the pose accuracy fed back by the main hand 100 can be directly obtained. The measurement coordinate system is the coordinate system in which the positioning mechanism is located.

[0063] It should be noted that the positioning mechanism 430 can be a laser tracker, infrared locator, radar locator, or ultrasonic locator, etc., and the target ball is the target object corresponding to the positioning mechanism 430. For example, when the positioning mechanism 430 is a laser tracker, the target ball is a reflector. The end of the main arm 100 away from the connecting component 300 is fixed to the trolley in the form of a cantilever beam, consistent with the actual installation method of the main arm 100 on the trolley.

[0064] In some embodiments, the connection assembly 300 includes a master end effector 310, an intermediate connector 320, and a robotic arm flange 330 connected in sequence. The master end effector 310 is used to be fixedly connected to the master hand 100, and the end of the robotic arm flange 330 away from the intermediate connector 320 is used to be fixedly connected to the robotic arm 200. The target ball array 410 is disposed on the intermediate connector 320.

[0065] In this embodiment, one end of the connecting component 300 is connected to the master hand 100 via the master hand end effector 310, and the other end of the connecting component 300 is connected to the robotic arm 200 via the robotic arm flange 330, thereby realizing the connection between the master hand 100 and the robotic arm 200. Simultaneously, the target ball array 410 is connected to the master hand end effector 310 via the intermediate connecting component 320, ensuring that the target ball array 410 and the master hand end effector 310 are always in a fixed relative position, thus facilitating the conversion between the master hand coordinate system and the measurement coordinate system.

[0066] In one embodiment, the connecting component 300 further includes a quick-connector, through which the main hand end fixing member 310 and the intermediate connecting member 320 are connected, thereby enabling quick connection between the main hand end fixing member 310 and the intermediate connecting member 320, facilitating quick adjustment of the dragging posture.

[0067] See Figure 3 and Figure 4 Furthermore, the quick-connect component includes a first magnet and a second magnet. The main hand end retainer 310 includes a first sleeve 311, with the first sleeve 311 and the first magnet located at one end of the main hand end retainer 310 near the intermediate connector 320. The intermediate connector 320 includes a second sleeve 321, with the second sleeve 321 and the second magnet located at one end of the intermediate connector 320 near the main hand end retainer 310. The first magnet and the second magnet attract each other, and the second sleeve 321 is fitted over the first sleeve 311, or the first sleeve 311 is fitted over the second sleeve 321.

[0068] In this embodiment, the end of the main hand end fixing member 310 near the intermediate connecting member 320 is provided with a third screw hole 312, and the first magnet is threadedly connected to the third screw hole 312. The end of the intermediate connecting member 320 near the end of the main hand 100 is provided with a fourth screw hole 322, and the second magnet is threadedly connected to the fourth screw hole 322. The first magnet and the second magnet are used to realize the quick docking of the main hand end fixing member 310 and the intermediate connecting member 320. When the first magnet and the second magnet attract each other, the second sleeve 321 is sleeved on the outside of the first sleeve 311, thereby preventing the influence of gravity on the attraction force between the first magnet and the second magnet.

[0069] The use of the first sleeve 311 and the second sleeve 321 to interlock ensures that the main hand end fixing part 310 and the intermediate connecting part 320 are coaxially arranged, thereby improving the connection accuracy between the main hand end fixing part 310 and the intermediate connecting part 320, and facilitating the improvement of the testing accuracy of the main hand 100 testing mechanism.

[0070] In another embodiment, based on the rapid engagement of the main hand end retainer 310 and the intermediate connector 320 via the first magnet and the second magnet, the main hand end retainer 310 and the intermediate connector 320 can be further fixedly connected by screws. The screws are used to prevent relative rotation between the main hand end retainer 310 and the intermediate connector 320.

[0071] In other embodiments, the main hand end fixing member 310 and the intermediate connecting member 320 are directly fixedly connected by screws.

[0072] Specifically, the structure in which the main end fixing member 310 and the intermediate connecting member 320 are fixedly connected by screws is as described in the embodiment.

[0073] In some embodiments, the main end cap fixing member 310 includes a first sleeve 311, and the intermediate connecting member 320 includes a second sleeve 321. The second sleeve 321 is sleeved outside the first sleeve 311. The outer wall of the first sleeve 311 has a first plane 3111, and a first screw hole 3112 is formed on the first plane 3111, penetrating the side wall of the first sleeve 311. The inner wall of the second sleeve 321 has a second plane 3211, and a second screw hole 3212 is formed on the second plane 3211, penetrating the side wall of the second sleeve 321. The first plane 3111 and the second plane 3211 are in contact with each other, and the first screw hole 3112 and the second screw hole 3212 are of equal size and located on the same axis.

[0074] In this embodiment, a first screw hole 3112 is provided on the first plane 3111, which passes through the side wall of the first sleeve 311, and a second screw hole 3212 is provided on the second plane 3211, which passes through the side wall of the second sleeve 321. When the second sleeve 321 is sleeved outside the first sleeve 311, the first plane 3111 and the second plane 3211 are in contact. At this time, the first screw hole 3112 and the second screw hole 3212 are in corresponding positions. Since the first screw hole 3112 and the second screw hole 3212 are of equal size and located on the same axis, the second sleeve 321 and the first sleeve 311 can be fixed by passing a screw through the first screw hole 3112 and the second screw hole 3212 at the same time, thereby fixing the main hand end fixing member 310 and the intermediate connecting member 320.

[0075] In some other embodiments, the main end-cap fastener 310 includes a first sleeve 311, and the intermediate connector 320 includes a second sleeve 321. The first sleeve 311 is fitted over the second sleeve 321. The inner wall of the first sleeve 311 has a first plane 3111, and a first threaded hole 3112 is formed on the first plane 3111, penetrating the side wall of the first sleeve 311. The outer wall of the second sleeve 321 has a second plane 3211, and a second threaded hole 3212 is formed on the second plane 3211, penetrating the side wall of the second sleeve 321. The first plane 3111 and the second plane 3211 are in contact with each other, and the first threaded hole 3112 and the second threaded hole 3212 are of equal size and located on the same axis.

[0076] In this embodiment, when the first sleeve 311 is sleeved outside the second sleeve 321, the first plane 3111 and the second plane 3211 are in contact. At this time, the first screw hole 3112 and the second screw hole 3212 are in corresponding positions. The first sleeve 311 and the second sleeve 321 can be fixed by passing a screw through the first screw hole 3112 and the second screw hole 3212 at the same time, thereby fixing the main hand end fixing member 310 and the intermediate connecting member 320.

[0077] See Figure 5In some embodiments, the intermediate connector 320 is provided with a positioning hole 3231. The test assembly 400 also includes an array fixing member 420, one end of which is provided with a positioning post 4211, which cooperates with the positioning hole 3231, and the target ball array 410 is disposed on the array fixing member 420.

[0078] In this embodiment, the quick engagement of the positioning post 4211 and the positioning hole 3231 improves the installation accuracy of the target ball array 410 and the array fixing member 420, which is beneficial to improving the accuracy of the main hand 100 testing mechanism. Specifically, the array fixing member 420 includes a chassis 421 and a column 422 disposed on the chassis 421. The positioning post 4211 is disposed at the end of the chassis 421 away from the column 422. After the chassis 421 and the intermediate connecting member 320 are positioned, the chassis 421 and the intermediate connecting member 320 can be fixedly connected by screws.

[0079] In some embodiments, the testing mechanism further includes a force sensor 500, which may be selectively disposed between the intermediate connector 320 and the robotic arm flange 330, or disposed at the end of the master end cap 310 away from the intermediate connector 320.

[0080] In this embodiment, when testing the zero-force drag performance of the master hand 100, the force sensor 500 can first be installed between the intermediate connector 320 and the robotic arm flange 330. The robotic arm 200 drives the master hand 100 to move along a predetermined trajectory, and the reading Fi of the force sensor 500 is collected. Then, the force sensor 500 is installed at the end of the master hand end fixing member 310 away from the intermediate connector 320. The robotic arm 200 drives the master hand 100 to move along a predetermined trajectory, and the reading Fi′ of the force sensor 500 is collected. Finally, Fi and Fi′ are compared to obtain the zero-force drag accuracy of the master hand 100.

[0081] The robotic arm flange 330 has two mounting holes facing opposite directions. The force sensor 500 and the end of the robotic arm 200 are respectively connected to the robotic arm flange 330 by screws.

[0082] Furthermore, the intermediate connector 320 has a third plane 323, and a positioning hole 3231 is disposed on the third plane 323. The force sensor 500 is disposed between the intermediate connector 320 and the robotic arm flange 330, and the normal vector of the third plane 323 is the same as the X direction of the force sensor 500.

[0083] During actual installation, the X-direction of the force sensor 500 is vertically upward. By placing an inclinometer on the third plane 323, it can be ensured that the X-direction of the force sensor 500 is parallel to the direction of gravity. This makes it easier to keep the measurement direction of the force sensor 500 consistent with the force direction required by the master hand 100, thereby enhancing the measurement accuracy of the force sensor 500 and improving the testing accuracy of the zero-force drag performance of the master hand 100 through the master hand 100 testing mechanism.

[0084] It should be noted that the positioning hole 3231 is located on the third plane 323, and the wall of the chassis 421 with the positioning post 4211 is also a planar structure. That is, the array fixing member 420 is connected to the intermediate connecting member 320 through the plane, which can enhance the connection strength and stability between the two and prevent relative displacement between the array fixing member 420 and the intermediate connecting member 320, thus affecting the test accuracy.

[0085] See Figure 6 In some embodiments, the target ball array 410 includes a support member 411 and target balls. The support member 411 includes at least four support rods extending in different directions from a central position, and any three of the at least four support rods are not coplanar. The target balls are detachably disposed at the ends of the support rods away from the central position.

[0086] In this embodiment, the center of the support member 411 is fixedly connected to the end of the column 422 away from the chassis 421 by screws. The target balls are detachably mounted on the support rods by screws or clips. Any three support rods are not coplanar so that the three target balls on them define a measurement coordinate system, and the other target balls are used to verify the accuracy of the target ball array 410.

[0087] An embodiment of this application also provides a testing method for a master hand testing mechanism. The testing method includes a pose accuracy testing method based on feedback from the master hand 100. The pose accuracy testing method based on feedback from the master hand 100 includes the following steps:

[0088] At least three target balls that are not on the same plane are installed on the target ball array 410;

[0089] The robotic arm 200 drives the main hand 100 and the target ball array 410 to move.

[0090] The position of the target ball is acquired by the positioning mechanism 430, and the pose Tc of the target ball array 410 in the measurement coordinate system is determined.

[0091] The pose Tc of the target ball array 410 in the measurement coordinate system is converted into the theoretical pose Tm′ in the master hand coordinate system;

[0092] Collect the joint angles fed back by the main hand 100 to determine the actual pose Tm of the target ball array 410 in the main hand coordinate system;

[0093] The actual pose Tm is compared with the theoretical pose Tm′ to obtain the pose accuracy of the master hand 100 feedback.

[0094] The method for obtaining the pose Tc of the target ball array 410 in the measurement coordinate system and the pose Tm of the target ball array 410 in the master hand coordinate system is as follows: Three target balls are installed on the target ball array 410, and the robotic arm 200 is controlled to drag the master hand 100 to five precision test poses within the workspace (the specific positions of the precision test poses are existing technologies), and the movement is repeated 30 times. The pose Tc of the target ball array 410 in the measurement coordinate system is determined by the collected target ball positions, and the pose Tm of the target ball array 410 in the master hand coordinate system is determined by the collected joint angles fed back by the master hand 100.

[0095] In this embodiment, during testing, the main hand 100 is moved by an external robotic arm 200, making the testing environment consistent with the actual usage scenario of the main hand 100, thereby increasing the validity of the test results. Simultaneously, the above method directly obtains the pose accuracy feedback from the main hand 100, facilitating further improvement of the main hand 100's operational precision and ultimately enhancing surgical outcomes.

[0096] Furthermore, the specific steps for converting the pose of the target ball array 410 in the measurement coordinate system to the theoretical pose in the master hand coordinate system include: obtaining the transformation matrix T between the master hand coordinate system and the measurement coordinate system; theoretical pose Tm′=Tc×T.

[0097] Specifically, the method for obtaining the transformation matrix T between the master coordinate system and the measurement coordinate system includes the following steps:

[0098] The positioning mechanism 430 is set on one side of the main hand 100, and a target ball is fixed on the target ball array 410;

[0099] The robotic arm 200 is controlled to drag the master hand 100 to 10 points at the limit of the workspace, ensuring that the target ball is not lost at any point. The angle of the master hand 100 is recorded, and the position of the target ball is collected by the positioning mechanism 430. (The specific positions of the 10 points are existing technology and will not be described in detail here.)

[0100] Based on the coordinate system calibration completed using the position of the main hand (100) and the measurement position of the target ball by the positioning mechanism (430), the transformation matrix T between the main hand coordinate system and the measurement coordinate system can be determined using the following algorithm:

[0101] The transformation matrix between the master coordinate system and the measurement coordinate system is composed of the rotation matrix R and the translation matrix t;

[0102] Let P be two point sets. A and P B Given N sets of corresponding data, calculate the point set P for each set.A and P B Center point:

[0103]

[0104]

[0105] Calculate point set P A and P B The covariance matrix H:

[0106]

[0107] Where β A and β B They are μ A and μ B The N-dimensional extended matrix.

[0108] SVD decomposition of the covariance matrix is ​​used to calculate the rotation matrix R between the two point sets:

[0109] [U,S,V]=SVD(H)

[0110] R = VU T

[0111] The translation matrix t is obtained by using the rotation matrix R:

[0112] t=-R×μ A +μ B

[0113] An embodiment of this application also provides a testing method for a master hand 100. The testing method includes a trajectory accuracy testing method based on feedback from the master hand 100. The trajectory accuracy testing method based on feedback from the master hand 100 includes the following steps:

[0114] At least three target balls that are not on the same plane are installed on the target ball array 410;

[0115] The robotic arm 200 drives the main hand 100 and the target ball array 410 to move.

[0116] The position of the target ball is acquired by the positioning mechanism 430, and the trajectory Lc of the target ball array 410 in the measurement coordinate system is determined.

[0117] The trajectory Lc of the target ball array 410 in the measurement coordinate system is converted into the theoretical trajectory Lm′ in the master hand coordinate system;

[0118] Collect the joint angles fed back by the main hand 100 to determine the actual trajectory Lm of the target ball array 410 in the main hand coordinate system;

[0119] The actual trajectory Lm is compared with the theoretical trajectory Lm′ to obtain the trajectory accuracy of the master hand 100 feedback.

[0120] Among them, the theoretical trajectory of the target ball array 410 in the master hand coordinate system is Lm′=Lc×T. That is, the master hand 100 testing mechanism of this application can also directly measure the trajectory accuracy test method of the master hand feedback, which is conducive to further improving the operation accuracy of the master hand 100 and thus improving the surgical effect.

[0121] An embodiment of this application also provides a method for testing the feedback accuracy of the master arm 100. The method for testing the feedback accuracy of the master arm 100 includes a method for testing the force feedback accuracy of the master arm 100. The method for testing the force feedback accuracy of the master arm 100 includes the following steps: First, between the intermediate connecting piece 320 and the robotic arm flange 330, feedback force and feedback torque commands are sent to the master arm 100 through software. The readings of the force sensor 500 are read. The readings of the force sensor 500 are compared with the feedback force and feedback torque to obtain the force feedback accuracy of the master arm 100.

[0122] In this embodiment, during master-slave operation, when the robotic arm 200 moves to the boundary position, the master hand 100 can provide feedback force and torque to prompt the user. Therefore, it is necessary to test the force feedback accuracy of the master hand 100 to ensure that the feedback force and torque provided by the master hand 100 are correct. The force sensor 500 can be a six-dimensional force sensor 500. When installing the force sensor 500, the X-direction of the force sensor 500 should be kept the same as the normal vector of the third plane 323, thereby ensuring that the coordinate system direction of the force sensor 500 is parallel to the coordinate system direction of the master hand, that is, the force sensor 500 can accurately reflect the force feedback accuracy of the master hand 100 in different directions.

[0123] An embodiment of this application also provides a testing method for the master hand 100, which includes a zero-force drag performance testing method for the master hand 100. The zero-force drag performance testing method for the master hand 100 includes the following steps:

[0124] The force sensor 500 is installed at the end of the robotic arm 200 away from the master hand 100;

[0125] The robotic arm 200 drives the main hand 100 to move along a predetermined trajectory, and collects the readings Fi of the force sensor 500;

[0126] The force sensor 500 is installed between the main hand 100 and the robotic arm 200;

[0127] The robotic arm 200 drives the main hand 100 to move along a predetermined trajectory, and collects the reading Fi′ of the force sensor 500;

[0128] Compare Fi with Fi′ to obtain the master hand's 100 zero-force drag accuracy.

[0129] In this embodiment, in the zero-force mode of the main hand 100, the torque output by the motor can compensate for the gravity, friction, and inertia of the main hand 100, so that the doctor will not feel resistance when dragging the main hand 100, reducing operator fatigue. By testing the performance of the main hand 100 in zero-force mode, the accuracy of motor torque compensation can be improved to enhance operator comfort.

[0130] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0131] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A master hand (100) testing mechanism, characterized in that, The testing facility includes: Robotic arm (200); The test assembly (400) includes a connecting assembly (300) and a target ball array (410). One end of the connecting assembly (300) is connected to the robotic arm (200), and the other end is used to connect to the master hand (100). The target ball array (410) is disposed on the connecting assembly (300). The target ball array (410) includes a support member (411) and at least three target balls that are not on the same plane. The target balls are detachably disposed on the support member (411). The support member (411) includes at least four support rods extending from a central position in different directions, and any three of the at least four support rods are not coplanar. The target balls are detachably mounted on the support rods in a one-to-one correspondence. A positioning mechanism (430) is used to record the position of the target balls in the target ball array (410); The connecting assembly (300) includes a master end-mounted fixing member (310), an intermediate connecting member (320), and a robotic arm flange (330) connected in sequence; The testing mechanism also includes a force sensor (500), which can be selectively disposed between the intermediate connector (320) and the robotic arm flange (330), or disposed at the end of the master hand end fixture (310) away from the intermediate connector (320); The intermediate connector (320) has a third plane (323) whose normal vector is the same as the X direction of the force sensor (500).

2. The master hand (100) testing mechanism according to claim 1, characterized in that, The master hand end fixing member (310) is used to fix the master hand (100), the end of the robotic arm flange (330) away from the intermediate connector (320) is used to fix the robotic arm (200), and the target ball array (410) is disposed on the intermediate connector (320).

3. The master hand (100) testing mechanism according to claim 2, characterized in that, The connecting assembly (300) also includes a quick-connect fitting, through which the main hand end fixing member (310) and the intermediate connecting member (320) are connected.

4. The master hand (100) testing mechanism according to claim 3, characterized in that, The quick-connector includes a first magnet and a second magnet; The main hand end fixing member (310) includes a first sleeve (311), the first sleeve (311) and the first magnet are located at one end of the main hand end fixing member (310) near the intermediate connector (320), and the intermediate connector (320) includes a second sleeve (321), the second sleeve (321) and the second magnet are located at one end of the intermediate connector (320) near the main hand end fixing member (310); The first magnet and the second magnet attract each other, and the second sleeve (321) is sleeved outside the first sleeve (311), or the first sleeve (311) is sleeved outside the second sleeve (321).

5. The master hand (100) testing mechanism according to claim 2, characterized in that, The intermediate connector (320) is provided with a positioning hole (3231); The test assembly (400) further includes an array fixing member (420), one end of which is provided with a positioning post (4211), the positioning post (4211) cooperating with the positioning hole (3231), and the target ball array (410) is disposed on the array fixing member (420).

6. The master hand (100) testing mechanism according to claim 1, characterized in that, The target ball is positioned at the end of the support rod away from the center.

7. A testing method for the master hand (100) testing mechanism according to any one of claims 1-6, characterized in that, The testing method includes a pose accuracy testing method based on feedback from the master hand (100), which includes the following steps: At least three target balls that are not on the same plane are installed on the target ball array (410); The main hand (100) and the target ball array (410) are moved by the robotic arm (200); The position of the target ball is acquired by the positioning mechanism (430), and the pose Tc of the target ball array (410) in the measurement coordinate system is determined. The pose of the target ball array (410) in the measurement coordinate system is converted into the theoretical pose Tm′ in the master hand coordinate system; Collect the joint angles fed back by the main hand (100) to determine the actual pose Tm of the target ball array (410) in the main hand coordinate system; The actual pose Tm is compared with the theoretical pose Tm′ to obtain the pose accuracy fed back by the master hand (100).

8. The method for testing the feedback accuracy of the main hand (100) according to claim 7, characterized in that, The specific steps for converting the pose of the target ball array (410) in the measurement coordinate system to the theoretical pose in the master hand coordinate system include: Obtain the transformation matrix T between the master coordinate system and the measurement coordinate system; The theoretical pose in the master-hand coordinate system is Tm′=Tc×T.

9. A testing method using the master hand (100) testing mechanism according to any one of claims 1-6, characterized in that, The testing method includes a trajectory accuracy testing method based on feedback from the master hand (100), which includes the following steps: At least three target balls that are not on the same plane are installed on the target ball array (410); The robotic arm (200) drives the main hand (100) and the target ball array (410) to move; The positioning mechanism (430) acquires the position of the target ball and determines the trajectory Lc of the target ball array (410) in the measurement coordinate system. The trajectory of the target ball array (410) in the measurement coordinate system is converted into the theoretical trajectory Lm′ in the master hand coordinate system; Collect the joint angles fed back by the main hand (100) to determine the actual trajectory Lm of the target ball array (410) in the main hand coordinate system; The actual trajectory Lm is compared with the theoretical trajectory Lm′ to obtain the trajectory accuracy fed back by the master hand (100).

10. A testing method using the master hand (100) testing mechanism according to claim 1, characterized in that, The testing method includes a zero-force drag performance testing method for the main hand (100), which includes the following steps: The force sensor (500) is installed between the intermediate connector (320) and the robotic arm flange (330); The robotic arm (200) drives the main hand (100) to move along a predetermined trajectory, and collects the reading Fi of the force sensor (500); The force sensor (500) is mounted on the end of the main hand end fixture (310) away from the intermediate connector (320); The robotic arm (200) drives the main hand (100) to move along the predetermined trajectory, and collects the reading Fi′ of the force sensor (500); Fi is compared with Fi′ to obtain the zero-force drag accuracy of the master hand (100).

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