Precision detection tool and precision detection method

Abstract

The invention belongs to the technical field of medical instruments, and discloses a precision detection tool and a precision detection method.The precision detection tool comprises a positioning table and a measuring assembly, the measuring assembly is arranged on the positioning table and comprises a measuring body, a depth measuring part, a limiting part and an elastic part, and the measuring body is provided with a detection hole; the depth measuring piece is arranged in the detection hole, the limiting piece is arranged at one end of the measuring main body, and the elastic piece is arranged between the depth measuring piece and the limiting piece; the depth measuring piece moves relative to the detection hole and has a first position and a second position; the depth measuring piece abuts against the limiting piece at the second position, and the elastic piece enables the depth measuring piece to tend to move from the second position to the first position. According to the precision detection tool provided by the invention, the surgical robot is inserted into the detection hole to detect that the detection needle does not abut against the measurement main body, the detection needle abuts against the depth measurement piece, and the depth measurement piece does not abut against the limiting piece, so that the surgical robot meets the navigation positioning precision requirement.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a precision detection tooling and a precision detection method. Background Art

[0002] In a surgical operation assisted by a navigation surgical robot, the accuracy of the navigation and positioning of the surgical robot plays a decisive role in the success of the operation.

[0003] Currently, the navigation and positioning accuracy of a surgical robot is usually detected by a three-coordinate detection device such as a laser rangefinder or a FARO measuring arm, and the detection operation is complex. Moreover, in the related art, to simplify the detection operation, a point planning detection method is usually adopted to detect the navigation and positioning accuracy of the surgical robot, that is, to detect whether a point at the end of the surgical robot meets the accuracy requirements. It is difficult for a surgical robot that passes the detection and verification in this way to meet the surgical requirements that require line planning during the operation, such as puncture and drilling.

[0004] Therefore, there is an urgent need for a precision detection tooling and a precision detection method to solve the above technical problems. Summary of the Invention

[0005] An object of the present invention is to provide a precision detection tooling, which is convenient for detection operation, and a surgical robot that passes the detection and verification can meet the surgical requirements that require line planning during the operation.

[0006] To achieve this purpose, the present invention adopts the following technical solutions:

[0007] Provide a precision detection tooling for use in the precision detection of a surgical robot, a detection needle is installed at the end of the surgical robot, and the precision detection tooling includes:

[0008] A positioning table;

[0009] A measuring assembly, which is arranged on the positioning table, the measuring assembly includes a measuring body, a depth measuring member, a limiting member and an elastic member, a detection hole is provided on the measuring body, the detection hole penetrates through the first end and the second end of the measuring body, the depth measuring member is arranged in the detection hole, the limiting member is arranged at the second end of the measuring body, and the elastic member is arranged between the depth measuring member and the limiting member;

[0010] Wherein, the depth measuring member has a first position and a second position relative to the movement in the detection hole, the elastic member makes the depth measuring member have a tendency to move from the second position to the first position, and the detection needle can extend into the detection hole at the first end of the measuring body and can push the depth measuring member from the first position to the second position;

[0011] At the first position, the depth measuring member is separated from the limiting member;

[0012] At the second position, the depth measuring member abuts against the limiting member.

[0013] Optionally, the precision detection tooling further includes:

[0014] A first detection circuit, the first detection circuit is electrically connected to the measurement main body, and when the detection needle abuts against the measurement main body, the first detection circuit is turned on;

[0015] And / or, a second detection circuit, the second detection circuit is electrically connected to the depth measuring member, and when the detection needle abuts against the depth measuring member, the second detection circuit is turned on;

[0016] And / or, a third detection circuit, the third detection circuit is electrically connected to the limiting member, and when the detection needle, the depth measuring member and the limiting member abut against each other in sequence, the third detection circuit is turned on.

[0017] Optionally, a limiting hole communicating with the detection hole is provided on the circumference of the measurement main body, and the depth measuring member includes:

[0018] A first insulating sleeve, slidably passing through the detection hole, and the first end of the elastic member abuts against the first insulating sleeve;

[0019] A depth measuring needle, passing through the first insulating sleeve;

[0020] A second insulating sleeve, passing through the limiting hole and abutting against the circumference of the first insulating sleeve;

[0021] A conductive member, the first end of the conductive member passes through the second insulating sleeve and the first insulating sleeve and is electrically connected to the depth measuring needle, and the second end of the conductive member is electrically connected to the second detection circuit.

[0022] Optionally, the detection hole is a stepped hole, the first insulating sleeve is slidably arranged in the large end of the detection hole, and the first insulating sleeve abuts against the stepped surface of the detection hole at the first position, and the depth measuring needle extends into the small end of the detection hole.

[0023] Optionally, the limiting hole is a long hole, and a circumferential limiting fit along the detection hole is formed between the hole wall of the limiting hole and the second insulating sleeve.

[0024] Optionally, a sinking groove is provided at the second end of the detection hole, and the limiting member includes:

[0025] A third insulating sleeve, arranged in the sinking groove and abutting against the bottom of the sinking groove;

[0026] A limit probe, the first end of the limit probe is inserted through the third insulating sleeve, and the second end of the limit probe is electrically connected to the third detection circuit.

[0027] Optionally, a positioning groove is provided on the positioning table, and the measurement body is inserted into the positioning groove.

[0028] Optionally, a plurality of calibration holes are provided on the positioning table, and the precision detection tooling further includes a calibration assembly provided on the positioning table. The calibration assembly includes a calibration bracket and a plurality of first calibration balls provided on the calibration bracket.

[0029] Optionally, the precision detection tooling further includes an adjustment mechanism, the positioning table is arranged on the adjustment mechanism, and the adjustment mechanism is used to adjust the position of the positioning table.

[0030] Another object of the present invention is to further provide a precision detection method, which is applied to the above-mentioned precision detection tooling. The precision detection method includes the following steps:

[0031] S100. Plan the movement trajectory of the detection needle with the axis of the detection hole of the measurement body as the target path axis;

[0032] S200. Control the surgical robot to insert the detection needle into the detection hole according to the movement trajectory, and judge whether the detection needle abuts against the measurement body, whether the detection needle abuts against the depth measurement member, and whether the depth measurement member abuts against the limiting member.

[0033] Beneficial effects: The precision detection tooling provided by the present invention plans the movement trajectory of the detection needle with the axis of the detection hole of the measurement body as the target path axis, and controls the surgical robot to insert the detection needle into the detection hole according to the movement trajectory.

[0034] During this process, if the detection needle abuts against the measurement body, the coaxiality of the detection needle and the detection hole does not meet the navigation positioning accuracy requirements, and the operation of the surgical robot is stopped.

[0035] If the detection needle does not abut against the measurement body when the detection needle completes the movement trajectory and is inserted into the detection hole, the coaxiality of the detection needle and the detection hole meets the navigation positioning accuracy requirements.

[0036] If the detection needle does not abut against the depth measurement member when the detection needle completes the movement trajectory and is inserted into the detection hole, the insertion depth of the detection needle into the detection hole is too shallow and does not meet the navigation positioning accuracy requirements.

[0037] If the detection needle touches the depth measuring member at the first position when completing the movement trajectory, and the depth measuring member does not touch the limiting member when the detection needle completes the movement trajectory, the depth of the detection needle inserted into the detection hole meets the navigation positioning accuracy requirements.

[0038] If the depth measuring member is pushed by the detection needle to move to the second position and touches the limiting member, the depth of the detection needle inserted into the detection hole is too deep and does not meet the accuracy requirements, and the operation of the surgical robot is stopped.

[0039] The navigation positioning accuracy of the surgical robot is detected by the accuracy detection tooling, and the detection operation is convenient. During the detection, by detecting the coaxiality between the detection needle and the detection hole and the depth of the detection needle inserted into the detection hole, the surgical robot that passes the detection verification can meet the surgical requirements that need line planning during the surgical process.

[0040] The accuracy detection method provided by the present invention is convenient for detection operation by applying the accuracy detection tooling, and the surgical robot that passes the detection verification meets the surgical requirements that need line planning during the surgical process. Description of the Drawings

[0041] Figure 1 is a schematic structural diagram of the accuracy detection tooling provided by the present invention when used for accuracy detection of a surgical robot;

[0042] Figure 2 is an exploded view of the measurement component provided by the present invention;

[0043] Figure 3 is a cross-sectional view of the measurement component provided by the present invention;

[0044] Figure 4 is a cross-sectional view of the measurement main body provided by the present invention;

[0045] Figure 5 is a cross-sectional view of the depth measuring member provided by the present invention;

[0046] Figure 6 is a cross-sectional view of the limiting member provided by the present invention;

[0047] Figure 7 is a schematic structural diagram of one perspective of the positioning table provided by the present invention;

[0048] Figure 8 is a schematic structural diagram of another perspective of the positioning table provided by the present invention;

[0049] Figure 9 is a schematic structural diagram of the accuracy detection tooling provided by the present invention when calibrating the position of the measurement component with a calibration part;

[0050] Figure 10 is a flowchart of the accuracy detection method provided by the present invention;

[0051] Figure 11 It is a flowchart provided by the present invention for determining whether the coaxiality between the detection needle and the detection hole meets the requirements of navigation positioning accuracy;

[0052] Figure 12 It is a flowchart provided by the present invention for determining whether the depth of insertion of the detection needle into the detection hole meets the requirements of navigation positioning accuracy.

[0053] In the figure:

[0054] 100, surgical robot;

[0055] 200, detection needle;

[0056] 300, positioning table; 310, positioning groove; 320, relief hole; 330, wire groove; 340, calibration hole;

[0057] 400, measuring component; 410, measuring body; 411, detection hole; 412, limiting hole; 413, sinking groove; 420, depth measuring piece; 421, first insulating sleeve; 4211, first through hole; 422, depth measuring needle; 423, second insulating sleeve; 424, conductive piece; 430, limiting piece; 431, third insulating sleeve; 4311, second through hole; 432, limiting probe; 440, elastic piece;

[0058] 500, calibration component; 510, calibration bracket; 520, first calibration ball;

[0059] 600, calibration piece; 610, second calibration ball;

[0060] 700, position adjusting mechanism. Specific embodiments

[0061] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. In addition, it should be noted that for the convenience of description, only parts related to the present invention are shown in the drawings, rather than all structures.

[0062] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0063] In the present invention, unless otherwise clearly specified and defined, the first feature being "above" or "below" the second feature may include direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but are in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath" and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the horizontal height of the first feature is lower than that of the second feature.

[0064] In the description of this embodiment, the orientation or positional relationships such as "above", "below", "right", etc. are based on the orientation or positional relationship shown in the drawings. It is only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0065] Refer to Figures 1 to 9 As shown, this embodiment provides a precision detection tooling, which is applied to the precision detection of the surgical robot 100. Among them, a detection stylet 200 is installed at the end of the surgical robot 100.

[0066] Specifically, the precision detection tooling includes a positioning table 300 and a measuring assembly 400. The measuring assembly 400 is arranged on the positioning table 300. The measuring assembly 400 includes a measuring body 410, a depth measuring member 420, a limiting member 430 and an elastic member 440. A detection hole 411 is provided on the measuring body 410. The detection hole 411 penetrates through the first end and the second end of the measuring body 410. The depth measuring member 420 is arranged in the detection hole 411. The limiting member 430 is arranged at the second end of the measuring body 410. The elastic member 440 is arranged between the depth measuring member 420 and the limiting member 430.

[0067] Specifically, the depth measuring member 420 has a first position and a second position when moving relative to the detection hole 411. Among them, when the depth measuring member 420 is at the first position, the depth measuring member 420 is separated from the limiting member 430; when the depth measuring member 420 is at the second position, the depth measuring member 420 abuts against the limiting member 430.

[0068] Specifically, the elastic member 440 makes the depth measuring member 420 tend to move from the second position to the first position. The detection stylet 200 can extend into the detection hole 411 at the first end of the measuring body 410 and can push the depth measuring member 420 from the first position to the second position.

[0069] Exemplarily, when the precision detection tooling is used for the precision detection of the surgical robot 100, first, the movement trajectory of the detection stylet 200 can be planned with the axis of the detection hole 411 of the measurement body 410 as the target path axis; then, the surgical robot 100 is controlled to insert the detection stylet 200 into the detection hole 411 according to the movement trajectory. Among them, the planned movement trajectory of the detection stylet 200 takes the end of the detection stylet 200 reaching the depth plane A as the target end point, the depth plane B is the shallowest position allowed for the end of the detection stylet 200 to reach, and the depth plane C is the deepest position allowed for the end of the detection stylet 200 to reach.

[0070] During this process, if the detection stylet 200 abuts against the measurement body 410, the coaxiality of the detection stylet 200 and the detection hole 411 does not meet the navigation positioning accuracy requirements, and the operation of the surgical robot 100 is stopped. It can be understood that the maximum deviation value allowed for the coaxiality of the detection stylet 200 and the detection hole 411 is set to E, the radius of the detection hole 411 is set to R1, and the radius of the detection stylet 200 is set to R2. To make the detection hole 411 meet the detection requirements, R1 = R2 + E.

[0071] If the detection stylet 200 does not abut against the measurement body 410 when the detection stylet 200 completes the movement trajectory and is inserted into the detection hole 411, the coaxiality of the detection stylet 200 and the detection hole 411 meets the navigation positioning accuracy requirements.

[0072] If the detection stylet 200 does not abut against the depth measuring member 420 when the detection stylet 200 completes the movement trajectory and is inserted into the detection hole 411, the depth of the detection stylet 200 inserted into the detection hole 411 is too shallow and does not meet the navigation positioning accuracy requirements.

[0073] If the detection stylet 200 abuts against the depth measuring member 420 at the first position when the detection stylet 200 completes the movement trajectory, and the depth measuring member 420 does not abut against the limiting member 430 when the detection stylet 200 completes the movement trajectory, the depth of the detection stylet 200 inserted into the detection hole 411 meets the navigation positioning accuracy requirements.

[0074] If the depth measuring member 420 is pushed by the detection stylet 200 and moves to the second position and abuts against the limiting member 430, the depth of the detection stylet 200 inserted into the detection hole 411 is too deep and does not meet the accuracy requirements, and the operation of the surgical robot 100 is stopped.

[0075] It can be understood that when the detection stylet 200 completes its movement trajectory, if both the coaxiality between the detection stylet 200 and the detection hole 411 and the depth of insertion of the detection stylet 200 into the detection hole 411 meet the requirements of the navigation positioning accuracy, that is, the detection stylet 200 inserted into the detection hole 411 does not abut against the measurement main body 410, the detection stylet 200 abuts against the depth measurement member 420, and the depth measurement member 420 does not abut against the limiting member 430, then the surgical robot 100 meets the requirements of the navigation positioning accuracy.

[0076] In this embodiment, the navigation positioning accuracy of the surgical robot 100 is detected by the precision detection tooling, and the detection operation is convenient. During the detection, by detecting the coaxiality between the detection stylet 200 and the detection hole 411 and the depth of insertion into the detection hole 411, the surgical robot 100 that passes the detection verification can meet the surgical requirements that need to be line-planned during the operation. In addition, if the detection personnel find that the detection stylet 200 deviates from the measurement main body 410 during the accuracy detection of the surgical robot 100, the operation of the surgical robot 100 can be manually stopped.

[0077] In this embodiment, the precision detection tooling can detect whether the navigation positioning accuracy of the stylet 200 meets the requirements by detecting the conduction of the detection circuit, with a fast response, convenient detection operation, and effectively improving the detection efficiency. In this embodiment, the precision detection tooling includes three contact detections. One is the contact detection between the detection stylet 200 and the measurement main body 410, the second is the contact detection between the detection stylet 200 and the depth measurement member 420, and the third is the detection of the sequential contact between the detection stylet 200, the depth measurement member 420, and the limiting member 430. Among them, at least one contact detection can be characterized by detecting the conduction of the detection circuit.

[0078] In a feasible implementation manner, the precision detection tooling further includes a first detection circuit (not shown), and the first detection circuit is electrically connected to the measurement main body 410. When the detection stylet 200 abuts against the measurement main body 410, the first detection circuit is turned on. In this embodiment, the conduction of the first detection circuit indicates that the detection stylet 200 abuts against the measurement main body 410, with a fast response, no need for human eyes to observe whether the detection stylet 200 abuts against the measurement main body 410, and based on the conduction of the first detection circuit, the operation of the surgical robot 100 can be controlled to stop, which is convenient for detection operation, effectively improves the detection efficiency, and the detection structure is reliable.

[0079] In a feasible implementation manner, the precision detection tooling further includes a second detection circuit (not shown), and the second detection circuit is electrically connected to the depth measurement member 420. When the detection needle 200 abuts against the depth measurement member 420, the second detection circuit is turned on. In this embodiment, the conduction of the second detection circuit indicates that the detection needle 200 abuts against the depth measurement member 420, with fast response. There is no need for human eyes to observe whether the detection needle 200 abuts against the depth measurement member 420, which facilitates the detection operation, effectively improves the detection efficiency, and the detection structure is reliable.

[0080] In a feasible implementation manner, the precision detection tooling further includes a third detection circuit (not shown), and the third detection circuit is electrically connected to the limiting member 430. When the detection needle 200, the depth measurement member 420, and the limiting member 430 abut against each other in sequence, the third detection circuit is turned on. In this embodiment, the conduction of the third detection circuit indicates that the detection needle 200, the depth measurement member 420, and the limiting member 430 abut against each other in sequence, with fast response. There is no need for human eyes to observe whether the detection needle 200 abuts against the depth measurement member 420 and whether the depth measurement member 420 abuts against the limiting member 430, which facilitates the detection operation, effectively improves the detection efficiency, and the detection structure is reliable.

[0081] It can be understood that the precision detection tooling may include at least one of the first detection circuit, the second detection circuit, and the third detection circuit.

[0082] In some embodiments, the precision detection tooling includes the first detection circuit, the second detection circuit, and the third detection circuit.

[0083] Exemplarily, the precision detection tooling further includes a controller (not shown), and the first detection circuit, the second detection circuit, and the third detection circuit are all electrically connected to the controller.

[0084] Exemplarily, the controller may also be electrically connected to the surgical robot 100, that is, the controller can receive the signal of the action of the surgical robot 100 and can control the surgical robot 100 to stop the action.

[0085] Exemplarily, when the precision detection tooling is used for the precision detection of the surgical robot 100, if the controller receives the electrical signal of the conduction of the first detection circuit, the controller controls the surgical robot 100 to stop the action and sends the signal information that the coaxiality between the detection needle 200 and the detection hole 411 does not meet the navigation positioning precision.

[0086] When the detection needle 200 completes the action trajectory, if the controller does not receive the electrical signal of the conduction of the second detection circuit, the controller may send the signal information that the insertion depth of the detection needle 200 into the detection hole 411 is too shallow.

[0087] When the detection needle 200 completes its movement trajectory, if the controller receives the electrical signal indicating the conduction of the second detection circuit, and does not receive the electrical signal indicating the conduction of the first detection circuit or the third detection circuit, the controller can send the signal information indicating that the surgical robot 100 meets the navigation and positioning accuracy requirements.

[0088] As the detection needle 200 extends into the detection hole 411, if the controller receives the electrical signal indicating the conduction of the third detection circuit, the controller controls the surgical robot 100 to stop its movement and sends the signal information indicating that the insertion depth of the detection needle 200 into the detection hole 411 is too deep.

[0089] Exemplarily, the controller can be externally connected to at least one of a display, a buzzer, and a speaker to give a prompt for the detection result.

[0090] Exemplarily, the controller includes, but is not limited to, a single-chip microcomputer.

[0091] In a feasible implementation manner, as Figures 2 to 5 shown, a limiting hole 412 communicating with the detection hole 411 is provided on the periphery of the measurement main body 410. The depth measurement member 420 includes a first insulating sleeve 421, a depth measuring needle 422, a second insulating sleeve 423, and a conductive member 424. Specifically, the first insulating sleeve 421 is slidably inserted into the detection hole 411, and the first end of the elastic member 440 abuts against the first insulating sleeve 421; the depth measuring needle 422 is inserted into the first insulating sleeve 421; the second insulating sleeve 423 is inserted through the limiting hole 412 and abuts against the periphery of the first insulating sleeve 421; the first end of the conductive member 424 passes through the second insulating sleeve 423 and the first insulating sleeve 421 and is electrically connected to the depth measuring needle 422, and the second end of the conductive member 424 is electrically connected to the second detection circuit. It can be understood that both the first insulating sleeve 421 and the second insulating sleeve 423 are made of insulating materials, and the measurement main body 410, the detection needle 200, the depth measuring needle 422, and the conductive member 424 are all made of conductive materials. In this embodiment, when the detection needle 200 abuts against the depth measuring needle 422, the second detection circuit is conducted. The first insulating sleeve 421 can prevent the depth measuring needle 422 from abutting against and conducting with the measurement main body 410, and the second insulating sleeve 423 can prevent the conductive member 424 from abutting against and conducting with the measurement main body 410, thereby ensuring the reliability and stability of the second detection circuit. In addition, through the setting of the conductive member 424, it is convenient to electrically connect the depth measuring needle 422 to the second detection circuit.

[0092] Exemplarily, the first insulating sleeve 421 and the detection hole 411 can be in clearance fit.

[0093] Exemplarily, the second insulating sleeve 423 and the limiting hole 412 can be in clearance fit.

[0094] Exemplarily, the first insulating sleeve 421, the depth probe 422, the second insulating sleeve 423, and the conductive member 424 are fixed together. Among them, an interference fit may be provided between the first insulating sleeve 421 and the depth probe 422, and an interference fit may be provided between the second insulating sleeve 423 and the conductive member 424. Of course, the first insulating sleeve 421, the depth probe 422, the second insulating sleeve 423, and the conductive member 424 may also be fixed together by other means, which is not limited in this embodiment.

[0095] Exemplarily, the conductive member 424 may be a setscrew.

[0096] Exemplarily, the first insulating sleeve 421 and the second insulating sleeve 423 may be designed as a split type or integrally formed, which is not limited in this embodiment.

[0097] Exemplarily, the first insulating sleeve 421 is provided with a first through hole 4211 for the depth probe 422 to pass through. The first through hole 4211 may be a stepped hole, and the depth probe 422 may be a stepped structure to facilitate the positioning and assembly of the depth probe 422 and the first insulating sleeve 421.

[0098] Specifically, the limiting hole 412 is set as a long hole, and a limiting fit is formed between the hole wall of the limiting hole 412 and the second insulating sleeve 423 along the circumferential direction of the detection hole 411, effectively preventing the depth measuring member 420 from rotating, reducing the amplitude of the second detection circuit moving with the depth measuring member 420, prolonging the service life of the second detection circuit, and effectively reducing the wear of the first insulating sleeve 421.

[0099] Specifically, the detection hole 411 is set as a stepped hole. The first insulating sleeve 421 is slidably disposed in the large end of the detection hole 411, and the first insulating sleeve 421 abuts against the stepped surface of the detection hole 411 at the first position. The depth probe 422 extends into the small end of the detection hole 411. It can be understood that the detection needle 200 can extend into the small end of the detection hole 411, that is, the small end of the detection hole 411 is used to detect the coaxiality of the detection needle 200 and the detection hole 411. In this embodiment, setting the detection hole 411 as a stepped hole facilitates the positioning and assembly of the depth measuring member 420, and extending the depth probe 422 into the small end of the detection hole 411 can prevent the limiting hole 412 from interfering with the detection.

[0100] Specifically, the limiting hole 412 is communicated with the large end of the detection hole 411 to further prevent the limiting hole 412 from interfering with the detection.

[0101] Exemplarily, the diameter of the needle rod of the depth probe 422 extending into the detection hole 411 is smaller than the diameter of the small end of the detection hole 411 to prevent the depth probe 422 from abutting against the side wall of the small end of the detection hole 411. It can be understood that both the detection needle 200 and the small end of the detection hole 411 are cylindrical.

[0102] Exemplarily, the diameter of the needle rod of the depth probe 422 extending into the detection hole 411 should be greater than the allowable error of the deviation of the axis of the detection bur 200, so as to ensure that the detection bur 200 can abut against the depth probe 422.

[0103] In a feasible implementation, as Figures 2 to 4 、 Figure 6 shown, a counterbore 413 is provided at the second end of the detection hole 411. The limiting member 430 includes a third insulating sleeve 431 and a limiting probe 432. The third insulating sleeve 431 is disposed in the counterbore 413 and abuts against the bottom of the counterbore 413; the first end of the limiting probe 432 passes through the third insulating sleeve 431, and the second end of the limiting probe 432 is electrically connected to the third detection circuit. It can be understood that the third insulating sleeve 431 is made of insulating material, and the limiting probe 432 is made of conductive material. Wherein, the first end of the limiting probe 432 faces the depth probe 422. In this embodiment, when the detection bur 200, the depth probe 422, and the limiting probe 432 are abutted in sequence, the third detection circuit is turned on, and the third insulating sleeve 431 can prevent the limiting probe 432 from abutting and conducting with the measurement main body 410, thereby ensuring the reliability and stability of the third detection circuit.

[0104] Exemplarily, the counterbore 413 is provided at the large end of the detection hole 411.

[0105] Exemplarily, the measurement main body 410, the third insulating sleeve 431, and the limiting probe 432 are fixed together.

[0106] Exemplarily, the third insulating sleeve 431 is provided with a second through hole 4311 for the limiting probe 432 to pass through. The second through hole 4311 can be a stepped hole, and the limiting probe 432 can be a stepped structure to facilitate the positioning and assembly of the limiting probe 432 and the third insulating sleeve 431.

[0107] Specifically, the elastic member 440 can be a spring. The first end of the elastic member 440 abuts against the first insulating sleeve 421, and the second end of the elastic member 440 abuts against the second insulating sleeve 423 to prevent the elastic member 440 from contacting and conducting with the depth probe 422 and the limiting probe 432. It can be understood that the gap between the elastic member 440 and the depth probe 422 and the gap between the elastic member 440 and the limiting probe 432 are both greater than the gap between the elastic member 440 and the side wall of the detection hole 411, so that even if the elastic member 440 shakes, it will not contact and conduct with the depth probe 422 and the limiting probe 432. Of course, the elastic member 440 can also be made of insulating material, such as rubber material.

[0108] In this embodiment, the precision detection tooling can also detect whether the navigation positioning precision of the bur 200 meets the requirements by triggering a sensor, which has a fast response, does not require human eye detection, is convenient for detection operations, and effectively improves the detection efficiency. In this embodiment, at least one contact detection can be characterized by triggering a sensor.

[0109] In a feasible implementation manner, a first force sensor (not shown) is provided between the measurement body 410 and the positioning table 300. When it is detected that the bur 200 abuts against the measurement body 410, the value of the first force sensor will change, which means that the coaxiality between the detection bur 200 and the detection hole 411 does not meet the navigation positioning precision requirements. It can be understood that neither the depth measurement member 420 nor the limiting member 430 abuts against the measurement body 410 to avoid interfering with the first force sensor. Among them, the depth measurement member 420 and the limiting member 430 can be in a sliding fit. Exemplarily, the first force sensor can be a six-axis force sensor.

[0110] In a feasible implementation manner, a second force sensor (not shown) is provided on one of the depth measurement member 420 and the limiting member 430. When it is detected that the bur 200 abuts against the depth measurement member 420, the acting force formed by the elastic member 440 being squeezed and deformed by the depth measurement member 420 acts on the second force sensor, and the value of the second force sensor will change, which means that the bur 200 abuts against the depth measurement member 420. Preferably, the second force sensor is provided on the limiting member 430 for convenient wiring.

[0111] In a feasible implementation manner, a third force sensor (not shown) is provided on one of the depth measurement member 420 and the limiting member 430. When the detection bur 200, the depth measurement member 420, and the limiting member 430 abut against each other in sequence, the mutual acting force between the depth measurement member 420 and the limiting member 430 will act on the third force sensor, and the value of the third force sensor will change, which means that the detection bur 200, the depth measurement member 420, and the limiting member 430 abut against each other in sequence. Preferably, the third force sensor is provided on the limiting member 430 for convenient wiring.

[0112] It can be understood that the precision detection tooling can include at least one of the first force sensor, the second force sensor, and the third force sensor.

[0113] In this embodiment, the precision detection tooling can jointly detect the navigation and positioning precision of the bur 200 by combining the detection of circuit conduction and the triggering of sensors. For example, the precision detection tooling includes a first detection circuit, a second force sensor, and a third force sensor; for another example, the precision detection tooling includes a first detection circuit, a second detection circuit, and a third force sensor; for yet another example, the precision detection tooling includes a first detection circuit, a second detection circuit, a third detection circuit, a first force sensor, a second force sensor, and a third force sensor. Of course, the detection circuit and the force sensor in the precision detection tooling can also be in other combination modes, which are not limited in this embodiment. Among them, according to the combination mode of the detection circuit and the force sensor, the specific structures of the measurement main body 410, the limiting member 430, and the depth measurement member 420 can be adjusted to ensure the stability and reliability of the detection.

[0114] In this embodiment, referring to Figure 3 、 Figure 7 and Figure 8 as shown, a positioning groove 310 is provided on the positioning table 300, and the measurement main body 410 is inserted into the positioning groove 310, which is convenient for the positioning and assembly of the measurement main body 410.

[0115] In a feasible implementation manner, a relief hole 320 and a wire groove 330 communicating with the relief hole 320 are provided at the bottom of the positioning groove 310. Among them, the relief hole 320 is used to avoid the limiting member 430, and the wire groove 330 is used to accommodate the wires of the detection circuit and the force sensor to ensure that the positioning table 300 can be stably attached to the plane. Exemplarily, the relief hole 320 can be used to avoid the limiting probe 432.

[0116] In a feasible implementation manner, a plurality of measurement components 400 are provided on the positioning table 300, that is, the precision detection tooling has a plurality of detection holes 411 with different positions, which can ensure the accuracy of detection. Among them, the positioning groove 310 is provided in one-to-one correspondence with the measurement components 400. Among them, the positioning table 300 can be made of a conductive material, that is, the first detection circuit can be electrically connected to the positioning table 300, that is, the plurality of measurement components 400 can be electrically connected to the first detection circuit through the positioning table 300, which is convenient for wiring.

[0117] In this embodiment, referring to Figure 1 、 Figure 7 and Figure 9As shown, a plurality of calibration holes 340 are provided on the positioning table 300. The precision detection tooling further includes a calibration component 500 provided on the positioning table 300. The calibration component 500 includes a calibration bracket 510 and a plurality of first calibration balls 520 provided on the calibration bracket 510. Among them, the first calibration balls 520 can be recognized by an optical navigator (not shown). A plurality of second calibration balls 610 are provided on the calibration piece 600, and the second calibration balls 610 can also be recognized by the optical navigator. In this embodiment, when the calibration component 500 is initially installed, or needs to be replaced due to wear, collision, etc., the first calibration balls 520 and the second calibration balls 610 can be recognized by the optical navigator. The calibration piece 600 is sequentially inserted into the plurality of calibration holes 340, and in cooperation with the optical navigator, the position of the measurement component 400 relative to the positioning table 300 can be calibrated. In addition, through the settings of the calibration holes 340 and the calibration component 500, the precision detection tooling can be separated from medical image calibrations such as CT and MRI, reducing the detection cost and simplifying the detection operation.

[0118] Exemplarily, the position calibration of the measurement component 400 relative to the positioning table 300 can also be calibrated by mechanical positioning. For example, by inserting a positioning pin into the calibration hole 340 and then connecting the positioning pin and the calibration bracket 510 through a connecting rod, the position of the measurement component 400 relative to the positioning table 300 can be calibrated.

[0119] Exemplarily, the positioning table 300 can be divided into two regions, namely a detection region and a calibration region. The measurement component 400 is provided in the detection region, and the calibration component 500 is provided in the calibration region. Among them, the calibration holes 340 can be arranged at intervals around the detection region. Among them, the positioning table 300 can be a rectangular platform.

[0120] Exemplarily, the calibration bracket 510 can be in an X shape, and a first calibration ball 520 is respectively arranged at the four end parts between the calibrations.

[0121] Exemplarily, the calibration piece 600 can be in a Y shape, and a second calibration ball 610 can be respectively arranged at the three branch parts of the calibration piece 600, and a second calibration ball 610 is arranged at the intersection of the three branch parts.

[0122] In this embodiment, referring to Figure 1 and Figure 9 As shown, the precision detection tooling further includes an adjustment mechanism 700. The positioning table 300 is provided on the adjustment mechanism 700, and the adjustment mechanism 700 is used to adjust the position of the positioning table 300.

[0123] When the detection stylet 200 is inserted into the detection hole 411 and abuts against the measurement body 410, after the surgical robot 100 stops moving, first, the position of the positioning table 300 can be adjusted through the positioning mechanism 700, and then the position of the measurement body 410 can be adjusted to separate the detection stylet 200 from the measurement body 410 by a certain distance; then, the surgical robot 100 can be controlled to continue moving. If the detection stylet 200 abuts against the measurement body 410 again, the above operation can be repeated. After the detection stylet 200 completes its movement trajectory, the position of the positioning table 300 can be adjusted through the positioning mechanism 700 to make the detection stylet 200 abut against the measurement body 410, and the position adjustment data of the positioning table 300 by the positioning mechanism 700 can be counted to obtain the out-of-tolerance value and direction of the coaxiality between the detection stylet 200 and the detection hole 411.

[0124] When the detection stylet 200 completes its movement trajectory and is inserted into the detection hole 411 without abutting against the depth measurement member 420, the position of the positioning table 300 can be adjusted through the positioning mechanism 700 to make the detection stylet 200 abut against the depth measurement member 420, and the out-of-tolerance value of the detection stylet 200 being too shallow when inserted into the detection hole 411 can be obtained.

[0125] When the detection stylet 200, the depth measurement member 420, and the limit member 430 abut against each other in sequence, after the surgical robot 100 stops moving, first, the position of the positioning table 300 can be adjusted through the positioning mechanism 700 to separate the limit member 430 from the depth measurement member 420 by a certain distance; then, the surgical robot 100 can be controlled to continue moving. If the limit member 430 abuts against the depth measurement member 420 again, the above operation can be repeated. After the detection stylet 200 completes its movement trajectory, the position of the positioning table 300 can be adjusted through the positioning mechanism 700 to make the limit member 430 abut against the depth measurement member 420, and the position adjustment data of the positioning table 300 by the positioning mechanism 700 can be counted to obtain the out-of-tolerance value of the detection stylet 200 being too deep when inserted into the detection hole 411.

[0126] In this embodiment, the positioning mechanism 700 provides key data support for the precise calibration of the surgical robot 100, thereby improving the navigation and positioning accuracy of the surgical robot 100 and enhancing the surgical success rate.

[0127] Exemplarily, the positioning mechanism 700 can be a three-axis fine adjustment platform and can finely adjust the positioning table 300 in three directions: the x direction, the y direction, and the z direction. Among them, the x direction, the y direction, and the z direction are perpendicular to each other. Of course, the positioning mechanism 700 can also be a robotic arm with multiple degrees of freedom, a positioning structure composed of multiple motor-driven slides, or other positioning structures, which are not limited in this embodiment.

[0128] Exemplarily, the positioning mechanism 700 can be fixed on a fixed platform (not shown).

[0129] Referring to Figures 10 to 12 as shown, this embodiment also provides an accuracy detection method, which is applied to the above-mentioned accuracy detection tooling. The accuracy detection method includes the following steps:

[0130] S100. Plan the movement trajectory of the detection needle 200 with the axis of the detection hole 411 of the measurement body 410 as the target path axis.

[0131] Among them, in step S100, the planned movement trajectory of the detection needle 200 takes the end of the detection needle 200 reaching the depth plane A as the target end point.

[0132] S200. Control the surgical robot 100 to insert into the detection hole 411 according to the movement trajectory, and judge whether the detection needle 200 abuts against the measurement body 410, whether the detection needle 200 abuts against the depth measurement member 420, and whether the depth measurement member 420 abuts against the limiting member 430.

[0133] In step S200, if the detection needle 200 abuts against the measurement body 410, the coaxiality between the detection needle 200 and the detection hole 411 does not meet the navigation positioning accuracy requirements.

[0134] In step S200, if the detection needle 200 does not abut against the depth measurement member 420, the depth of the detection needle 200 inserted into the detection hole 411 does not meet the navigation positioning accuracy requirements.

[0135] In step S200, if the detection needle 200 abuts against the depth measurement member 420 and the depth measurement member 420 abuts against the limiting member 430, the depth of the detection needle 200 inserted into the detection hole 411 does not meet the navigation positioning accuracy requirements.

[0136] In step S200, when the detection needle 200 completes the movement trajectory, if the detection needle 200 does not abut against the measurement body 410, the detection needle 200 abuts against the depth measurement member 420, and the depth measurement member 420 does not abut against the limiting member 430, the coaxiality between the detection needle 200 and the detection hole 411 and the depth of the detection needle 200 inserted into the detection hole 411 both meet the navigation positioning accuracy requirements, that is, the surgical robot 100 meets the navigation positioning accuracy requirements.

[0137] The accuracy detection method provided by this embodiment, through the application of the accuracy detection tooling, is convenient for detection operation, and the qualified surgical robot 100 after detection verification meets the surgical requirements that need to be line-planned during the surgical process.

[0138] In step S200, when the detection needle 200 abuts against the measurement body 410 or the detection needle 200 abuts against the depth measurement member 420, the movement of the surgical robot 100 can be stopped.

[0139] In step S200, when it is detected that the detection stylet 200 abuts against the measurement main body 410 or the detection stylet 200 abuts against the depth measurement member 420 and the movement of the surgical robot 100 stops, the position of the positioning table 300 can be adjusted by the positioning mechanism 700, and then the surgical robot 100 is controlled again to complete the remaining movement trajectory, and the over-tolerance value and the over-tolerance direction of the detection stylet 200 are obtained by counting through the positioning mechanism 700.

[0140] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A precision detection tool, used for precision detection of a surgical robot (100), wherein a detection needle (200) is installed at the end of the surgical robot (100), characterized in that: The precision detection tooling comprises: Positioning table (300); A measuring assembly (400) is arranged on a positioning platform (300), the measuring assembly (400) comprising a measuring body (410), a depth measuring piece (420), a stopper (430) and an elastic piece (440), the measuring body (410) being provided with a detection hole (411), the detection hole (411) penetrating a first end and a second end of the measuring body (410), the depth measuring piece (420) being arranged in the detection hole (411), the stopper (430) being arranged at the second end of the measuring body (410), and the elastic piece (440) being arranged between the depth measuring piece (420) and the stopper (430); The depth measuring member (420) has a first position and a second position when it moves relative to the detection hole (411), the elastic member (440) causes the depth measuring member (420) to have a tendency to move from the second position to the first position, and the detection needle (200) can extend into the detection hole (411) at the first end of the measuring body (410) and can push the depth measuring member (420) from the first position to the second position; At the first position, the depth measuring member (420) is separated from the limiting member (430); At the second position, the depth measuring member (420) abuts against the limiting member (430).

2. The precision detection tooling according to claim 1, characterized in that: Also includes: A first detection circuit, the first detection circuit being electrically connected to the measuring body (410), and when the detection needle (200) abuts against the measuring body (410), the first detection circuit is turned on; and / or, a second detection circuit, the second detection circuit being electrically connected to the depth measuring member (420), and the second detection circuit being turned on when the detection needle (200) abuts against the depth measuring member (420); And / or, a third detection circuit, the third detection circuit being electrically connected to the limiter (430), and when the detection needle (200), the depth measuring member (420) and the limiter (430) are in contact with each other in sequence, the third detection circuit is turned on.

3. The precision detection tooling according to claim 2, characterized in that: The periphery of the measuring body (410) is provided with a limiting hole (412) communicating with the detection hole (411), and the depth measuring member (420) comprises: A first insulating sleeve (421) is slidably disposed in the detection hole (411), and the first end of the elastic member (440) abuts against the first insulating sleeve (421); A depth measuring needle (422) is inserted into the first insulating sleeve (421); A second insulating sleeve (423) is provided with the limiting hole (412) and abuts against the periphery of the first insulating sleeve (421); A conductive member (424), wherein a first end of the conductive member (424) passes through the second insulating sleeve (423) and the first insulating sleeve (421) and is electrically connected to the depth measuring needle (422), and a second end of the conductive member (424) is electrically connected to the second detection circuit.

4. The precision detection tooling according to claim 3 is characterized in that: The detection hole (411) is configured as a stepped hole, the first insulating sleeve (421) is slidably disposed in the large end of the detection hole (411), and the first insulating sleeve (421) abuts against the stepped surface of the detection hole (411) at the first position, and the depth measuring needle (422) extends into the small end of the detection hole (411).

5. The precision detection tooling according to claim 3, characterized in that: The limiting hole (412) is configured as a long strip hole, and a limiting fit is formed between the hole wall of the limiting hole (412) and the second insulating sleeve (423) along the circumference of the detection hole (411).

6. The precision detection tooling according to claim 2, characterized in that: The second end of the detection hole (411) is provided with a sink groove (413), and the limiting member (430) comprises: A third insulating sleeve (431) is disposed in the sink (413) and abuts against the bottom of the sink (413); A limit probe (432), wherein a first end of the limit probe (432) is inserted into the third insulating sleeve (431), and a second end of the limit probe (432) is electrically connected to the third detection circuit.

7. The precision detection tooling according to claim 1, characterized in that: The positioning platform (300) is provided with a positioning groove (310), and the measuring body (410) is inserted into the positioning groove (310).

8. The precision detection tooling according to claim 1, characterized in that: The positioning platform (300) is provided with a plurality of calibration holes (340), and the precision detection tooling further comprises a calibration component (500) arranged on the positioning platform (300), and the calibration component (500) comprises a calibration bracket (510) and a plurality of first calibration balls (520) arranged on the calibration bracket (510).

9. The precision detection tooling according to claim 1, characterized in that: It also comprises a position adjustment mechanism (700), the positioning platform (300) is arranged on the position adjustment mechanism (700), and the position adjustment mechanism (700) is used to adjust the position of the positioning platform (300).

10. A precision detection method used in the precision detection tooling according to any one of claims 1 to 9, characterized in that: The following steps are involved: S100, planning the motion trajectory of the detection needle (200) with the axis of the detection hole (411) of the measuring body (410) as the target path axis; S200, controlling the surgical robot (100) to insert the detection needle (200) toward the detection hole (411) according to the motion trajectory, and determining whether the detection needle (200) abuts against the measuring body (410), whether the detection needle (200) abuts against the depth measuring member (420), and whether the depth measuring member (420) abuts against the limit member (430).

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