System precision detection method and system of surgical mechanical arm and electronic device

Abstract

The invention relates to a system precision detection method and system of a surgical mechanical arm and an electronic device.The precision detection method comprises the steps that the spatial transformation relation between an execution assembly coordinate system where an execution assembly is located and an image coordinate system where image acquisition equipment is located is determined; controlling the tail end of the surgical mechanical arm to move to an actual pose based on the position of the target feature object, and acquiring feature object data which is acquired by the image acquisition equipment for the target feature object and is in the image coordinate system under the actual pose; and on the basis of the spatial transformation relation, the feature object data under the image coordinate system is converted to be under the execution assembly coordinate system, and a system precision result aiming at the surgical mechanical arm is obtained. By means of the system precision detection method, the problems that the system precision detection efficiency of the surgical mechanical arm is low and the manual error of contact type measurement is large are solved, and the system precision detection method of the surgical mechanical arm is efficient, precise and high in anti-interference capacity.

Description

Technical Field

[0001] The present application relates to the technical field of surgical robot arms, and in particular to a system accuracy detection method, system and electronic device for surgical robot arms. Background Art

[0002] The birth of minimally invasive surgery has largely overcome the defects of traditional surgical operations such as large incisions, large amounts of bleeding, many complications, and high surgical risks. Using surgical robots to assist doctors in minimally invasive surgery can make the operation more sensitive and precise, but during the operation, if the robotic arm of the surgical robot cannot be accurately positioned, it will have a great impact on the patient's surgery.

[0003] In the related technology, the system positioning accuracy of the surgical robot arm is usually tested by qualitative estimation or quantitative testing using special test fixtures. Among them, the accuracy detection error of qualitative estimation is relatively large, which is difficult to apply to puncture surgical robots with high accuracy requirements; and the special test fixture needs to use contact measurement equipment to measure the position information of the actuator at the end of the surgical robot arm when it moves to each posture, so as to calculate the accuracy value of the surgical robot arm. Contact measurement introduces large human errors and the measurement process and subsequent data processing efficiency are low, which is difficult to meet the needs of rapid detection and testing equipment, resulting in low efficiency of system accuracy measurement of surgical robots.

[0004] Currently, no effective solution has been proposed for the problem of low efficiency in system accuracy detection of surgical robotic arms in related technologies. Summary of the invention

[0005] The embodiments of the present application provide a method, system and electronic device for detecting the system accuracy of a surgical robot arm, so as to at least solve the problem of low efficiency in detecting the system accuracy of a surgical robot arm in the related art.

[0006] In a first aspect, an embodiment of the present application provides a system accuracy detection method for a surgical robot arm, which is applied to a system accuracy detection system for a surgical robot arm, wherein the detection system includes the surgical robot arm, an actuator, a target feature, and an image acquisition device, and the surgical robot arm includes an actuator; the method includes:

[0007] Determine a spatial transformation relationship between an execution component coordinate system where the execution component is located and an image coordinate system where the image acquisition device is located;

[0008] Controlling the end of the surgical robot arm to move to an actual posture based on the position of the target feature, and acquiring feature data in the image coordinate system acquired by the image acquisition device for the target feature in the actual posture;

[0009] Based on the spatial transformation relationship, the feature data in the image coordinate system is converted to the execution component coordinate system to obtain a system accuracy result for the surgical robot arm.

[0010] In some embodiments, determining the spatial transformation relationship between the execution component coordinate system where the execution component is located and the image coordinate system where the image acquisition device is located includes:

[0011] When the execution component and the image acquisition device are both fixed at the end of the surgical robot arm, obtaining calibration image data of the image acquisition device for the calibration feature object and a posture measurement result of the posture measurement device for the execution component;

[0012] The spatial transformation relationship is determined according to the calibration image data and the posture measurement result.

[0013] In some embodiments, determining the spatial transformation relationship according to the calibration image data and the pose measurement result includes:

[0014] Based on the posture measurement result, determining a first conversion relationship between the execution component coordinate system and the measurement coordinate system where the posture measurement device is located;

[0015] Determining a second conversion relationship between a calibration coordinate system where the calibration feature is located and the image coordinate system based on the calibration image data;

[0016] The space transformation relationship is obtained according to the first conversion relationship and the second conversion relationship.

[0017] In some embodiments, determining the spatial transformation relationship between the execution component coordinate system where the execution component is located and the image coordinate system where the image acquisition device is located includes:

[0018] When the image acquisition device is fixed at the end of the surgical robot arm, the calibration image data of the image acquisition device for the calibration feature is obtained; when the image acquisition device fixed at the end of the surgical robot arm is replaced with the execution component, the posture measurement result of the posture measurement device for the execution component is obtained; or,

[0019] When the actuator is fixed at the end of the surgical robot arm, the position and posture measurement result is obtained; when the actuator fixed at the end of the surgical robot arm is replaced with the image acquisition device, the calibration image data is obtained;

[0020] The spatial transformation relationship is determined according to the calibration image data and the posture measurement result.

[0021] In some embodiments, controlling the end of the surgical robot arm to move to an actual position based on the location of the target feature includes:

[0022] Path planning information generated based on the location of the target feature is obtained, and based on the path planning information, the end of the surgical robot arm is controlled to move to the actual posture.

[0023] In some embodiments, the feature data includes first coordinate information of the target feature in the image coordinate system; based on the spatial transformation relationship, the feature data in the image coordinate system is converted to the execution component coordinate system to obtain a system accuracy result for the execution component, including:

[0024] Based on the spatial transformation relationship, the first coordinate information in the image coordinate system is converted to the execution component coordinate system to obtain the second coordinate information of the target feature in the execution component coordinate system;

[0025] The distance result between the target feature and the execution component is determined according to the second coordinate information, and the system accuracy result is obtained according to the distance result.

[0026] In some embodiments, there are at least two target features, and when the actuator and the image acquisition device are installed at the end of the surgical robot arm, the method further includes:

[0027] Based on the position of each target feature object, the end of the surgical robot arm is controlled to move to the corresponding actual posture in sequence, and the feature object data collected by the image acquisition device at the corresponding actual posture is obtained;

[0028] Based on the spatial transformation relationship, each of the feature object data is converted to the execution component coordinate system to obtain the distance calculation result at the corresponding position;

[0029] The system accuracy result is calculated based on each of the distance calculation results.

[0030] In a second aspect, an embodiment of the present application provides a system accuracy detection system for a surgical robot arm, the system comprising: a main control device, the surgical robot arm, an execution component, a target feature object, and an image acquisition device;

[0031] The main control device is connected to the surgical robot arm and is used to execute the system accuracy detection method of the surgical robot arm as described in the first aspect above.

[0032] In some embodiments, the main control device includes a host computer touch module; the surgical robot arm also includes a function control module, and the function control module includes a host computer interaction unit and a bottom control unit;

[0033] The host computer touch module is connected to the host computer interaction unit, and is used to generate a movement control instruction based on the location of the target feature object, and send the movement control instruction to the bottom control unit via the host computer interaction unit;

[0034] The bottom control unit is used to control the end of the surgical robot arm to move to the actual posture based on the movement control instruction.

[0035] In some of the embodiments, the main control device includes an acquisition drive module and a data processing module;

[0036] The acquisition driving module is used to drive the image acquisition device to acquire image information of the target feature object and send the image information to the data processing module;

[0037] The data processing module is used to obtain feature object data in the image coordinate system based on the image information, and obtain the system accuracy result based on the spatial transformation relationship and the feature object data in the image coordinate system.

[0038] In some embodiments, there are at least two surgical robotic arms, and each of the surgical robotic arms is respectively connected to the main control device;

[0039] The main control device is also used to obtain the system accuracy results of the corresponding execution components carried on each of the surgical robot arms.

[0040] In a third aspect, an embodiment of the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the system accuracy detection method for the surgical robot arm as described in the first aspect above is implemented.

[0041] Compared with the related art, the system accuracy detection method, system and electronic device of the surgical robot arm provided in the embodiments of the present application determine the spatial transformation relationship between the actuator coordinate system where the actuator is located and the image coordinate system where the image acquisition device is located; based on the position of the target feature object, the end of the surgical robot arm is controlled to move to the actual posture, and the feature data of the target feature object collected by the image acquisition device in the image coordinate system is obtained under the actual posture; based on the spatial transformation relationship, the feature data in the image coordinate system is converted to the actuator coordinate system to obtain the system accuracy result for the surgical robot arm, so that during the accuracy detection process, there is no need to use a contact measurement device to measure the position of the actuator to calculate the accuracy value, avoiding the inconvenience of detection caused by contact measurement of the system accuracy value of the surgical robot arm and large human errors, thereby realizing automated precision quantitative detection of puncture robots, effectively improving the efficiency of the precision detection process and data processing while ensuring high accuracy, thereby solving the problem of low efficiency of system accuracy detection of surgical robots and realizing an efficient and accurate system accuracy detection method for surgical robots.

[0042] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0044] Figure 1 is a schematic diagram of a surgical robot arm according to an embodiment of the present application;

[0045] Figure 2 is a flow chart of a method for detecting system accuracy of a surgical robot arm according to an embodiment of the present application;

[0046] Figure 3 is a flow chart of another method for detecting system accuracy of a surgical robot arm according to an embodiment of the present application;

[0047] Figure 4 is a schematic diagram of a method for calibrating a spatial transformation relationship of an execution component and an image acquisition device according to an embodiment of the present application;

[0048] Figure 5 is a schematic diagram of another execution component and a method for calibrating the spatial transformation relationship of an image acquisition device according to an embodiment of the present application;

[0049] Figure 6is a structural block diagram of a system accuracy detection system for a surgical robot arm according to an embodiment of the present application;

[0050] Figure 7 is a schematic diagram of a software framework of a system accuracy detection system for a surgical robot arm according to an embodiment of the present application;

[0051] Figure 8 It is a structural diagram of the inside of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the contents disclosed in the present application, some changes such as design, manufacturing or production based on the technical contents disclosed in the present application are only conventional technical means, and should not be understood as insufficient contents disclosed in the present application.

[0053] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0054] Unless otherwise defined, the technical terms or scientific terms involved in this application should be understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the" and the like involved in this application do not indicate a quantitative limitation, and may represent the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application refers to greater than or equal to two. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships, for example, "A and / or B" can represent: A exists alone, A and B exist at the same time, and B exists alone. The terms "first", "second", "third" and the like involved in the present application are merely used to distinguish similar objects and do not represent a specific ordering of the objects.

[0055] This embodiment provides a surgical robot arm, Figure 1 is a schematic diagram of a surgical robot arm according to an embodiment of the present application, such as Figure 1 As shown, during the automated precision detection process of the surgical robot arm 12, at least an image acquisition device 14 is installed at the end of the surgical robot arm 12; wherein the image acquisition device 14 includes a line scan camera, a structured light camera or other devices for acquiring images; preferably, the image acquisition device 14 can adopt a structured light camera so as to effectively combine the field of view of the structured light camera and the acquisition precision under the field of view. The surgical robot arm 12 is mounted on a housing 16 for encapsulating a computer device, and the main control device for executing the automated precision detection process can be deployed on the computer device, or the main control device can also be deployed on a workstation connected to the surgical robot arm 12; the housing 16 is also provided with a display device for the operator to interact during the operation so that the surgical robot arm reaches a specified posture in response to the interactive command. In addition, an identification target 18 containing a target feature is also deployed near the precision detection site, and the identification target 18 is located within the reachable working range of the execution component carried at the end of the surgical robot arm.

[0056] During the precision detection process, the surgical robot arm drives the actuator to automatically move to the position of the target feature on the identification target 18, and obtains the feature data in the image coordinate system collected by the image acquisition device 14 for the target feature. Based on the spatial transformation relationship between the actuator coordinate system and the image coordinate system determined in advance, the feature data is converted from the image coordinate system to the actuator coordinate system, and finally the system precision result for the actuator on the surgical robot arm 12 is obtained. Among them, the above-mentioned actuator coordinate system refers to the coordinate system where the actuator is located, and the actuator includes structures such as a fixture, an adapter and a surgical instrument; the fixture is used to fix the actuator at the end of the above-mentioned surgical robot arm during the operation, and the adapter is used to install the surgical instrument; further, when the above-mentioned surgical robot arm is a puncture surgical robot arm, the surgical instrument is a puncture element.

[0057] This embodiment provides a system accuracy detection method for a surgical robot arm, which is applied to a system accuracy detection system for a surgical robot arm, the system comprising a target feature object and an image acquisition device, and the surgical robot arm comprises an execution component; Figure 2 is a flow chart of a method for detecting system accuracy of a surgical robot arm according to an embodiment of the present application. Figure 2 As shown, the process includes the following steps:

[0058] Step S210, determining the spatial transformation relationship between the execution component coordinate system where the execution component is located and the image coordinate system where the image acquisition device is located.

[0059] Among them, the spatial change relationship between the above two coordinate systems can be predetermined by the calibration step before the precision test. For example, the external parameter calibration result can be obtained by calibrating the image acquisition device, and the spatial transformation relationship is determined based on the external parameter calibration result and the posture measured by the execution component under the measuring device, and the spatial transformation relationship is stored in the local or computer device register. Therefore, in the process of automated precision testing, it is only necessary to read the pre-configured spatial transformation relationship, so that in the process of precision testing, there is no need to use a contact measurement device to measure the posture of the end of the surgical robot arm, which can effectively reduce the volume of the system precision testing tooling of the surgical robot arm.

[0060] Furthermore, after the spatial transformation relationship determined in advance by the calibration operation is written into the above-mentioned main control device, the spatial transformation relationship can be repeatedly called in the subsequent automated precision detection process without repeatedly calculating the calibration result. Alternatively, in another embodiment, the calibration accuracy of the spatial transformation relationship can also be detected before the precision detection. When it is detected that the calibration accuracy of the spatial transformation relationship is lower than the preset precision threshold, or the storage time of the spatial transformation relationship in the main control device exceeds a certain storage time, that is, the storage time of the spatial transformation relationship is too long, in order to avoid the problem of affecting the accuracy of the subsequent automated precision detection due to large calibration errors or long use time, the newly calibrated spatial transformation relationship can be re-determined to ensure the accuracy of the system precision detection results of the surgical robot arm.

[0061] Step S220, based on the location of the target feature object, the end of the surgical robot arm is controlled to move to an actual posture, and at the actual posture, the feature data of the target feature object captured by the image acquisition device in the image coordinate system is acquired.

[0062] The target feature is a feature used to indicate the position of the actuator. In this embodiment, during the automated precision detection of the surgical robot, the position of the target feature is used as the puncture target point, i.e., the expected position of the actuator. The target feature can be a white ceramic ball or a reflective ball. For example, if the target feature is a white ceramic ball, during the precision detection, the puncture target point of the actuator is the center of the white ceramic ball. The target feature can be deployed alone or on an identification target. Please refer to Figure 1 In the process of automated precision detection of surgical robot arms, since the spatial transformation relationship between the actuator and the image acquisition device has been determined, only the image acquisition device can be carried at the end of the surgical robot arm, and an identification target containing target features is also deployed near the precision detection site; wherein the identification target should be placed within the reachable working range of the actuator to ensure that the actuator can move to the position according to the location of the target features on the identification target; or, when the end of the surgical robot arm moves to the actual posture, the image acquisition device can be installed at the end of the surgical robot arm, or at a certain distance from the end of the surgical robot arm, and the image acquisition device can perform image acquisition of the target features. It should be supplemented that the above-mentioned identification target can also be installed with features to be identified required for registration and alignment of the surgical robot arm, and the features to be identified can include bone screws or reflective markers, etc., so as to register the surgical robot arm before the operation, thereby further simplifying the automated precision detection tooling by deploying the target features and the features to be identified on the same identification target.

[0063] It should be noted that, when the automated precision detection of the surgical robot arm is performed, the staff can interact with the display device carried by the surgical robot arm to generate a control instruction for controlling the execution component to move to a specified position. For example, the display device receives the click instruction of the staff for the location of the target feature displayed by it, and in response to the detected click instruction, sends the movement control instruction instructing the execution component to move to the surgical robot arm, and the surgical robot arm drives the execution component to move in response to the movement control instruction, and feeds back a completion signal; or, based on the movement control instruction pre-planned by the main control device, the end of the surgical robot arm adaptively drives its carried device to move to the specified position and feeds back a completion signal. Next, when it is detected that the end of the surgical robot arm has moved to the actual position based on the location of the target feature, the image acquisition device at the end of the surgical robot arm collects the point cloud data of the target feature, and calculates the coordinate information of the target feature in the above-mentioned image coordinate system through the least squares method and other algorithms for the effective data after the point cloud data is processed, that is, the above-mentioned feature object data in the image coordinate system is obtained.

[0064] Step S230, based on the spatial transformation relationship, the feature data in the image coordinate system is converted to the actuator coordinate system to obtain a system accuracy result for the surgical robot arm.

[0065] It is understandable that in this embodiment, during the process of automated precision detection, the location of the target feature is used as the expected position of the actuator carried by the end of the surgical robot arm; it should be supplemented that the spatial transformation relationship between the above-mentioned actuator and the image acquisition device has been determined, so during the actual precision detection, the end of the surgical robot arm does not need to be installed with the actuator, only the image acquisition device needs to be installed, and the data collected by the image acquisition device is converted to the actuator coordinate system through the above steps. Due to the coupling of multiple factors such as image planning, system algorithm, registration and alignment, there may be a certain deviation in the positioning control of the surgical robot arm. Therefore, it is necessary to obtain the system accuracy result of the surgical robot arm through the above steps, that is, to determine the deviation distance between the actual position and expected position of the actuator.

[0066] Among them, the above-mentioned feature object data includes the coordinate data of the target feature object that the execution component needs to reach, that is, the expected posture that the end of the surgical instrument of the expected execution component can reach can be acquired through the above-mentioned image acquisition device. After obtaining the above-mentioned feature object data located in the image coordinate system, since the coordinate system in the image acquired by the image acquisition device is different from the coordinate system where the execution component is located, it is necessary to convert the feature object data in the image coordinate system to the execution component coordinate system based on the pre-calibrated and determined spatial transformation relationship during the accuracy detection, and obtain the coordinate data of the current target feature object in the execution component coordinate system. Furthermore, if the execution component coordinate system is a three-dimensional coordinate system constructed with the end of the surgical instrument of the execution component as the center, the coordinate data obtained at this time includes the distance between the coordinate position of the target feature object and the center point of the coordinate system, that is, the distance between the above-mentioned expected posture and the actual posture reached by the surgical instrument of the execution component, and then the system accuracy result of the above-mentioned execution component is obtained. Alternatively, the actuator coordinate system is a three-dimensional coordinate system constructed with any feature point of the actuator as the center, that is, the feature data obtained at this time includes the coordinate data of the current target feature in the actuator coordinate system where the actuator is located, and the coordinate data of the target feature is the expected posture of the surgical instrument for the actuator, and the distance between the surgical instrument of the actuator and any feature point of the actuator in the actuator coordinate system is known, that is, the actual posture reached by the surgical instrument is known, then the system accuracy result of the above-mentioned actuator can be obtained based on the distance between the coordinate data and the actual posture. The system accuracy result determined by the above method is very similar to the result obtained by contact measurement tooling detection in the prior art, and the maximum deviation is only within the range of 0.1 to 0.2 mm; it can be seen that in this embodiment, only the data processing step of coordinate conversion is needed to obtain the accurate positioning accuracy detection result of the actuator on the surgical robot arm, so that while ensuring the accuracy of the automated detection of the surgical robot arm, the accuracy detection process and data processing efficiency can be effectively improved.

[0067] Through the above steps S210 to S230, when the execution component of the surgical robot arm moves to the position of the target feature object, the feature data collected by the image acquisition device carried by the surgical robot arm for the target feature object is obtained, and the coordinate transformation of the feature data is performed based on the pre-calibrated spatial transformation relationship between the execution component and the image acquisition device, so as to obtain the system accuracy result for the execution component, so that during the accuracy detection process, there is no need to use a contact measuring device to measure the position of the execution component to calculate the accuracy value, thereby realizing automated quantitative accuracy detection for puncture robots, effectively improving the efficiency of the accuracy detection process and data processing while ensuring high accuracy, thereby solving the problem of low efficiency of system accuracy detection of the surgical robot arm, and realizing an efficient and accurate system accuracy detection method for the surgical robot arm.

[0068] In some of the embodiments, a method for detecting the system accuracy of a surgical robot arm is also provided. Figure 3 is a flow chart of another method for detecting system accuracy of a surgical robot arm according to an embodiment of the present application. Figure 3 As shown, the process includes Figure 2 The steps S220 to S230 shown in the figure further include the following steps:

[0069] Step S310, when the execution component and the image acquisition device are both fixed at the end of the surgical robot arm, obtain the calibration image data of the image acquisition device for the calibration feature object, and the posture measurement result of the posture measurement device for the execution component; it should be supplemented that, during the calibration process, the posture relationship between the calibration feature object and the posture measurement device is fixed.

[0070] The above-mentioned posture measurement device refers to a measurement device used to measure the posture characteristics of the actuator of the surgical robot arm during the calibration process, and the posture measurement device includes but is not limited to various coordinate measurement devices, laser tracking devices and other hardware devices. The above-mentioned calibration feature object refers to a feature object used for calibration of the image acquisition device, and the calibration feature object can be a calibration plate such as a Charuco plate, or the calibration object can also be other objects and scenes with marking points.

[0071] In this embodiment, during the calibration process before the automated precision detection, the image acquisition device can be fixed to the end of the surgical robot arm by means of special fixtures and other fixings, and the execution component can also be fixedly installed on the end of the surgical robot arm; further, at this time, the installation position relationship between the execution component and the image acquisition device can be: the image acquisition device is fixed on the execution component that has been installed on the end of the surgical robot arm, or the image acquisition device and the execution component are both fixed at the end of the surgical robot arm, and the distance between the image acquisition device and the execution component is within a preset distance range, and the preset distance range can be adjusted according to the actual application situation, so as to avoid affecting the efficiency and accuracy of the subsequent automated precision detection due to the image acquisition device and the execution component being too far apart during the calibration process.

[0072] Next, after fixing the execution component and the image acquisition device at the end of the surgical robot arm, adjust the posture of the surgical robot arm until the image acquisition device can clearly capture the image information of the above-mentioned calibration feature object, and while ensuring that the image acquisition device can clearly capture the image information of the above-mentioned calibration feature object, adjust the posture of the end of the surgical robot arm to obtain the corresponding multiple groups of calibration image data captured by the image acquisition device at different postures of the end of the surgical robot arm, and simultaneously obtain the corresponding multiple groups of posture measurement results of the posture measurement device.

[0073] Step S320, determining the spatial transformation relationship according to the calibration image data and the posture measurement result.

[0074] Among them, the above-mentioned spatial transformation relationship can be determined by calculating using a hand-eye calibration algorithm based on the above-mentioned calibration image data and posture measurement results. Specifically, in this embodiment, the above-mentioned step S310 can be executed cyclically to obtain multiple sets of calibration image data and posture measurement results, and the hand-eye calibration calculation is performed through the above-mentioned multiple sets of data obtained to obtain the above-mentioned spatial transformation relationship; for example, when the end of the above-mentioned surgical robot arm is in the current posture, the corresponding posture measurement results and calibration image data are obtained and used as the current set of acquisition data; the end of the surgical robot arm is adjusted to the next posture, and the corresponding posture measurement results and calibration image data are obtained and used as the next set of acquisition data; the posture of the end of the surgical robot arm is continued to be adjusted and the above steps are repeated until the amount of data collected reaches the preset acquisition quantity threshold; for the collected data, the hand-eye calibration method is used to calculate, and finally the above-mentioned spatial transformation relationship is obtained.

[0075] Through the above steps S310 to S320, during the calibration process and the precision detection process, the posture relationship between the actuator carried by the end of the surgical robot arm and the image acquisition device can remain unchanged, thereby ensuring the high-precision result of the spatial transformation relationship determined by the pre-calibration, which is beneficial to improving the accuracy of the subsequent system precision detection of the surgical robot arm; in addition, in this embodiment, it is only necessary to use the posture measurement device to calibrate the spatial transformation relationship in the calibration process and configure it to be stored in the surgical robot control software. Therefore, in the automated precision detection process, it is only necessary to read the pre-configured spatial transformation relationship, so that in the precision detection process, there is no need to use a contact measurement device to measure the posture of the end of the surgical robot arm, which can effectively reduce the volume of the system precision detection tooling of the surgical robot arm.

[0076] The following describes the invention in conjunction with specific embodiments. Figure 4 is a schematic diagram of a method for calibrating a spatial transformation relationship of an execution component and an image acquisition device according to an embodiment of the present application, such as Figure 4 As shown, in this calibration application scenario, the execution component 48 and the image acquisition device 14 are both fixedly mounted on the end of the surgical robot arm 42, the above-mentioned posture measurement device uses a three-coordinate measurement arm 44, and the calibration feature object uses a calibration plate 46. The calibration process includes the following steps:

[0077] Step S401 , deploying a three-coordinate measuring arm 44 and a calibration plate 46 near a calibration site, and fixing the calibration plate 46 within a reachable range of the surgical robot arm end 42 .

[0078] Step S402, fix the actuator 48 and the image acquisition device 14 to the end 42 of the surgical robot arm, wherein the image acquisition device 14 can be fixed to the actuator 48 installed at the end 42 of the surgical robot arm by a special tooling fixture; adjust the surgical robot arm to a position where the image acquisition device 14 can clearly capture the image of the calibration plate 46.

[0079] Step S403: At the current position, the image acquisition device 14 captures an image to obtain calibration image data and saves the data.

[0080] Step S404: Use the three-coordinate measuring arm 44 to measure the characteristics of the actuator 48, and establish the actuator coordinate system according to the characteristic values.

[0081] Step S405, recording the coordinate coefficient values ​​of the above-mentioned execution components and the calibration image data, that is, completing the current set of data collection.

[0082] Step S406, while ensuring that the image acquisition device 14 can capture the image of the calibration plate, adjust the posture of the surgical robot arm end 42, and repeat the above steps S403 to S405 in sequence to complete at least 16 sets of different data acquisition.

[0083] Step S407 , performing hand-eye calibration calculation to obtain the spatial transformation relationship between the execution component coordinate system and the image coordinate system, and writing the spatial transformation relationship into the above-mentioned main control device as a parameter configuration item for storage.

[0084] In some embodiments, the step of determining the spatial transformation relationship according to the calibration image data and the pose measurement result further includes the following steps:

[0085] Step S321, determining a first conversion relationship between the execution component coordinate system and the measurement coordinate system where the posture measurement device is located based on the posture measurement result.

[0086] When the surgical robot arm drives the actuator to adjust to the current specified posture, the posture measurement device measures the characteristic value of the actuator in the current specified posture to obtain the posture measurement result. For example, the posture measurement device for obtaining the posture measurement result adopts a three-coordinate measuring arm. Figure 4, when the actuator moves to the current posture, the three-coordinate measuring arm measures the center hole of the adapter of the cylindrical structure in the actuator to obtain the feature point corresponding to the actuator, measures the center line of the adapter to obtain the feature line corresponding to the actuator, and measures the surface of the fixture used to install and fix the adapter to obtain the feature surface of the actuator. The above feature points, lines, and surfaces constitute the above posture measurement results. Based on the posture measurement results obtained by the above measurements, the actuator coordinate system constructed with the actuator as the center can be determined. The actuator coordinate system is Figure 4 At the same time, during the calibration process, the surgical robot arm only needs to drive the actuator to adjust the posture. The posture measurement device is deployed near the calibration site and the deployment position remains fixed. The measurement coordinate system built with the posture measurement device as the center can be predetermined. The measurement coordinate system is Figure 4 Next, the coordinate system of the actuator constructed based on the measured posture measurement results and the known measurement coordinate system can obtain the above-mentioned first conversion relationship.

[0087] Step S322: determining a second conversion relationship between a calibration coordinate system where the calibration feature is located and the image coordinate system based on the calibration image data.

[0088] See also Figure 4 , the image coordinate system is the coordinate system constructed by X1, Y1, and Z1. The calibration coordinate system where the calibration feature is located is Figure 4 The coordinate system constructed by X2, Y2, and Z2 in the calibration process. During the calibration process, the calibration feature object is fixedly deployed near the calibration site, and the calibration feature object should be located within the field of view of the image acquisition device mounted on the end of the surgical robot arm. Specifically, when the surgical robot arm is in the current specified posture, the image acquisition device captures the image information containing the calibration feature object, and the main control device processes the current image information to obtain the calibration feature object coordinate data in the image coordinate system, so as to calculate the second conversion relationship.

[0089] Step S323, obtaining the space transformation relationship according to the first transformation relationship and the second transformation relationship.

[0090] Specifically, the above spatial transformation relationship can be calculated by the following formula:

[0091]

[0092]

[0093] In the above formula, Tool is used to represent the actuator coordinate system where the actuator is located, Meter is used to represent the measurement coordinate system where the posture measurement device is located, Board is used to represent the calibration coordinate system where the calibration feature is located, and Camera is used to represent the image coordinate system where the image acquisition device is located; A transformation matrix used to represent the transformation matrix between the actuator coordinate system and the measurement coordinate system, that is, the first transformation relationship mentioned above; It is used to represent the transformation matrix between the calibration coordinate system and the image coordinate system, that is, the second transformation relationship mentioned above; It is used to represent the spatial transformation relationship between the actuator coordinate system and the image coordinate system. n is the number of groups of collected data; generally, n is a positive integer greater than or equal to 4. Next, the measured data is substituted into the above formula, and X is solved using algorithms such as Lie group algebra solution or least squares method, and finally the above spatial transformation relationship can be calculated.

[0094] Through the above steps S321 to S324, the spatial transformation relationship between the above-mentioned execution component coordinate system and the image coordinate system is finally determined through the conversion relationship between the various coordinate systems, which is conducive to improving the accuracy of calibration.

[0095] In some embodiments, the above-mentioned determination of the spatial transformation relationship between the execution component coordinate system where the execution component is located and the image coordinate system where the image acquisition device is located includes the following steps:

[0096] Step S211, when the image acquisition device is fixed at the end of the surgical robot arm, the calibration image data of the image acquisition device for the calibration feature object is obtained; when the image acquisition device fixed at the end of the surgical robot arm is replaced with the execution component, the posture measurement result of the posture measurement device for the execution component is obtained.

[0097] In the above steps, the image acquisition device can be first fixed to the end of the surgical robot arm, and the calibration feature object can be photographed when the end of the surgical robot arm is in the current posture to obtain the above-mentioned calibration image data; next, when the end of the surgical robot arm is in the current posture and the image acquisition device obtains the calibration image data, the staff can manually replace the image acquisition device fixed at the end of the surgical robot arm with an execution component for fixation, and collect the posture measurement result of the execution component in the current posture through the above-mentioned posture measurement device.

[0098] Alternatively, in another embodiment, the above-mentioned execution component can be first fixed at the end of the surgical robot arm, and after measuring the position measurement result of the execution component in the current posture, the device fixed at the end of the surgical robot arm can be replaced with an image acquisition device to obtain the calibration image data taken by the image acquisition device.

[0099] Step S212: determining the spatial transformation relationship according to the calibration image data and the posture measurement result.

[0100] Among them, based on the above-mentioned calibration image data and posture measurement results, the hand-eye calibration algorithm can be used to calculate the conversion relationship between the corresponding coordinate systems, and then determine the above-mentioned spatial transformation relationship. Furthermore, the above-mentioned step S211 can be executed in multiple cycles to obtain multiple groups of calibration image data and posture measurement results, and the hand-eye calibration calculation is performed through the above-mentioned multiple groups of data obtained to obtain the above-mentioned spatial transformation relationship, so as to improve the accuracy of the calibrated spatial transformation relationship through comprehensive calculation of multiple groups of calibration data. It can be understood that in this embodiment, after the calibration image data and posture measurement results are obtained through the above-mentioned step S211, the above-mentioned spatial transformation relationship can also be calculated based on the calibration image data and posture measurement results through the calibration calculation method of the above-mentioned steps S321 to S324.

[0101] Through the above steps S301 to S302, the device fixed at the end of the robotic arm is replaced during the calibration process, so that the end of the surgical robotic arm only needs to fix the execution component or the image acquisition device at the same time, thereby avoiding the problem of the equipment occupying more space due to the simultaneous installation of the execution component or the image acquisition device at the end of the surgical robotic arm, which makes it easy for the surgical robotic arm to collide with the staff when adjusting the posture during the calibration process, thereby effectively improving the convenience of calibration.

[0102] The following describes the invention in conjunction with specific embodiments. Figure 5 is a schematic diagram of another execution component and image acquisition device spatial transformation relationship calibration method according to an embodiment of the present application, such as Figure 5 As shown, the calibration process includes the following steps:

[0103] Step S501, deploying a three-coordinate measuring arm 44 and a calibration plate 46 near a calibration site.

[0104] Step S502 , fixing the image acquisition device 14 at the end 42 of the surgical robot arm, and adjusting the surgical robot arm to a position where the image acquisition device 14 can clearly capture the image of the calibration plate.

[0105] Step S503: At the current position, the image acquisition device 14 captures an image to obtain calibration image data and saves the data.

[0106] Step S504, replace the image acquisition device 14 of the surgical robot arm end 42 with the actuator 48, use the three-coordinate measuring arm 44 to measure the characteristics of the actuator 48, and establish the actuator coordinate system according to the characteristic values.

[0107] Step S505, recording the coordinate coefficient values ​​of the above-mentioned execution components and the calibration image data, that is, completing the current set of data collection.

[0108] Step S506, adjusting the posture of the surgical robot arm end 42, and repeating the above steps S503 to S505 in sequence to complete at least 16 sets of different data collection.

[0109] Step S507 , performing hand-eye calibration calculation to obtain the spatial transformation relationship between the execution component coordinate system and the image coordinate system, and writing the spatial transformation relationship into the above-mentioned main control device as a parameter configuration item for storage.

[0110] In some embodiments, the method of controlling the end of the surgical robot arm to move to an actual position based on the position of the target feature object further includes the following steps:

[0111] Step S221, obtaining path planning information generated based on the location of the target feature, and controlling the end of the surgical robot arm to move to the actual posture based on the path planning information.

[0112] Among them, the target feature object can be scanned by a computer tomography (CT) scanning device to obtain a scanned image, and the scanned image can be imported into the surgical robot arm to detect the position information of the target feature object; then the upper computer interaction unit in the functional control module of the surgical robot arm performs image path planning processing based on the detected position information to obtain the above-mentioned path planning information. For example, the above-mentioned target feature object can be deployed and installed on the above-mentioned recognition target, and the CT scanning device performs a CT image scan with a layer thickness of 0.625 on the recognition target and imports it into the scanning image main control device, and then the above-mentioned upper computer interaction unit detects the position information of the target feature object based on the CT scan image, and then generates the above-mentioned path planning information.

[0113] Furthermore, when there is only one target feature, the host computer interaction unit performs path planning based on the current posture of the actuator on the end of the surgical robot arm and the position information of the target feature, and the above-mentioned main control device sends a movement control instruction to the host computer interaction unit based on the path planning information generated by the host computer interaction unit to realize the control of the end movement of the surgical robot arm. When there are at least two target features, the above-mentioned host computer interaction unit also generates multiple corresponding path planning information based on the locations of multiple target features. At this time, the main control device can automatically plan randomly or sequentially from the multiple path planning information, and generate movement control instructions for the execution order of the multiple path planning information, and send the movement control instructions to the host computer interaction unit, and finally the end of the surgical robot arm responds to the control instructions to realize autonomous movement; or, when the first precision detection of the surgical robot arm is performed, or when the first precision detection is performed based on another replaced recognition target, the staff can manually select the positions of each target feature. The movement sequence of the position is specified, so that the host computer interaction unit can send the movement instruction to the underlying control unit in the functional control module of the surgical robot arm according to the specified movement sequence and the generated path planning information. Next, the underlying control unit can adaptively control the operation of the driving component connected to the end of the surgical robot arm to drive the end of the surgical robot arm to move to the location of the target feature object, and the host computer touch module can store the current movement sequence, so that in subsequent multiple precision detections, the host computer touch module can generate movement control instructions that can simulate the user based on the stored movement sequence and send them to the host computer interaction unit, without the need for human control.

[0114] Through the above step S221, path planning information is generated according to the position information of the target feature object, and the movement of the execution component is controlled based on the path planning information, so that no human intervention is required during the entire automated precision detection process, thereby further improving the efficiency and automation level of the system precision detection of the surgical robot arm.

[0115] In some embodiments, the feature data includes first coordinate information of the target feature in the image coordinate system; based on the spatial transformation relationship, the feature data in the image coordinate system is converted to the execution component coordinate system to obtain a system accuracy result for the execution component, and further includes the following steps:

[0116] Step S231 : based on the spatial transformation relationship, convert the first coordinate information in the image coordinate system into the execution component coordinate system to obtain the second coordinate information of the target feature in the execution component coordinate system.

[0117] The first coordinate information of the target feature in the image coordinate system includes the distance between the target feature and the image acquisition device. Since the coordinate systems are different, the second coordinate information of the target feature in the execution component coordinate system can be obtained based on the pre-calibrated spatial transformation relationship in this embodiment.

[0118] Step S232, determining the distance result between the target feature object and the execution component according to the second coordinate information, and obtaining the system accuracy result according to the distance result.

[0119] It can be understood that since the above-mentioned execution component coordinate system is a three-dimensional coordinate system built with the execution component as the center, when the second coordinate information of the target feature object in the execution component coordinate system is determined through the above steps, the distance between the target feature object and the origin of the execution component coordinate system is obtained, and this distance is also the distance between the target feature object and the execution component; since the target feature object is the theoretical target position of the image planning, the actual execution error of the execution component at the end of the surgical robot arm can be obtained through the above calculation, that is, the above-mentioned system accuracy result is obtained. It can be seen that the data processing method in the above-mentioned accuracy detection process is simple, and the efficiency of the system accuracy detection of the surgical robot arm is relatively high.

[0120] In some embodiments, there are at least two target features, and when the actuator and the image acquisition device are installed at the end of the surgical robot arm, the system accuracy detection method of the surgical robot arm further includes the following steps:

[0121] Step S241, based on the position of each target feature object, control the end of the surgical robot arm to move to the corresponding actual posture in sequence, and obtain the feature object data collected by the image acquisition device in the corresponding actual posture.

[0122] Among them, when there are at least two target features, during the automated precision detection process, the staff can interact with the above-mentioned display device to generate a movement control instruction to control the end of the surgical robot arm to move to the actual posture corresponding to the location of each target feature in turn, and the main control device controls the movement of the end of the surgical robot arm in response to the movement control instruction; or, the main control device can adaptively drive its end to move to the actual posture based on the path planning information generated at the location of each target feature through the above-mentioned method embodiment. Then, when the end of the surgical robot arm moves to the location of the current target feature, the feature data collected by the image acquisition device at the current location is obtained.

[0123] Step S242, based on the spatial transformation relationship, each of the feature object data is converted into the execution component coordinate system to obtain the distance calculation result at the corresponding position.

[0124] It should be noted that the calculation method of the above-mentioned distance calculation results can be: the main control device instructs the end of the surgical robot arm to move to the actual posture corresponding to the position of each target feature object in turn, and synchronously records the feature data collected under the current actual posture, and after the end of the surgical robot arm has passed the positions of all target features and the movement is completed, the coordinates of the feature data collected at each position are transformed in turn based on the above-mentioned pre-calibrated spatial transformation relationship to obtain each distance calculation result; or, the main control device can also instruct the end of the surgical robot arm to move to the corresponding actual posture based on the current target feature position, and synchronously record the feature data under the current actual posture, while converting the coordinates of the feature data based on the spatial transformation relationship to obtain the current corresponding distance calculation result, until the execution component has reached all target feature positions in turn, at which time all distance calculation results are obtained synchronously, which is beneficial to improve data processing efficiency.

[0125] Step S243, calculating the system accuracy result according to each distance calculation result.

[0126] Among them, the statistical analysis values ​​of all the above distance calculation results can be comprehensively calculated to obtain the above system accuracy results; for example, the average value of the distance calculation results can be calculated, and the average value can be used as the system accuracy result indicating the execution error of the execution component in place; or, the stability of the execution component can be analyzed by statistically analyzing the mean square error of each distance calculation result; or, the normal distribution law of each data can be statistically analyzed, etc., which will not be repeated here. Furthermore, for each of the above target features, numbering processing can be performed in advance to obtain the numbering information corresponding to each target feature, and the distance calculation results corresponding to each numbering information can be obtained through the above steps. In this step, the execution error of the end of the surgical robot arm reaching the corresponding target feature can also be statistically analyzed based on the numbering information, so that the staff can detect and analyze the distance value in each result, that is, the point where the error is obviously too large.

[0127] Through the above steps S241 to S243, the end of the surgical robot arm is controlled to move to the corresponding position of each target feature object in turn to obtain the corresponding distance calculation result calculated in each posture, and finally all the distance calculation results are integrated to obtain the system accuracy result, so as to obtain a more accurate system accuracy detection value of the surgical robot arm by integrating the calculation data corresponding to multiple groups of different target features, and effectively avoid the accidental error caused by the detection of one target feature object, that is, a single detection, and further improve the accuracy of the system accuracy detection of the surgical robot arm.

[0128] It should be noted that the steps shown in the above process or the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0129] This embodiment also provides a system accuracy detection system for a surgical robot arm. Figure 6 is a structural block diagram of a system accuracy detection system for a surgical robot arm according to an embodiment of the present application, such as Figure 6 As shown, the system includes: a main control device 62, a surgical robot 12, an execution component 48, a target feature 64 and an image acquisition device 14; the main control device 62 is connected to the surgical robot 12 and is used to execute the system accuracy detection method of the surgical robot 12 described in any of the above method embodiments. Figure 1 The main control device 62 execution software can be deployed on the computer device of the above-mentioned surgical robot arm, or it can also be deployed on a workstation connected to the surgical robot arm, or it can also be deployed on a computer or server device that is connected to the computer device or workstation of the surgical robot arm through a network, or is in the same local area network.

[0130] Through the above-mentioned embodiment, the image acquisition device 14 at the end of the surgical robot arm is controlled by the main control device 62 to realize automated precision detection. During the precision detection process, there is no need to use a contact measuring device to measure the position of the execution component to calculate the precision value. Therefore, the tooling system for automated quantitative precision detection provided by the present application has a simple structure and a small size. It effectively improves the efficiency of the precision detection process and data processing while ensuring high precision, thereby solving the problem of low efficiency of system precision detection of the surgical robot arm 12 and realizing an efficient and accurate system precision detection system for the surgical robot arm 12.

[0131] In some embodiments, a system accuracy detection system for a surgical robot arm is provided. Figure 7 is a schematic diagram of a software framework of a system accuracy detection system for a surgical robot arm according to an embodiment of the present application, such as Figure 7 As shown, the main control device 62 includes a host computer touch module; the surgical robot arm 12 also includes a function control module, and the function control module includes a host computer interaction unit and a bottom control unit.

[0132] See also Figure 7The host computer touch module is connected to the host computer interaction unit, and is used to generate a movement control instruction based on the location of the target feature 64, and send the movement control instruction to the bottom control unit via the host computer interaction unit. The bottom control unit is used to control the end of the surgical robot arm to move to the actual posture based on the movement control instruction.

[0133] It should be noted that the above host computer interaction unit can be deployed on a workstation and Figure 1 The display device shown in the figure is used to display the interface and interact with the operator. The above-mentioned underlying control unit is used to control the movement of the actuator, and its integrated motion control algorithm is deployed in Figure 1 On the computer device shown. Specifically, during the actual surgical process, the operator interacts with the host computer interaction unit through the above-mentioned display device and outputs a movement control instruction; the movement control instruction is transmitted to the underlying control unit through the host computer interaction unit, and the underlying control unit controls the surgical robot arm to achieve the expected various actions and functions, and the underlying control unit can report the current state of the robot arm to the host computer. In the application scenario of automated precision detection of surgical robot arms, the above-mentioned host computer interaction unit generates path planning information based on the location of the target feature 64 in advance, and the above-mentioned host computer touch module generates movement control instructions sent to the host computer interaction unit based on the path planning information; during the automated precision detection process, the host computer touch module sends movement control instructions to the underlying control unit through the host computer interaction unit, and the underlying control unit controls the end of the surgical robot arm to move to the location of the pre-planned target feature 64.

[0134] In another embodiment, see Figure 7 The main control device 62 also includes an acquisition drive module and a data processing module; the acquisition drive module is used to drive the image acquisition device 14 to acquire image information of the target feature object 64, and send the image information to the data processing module; the data processing module is used to obtain the feature object data in the image coordinate system based on the image information, and obtain the system accuracy result based on the spatial transformation relationship and the feature object data in the image coordinate system.

[0135] Specifically, during the system accuracy detection process of the surgical robot arm, after the underlying control unit feedbacks that the surgical robot arm has been controlled to drive the actuator to move to the specified position, the acquisition drive module responds to the completion signal feedback from the underlying control unit and sends a drive signal to the image acquisition module to drive the image acquisition device 14 to acquire the image information of the target feature 64 at the current position, wherein the image information includes the point cloud data of each target feature 64. After processing the point cloud data contained in the image information, the data processing module calculates the coordinate information of the target feature 64 in the image coordinate system through the least squares method and other algorithms, that is, obtains the above feature data, and transforms the coordinates of the target feature 64 in the image coordinate system to the actuator coordinate system according to the calibrated spatial transformation relationship, and obtains the above system accuracy result.

[0136] Through the above-mentioned embodiments, software modules integrating different functional controls are realized, and corresponding control functions are realized through the operation of each module and the interaction between modules, which is conducive to further improving the execution efficiency in aspects such as data processing during the automated precision detection process of the surgical robot arm.

[0137] In some embodiments, there are at least two surgical robotic arms, and each of the surgical robotic arms is connected to the main control device 62; the main control device 62 is also used to obtain the system accuracy results of the corresponding actuators on each surgical robotic arm. That is, when there are multiple surgical robotic arms to be tested for accuracy, the main control device 62 can achieve unified management of the automated accuracy testing of each surgical robotic arm, thereby effectively improving the overall automated accuracy testing efficiency of the surgical robotic arms. For further information, please refer to Figure 7 At this time, since the host computer touch module in the main control device 62 needs to be connected to the host computer interaction unit corresponding to each surgical robot arm respectively, in order to determine the accuracy and stability of the detection during the automated precision detection process, the host computer touch module also needs to be secondary-tuned with each host computer interaction unit. After the connection is successful, the automated precision detection process can be started.

[0138] This embodiment further provides a computer device, which may be a server device. Figure 8 is a structural diagram of the inside of a computer device according to an embodiment of the present application, such as Figure 8As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store system accuracy results. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a system accuracy detection method for a surgical robot arm is implemented.

[0139] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0140] This embodiment further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0141] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0142] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0143] S1, determining the spatial transformation relationship between the execution component coordinate system where the execution component is located and the image coordinate system where the image acquisition device is located.

[0144] S2, when the image acquisition device is installed at the end of the surgical robot arm, the end of the surgical robot arm is controlled to move to the actual posture based on the position of the target feature object, and the feature data of the target feature object captured by the image acquisition device in the image coordinate system is obtained at the actual posture.

[0145] S3, based on the spatial transformation relationship, convert the feature object data in the image coordinate system to the execution component coordinate system to obtain a system accuracy result for the execution component.

[0146] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0147] In addition, in combination with the system accuracy detection method of the surgical robot arm in the above embodiment, the embodiment of the present application can provide a storage medium for implementation. The storage medium stores a computer program; when the computer program is executed by the processor, any one of the system accuracy detection methods of the surgical robot arm in the above embodiment is implemented.

[0148] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0149] Those skilled in the art should understand that the technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0150] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for detecting the system accuracy of a surgical robot arm, characterized in that: A system accuracy detection system applied to a surgical robot arm, the detection system comprising the surgical robot arm, an actuator, a target feature and an image acquisition device; the method comprising: Determine a spatial transformation relationship between an execution component coordinate system where the execution component is located and an image coordinate system where the image acquisition device is located; Controlling the end of the surgical robot arm to move to an actual posture based on the position of the target feature, and acquiring feature data in the image coordinate system acquired by the image acquisition device for the target feature in the actual posture; Based on the spatial transformation relationship, the feature data in the image coordinate system is converted to the execution component coordinate system to obtain a system accuracy result for the surgical robot arm.

2. The accuracy detection method according to claim 1, characterized in that: The determining of the spatial transformation relationship between the execution component coordinate system where the execution component is located and the image coordinate system where the image acquisition device is located includes: When the execution component and the image acquisition device are both fixed at the end of the surgical robot arm, obtaining calibration image data of the image acquisition device for the calibration feature object and a posture measurement result of the posture measurement device for the execution component; The spatial transformation relationship is determined according to the calibration image data and the posture measurement result.

3. The accuracy detection method according to claim 2, characterized in that: Determining the spatial transformation relationship according to the calibration image data and the posture measurement result includes: Based on the posture measurement result, determining a first conversion relationship between the execution component coordinate system and the measurement coordinate system where the posture measurement device is located; Determining a second conversion relationship between a calibration coordinate system where the calibration feature is located and the image coordinate system based on the calibration image data; The space transformation relationship is obtained according to the first conversion relationship and the second conversion relationship.

4. The accuracy detection method according to claim 1, characterized in that: The determining of the spatial transformation relationship between the execution component coordinate system where the execution component is located and the image coordinate system where the image acquisition device is located includes: When the image acquisition device is fixed at the end of the surgical robot arm, the calibration image data of the image acquisition device for the calibration feature is obtained; when the image acquisition device fixed at the end of the surgical robot arm is replaced with the execution component, the posture measurement result of the posture measurement device for the execution component is obtained; or, When the actuator is fixed at the end of the surgical robot arm, the position and posture measurement result is obtained; when the actuator fixed at the end of the surgical robot arm is replaced with the image acquisition device, the calibration image data is obtained; The spatial transformation relationship is determined according to the calibration image data and the posture measurement result.

5. The accuracy detection method according to claim 1, characterized in that: The step of controlling the end of the surgical robot arm to move to an actual position based on the position of the target feature object comprises: Path planning information generated based on the location of the target feature is obtained, and based on the path planning information, the end of the surgical robot arm is controlled to move to the actual posture.

6. The accuracy detection method according to claim 1, characterized in that: The feature object data includes first coordinate information of the target feature object in the image coordinate system; based on the spatial transformation relationship, the feature object data in the image coordinate system is converted to the execution component coordinate system to obtain a system accuracy result for the execution component, including: Based on the spatial transformation relationship, the first coordinate information in the image coordinate system is converted to the execution component coordinate system to obtain the second coordinate information of the target feature in the execution component coordinate system; The distance result between the target feature and the execution component is determined according to the second coordinate information, and the system accuracy result is obtained according to the distance result.

7. The accuracy detection method according to any one of claims 1 to 6, characterized in that: There are at least two target features, and in the case where the execution assembly and the image acquisition device are installed at the end of the surgical robot arm, the method further includes: Based on the position of each target feature object, the end of the surgical robot arm is controlled to move to the corresponding actual posture in sequence, and the feature object data collected by the image acquisition device at the corresponding actual posture is obtained; Based on the spatial transformation relationship, each of the feature object data is converted to the execution component coordinate system to obtain the distance calculation result at the corresponding position; The system accuracy result is calculated based on each of the distance calculation results.

8. A system accuracy detection system for a surgical robot arm, characterized in that: The system comprises: a main control device, the surgical robot arm, an execution component, a target feature object and an image acquisition device; The main control device is connected to the surgical robot arm and is used to execute the system accuracy detection method of the surgical robot arm according to any one of claims 1 to 7.

9. The accuracy detection system according to claim 8, characterized in that: The main control device includes a host computer touch module; the surgical robot arm also includes a function control module, and the function control module includes a host computer interaction unit and a bottom control unit; The host computer touch module is connected to the host computer interaction unit, and is used to generate a movement control instruction based on the location of the target feature object, and send the movement control instruction to the bottom control unit via the host computer interaction unit; The bottom control unit is used to control the end of the surgical robot arm to move to the actual posture based on the movement control instruction.

10. The accuracy detection system according to claim 8, characterized in that: The main control device includes an acquisition drive module and a data processing module; The acquisition driving module is used to drive the image acquisition device to acquire image information of the target feature object and send the image information to the data processing module; The data processing module is used to obtain feature object data in the image coordinate system based on the image information, and obtain the system accuracy result based on the spatial transformation relationship and the feature object data in the image coordinate system.

11. The accuracy detection system according to claim 8, characterized in that: There are at least two surgical robotic arms, and each of the surgical robotic arms is respectively connected to the main control device; The main control device is also used to obtain the system accuracy results of the corresponding execution components carried on each of the surgical robot arms.

12. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to execute the system accuracy detection method for the surgical robot arm according to any one of claims 1 to 7.

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