Precision testing device and method for instrument tail end, computer equipment and storage medium

Abstract

The invention relates to a precision testing device and method for an instrument tail end, computer equipment and a storage medium, and the device comprises a target support which is arranged at the instrument tail end of a to-be-tested instrument and is provided with a plurality of target balls; the optical tracking equipment is used for collecting coordinates of the reference target ball in a tracking coordinate system when the to-be-measured point at the tail end of the instrument moves to a specified path point for multiple times; the processing module is used for acquiring a conversion matrix between the tracking coordinate system and the coordinate system of the to-be-measured point, and converting each coordinate of the reference target ball in the tracking coordinate system into a plurality of coordinates of the to-be-measured point in the tracking coordinate system through the conversion matrix; and the precision determination module is used for determining the repeated positioning precision of the to-be-measured point corresponding to the instrument tail end of the to-be-measured instrument based on the coordinate of the to-be-measured point in the tracking coordinate system. By adopting the method, the accuracy of any position of the tail end of the instrument can be accurately tested.

Description

Technical Field

[0001] The present application relates to the technical field of instrument testing, and in particular to an accuracy testing device, method, computer equipment, storage medium and computer program product for an instrument end. Background Art

[0002] Laparoscopic surgical instruments are replaceable components in the laparoscopic minimally invasive surgical robot system. The movement accuracy of laparoscopic surgical instruments has an important impact on the doctor's clinical operation efficiency and the success rate of the operation. Therefore, it is necessary to test the accuracy of the end of the surgical instrument before it leaves the factory.

[0003] At present, for the end of medical devices that are large or have good rigidity, the commonly used measurement method is to use a robotic arm to perform precision measurement and calibration. However, in this method, the direct contact point selection of the robotic arm will cause the end position to shift, introduce large human errors, and lead to inaccurate test results. Summary of the invention

[0004] Based on this, it is necessary to provide an instrument end accuracy testing method, device, computer equipment, computer readable storage medium and computer program product to address the technical problem of inaccurate test results in the above-mentioned direct contact point measurement method for instrument accuracy measurement.

[0005] In a first aspect, the present application also provides a device for testing the accuracy of an instrument end. The device comprises:

[0006] A target bracket is arranged at the end of the device to be tested, and the target bracket is provided with a plurality of target balls;

[0007] An optical tracking device, used for collecting coordinates of a reference target ball in a tracking coordinate system when the point to be measured at the end of the instrument moves to a specified path point multiple times; the specified path point is any position within the movement range of the instrument to be measured, and the reference target ball is any one of the multiple target balls;

[0008] A processing module, used for obtaining a conversion matrix between the tracking coordinate system and the coordinate system of the point to be measured, and converting each coordinate of the reference target sphere in the tracking coordinate system into a plurality of coordinates of the point to be measured in the tracking coordinate system through the conversion matrix; wherein the target coordinate system is constructed with the reference target sphere as the origin of the coordinate system;

[0009] The accuracy determination module is used to determine the repeatability of the positioning of the point to be measured corresponding to the end of the instrument to be measured based on the multiple coordinates of the point to be measured in the tracking coordinate system.

[0010] In one embodiment, the processing module is also used to determine a first transformation matrix between the tracking coordinate system of the optical tracking device and the target coordinate system, and to determine a second transformation matrix between the target coordinate system and the coordinate system of the point to be measured; based on the first transformation matrix and the second transformation matrix, determine the transformation matrix between the tracking coordinate system and the coordinate system of the point to be measured.

[0011] In one embodiment, the processing module is also used to determine the coordinates of the origin of the target coordinate system and the unit vectors of each coordinate axis according to the construction process of the target coordinate system; and construct a first transformation matrix between the tracking coordinate system of the optical tracking device and the target coordinate system according to the coordinates of the origin of the coordinate system and the unit vectors of each coordinate axis.

[0012] In one embodiment, the processing module is also used to obtain the posture matrix of the device to be tested and the coordinates of the point to be tested in the target coordinate system; based on the posture matrix and the coordinates of the point to be tested in the target coordinate system, determine the second transformation matrix between the target coordinate system and the coordinate system of the point to be tested.

[0013] In one embodiment, the joints of the device to be tested include rotational joints, pitch joints and yaw joints; the processing module is also used to perform rotation sampling on the pitch joint and the yaw joint respectively to obtain the second rotation plane normal vector of the pitch joint and the third rotation plane normal vector of the yaw joint; based on the second rotation plane normal vector and the third rotation plane normal vector, the first rotation plane normal vector of the rotational joint is determined; based on the first rotation plane normal vector and the third rotation plane normal vector, the center point coordinates of the center point corresponding to the yaw joint are determined; according to the center point coordinates, the distance between the point to be tested and the center point, and the first rotation plane normal vector, the coordinates of the point to be tested in the target coordinate system are determined.

[0014] In one embodiment, the accuracy determination module is further used to determine the minimum spherical area that includes multiple coordinates of the point to be measured in the tracking coordinate system; and the radius of the minimum spherical area is determined as the repeatability positioning accuracy of the point to be measured corresponding to the end of the device to be measured.

[0015] In a second aspect, the present application provides a method for testing the accuracy of an instrument end. The method comprises:

[0016] Determine a point to be tested at the end of the device to be tested; wherein the end of the device to be tested is provided with a target bracket, and a plurality of target balls are provided on the target bracket;

[0017] By means of an optical tracking device, the coordinates of the reference target ball on the target bracket in the tracking coordinate system are collected when the test point moves to the designated path point multiple times; the designated path point is any position within the motion range of the device to be tested, and the reference target ball is any one of the multiple target balls included in the target;

[0018] By using a conversion matrix between the tracking coordinate system and the coordinate system of the point to be measured, each coordinate of the reference target sphere in the tracking coordinate system is converted to obtain multiple coordinates of the point to be measured in the tracking coordinate system;

[0019] Based on the multiple coordinates of the point to be measured in the tracking coordinate system, the repeatability of the positioning of the point to be measured at the end of the instrument to be measured is determined.

[0020] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0021] Determine a point to be tested at the end of the device to be tested; wherein the end of the device to be tested is provided with a target bracket, and a plurality of target balls are provided on the target bracket;

[0022] By means of an optical tracking device, the coordinates of the reference target ball on the target bracket in the tracking coordinate system are collected when the test point moves to the designated path point multiple times; the designated path point is any position within the motion range of the device to be tested, and the reference target ball is any one of the multiple target balls included in the target;

[0023] By using a conversion matrix between the tracking coordinate system and the coordinate system of the point to be measured, each coordinate of the reference target sphere in the tracking coordinate system is converted to obtain multiple coordinates of the point to be measured in the tracking coordinate system;

[0024] Based on the multiple coordinates of the point to be measured in the tracking coordinate system, the repeatability of the positioning of the point to be measured at the end of the instrument to be measured is determined.

[0025] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0026] Determine a point to be tested at the end of the device to be tested; wherein the end of the device to be tested is provided with a target bracket, and a plurality of target balls are provided on the target bracket;

[0027] By means of an optical tracking device, the coordinates of the reference target ball on the target bracket in the tracking coordinate system are collected when the test point moves to the designated path point multiple times; the designated path point is any position within the motion range of the device to be tested, and the reference target ball is any one of the multiple target balls included in the target;

[0028] By using a conversion matrix between the tracking coordinate system and the coordinate system of the point to be measured, each coordinate of the reference target sphere in the tracking coordinate system is converted to obtain multiple coordinates of the point to be measured in the tracking coordinate system;

[0029] Based on the multiple coordinates of the point to be measured in the tracking coordinate system, the repeatability of the positioning of the point to be measured at the end of the instrument to be measured is determined.

[0030] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0031] Determine a point to be tested at the end of the device to be tested; wherein the end of the device to be tested is provided with a target bracket, and a plurality of target balls are provided on the target bracket;

[0032] By means of an optical tracking device, the coordinates of the reference target ball on the target bracket in the tracking coordinate system are collected when the test point moves to the designated path point multiple times; the designated path point is any position within the motion range of the device to be tested, and the reference target ball is any one of the multiple target balls included in the target;

[0033] By using a conversion matrix between the tracking coordinate system and the coordinate system of the point to be measured, each coordinate of the reference target sphere in the tracking coordinate system is converted to obtain multiple coordinates of the point to be measured in the tracking coordinate system;

[0034] Based on the multiple coordinates of the point to be measured in the tracking coordinate system, the repeatability of the positioning of the point to be measured at the end of the instrument to be measured is determined.

[0035] The precision testing device, method, computer equipment, storage medium and computer program product of the above-mentioned instrument end are provided with a target bracket having multiple target balls at the instrument end of the instrument to be tested, and the coordinates of the reference target ball in the tracking coordinate system are collected by an optical tracking device when the measured point at the instrument end moves to the specified path point multiple times. The coordinates of the reference target ball in the tracking coordinate system are converted into multiple coordinates of the measured point in the tracking coordinate system through the conversion matrix between the tracking coordinate system and the coordinate system of the measured point. Finally, based on the multiple coordinates of the measured point in the tracking coordinate system, the repeatable positioning accuracy of the measured point corresponding to the instrument end of the instrument to be tested is determined. This scheme sets a target that is easy to locate, utilizes the fixedness of the relative position between the reference target ball on the target bracket and the measured point, and through the coordinates of the reference target ball fixed on the target bracket and the theoretical conversion matrix between the coordinate system, the coordinates of the measured point can be accurately determined, thereby realizing accurate determination of the accuracy of the measured point, thereby realizing accurate testing of the accuracy of any position of the instrument end. At the same time, this solution measures the coordinates of the reference target sphere in a non-contact manner through an optical tracking device, which can reduce errors introduced by human operation, improve the accuracy of the collected coordinates, and further improve the accuracy of the test of the test point. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural block diagram of an accuracy testing device for an instrument end in one embodiment;

[0037] Figure 2 A schematic diagram of a hardware environment for the accuracy test of the end of an instrument in one embodiment;

[0038] Figure 3 is a schematic diagram of the structure of the end of the instrument in one embodiment;

[0039] Figure 4 is a schematic diagram of various joints of a device to be tested in one embodiment;

[0040] Figure 5 is a schematic diagram of a target coordinate system in one embodiment;

[0041] Figure 6 A schematic diagram of an accuracy test process of an instrument end in one embodiment;

[0042] Figure 7 is a schematic diagram of a target support including four target balls in one embodiment;

[0043] Figure 8 It is a schematic flow chart of a method for testing the accuracy of an instrument end in one embodiment;

[0044] Fig. 9 is a schematic diagram representing the relationship among a tracking coordinate system, an instrument coordinate system and a target coordinate system in one embodiment;

[0045] Fig.10 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail 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 used to limit the present application.

[0047] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0048] refer to Figure 1 , is a schematic diagram of the structure of an accuracy testing device for an instrument end according to an embodiment, such as Figure 1 As shown, the precision testing device for the end of the instrument provided in the present application includes a target support 101, an optical tracking device 102, a processing module 103 and a precision determination module 104. Among them,

[0049] The target bracket 101 is arranged at the end of the device to be tested, and a plurality of target balls are arranged on the target bracket 101 .

[0050] The optical tracking device 102 is used to collect the coordinates of the reference target ball in the tracking coordinate system when the measured point at the end of the instrument moves to the specified path point multiple times; the specified path point is any position within the movement range of the instrument to be measured, and the reference target ball is any one of the multiple target balls.

[0051] The processing module 103 is used to obtain the transformation matrix between the tracking coordinate system and the coordinate system of the point to be measured, and transform the various coordinates of the reference target sphere in the tracking coordinate system into multiple coordinates of the point to be measured in the tracking coordinate system through the transformation matrix; wherein the target coordinate system is constructed with the reference target sphere as the origin of the coordinate system.

[0052] The accuracy determination module 104 is used to determine the repeatability of the positioning accuracy of the point to be measured corresponding to the end of the device to be measured based on the multiple coordinates of the point to be measured in the tracking coordinate system.

[0053] In order to more clearly explain the embodiments of the present application, the hardware environment for performing the accuracy test of the present application is first described below. Figure 2As shown, 101 is a target bracket, 102 is an optical tracking device, 105 is a device to be tested, 106 is a support frame, and 107 is a driving device. Among them, three target balls are fixed on the target bracket 101. The target bracket 101 is fixed to the end of the device to be tested 105. The support frame 106 is used to fix and support the device to be tested 105. The driving device 107 is used to drive the device to be tested to perform a specified action. The supporting frame 106, the driving device 107 and the computer control software (including the processing module 103 and the accuracy determination module 104) constitute an automated testing platform. The optical tracking device 102 is used in conjunction with the target ball on the target bracket 101.

[0054] The end of the instrument to be tested has multiple joint axes, and each joint axis can rotate in different directions. Figure 3 The schematic diagram of the structure of the end of the instrument shown, 111 is the target ball, 101 is the target bracket, 108 is the J3 joint axis of the instrument to be tested (can be called the yaw joint), 109 is the J2 joint axis of the instrument to be tested (can be called the pitch joint), 110 is the J1 joint axis of the instrument to be tested (can be called the rotation joint).

[0055] The point to be tested is the point that needs to be tested for accuracy. The point to be tested can be located at any position at the end of the instrument. Therefore, the point to be tested can be on the instrument to be tested or not. Figure 4 In the figure, the point to be measured can be a point along the X3 axis in the coordinate system J3{X3, Y3, Z3} of the J3 joint of the instrument to be measured. Suppose the distance between the point to be measured and the origin of the coordinate system of the J3 joint is d. When d is less than the length of the joint piece of the J3 joint, the point to be measured is on the instrument; when d is greater than the length of the joint piece of the J3 joint, the point to be measured is not on the instrument; when d is equal to the length of the joint piece of the J3 joint, the point to be measured is just at the end point of the instrument.

[0056] The designated path point indicates the spatial position point that the test point needs to reach, which can be any position within the motion range of the test device. The motion range of the test device can be selected as the range corresponding to ±80% of the distance that the test device can reach. For example, if the distance that the test device can reach is 10 meters, then the range corresponding to 8 meters is selected as the motion range of the test point.

[0057] The target coordinate system refers to the coordinate system constructed by the target bracket corresponding to the target. Specifically, it is a coordinate system constructed with the reference target sphere as the origin. For example, Figure 5 In the schematic diagram of the target coordinate system shown in FIG. 1 , the target coordinate system is constructed with the position of the target sphere A as the origin of the target coordinate system. The target sphere A can be regarded as a reference target sphere. At the same time, the target coordinate system is constructed with the vector corresponding to the bracket BC for Axis, With vector The cross product of Axis, finally determined according to the right-hand system definition axis.

[0058] The coordinate system of the point to be measured may be a coordinate system constructed for the point to be measured.

[0059] The conversion matrix between the tracking coordinate system and the coordinate system of the point to be measured is used to convert the coordinate points of the reference target sphere in the tracking coordinate system into the coordinate points of the point to be measured in the tracking coordinate system.

[0060] It should be noted that repeatable positioning accuracy is a measure of the ability of the end of the instrument to reach the same point in space consistently. The accuracy test of the test point at any position of the instrument end of the instrument to be tested is to determine the ability of the test point to reach the same designated path point consistently. Therefore, when it is necessary to control the test point to reach the same designated path point multiple times, multiple positioning coordinates of the test point in the test point coordinate system are obtained. However, since the positioning coordinates of the test point are difficult to measure, this embodiment indirectly determines the coordinates of the test point by obtaining the coordinates of the target ball, by setting a target ball that is easy to position, and by utilizing the fixedness of the relative position between the target ball and the test point.

[0061] Specifically, before conducting an accuracy test on the end of the instrument, the position of the test point to be tested can be determined first, and a target ball can be arbitrarily selected from the various target balls set on the target bracket as a reference target ball. It can be understood that after the position of the test point and the reference target ball are determined, since the reference target ball is fixed on the target bracket, and the target bracket is fixed on the end of the instrument, the position of the reference target ball relative to the end of the instrument is fixed. The test point is also a position point selected from the end of the instrument, and its position relative to the end of the instrument is also fixed. Therefore, the position of the reference target ball is fixed relative to the position of the test point, and therefore, the coordinates of the test point can be indirectly determined based on the coordinates of the reference target ball.

[0062] After the position of the test point and the reference target sphere are determined, Figure 2 The driving device 107 shown controls the point to be measured at the end of the instrument to move to the designated path point, and collects the coordinates of the reference target ball in the tracking coordinate system when the point to be measured moves to the designated path point through the optical tracking device 102. Then, the point to be measured is controlled to leave the designated path point, and then move to the designated path point, and the coordinates of the reference target ball in the tracking coordinate system when the point to be measured moves to the designated path point are collected again through the optical tracking device 102. This cycle is repeated multiple times to obtain multiple coordinates of the reference target ball in the tracking coordinate system when the point to be measured moves to the designated path point multiple times.

[0063] After obtaining the multiple coordinates corresponding to the reference target ball in the tracking coordinate system, the repeatability of the point to be measured can be obtained based on the multiple coordinates corresponding to the reference target ball in the tracking coordinate system. Specifically, the conversion matrix between the tracking coordinate system and the coordinate system of the point to be measured can be determined first, and the processing module can be called to convert the various coordinates of the reference target ball in the tracking coordinate system into the various coordinates of the point to be measured in the tracking coordinate system through the conversion matrix. Then, the accuracy determination module is used to determine the repeatability of the point to be measured corresponding to the end of the instrument to be measured based on the various coordinates of the point to be measured in the tracking coordinate system.

[0064] In the precision testing device for the end of the above-mentioned instrument, a target bracket with multiple target balls is set at the end of the instrument to be tested, and the coordinates of the reference target ball in the tracking coordinate system are collected by an optical tracking device when the point to be tested at the end of the instrument moves to the specified path point multiple times. The coordinates of the reference target ball in the tracking coordinate system are converted into multiple coordinates of the point to be tested in the tracking coordinate system through the conversion matrix between the tracking coordinate system and the coordinate system of the point to be tested. Finally, based on the multiple coordinates of the point to be tested in the tracking coordinate system, the repeatable positioning accuracy of the point to be tested corresponding to the end of the instrument to be tested is determined. This scheme sets a target that is easy to position, utilizes the fixedness of the relative position between the reference target ball on the target bracket and the point to be tested, and uses the coordinates of the reference target ball fixed on the target bracket and the theoretical conversion matrix between the coordinate system to accurately determine the coordinates of the point to be tested, thereby accurately determining the accuracy of the point to be tested, thereby accurately testing the accuracy of any position of the instrument end. At the same time, this solution measures the coordinates of the reference target sphere in a non-contact manner through an optical tracking device, which can reduce errors introduced by human operation, improve the accuracy of the collected coordinates, and further improve the accuracy of the test of the test point.

[0065] In an exemplary embodiment, the processing module 103 is also used to determine a first transformation matrix between the tracking coordinate system of the optical tracking device and the target coordinate system, and to determine a second transformation matrix between the target coordinate system and the coordinate system of the point to be measured; based on the first transformation matrix and the second transformation matrix, determine the transformation matrix between the tracking coordinate system and the coordinate system of the point to be measured.

[0066] The tracking coordinate system refers to the coordinate system corresponding to the optical tracking device. The tracking coordinate system is related to the type of the optical tracking device, that is, different optical tracking devices may correspond to different tracking coordinate systems.

[0067] The first transformation matrix is ​​used to transform the coordinate points in the tracking coordinate system into the target coordinate system.

[0068] The second transformation matrix is ​​used to transform the coordinate points in the target coordinate system to the coordinate system of the points to be measured.

[0069] In a specific implementation, when determining the conversion matrix between the tracking coordinate system and the coordinate system of the point to be measured, the first conversion matrix between the tracking coordinate system of the optical tracking device and the target coordinate system, and the second conversion matrix between the target coordinate system and the coordinate system of the point to be measured can be determined first. The conversion matrix between the tracking coordinate system and the coordinate system of the point to be measured is obtained by combining and calculating the first conversion matrix and the second conversion matrix.

[0070] More specifically, based on the first transformation matrix and the second transformation matrix, the specific method of determining the transformation matrix between the tracking coordinate system and the coordinate system of the point to be measured is: the product of the inverse matrix of the first transformation matrix and the second transformation matrix is ​​used as the transformation matrix between the tracking coordinate system and the coordinate system of the point to be measured. Assume that the target coordinate system is {ball}, the coordinate system of the point to be measured is {test}, and the tracking coordinate system is {Traker}. The first transformation matrix is ​​recorded as The second transformation matrix is ​​recorded as Then the transformation matrix between the tracking coordinate system and the coordinate system of the point to be measured is It can be expressed as:

[0071]

[0072] In this embodiment, after determining the first transformation matrix between the tracking coordinate system and the target coordinate system of the optical tracking device, and determining the second transformation matrix between the target coordinate system and the coordinate system of the point to be measured, the transformation matrix between the tracking coordinate system and the coordinate system of the point to be measured is determined based on the first transformation matrix and the second transformation matrix, so as to achieve accurate determination of the transformation matrix between the tracking coordinate system and the coordinate system of the point to be measured, so as to ensure the accuracy of the coordinates of the point to be measured determined based on the transformation matrix in the tracking coordinate system, and further ensure the accuracy of the repeatability positioning accuracy of the determined point to be measured.

[0073] In an exemplary embodiment, the processing module 103 is also used to determine the coordinates of the origin of the target coordinate system and the unit vectors of each coordinate axis according to the construction process of the target coordinate system; and to construct a first transformation matrix between the tracking coordinate system of the optical tracking device and the target coordinate system according to the coordinates of the origin of the coordinate system and the unit vectors of each coordinate axis.

[0074] The coordinates of the origin of the target coordinate system are the coordinates of the origin of the target coordinate system in the tracking coordinate system.

[0075] The unit vector of the coordinate axis refers to the vector obtained by moving a unit length along the coordinate axis starting from a certain point.

[0076] In a specific implementation, the first transformation matrix between the tracking coordinate system of the optical tracking device and the target coordinate system can be constructed based on the coordinates of the origin of the target coordinate system and the unit vectors of each coordinate axis. Specifically, the target coordinate system is a coordinate system established with the reference target sphere as the origin. Therefore, the coordinates of the origin of the target coordinate system are the coordinates of the reference target sphere in the tracking coordinate system. The construction process of the target sphere coordinate system is as follows: Figure 5 As shown, the target ball A is the origin of the coordinate system, and the vector corresponding to the bracket BC is for Axis, vector With vector The cross product of Axis, determined according to the right-hand system definition Based on this construction process, the first transformation matrix between the tracking coordinate system of the optical tracking device and the target coordinate system can be determined: It can be expressed as:

[0077]

[0078] Among them, X b , Y b , Z b are the unit vectors of the three coordinate axes of the target coordinate system, and A is the coordinate of the reference target sphere (i.e., the origin of the coordinate system) in the tracking coordinate system. b , Y b , Z b and A are both three-dimensional coordinates. Therefore, the first transformation matrix between the tracking coordinate system of the optical tracking device and the target coordinate system is is a 4×4 matrix.

[0079] In this embodiment, the tracking coordinate system can be regarded as the world coordinate system. Therefore, the first transformation matrix between the tracking coordinate system and the target coordinate system can be determined based on the unit vector of the target coordinate system and the coordinates of the origin coordinate system to improve the rate of determining the first transformation matrix and ensure the accuracy of the determined first transformation matrix, thereby improving the accuracy of the transformation matrix between the tracking coordinate system and the coordinate system of the measured point determined based on the first transformation matrix.

[0080] In an exemplary embodiment, the processing module 103 is also used to obtain the posture matrix of the device to be tested and the coordinates of the point to be tested in the target coordinate system; based on the posture matrix and the coordinates of the point to be tested in the target coordinate system, determine the second transformation matrix between the target coordinate system and the coordinate system of the point to be tested.

[0081] In a specific implementation, the second conversion matrix between the target coordinate system and the coordinate system of the point to be measured is affected by the posture of the device to be measured. Therefore, before determining the second conversion matrix, it is necessary to first obtain the posture matrix of the device to be measured. According to the posture matrix and the coordinates of the point to be measured in the target coordinate system, the second conversion matrix between the target coordinate system and the coordinate system of the point to be measured is jointly determined.

[0082] More specifically, let the coordinates of the point to be measured in the target coordinate system be The posture matrix of the device to be tested is Then the second transformation matrix between the target coordinate system and the measured point coordinate system is It can be expressed as:

[0083]

[0084] in, is the three-dimensional coordinate, the attitude matrix is a three-dimensional matrix, therefore, the second transformation matrix is ​​a four-dimensional matrix.

[0085] In this embodiment, the second transformation matrix between the target coordinate system and the coordinate system of the point to be measured is determined by the posture matrix of the device to be measured and the coordinates of the point to be measured in the target coordinate system, so as to determine the transformation matrix between the tracking coordinate system and the coordinate system of the point to be measured according to the second transformation matrix, so as to facilitate the subsequent determination of the positioning accuracy of the point to be measured based on the coordinates of the reference target sphere.

[0086] like Figure 4 As shown, the joints of the device to be tested include a rotation joint J1, a pitch joint J2 and a yaw joint J3; correspondingly, in an exemplary embodiment, the processing module 103 is also used to perform rotation sampling on the pitch joint and the yaw joint, respectively, to obtain the second rotation plane normal vector of the pitch joint and the third rotation plane normal vector of the yaw joint; based on the second rotation plane normal vector and the third rotation plane normal vector, the first rotation plane normal vector of the rotation joint is determined; based on the first rotation plane normal vector and the third rotation plane normal vector, the center point coordinates of the corresponding center point of the yaw joint are determined; according to the center point coordinates, the distance between the point to be tested and the center point, and the first rotation plane normal vector, the coordinates of the point to be tested in the target coordinate system are determined.

[0087] The first rotation plane normal vector represents a non-zero vector perpendicular to the plane formed by the rotation of the revolute joint. Figure 4 In the figure, the vector corresponding to the Z1 axis can represent the normal vector of the first rotation plane.

[0088] The second rotation plane normal vector represents a non-zero vector perpendicular to the plane formed by the pitch joint rotation. Figure 4 In the figure, the vector corresponding to the Z2 axis can represent the normal vector of the second rotation plane.

[0089] The third rotation plane normal vector represents a non-zero vector perpendicular to the plane formed by the rotation of the yaw joint. Figure 4 In the figure, the vector corresponding to the Z3 axis can represent the normal vector of the third rotation plane.

[0090] In a specific implementation, the coordinates of the point to be measured in the target coordinate system can be determined based on the center point coordinates of the center point corresponding to the yaw joint of the device to be measured, the distance between the point to be measured and the center point, and the first rotation plane normal vector corresponding to the rotation joint of the device to be measured. Among them, the center point coordinates of the center point corresponding to the yaw joint of the device to be measured can be determined based on the first rotation plane normal vector corresponding to the rotation joint and the third rotation plane normal vector corresponding to the yaw joint. Among them, the second rotation plane normal vector can be obtained by controlling the pitch joint to move alone under the condition that the yaw joint and the rotation joint are in zero position. Similarly, the third rotation plane normal vector can be obtained by controlling the yaw joint to move alone under the condition that the pitch joint and the rotation joint are in zero position. Since the rotation of the rotation joint does not affect the position of the target, the first rotation plane normal vector cannot be obtained by controlling the rotation joint to move alone under the condition that the yaw joint and the pitch joint are in zero position, but needs to be determined based on the second rotation plane normal vector of the pitch joint and the third rotation plane normal vector of the yaw joint, and can be obtained by multiplying the second rotation plane normal vector and the third rotation plane normal vector.

[0091] More specifically, if Figure 6 As shown, for the determination of the second rotation plane normal vector corresponding to the pitch joint, the joints other than the pitch joint, that is, the yaw joint and the rotation joint can be controlled to be in zero position first, and then the pitch joint is controlled to move in steps through the driving device. After each movement, the coordinates of the reference target sphere are collected until the sampling is completed. It is determined whether the center of the pitch joint can be fitted according to the sampling points. If not, the pitch joint is controlled to move in steps again until the judgment result is that the center of the pitch joint can be fitted according to the sampling points. The coordinates of the center of the pitch joint and the second motion plane normal vector are obtained by fitting each sampling point. The determination of the third rotation plane normal vector corresponding to the yaw joint is similar to that of the second motion plane normal vector, which will not be repeated here.

[0092] For example, first control the J1 and J3 joints of the device to be tested to the zero position, control the pitch joint J2 to rotate, and record the position of the reference target point A on the target (x a ,y a ,z a ), the center coordinate O of the pitch joint J2 is obtained by circle center fitting 2 =(x 2 ,y 2 ,z 2 ) and the normal vector of the second motion plane

[0093] Similarly, when the J1 and J2 joints are kept at zero position, the yaw joint J3 is controlled to rotate, and the position of the reference target point A is recorded in turn. The center coordinate O of the yaw joint J3 is obtained by circle center fitting. 3 =(x 3 ,y 3 ,z 3 ) and the third motion plane normal vector

[0094] According to the plane normal vector formed by the motion of the J2 joint and the J3 joint, the Z of the rotation joint J1 can be obtained. 1 The axis vector (i.e. the normal vector of the first motion plane) is:

[0095]

[0096] According to the third motion plane normal vector of J3 joint Normal vector to the first motion plane of the J1 joint The center point coordinates of the J3 joint can be obtained 3 '. Set the center point coordinate O 3 'Along The position coordinates of the point to be measured at the end of the instrument in the target coordinate system Traker can be obtained by moving d mm in the direction of

[0097]

[0098] Where d represents the distance between the test point and the center point of the yaw joint. (d,0,0) can represent the position offset relationship between the test point coordinate system {test} and the joint {J3}.

[0099] In this embodiment, when determining the coordinates of the center point corresponding to the yaw joint, the second rotation plane normal vector of the pitch joint and the third rotation plane normal vector of the yaw joint are first determined, and then the first rotation plane normal vector of the rotation joint is determined based on the second rotation plane normal vector and the third rotation plane normal vector. Then, based on the first rotation plane normal vector and the third rotation plane normal vector, the center point coordinates of the center point corresponding to the yaw joint are inversely deduced. 3 ′. Relative to the center coordinate O obtained by directly sampling the yaw joint and fitting the center of the circle 3 More accurate, thereby improving the accuracy of the coordinates of the determined point to be measured in the target coordinate system.

[0100] In an exemplary embodiment, the accuracy determination module 104 is further used to determine the minimum spherical area containing multiple coordinates of the test point in the tracking coordinate system; and the radius of the minimum spherical area is determined as the repeatability accuracy of the test point corresponding to the end of the test device.

[0101] In a specific implementation, the accuracy determination module 104 obtains the processing process of the repeatability accuracy of the measured point based on the multiple coordinates corresponding to the measured point in the tracking coordinate system: determining the minimum spherical area surrounding the coordinates of the measured point, determining the radius of the minimum spherical area, and determining the radius of the minimum spherical area as the repeatability accuracy of the measured point at the end of the device to be tested.

[0102] In this embodiment, by determining the minimum spherical area containing multiple coordinates of the point to be tested, the radius of the minimum spherical area is determined as the repeatable positioning accuracy of the point to be tested corresponding to the end of the device to be tested, thereby realizing the determination of the positioning accuracy of the point to be tested at any position on the device to be tested. Compared with the test of a single sampling point, this method can accurately obtain the accuracy of the specified point to be tested, and the repeatability of the accuracy and the convenience of operation are better.

[0103] It should be noted that in the above embodiment, the terminal accuracy test method of the present application is described by taking the example of setting three target balls on the target bracket. In practical applications, the three target balls can also be expanded to other numbers of target balls, and the present application does not impose specific restrictions on this. For example, Figure 7 As shown, expanding the target ball on the target bracket into an array consisting of four target balls can solve the defect that some test points cannot be sampled due to shading. At the same time, the sampling stability of the target and the reliability of the data can be improved by mutual verification of the sizes of the four target balls.

[0104] In one embodiment, Figure 8 As shown, a method for testing the accuracy of an instrument end is provided, comprising the following steps:

[0105] Step S810, determining a point to be tested at the end of the device to be tested;

[0106] Step S820, using an optical tracking device, collecting the coordinates of the reference target ball on the target bracket in the tracking coordinate system when the test point moves to the designated path point multiple times; the designated path point is any position within the motion range of the device to be tested, and the reference target ball is any one of the multiple target balls included in the target;

[0107] Step S830, transforming each coordinate of the reference target sphere in the tracking coordinate system to obtain multiple coordinates of the point to be measured in the tracking coordinate system through a transformation matrix between the tracking coordinate system and the coordinate system of the point to be measured;

[0108] Step S840, determining the repeatability of the point to be measured at the end of the instrument to be measured based on the multiple coordinates of the point to be measured in the tracking coordinate system.

[0109] Among them, a target bracket is arranged at the end of the device to be tested, and a plurality of target balls are arranged on the target bracket.

[0110] In the above-mentioned precision test method of the end of the instrument, by setting a target that is easy to locate, utilizing the fixity of the relative position between the reference target ball on the target bracket and the point to be measured, and by using the coordinates of the reference target ball fixed on the target bracket and the theoretical conversion matrix between the coordinate system, the coordinates of the point to be measured can be accurately determined, thereby accurately determining the precision of the point to be measured, thereby accurately testing the precision of any position of the end of the instrument. At the same time, this solution can reduce the error introduced by human operation, improve the accuracy of the collected coordinates, and further improve the accuracy of the test of the point to be measured by measuring the coordinates of the reference target ball in a non-contact manner through an optical tracking device.

[0111] In an exemplary embodiment, the transformation matrix between the tracking coordinate system and the coordinate system of the point to be measured is determined in the following manner: determining a first transformation matrix between the tracking coordinate system of the optical tracking device and the target coordinate system, and determining a second transformation matrix between the target coordinate system and the coordinate system of the point to be measured; based on the first transformation matrix and the second transformation matrix, determining the transformation matrix between the tracking coordinate system and the coordinate system of the point to be measured.

[0112] In an exemplary embodiment, a target coordinate system is constructed with a reference target sphere as the origin of the coordinate system; determining a first transformation matrix between the tracking coordinate system of the optical tracking device and the target coordinate system includes: determining the coordinates of the origin of the coordinate system of the target coordinate system and the unit vectors of each coordinate axis according to a construction process of the target coordinate system; constructing a first transformation matrix between the tracking coordinate system of the optical tracking device and the target coordinate system according to the coordinates of the origin of the coordinate system and the unit vectors of each coordinate axis.

[0113] In an exemplary embodiment, determining a second transformation matrix between a target coordinate system and a coordinate system of a point to be measured includes: obtaining a posture matrix of the device to be measured, and obtaining the coordinates of the point to be measured in the target coordinate system; and determining a second transformation matrix between the target coordinate system and the coordinate system of the point to be measured based on the posture matrix and the coordinates of the point to be measured in the target coordinate system.

[0114] In an exemplary embodiment, the joints of the device to be tested include rotational joints, pitch joints and yaw joints; the coordinates of the point to be tested in the target coordinate system are obtained, including: performing rotation sampling on the pitch joint and the yaw joint respectively to obtain the second rotation plane normal vector of the pitch joint and the third rotation plane normal vector of the yaw joint; based on the second rotation plane normal vector and the third rotation plane normal vector, determining the first rotation plane normal vector of the rotational joint; based on the first rotation plane normal vector and the third rotation plane normal vector, determining the center point coordinates of the center point corresponding to the yaw joint; according to the center point coordinates, the distance between the point to be tested and the center point, and the first rotation plane normal vector, determining the coordinates of the point to be tested in the target coordinate system.

[0115] In an exemplary embodiment, based on multiple coordinates of the point to be measured in the tracking coordinate system, the repeatability of the point to be measured corresponding to the end of the device to be measured is determined, including: determining a minimum spherical area that includes the multiple coordinates of the point to be measured in the tracking coordinate system; and determining the radius of the minimum spherical area as the repeatability of the point to be measured corresponding to the end of the device to be measured.

[0116] It should be noted that the accuracy test method of the instrument end provided in this embodiment is the same as the inventive concept of the accuracy test device of the instrument end. The implementation scheme for solving the problem provided by the method is similar to the implementation scheme recorded in the above-mentioned device, so the specific definition of the accuracy test method embodiment of one or more instrument ends provided above can refer to the definition of the accuracy test device of the instrument end above, and will not be repeated here.

[0117] In one embodiment, in order to facilitate those skilled in the art to understand the embodiments of the present application, the accuracy test method of the instrument end proposed in the present application will be further explained by taking the arrangement of three target balls on the target bracket as an example.

[0118] (1) Hardware environment installation. Fix the automated test platform on the optical platform. After the instrument is installed on the automated test platform, control the instrument to complete automatic docking and zero return operations. Set up the optical tracking device in front of the instrument test platform, and install a target with three target balls at the end of the instrument.

[0119] (2) Coordinate system definition. Fig. 9 As shown, it is a schematic diagram of the relationship between the tracking coordinate system {Traker} of the optical tracking device, the tool coordinate system {Tool} (the coordinate system corresponding to the yaw joint, the rotation joint and the pitch joint) and the target coordinate system {ball}.

[0120] (3) Collection of motion data and determination of coordinate system conversion matrix. In order to determine the conversion matrix relationship between the tracking coordinate system {Traker} and the coordinate system {test} of the end point to be measured of the instrument, it is necessary to fit the geometric axes of each joint of the instrument.

[0121] Combination Figure 6 First, control the J1 and J3 joints of the device to be tested to the zero position, control the pitch joint J2 to rotate, and record the position of the reference target ball A point on the target in turn (x a ,y a ,z a ), the center coordinate O of the pitch joint J2 is obtained by circle center fitting 2 =(x 2 ,y 2 ,z 2 ) and the normal vector of the second motion plane

[0122] Similarly, when the J1 and J2 joints are kept at zero position, the yaw joint J3 is controlled to rotate, and the position of the reference target point A is recorded in turn. The center coordinate O of the yaw joint J3 is obtained by circle center fitting. 3 =(x 3 ,y 3 ,z 3 ) and the third motion plane normal vector

[0123] According to the plane normal vector formed by the motion of the J2 joint and the J3 joint, the Z of the rotation joint J1 can be obtained. 1 The axis vector (i.e. the normal vector of the first motion plane) is:

[0124]

[0125] According to the third motion plane normal vector of J3 joint Normal vector to the first motion plane of the J1 joint The center point coordinates of the J3 joint can be obtained 3 '. Set the center point coordinate O 3 'Along The position coordinates of the point to be measured at the end of the instrument in the target coordinate system {ball}r can be obtained by moving d mm in the direction of

[0126]

[0127] Based on the posture matrix of the device to be tested and the coordinates of the point to be measured in the target coordinate system Determine the second transformation matrix between the target coordinate system and the coordinate system of the point to be measured

[0128]

[0129] And, based on the construction process of the target coordinate system, determining a first transformation matrix between the tracking coordinate system of the optical tracking device and the target coordinate system

[0130]

[0131] According to the first conversion matrix and the second conversion matrix, the conversion matrix between the tracking coordinate system and the coordinate system of the point to be measured is determined

[0132]

[0133] (4) Determination of the motion accuracy of the test point. When the test point at the end of the device is controlled to move to the specified path point multiple times, the coordinates of the reference target ball in the target coordinate system are repeatedly sampled. After converting the coordinates of the reference target sphere point A in the tracking coordinate system to the coordinates of the end point to be tested in the tracking coordinate system, the motion accuracy of the end of the instrument is obtained according to multiple coordinates of the end point to be tested in the tracking coordinate system.

[0134] In this embodiment, by using an optical tracking device to achieve non-contact measurement, the error introduced by human operation can be reduced; by automatically processing the collected data through the program, the end precision of the three-degree-of-freedom minimally invasive instrument can be obtained efficiently and accurately; through the conversion of the theoretical value of the coordinate system, the accuracy of any position of the end during the movement of the instrument can be accurately obtained, providing real reference data for the accuracy estimation of master-slave mapping in the medical field.

[0135] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0136] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig.10 As shown. The computer device includes a processor, a memory and a network interface 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 data during the accuracy test of the instrument end. 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 method for accuracy testing of the instrument end is implemented.

[0137] Those skilled in the art will understand that Fig.10The 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.

[0138] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0139] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0140] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0141] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0142] 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 the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0143] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, 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.

[0144] The above-described 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 present application. 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 present application shall be subject to the attached claims.

Claims

1. A precision testing device for the end of an instrument, It is characterized in that include: A target bracket is arranged at the end of the device to be tested, and the target bracket is provided with a plurality of target balls; An optical tracking device, used for collecting coordinates of a reference target ball in a tracking coordinate system when the point to be measured at the end of the instrument moves to a specified path point multiple times; the specified path point is any position within the movement range of the instrument to be measured, and the reference target ball is any one of the multiple target balls; A processing module, used for obtaining a conversion matrix between the tracking coordinate system and the coordinate system of the point to be measured, and converting each coordinate of the reference target sphere in the tracking coordinate system into a plurality of coordinates of the point to be measured in the tracking coordinate system through the conversion matrix; wherein the target coordinate system is constructed with the reference target sphere as the origin of the coordinate system; The accuracy determination module is used to determine the repeatability of the positioning of the point to be measured corresponding to the end of the instrument to be measured based on the multiple coordinates of the point to be measured in the tracking coordinate system.

2. The device according to claim 1, It is characterized in that The processing module is further used to determine a first conversion matrix between the tracking coordinate system of the optical tracking device and the target coordinate system, and to determine a second conversion matrix between the target coordinate system and the coordinate system of the point to be measured; Based on the first transformation matrix and the second transformation matrix, a transformation matrix between the tracking coordinate system and the coordinate system of the point to be measured is determined.

3. The device according to claim 2, It is characterized in that The processing module is further used to determine the coordinates of the origin of the target coordinate system and the unit vectors of each coordinate axis according to the construction process of the target coordinate system; A first conversion matrix between the tracking coordinate system of the optical tracking device and the target coordinate system is constructed according to the coordinates of the origin of the coordinate system and the unit vectors of the coordinate axes.

4. The device according to claim 2, It is characterized in that The processing module is further used to obtain the posture matrix of the device to be tested, and to obtain the coordinates of the point to be tested in the target coordinate system; Based on the posture matrix and the coordinates of the point to be measured in the target coordinate system, a second conversion matrix between the target coordinate system and the coordinate system of the point to be measured is determined.

5. The device according to claim 4, It is characterized in that The joints of the device to be tested include rotation joints, pitch joints and yaw joints; The processing module is further used to perform rotation sampling on the pitch joint and the yaw joint respectively to obtain a second rotation plane normal vector of the pitch joint and a third rotation plane normal vector of the yaw joint; Determining a first rotation plane normal vector of the rotation joint based on the second rotation plane normal vector and the third rotation plane normal vector; Determine the center point coordinates of the center point corresponding to the yaw joint based on the first rotation plane normal vector and the third rotation plane normal vector; The coordinates of the point to be measured in the target coordinate system are determined according to the coordinates of the center point, the distance between the point to be measured and the center point, and the normal vector of the first rotation plane.

6. The device according to claim 1, It is characterized in that The accuracy determination module is also used to determine the minimum spherical area containing multiple coordinates of the point to be measured in the tracking coordinate system; and determine the radius of the minimum spherical area as the repeated positioning accuracy of the point to be measured corresponding to the end of the device to be measured.

7. A method for testing the accuracy of an instrument end. It is characterized in that A target bracket is provided at the end of the device to be tested, and a plurality of target balls are provided on the target bracket; the method comprises: Determining a point to be tested at the end of the device to be tested; By means of an optical tracking device, the coordinates of the reference target ball on the target bracket in the tracking coordinate system are collected when the test point moves to the designated path point multiple times; the designated path point is any position within the motion range of the device to be tested, and the reference target ball is any one of the multiple target balls included in the target; By using a conversion matrix between the tracking coordinate system and the coordinate system of the point to be measured, each coordinate of the reference target sphere in the tracking coordinate system is converted to obtain multiple coordinates of the point to be measured in the tracking coordinate system; Based on the multiple coordinates of the point to be measured in the tracking coordinate system, the repeatability of the positioning of the point to be measured at the end of the instrument to be measured is determined.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program. It is characterized in that When the processor executes the computer program, the steps of the accuracy testing method of the instrument tip according to claim 7 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the steps of the method for testing the accuracy of the instrument tip according to claim 7 are implemented.

10. A computer program product comprising a computer program, It is characterized in that When the computer program is executed by a processor, the steps of the method for testing the accuracy of the instrument tip according to claim 7 are implemented.

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