Surgical robot vibration reduction evaluation method, device, equipment and medium

Abstract

The invention discloses a surgical robot vibration reduction evaluation method, device and equipment and a medium. The method comprises the steps that first vibration information and second vibration information of a surgical robot before and after a vibration reduction assembly is installed in a power-down state are obtained; third vibration information and fourth vibration information of the surgical robot before and after the vibration reduction assembly is installed in the power-on state are obtained; respectively determining a vibration reduction evaluation result corresponding to each evaluation item after the vibration reduction assembly is installed on the surgical robot; static rigidity detection is conducted on the surgical robot before and after the vibration reduction assembly is installed, and a static rigidity evaluation result of the surgical robot after the vibration reduction assembly is installed is determined; and based on the vibration reduction evaluation result and the static rigidity evaluation result, determining a comprehensive vibration reduction evaluation result corresponding to the surgical robot. Through the technical scheme of the embodiment of the invention, comprehensive evaluation of the vibration reduction effect of the surgical robot is realized, the vibration reduction effect of the vibration reduction assembly on the surgical robot can be comprehensively reflected, and the accuracy and the flexibility of vibration reduction evaluation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular, to a method, device, equipment and medium for evaluating the vibration damping of a surgical robot. Background Art

[0002] With the continuous development of robot technology, the requirements for the fine operation of surgical robots are getting higher and higher. In order to suppress the vibration of the robot cantilever caused by external interference, it is usually necessary to use a vibration damping component to damp the surgical robot. How to evaluate the vibration damping effect of the surgical robot has important research significance.

[0003] Currently, traditional methods for evaluating the vibration damping of surgical robots often evaluate the vibration damping of surgical robots through vibration sensors. However, this method only uses vibration sensors to evaluate the vibration damping effect, and cannot comprehensively reflect the vibration damping effect of the vibration damping component on the surgical robot, and the accuracy and flexibility of the evaluation are relatively low. Summary of the Invention

[0004] The present invention provides a method, device, equipment and medium for evaluating the vibration damping of a surgical robot, so as to realize a comprehensive evaluation of the vibration damping effect of the surgical robot, which can comprehensively reflect the vibration damping effect of the vibration damping component on the surgical robot, and improve the accuracy and flexibility of the vibration damping evaluation.

[0005] In a first aspect, an embodiment of the present invention provides a method for evaluating the vibration damping of a surgical robot, including:

[0006] Obtain the first vibration information of the surgical robot in the power-off state and the second vibration information of the surgical robot in the power-off state after installing the vibration damping component; and obtain the third vibration information of the surgical robot in the power-on state and the fourth vibration information of the surgical robot in the power-on state after installing the vibration damping component; wherein, the vibration damping component is installed on the passive arm section of the robot cantilever of the surgical robot;

[0007] Based on the first vibration information, the second vibration information, the third vibration information and the fourth vibration information, respectively evaluate the vibration damping effect of the surgical robot after installing the vibration damping component according to preset evaluation items, and determine the vibration damping evaluation result corresponding to each evaluation item of the surgical robot after installing the vibration damping component;

[0008] Respectively perform static stiffness detection on the surgical robot before and after installing the vibration damping component, and based on the static stiffness detection results of the surgical robot before and after installing the vibration damping component, evaluate the influence of the vibration damping component on the static stiffness of the surgical robot, and determine the static stiffness evaluation result of the surgical robot after installing the vibration damping component;

[0009] Based on the vibration damping evaluation result and the static stiffness evaluation result, comprehensively evaluate the vibration damping effect of the surgical robot installed with the vibration damping component, and obtain the comprehensive vibration damping evaluation result corresponding to the surgical robot.

[0010] In a second aspect, an embodiment of the present invention further provides a vibration damping evaluation device for a surgical robot, including:

[0011] A vibration information acquisition module, configured to acquire first vibration information of the surgical robot in a power-off state and second vibration information of the surgical robot installed with the vibration damping component in a power-off state; and acquire third vibration information of the surgical robot in a power-on state and fourth vibration information of the surgical robot installed with the vibration damping component in a power-on state; wherein, the vibration damping component is installed on the passive arm segment of the surgical robot's cantilever.

[0012] A first evaluation module, configured to respectively evaluate the vibration damping effect of the surgical robot installed with the vibration damping component according to a preset evaluation item based on the first vibration information, the second vibration information, the third vibration information, and the fourth vibration information, and determine the vibration damping evaluation result corresponding to each evaluation item of the surgical robot after installing the vibration damping component;

[0013] A static stiffness detection module, configured to respectively perform static stiffness detection on the surgical robot before and after installing the vibration damping component, and evaluate the influence of the vibration damping component on the static stiffness of the surgical robot based on the static stiffness detection results of the surgical robot before and after installing the vibration damping component, and determine the static stiffness evaluation result of the surgical robot after installing the vibration damping component;

[0014] A second evaluation module, configured to comprehensively evaluate the vibration damping effect of the surgical robot installed with the vibration damping component based on the vibration damping evaluation result and the static stiffness evaluation result, and obtain the comprehensive vibration damping evaluation result corresponding to the surgical robot.

[0015] In a third aspect, an embodiment of the present invention further provides an electronic device, characterized in that the electronic device includes: at least one processor; and

[0016] A memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the surgical robot vibration damping evaluation method provided by any embodiment of the present invention.

[0018] Fourthly, an embodiment of the present invention further provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to execute the surgical robot vibration reduction evaluation method provided by any embodiment of the present invention when executed.

[0019] The technical solution of the embodiment of the present invention obtains the first vibration information of the surgical robot in the power-off state and the second vibration information of the surgical robot in the power-off state after installing the vibration reduction component; and obtains the third vibration information of the surgical robot in the power-on state and the fourth vibration information of the surgical robot in the power-on state after installing the vibration reduction component; wherein, the vibration reduction component is installed on the passive arm section of the surgical robot cantilever, so as to comprehensively obtain the vibration information in the power-on state and the power-off state, providing data support for subsequent evaluation. Based on the first vibration information, the second vibration information, the third vibration information and the fourth vibration information, the vibration reduction effect of the surgical robot after installing the vibration reduction component is evaluated respectively according to preset evaluation items, and the vibration reduction evaluation results corresponding to each evaluation item of the surgical robot after installing the vibration reduction component are determined, so as to analyze the vibration reduction effect from multiple angles, and thus more comprehensively understand the vibration reduction performance of the vibration reduction component. The static stiffness of the surgical robot is detected before and after installing the vibration reduction component respectively, and based on the static stiffness detection results of the surgical robot before and after installing the vibration reduction component, the influence of the vibration reduction component on the static stiffness of the surgical robot is evaluated, and the static stiffness evaluation result of the surgical robot after installing the vibration reduction component is determined, which helps to analyze the stability and safety of the surgical robot after installing the vibration reduction component. Based on the vibration reduction evaluation result and the static stiffness evaluation result, the vibration reduction effect of the surgical robot installed with the vibration reduction component is comprehensively evaluated, and the corresponding comprehensive vibration reduction evaluation result of the surgical robot is obtained, so as to comprehensively reflect the improvement effect of the vibration reduction component on the vibration reduction performance of the surgical robot. By obtaining vibration information, evaluating the vibration reduction effect, performing static stiffness detection and comprehensively evaluating the vibration reduction effect, the influence of the vibration reduction component on the vibration reduction performance of the surgical robot can be comprehensively and accurately evaluated, the comprehensive evaluation of the vibration reduction effect of the surgical robot is realized, and the accuracy and flexibility of the vibration reduction evaluation are improved.

[0020] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Description of the Drawings

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] Figure 1 is a flowchart of a method for evaluating the vibration reduction of a surgical robot according to Embodiment 1 of the present invention;

[0023] Figure 2 is a schematic diagram of a vibration information acquisition process according to Embodiment 1 of the present invention;

[0024] Figure 3 is a schematic structural diagram of a surgical robot according to Embodiment 1 of the present invention;

[0025] Figure 4 is a schematic structural diagram of a passive arm of a surgical robot according to Embodiment 1 of the present invention;

[0026] Figure 5 is a schematic structural diagram of a vibration reduction component according to Embodiment 1 of the present invention;

[0027] Figure 6 is a flowchart of a method for evaluating the vibration reduction of a surgical robot according to Embodiment 2 of the present invention;

[0028] Figure 7 is a flowchart of another method for evaluating the vibration reduction of a surgical robot according to Embodiment 2 of the present invention;

[0029] Figure 8 is a schematic structural diagram of a device for evaluating the vibration reduction of a surgical robot according to Embodiment 3 of the present invention;

[0030] Figure 9 is a schematic structural diagram of an electronic device for implementing the method for evaluating the vibration reduction of a surgical robot in the embodiments of the present invention. Detailed implementation manners

[0031] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] It should be noted that the terms "target", "current", etc. in the specification, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0033] Embodiment 1

[0034] Figure 1 FIG. is a flowchart of a vibration reduction evaluation method for a surgical robot provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation of evaluating the vibration reduction effect of a surgical robot installed with a vibration reduction component. As Figure 1 shown, this method can be executed by a vibration reduction evaluation device for a surgical robot. The vibration reduction evaluation device for a surgical robot can be implemented in the form of hardware and / or software, and the vibration reduction evaluation device for a surgical robot can be configured in an electronic device. As Figure 1 shown, the method specifically includes the following steps:

[0035] S110. Obtain the first vibration information of the surgical robot in the power-off state and the second vibration information of the surgical robot installed with the vibration reduction component in the power-off state; and obtain the third vibration information of the surgical robot in the power-on state and the fourth vibration information of the surgical robot installed with the vibration reduction component in the power-on state; wherein, the vibration reduction component is installed on the passive arm section of the surgical robot's cantilever.

[0036] Among them, the surgical robot can refer to a high-end medical device integrating robotic technology, artificial intelligence, and advanced imaging technology. The power-off state can refer to the state where the surgical robot cannot work properly due to power failure. The first vibration information can refer to the vibration information generated by the surgical robot under external excitation in the power-off state. For example, the first vibration information can be parameters such as vibration amplitude, vibration frequency, and acceleration. The vibration damping component can refer to a device installed on the surgical robot to reduce or suppress the vibration generated during the operation of the robot. The second vibration information can refer to the vibration information generated by the surgical robot with the vibration damping component installed under external excitation in the power-off state. The power-on state can refer to the state where the surgical robot is powered on and in a normal working state. The third vibration information can refer to the vibration information generated by the surgical robot due to external excitation or its own movement in the power-on state. The fourth vibration information can refer to the vibration information generated by the surgical robot with the vibration damping component installed due to external excitation or its own movement in the power-on state. The passive arm segment can refer to the part of the surgical robot's cantilever that does not require active drive.

[0037] Specifically, a vibration sensor (such as an acceleration acquisition sensor) can be installed at the end of the cantilever of the surgical robot. When the surgical robot does not have a vibration damping component installed and is in the power-off state, a vibration sensor and other measuring devices are used to obtain the vibration information of its cantilever part, which is recorded as the first vibration information. When the surgical robot has a vibration damping component installed and is in the power-off state, a vibration sensor and other measuring devices are used to obtain the vibration information of its cantilever part, which is recorded as the second vibration information. When the surgical robot does not have a vibration damping component installed and is in the power-on state, a vibration sensor and other measuring devices are used to obtain the vibration information of its cantilever part, which is recorded as the third vibration information. When the surgical robot has a vibration damping component installed and is in the power-on state, a vibration sensor and other measuring devices are used to obtain the vibration information of its cantilever part, which is recorded as the fourth vibration information. By obtaining the vibration information in different states, the vibration characteristics of the surgical robot under different working conditions can be comprehensively understood.

[0038] Exemplarily, "obtaining the first vibration information of the surgical robot in the power-off state and the second vibration information of the surgical robot with the vibration damping component installed in the power-off state" in S110 can include: respectively performing pulse excitation on the end of the cantilever of the surgical robot before and after installing the vibration damping component in the power-off state, and obtaining the first vibration information generated by the surgical robot under external excitation in the power-off state and the second vibration information generated by the surgical robot with the vibration damping component installed under external excitation in the power-off state, where the end of the cantilever is in the horizontal working condition.

[0039] Among them, the horizontal working condition can refer to the state where the end of the cantilever of the surgical robot is in a horizontal position.

[0040] Specifically, such as Figure 2As shown in the figure, the end of the cantilever of the surgical robot is in the horizontal working condition (extreme pose). A vibration acquisition device (such as an acceleration acquisition sensor) can be installed at the end of the cantilever of the surgical robot to ensure that the sensor can accurately measure the vibration information of the robot in the power-off state. Use the same hammering signal to apply a hammering pulse excitation to the end of the cantilever of the surgical robot in the power-off state before and after installing the vibration damping component. Then, the computer can record and analyze the data output by the sensor to obtain the first vibration information generated by the surgical robot under external excitation in the power-off state and the second vibration information generated by the surgical robot with the vibration damping component installed under external excitation in the power-off state, so as to comprehensively understand the vibration characteristics of the surgical robot in the power-off state.

[0041] S120. Based on the first vibration information, the second vibration information, the third vibration information, and the fourth vibration information, evaluate the vibration damping effect of the surgical robot after installing the vibration damping component according to the preset evaluation items respectively, and determine the vibration damping evaluation results corresponding to each evaluation item of the surgical robot after installing the vibration damping component.

[0042] Among them, the preset evaluation items can refer to at least one index or parameter preset for evaluating the vibration damping effect of the surgical robot. For example, it includes but is not limited to vibration amplitude, vibration frequency, vibration decay time, etc. The vibration damping evaluation result can refer to the conclusion obtained after quantitatively analyzing the vibration damping effect of the surgical robot according to the preset evaluation items, reflecting the actual effect of the vibration damping component in reducing the vibration level of the surgical robot.

[0043] Specifically, according to the obtained first vibration information, second vibration information, third vibration information, and fourth vibration information, compare the corresponding vibration information of the surgical robot before and after installing the vibration damping component under the same test conditions, and evaluate the vibration damping effect of the surgical robot after installing the vibration damping component according to the preset evaluation items (such as vibration amplitude, vibration frequency, vibration decay time, etc.). For each evaluation item, calculate the difference in vibration information before and after installing the vibration damping component, and determine the vibration damping evaluation result corresponding to each evaluation item. Through multiple preset evaluation items, the improvement degree of the vibration damping component on the vibration characteristics of the surgical robot can be accurately understood.

[0044] S130. Perform static stiffness detection on the surgical robot before and after installing the vibration damping component respectively, and based on the static stiffness detection results of the surgical robot before and after installing the vibration damping component, evaluate the influence of the vibration damping component on the static stiffness of the surgical robot, and determine the static stiffness evaluation result of the surgical robot after installing the vibration damping component.

[0045] Among them, static stiffness is one of the important indicators of the mechanical performance of the surgical robot, which reflects the deformation ability of the surgical robot under the action of static force. The static stiffness detection result can refer to the change in the static stiffness of the surgical robot before and after installing the vibration damping component.

[0046] Specifically, the static stiffness of the surgical robot is detected before and after installing the vibration damping component. The static stiffness testing equipment is used to apply a static force to the cantilever part of the surgical robot, and its deformation is recorded to obtain the static stiffness detection result. According to the static stiffness detection result, the change in static stiffness before and after installing the vibration damping component is calculated to determine the static stiffness evaluation result. Static stiffness is one of the important indicators of the mechanical performance of the surgical robot. Through static stiffness detection, the influence of the vibration damping component on the mechanical performance of the surgical robot can be evaluated.

[0047] S140. Based on the vibration damping evaluation result and the static stiffness evaluation result, the vibration damping effect of the surgical robot installed with the vibration damping component is comprehensively evaluated to obtain the corresponding comprehensive vibration damping evaluation result of the surgical robot.

[0048] Among them, the comprehensive vibration damping evaluation result can refer to the conclusion obtained by comprehensively evaluating the vibration damping effect of the surgical robot after installing the vibration damping component according to the vibration damping evaluation results and static stiffness evaluation results corresponding to each preset evaluation item, which can comprehensively reflect the influence of the vibration damping component on the vibration characteristics and mechanical performance of the surgical robot.

[0049] Specifically, according to the vibration damping evaluation results and static stiffness evaluation results corresponding to each preset evaluation item, the influence of the vibration damping component on the vibration characteristics and mechanical performance of the surgical robot is comprehensively analyzed to obtain the corresponding comprehensive vibration damping evaluation result of the surgical robot. Through the comprehensive vibration damping evaluation result, the improvement effect of the vibration damping component on the performance of the surgical robot can be comprehensively reflected, providing an important reference basis for the design and optimization of the surgical robot.

[0050] The technical solution of the embodiment of the present invention is to obtain the first vibration information of the surgical robot in the power-off state and the second vibration information of the surgical robot with the vibration damping component installed in the power-off state; and obtain the third vibration information of the surgical robot in the power-on state and the fourth vibration information of the surgical robot with the vibration damping component installed in the power-on state; wherein, the vibration damping component is installed on the passive arm segment of the surgical robot's cantilever, so as to comprehensively obtain the vibration information in the power-on state and the power-off state, providing data support for subsequent evaluation. Based on the first vibration information, the second vibration information, the third vibration information and the fourth vibration information, the vibration damping effect of the surgical robot with the vibration damping component installed is evaluated respectively according to the preset evaluation items, and the vibration damping evaluation results corresponding to each evaluation item of the surgical robot after installing the vibration damping component are determined, so that the vibration damping effect can be analyzed from multiple angles, and thus the vibration damping performance of the vibration damping component can be more comprehensively understood. The static stiffness of the surgical robot is detected before and after installing the vibration damping component respectively, and based on the static stiffness detection results of the surgical robot before and after installing the vibration damping component, the influence of the vibration damping component on the static stiffness of the surgical robot is evaluated, and the static stiffness evaluation result of the surgical robot after installing the vibration damping component is determined, which helps to analyze the stability and safety of the surgical robot after installing the vibration damping component. Based on the vibration damping evaluation result and the static stiffness evaluation result, the vibration damping effect of the surgical robot with the vibration damping component installed is comprehensively evaluated, and the comprehensive vibration damping evaluation result corresponding to the surgical robot is obtained, so as to comprehensively reflect the improvement effect of the vibration damping component on the vibration damping performance of the surgical robot. By obtaining vibration information, evaluating the vibration damping effect, performing static stiffness detection and comprehensively evaluating the vibration damping effect, the influence of the vibration damping component on the vibration damping performance of the surgical robot can be comprehensively and accurately evaluated, realizing the comprehensive evaluation of the vibration damping effect of the surgical robot, and improving the accuracy and flexibility of the vibration damping evaluation.

[0051] It should be noted that the vibration damping component can be installed on the force transmission channel of the passive arm of the surgical robot's cantilever. The vibration damping component is a miniaturized vibration damping structure based on polyurethane material for bearing tensile force. The vibration damping component is compatible with any model of surgical robot, and the vibration damping effect of the vibration damping component is determined by the structural dimension parameters of the corresponding vibration damping material.

[0052] Among them, the force transmission channel can refer to the path in the surgical robot through which the passive arm transmits force or torque. Polyurethane material can refer to a polymer compound, which is a material with excellent performance synthesized by the chemical reaction of isocyanate and polyol (mainly polyester polyol and polyether polyol).

[0053] Exemplarily, due to the requirements of minimally invasive surgery, surgical robots mostly adopt a structural form of slender multi-arm parallel connection with each joint in series, such as Figure 3As shown in the figure, where 1 is the adapter base, the left side of 1 is the support part, 2 is the adapter connecting piece, 3 is the passive joint that does not move frequently, 4 is the active surgical arm part that needs to move at all times, and 5 is the end of the cantilever. The active surgical arm part 4 adopts a variety of flexible transmission mechanisms such as harmonic reducers and steel belts. At the same time, due to the long cantilever, to ensure reliability, the arm system should have sufficient strength and stiffness. For external disturbances and master-slave drive signals with obvious given changes, the end of the cantilever will vibrate. Due to the common base connection, the vibration transmission between the arms is obvious and the attenuation time is long. Therefore, to reduce the vibration of the arm system, not only should the static stiffness of the system be improved to reduce the initial amplitude of vibration, but also the damping time of vibration attenuation should be reduced from the perspective of increasing the system damping. While considering the rapid vibration reduction of a single arm, the relative vibration transmission impact between the arms should also be reduced. Therefore, the layout position of the vibration reduction component (mechanism) is crucial.

[0054] Due to the structural characteristics of the long cantilever of the surgical robot, when the active master hand moves, the instrument gets stuck in contact with the tissue, or there is an abnormal external collision, the vibration amplitude of the end 5 of the cantilever is the largest, and it is transmitted to the other arms through the structure 4-3-2-1 and rigidly connected by the adapter base 1 to drive. Therefore, the layout position of the vibration reduction mechanism should be on the vibration transmission path and as close as possible to the end of the cantilever with a larger amplitude. Since the passive end segments 3 and 4 mostly present an L-shaped structure as shown in Figure 4 the figure, the structure of the active segment 4 is too slender and not conducive to the layout of the vibration reduction component. The introduction of the vibration reduction component will inevitably increase part of the weight, and the increase in the weight of the active segment will significantly reduce the natural frequency of the system, which is not conducive to the vibration reduction of a single arm. Therefore, the vibration reduction scheme for a single arm should be placed in the passive part. Considering factors such as installability, minimizing the impact on the natural frequency and stiffness of the original system, and the more obvious the vibration reduction effect for a larger vibration amplitude, the vibration reduction mechanism can be arranged at Figure 4 3.2 of the passive arm in the figure. This place is mostly a cavity structure and a passive joint, and the vibration reduction mechanism can be added without affecting the overall appearance and function of the system.

[0055] It should be noted that the vibration reduction component can be installed on the force transmission path of the passive arm segment of the surgical robot cantilever, and the vibration reduction component can be constructed based on polyurethane materials. Taking the polyurethane vibration reduction component as an example, the vibration reduction component can be embedded in the passive arm 3.2 through the structure as shown in Figure 5 the figure, and at the same time make the polyurethane as a whole in a compressed state. Among them, 3.2.1 is the upper connection segment, which is also fixedly connected to the lower end of the vibration reduction material 3.2.3, and the lower structure 3.2.2 is fixedly connected to the upper part of the vibration reduction material 3.2.3. The specific force situation of the vibration reduction material is as shown by the arrow direction in the figure. Therefore, the structure separation is achieved and the vibration reduction material is compressed in the slender tensile cantilever. Through the compressed polyurethane vibration reduction component, obvious vibration reduction effects can be achieved while ensuring the stiffness of the surgical robot system.

[0056] Embodiment 2

[0057] Figure 6 This is a flowchart of a vibration damping evaluation method for a surgical robot provided in the second embodiment of the present invention. On the basis of the above embodiments, the powered-on state includes a first powered-on state and a second powered-on state. Among them, the first powered-on state means that a master-slave drive signal is sent to the surgical robot and the surgical robot is in a stationary state; the second powered-on state means that a master-slave drive signal is sent to the surgical robot and the surgical robot is in a moving state based on the master-slave drive signal; the step of "acquiring the third vibration information of the surgical robot in the powered-on state and the fourth vibration information of the surgical robot with a vibration damping component installed in the powered-on state" is optimized. The explanations of the same or corresponding terms in the above embodiments are not repeated here.

[0058] See Figure 6 , another vibration damping evaluation method for a surgical robot provided in this embodiment specifically includes the following steps:

[0059] S210. Acquire the first vibration information of the surgical robot in the powered-off state and the second vibration information of the surgical robot with a vibration damping component installed in the powered-off state.

[0060] S220. Apply a pulse excitation to the end of the cantilever of the surgical robot in the first powered-on state, acquire the first external excitation vibration information generated by the surgical robot under external excitation in the first powered-on state, and acquire the first internal excitation vibration information of the surgical robot in the second powered-on state.

[0061] Among them, the first powered-on state may mean that a master-slave drive signal is sent to the surgical robot and the surgical robot is in a stationary state. The second powered-on state may mean that a master-slave drive signal is sent to the surgical robot and the surgical robot is in a moving state based on the master-slave drive signal. The master-slave drive signal may mean the master-slave control signal used to control the movement of the surgical robot in the surgical robot system. The first external excitation vibration information may mean the vibration response information generated by the surgical robot after a pulse excitation is applied to the end of its cantilever when the surgical robot is in the first powered-on state. The first internal excitation vibration information may mean the vibration response information generated at the end of the cantilever of the surgical robot when the surgical robot is in the second powered-on state, that is, in a moving state based on the master-slave drive signal.

[0062] Specifically, send a master-slave drive signal to the surgical robot to make it enter the first powered-on state, that is, the robot is in a stationary state but has been powered on. Apply a hammering pulse excitation to the end of the cantilever of the surgical robot. The hammering signal corresponding to the hammering pulse excitation is the same as the pulse excitation in the powered-off state. Use a vibration sensor or other measuring device to record the vibration information generated by the surgical robot after being subjected to the pulse excitation, that is, the first external excitation vibration information. Send a master-slave drive signal to the surgical robot to make it enter the second powered-on state, that is, the robot is in a moving state based on the master-slave drive signal. In the moving state, use a vibration sensor or other measuring device to record the vibration information generated at the end of the cantilever of the surgical robot, that is, the first internal excitation vibration information. Based on the first external excitation vibration information and the first internal excitation vibration information, provide a data basis for subsequent determination of the influence of the vibration component on the surgical robot in different master-slave drive states.

[0063] S230. Apply a pulse excitation to the end of the cantilever of the surgical robot after installing the vibration damping component in the first powered-on state, obtain the second external excitation vibration information generated by the surgical robot under external excitation in the first powered-on state, and obtain the second internal excitation vibration information of the surgical robot in the second powered-on state.

[0064] Among them, the second external excitation vibration information may refer to the vibration information generated by the surgical robot after applying a pulse excitation to the end of its cantilever when the surgical robot after installing the vibration damping component is in the first powered-on state. The second internal excitation vibration information may refer to the vibration information generated at the end of the cantilever of the surgical robot when the surgical robot after installing the vibration damping component is in the second powered-on state, that is, in a moving state based on the master-slave drive signal.

[0065] Specifically, send a master-slave drive signal to the surgical robot after installing the vibration damping component to make it enter the first powered-on state, that is, the robot is in a stationary state but has been powered on. Apply a hammering pulse excitation to the end of the cantilever of the surgical robot. The hammering signal corresponding to the hammering pulse excitation is the same as the pulse excitation in the powered-off state. Use a vibration sensor or other measuring device to record the vibration information generated by the surgical robot after being subjected to the pulse excitation, that is, the second external excitation vibration information. Send a master-slave drive signal to the surgical robot after installing the vibration damping component to make it enter the second powered-on state, that is, the robot is in a moving state based on the master-slave drive signal. In the moving state, use a vibration sensor or other measuring device to record the vibration information generated at the end of the cantilever of the surgical robot, that is, the second internal excitation vibration information. Based on the second external excitation vibration information and the second internal excitation vibration information, provide a data basis for subsequent determination of the influence of the vibration component on the surgical robot in different master-slave drive states.

[0066] S240. Based on the first vibration information, the second vibration information, the third vibration information, and the fourth vibration information, evaluate the vibration damping effect of the surgical robot after installing the vibration damping component according to preset evaluation items respectively, and determine the vibration damping evaluation results corresponding to each evaluation item of the surgical robot after installing the vibration damping component.

[0067] Exemplarily, the preset evaluation items include: structural natural frequency, vibration decay time, and vibration energy transfer ratio; S240 may include: evaluating the structural natural frequency of the surgical robot after installing the vibration damping component based on the first vibration information and the second vibration information to determine the first evaluation result; evaluating the vibration decay time and the vibration energy transfer ratio of the surgical robot after installing the vibration damping component based on the third vibration information and the fourth vibration information to determine the second evaluation result and the third evaluation result.

[0068] Among them, the structural natural frequency may refer to the natural frequency of the structure, which is the periodic vibration frequency presented by the structural system of the surgical robot during free vibration. The vibration decay time may refer to the time required for the vibration amplitude of the surgical robot to decrease to a certain specific ratio of the initial amplitude after being excited by an external force to generate vibration. The vibration energy transfer ratio may refer to the ratio of the input vibration energy to the output vibration energy during the vibration transfer process, and is used to evaluate the vibration energy transfer efficiency of the surgical robot structure.

[0069] Specifically, as Figure 7 shown, compare the system natural frequency and the structural vibration decay time of the surgical robot before and after installing the vibration damping component based on the first vibration information and the second vibration information obtained from the vibration impulse hammering test of the surgical robot in the extreme pose before and after installing the vibration damping component, and evaluate the structural natural frequency of the surgical robot after installing the vibration damping component according to the comparison result to determine the first evaluation result. Based on the third vibration information, compare the structural vibration decay time of the surgical robot before and after installing the vibration damping component, and determine the second evaluation result corresponding to the vibration decay time according to the comparison result. Based on the fourth vibration information, compare the vibration energy transfer ratio of the surgical robot before and after installing the vibration damping component, and determine the third evaluation result corresponding to the vibration energy transfer ratio according to the comparison result. Through multiple preset evaluation items, the improvement degree of the vibration damping component on the vibration characteristics of the surgical robot can be accurately understood.

[0070] Exemplarily, based on the first vibration information and the second vibration information, the structural natural frequency of the surgical robot after installing the vibration damping component is evaluated to determine the first evaluation result, including: based on the first vibration information and the second vibration information, respectively determine the first system natural frequency and the second system natural frequency of the surgical robot before and after installing the vibration damping component, and compare the first system natural frequency and the second system natural frequency to determine the change in the system natural frequency of the surgical robot after installing the vibration damping component; based on the first vibration information and the second vibration information, respectively determine the first vibration decay time and the second vibration decay time of the surgical robot before and after installing the vibration damping component, and compare the first vibration decay time and the second vibration decay time to determine the change in the vibration decay time of the surgical robot after installing the vibration damping component; based on the change in the system natural frequency and the change in the vibration decay time, evaluate the structural natural frequency of the surgical robot after installing the vibration damping component to determine the first evaluation result.

[0071] Specifically, perform frequency domain analysis on the first vibration information and the second vibration information, calculate the first system natural frequency and the second system natural frequency of the surgical robot before and after installing the vibration damping component respectively, compare the first system natural frequency with the second system natural frequency, analyze the influence of the vibration damping component on the system natural frequency of the surgical robot, and determine the change in the system natural frequency of the surgical robot after installing the vibration damping component compared with before installation, which can intuitively reflect the influence of the vibration damping component on the performance of the surgical robot. Based on the first vibration information and the second vibration information, record the vibration decay times of the surgical robot before and after installing the vibration damping component respectively as the first vibration decay time and the second vibration decay time, compare the first vibration decay time with the second vibration decay time, analyze the influence of the vibration damping component on the vibration decay ability of the surgical robot, and determine the change in the vibration decay time of the surgical robot after installing the vibration damping component. If the second vibration decay time is significantly shorter than the first vibration decay time, it indicates that the vibration damping component effectively improves the vibration decay performance of the surgical robot. By judging whether the change in the system natural frequency and the change in the vibration decay time both meet the expected vibration damping effect, evaluate the structural natural frequency of the surgical robot after installing the vibration damping component to determine the first evaluation result. If both the change in the system natural frequency and the change in the vibration decay time meet the expected vibration damping effect, the first evaluation result is a qualified result, otherwise it is an unqualified result. By comparing the changes in the system natural frequency and the vibration decay time, the improvement effect of the vibration damping component on the dynamic performance of the surgical robot can be comprehensively evaluated.

[0072] Exemplarily, in the power-off state, a hammer impact pulse excitation scheme can be adopted. An acceleration sensor is arranged at the end of the cantilever to be measured. A pulse hammering signal is applied to the surgical robot after installing the vibration damping component through an excitation hammer. The vibration acquisition device captures acceleration signals at multiple locations to obtain the first vibration information and the second vibration information. It should be noted that according to the Fourier transform principle, a pulse signal in the time domain can be converted into a broadband signal in the frequency domain. The specific hammering frequency domain range depends on the selected force hammer model, the material of the hammer head, and the material and structure of the object to be measured. Therefore, the vibration response of the system can be tested in a relatively wide frequency domain range, and the evaluation of the application effect of the vibration damping component is more scientific and reasonable. To test the vibration of a single arm and the vibration transmission of multiple arms, acceleration or displacement sensors are arranged at the ends of multiple cantilevers. The arrangement direction of the sensors should meet the consistency. Each time, excitation is performed at the end of a single cantilever. Since the cantilever mostly adopts a planar structure, the excitation directions mainly focus on vertical and lateral excitations. Since the lateral natural frequency and stiffness are significantly lower than the vertical ones, the excitation is mainly lateral. Considering the consistency of the input energy of the hammering signal, the peak force of each hammering should be ensured to be equivalent. To reduce the influence of unnecessary factors, the state of the surgical robot should be ensured to be the same at the same time.

[0073] Exemplarily, according to the first vibration information and the second vibration information, the spectrograms of the surgical robot before and after installing the vibration damping component under the same pulse excitation are analyzed to determine the excitation natural frequency value (the first system natural frequency) of the surgical robot before installing the vibration damping component and the excitation natural frequency value (the second system natural frequency) after installing the vibration damping component, and compare the first system natural frequency and the second system natural frequency to determine the change in the system natural frequency of the surgical robot before and after installing the vibration damping component, and analyze the influence of the vibration damping component on the system natural frequency of the surgical robot. If the system natural frequency is lower than that before installing the vibration damping component, it indicates that the vibration damping component can significantly absorb vibration impact energy. According to the first vibration information and the second vibration information, an acceleration threshold value is given, and the vibration decay time under the same pulse excitation before and after installing the vibration damping component is calculated. The vibration decay time is the time between the convex part of the vibration acceleration signal after excitation and the previous rising peak before the acceleration reaches the threshold value. The first vibration decay time is compared with the second vibration decay time to compare the influence of the presence or absence of the vibration damping component on the system vibration decay situation, that is, the system damping magnitude. For example, an acceleration threshold value of 0.05g, approximately 0.5m / s 2 , the vibration decay without a vibration damping mechanism is 7.51s, and the decay time drops to 1.71s after adding the damping alloy. The vibration decay time is significantly reduced, indicating that the vibration damping component can quickly decay free residual vibrations.

[0074] Exemplarily, based on the third vibration information and the fourth vibration information, the vibration decay time and the vibration energy transfer ratio of the surgical robot after installing the vibration damping component are evaluated to determine the second evaluation result and the third evaluation result, including: based on the first external excitation vibration information and the second external excitation vibration information, the vibration decay time of the surgical robot after installing the vibration damping component is evaluated to determine the second evaluation result; based on the first internal excitation vibration information and the second internal excitation vibration information, the vibration energy transfer ratio of the surgical robot after installing the vibration damping component is evaluated to determine the third evaluation result.

[0075] Specifically, according to the first external excitation vibration information and the second external excitation vibration information, calculate the vibration decay time of the surgical robot before and after installing the vibration damping component in the first power-on state, compare the vibration decay time before and after installing the vibration damping component, and evaluate the vibration decay time of the surgical robot after installing the vibration damping component according to the comparison result. The change in the vibration decay time before and after installing the vibration damping component can be determined as the second evaluation result. According to the first internal excitation vibration information and the second internal excitation vibration information, calculate the vibration energy transfer ratio of the surgical robot before and after installing the vibration damping component in the second power-on state, compare the vibration energy transfer ratio before and after installing the vibration damping component, and evaluate the vibration energy transfer ratio of the surgical robot after installing the vibration damping component according to the comparison result. The change in the vibration energy transfer ratio before and after installing the vibration damping component can be determined as the third evaluation result. By comprehensively evaluating the vibration decay time and the vibration energy transfer ratio of the surgical robot after installing the vibration damping component, it provides strong data support for the performance optimization of the vibration damping component for the surgical robot.

[0076] Exemplarily, due to the randomness of the doctor's master-slave operation, there are differences in the operation speed and strength of the same trajectory by different people. Therefore, the position change and speed change of the master-slave drive signal input to the slave end are inconsistent. Therefore, it is necessary to solidify the input signal of the slave end to ensure the consistency of the drive. The input signal of a given driver or module can be collected by software in the power-on state and reused for driving in subsequent vibration tests to compare the vibration decay of different vibration damping mechanisms. At the same time, it is also necessary to control the consistency of the posture and state of the surgical robot, the position of the passive joint, the presence or absence of parking brakes, the consistency of the positions of each joint, etc. The robotic arm is in the maximum cantilever state, and the single arm is driven directly by the drive signal.

[0077] Exemplarily, both the first external excitation vibration information and the second external excitation vibration information are vibration information obtained by applying the same pulse excitation in the same first power-on state. According to the first external excitation vibration information and the second external excitation vibration information, a given acceleration threshold is set, and the vibration decay time of the surgical robot before and after installing the vibration damping component under the same pulse excitation is calculated. The vibration decay time is the time between the peak of the vibration acceleration signal after excitation and the previous rising peak before the acceleration reaches the threshold. Compare the vibration decay time corresponding to the first external excitation vibration information with the vibration decay time corresponding to the second external excitation vibration information to compare the influence of the presence or absence of the vibration damping component on the system vibration decay, that is, the system damping magnitude.

[0078] Exemplarily, to comprehensively evaluate the end dynamic vibration situation under the master-slave drive signal, it is necessary to consider not only the overall vibration energy but also analyze the vibration frequency band. Taking the presence or absence of the vibration damping component as an example, analyze the spectrum under the master-slave drive signal. In the second power-on state, according to the first internal excitation vibration information and the second internal excitation vibration information, compare and analyze the signal spectra in three directions of the acceleration sensor at the end of the robotic arm. It can be seen that the vibration damping mechanism can significantly attenuate higher-frequency signals and has an obvious vibration damping effect. The evaluation of the vibration energy can be comprehensively evaluated through the weighted root mean square (RMS) value of the vibration acceleration in each channel (direction). The larger the RMS value, the greater the vibration energy and the more obvious the vibration. Due to the inconsistency of directions under the master-slave drive, it is necessary to comprehensively evaluate the RMS values in three directions, that is where x, y, and z are the vibration accelerations corresponding to different vibration directions. By comparing the vibration conditions of the surgical robot before and after installing the vibration damping component, the vibration suppression ability of the system can be evaluated. Taking the presence or absence of the vibration damping component as an example, by comparing the vibration RMS values in the second power-on state, it can be seen that the vibration damping module can play an obvious vibration damping role in the master-slave drive state, and determine the vibration energy transfer ratio of the surgical robot before and after installing the vibration damping component.

[0079] S250. Respectively perform static stiffness detection on the surgical robot before and after installing the vibration damping component, and based on the static stiffness detection results of the surgical robot before and after installing the vibration damping component, evaluate the influence of the vibration damping component on the static stiffness of the surgical robot, and determine the static stiffness evaluation result of the surgical robot after installing the vibration damping component.

[0080] S260. Based on the vibration damping evaluation result and the static stiffness evaluation result, comprehensively evaluate the vibration damping effect of the surgical robot installed with the vibration damping component, and obtain the corresponding comprehensive vibration damping evaluation result of the surgical robot.

[0081] The technical solution of the embodiment of the present invention is to perform pulse excitation on the end of the cantilever of the surgical robot in the first power-on state, obtain the first external excitation vibration information generated by the surgical robot under external excitation in the first power-on state, and obtain the first internal excitation vibration information of the surgical robot in the second power-on state, which helps to evaluate the stability of the surgical robot after power-on and ensure that the vibration damping component will not introduce additional vibration or unstable factors when the robot has not started moving. Pulse excitation is performed on the end of the cantilever of the surgical robot installed with the vibration damping component in the first power-on state, the second external excitation vibration information generated by the surgical robot under external excitation in the first power-on state is obtained, and the second internal excitation vibration information of the surgical robot in the second power-on state is obtained, which helps to verify the vibration damping effect of the vibration damping component during the actual movement of the robot. By obtaining the vibration information of the surgical robot before and after installing the vibration damping component in different power-on states, data support is provided for the evaluation of the vibration damping effect of the surgical robot installed with the vibration damping component in the first power-on state and the second power-on state, the performance of the vibration damping component can be comprehensively evaluated, and the stability and safety of the surgical robot can be ensured.

[0082] It should be noted that, by analyzing the characteristics of the surgical robot with a common multi-stage series-parallel hybrid cantilever structure, this solution gives an economically feasible application solution for the vibration damping component in terms of single-arm vibration damping and multi-arm vibration isolation. In terms of the vibration evaluation and testing method of the surgical robot, a comprehensive evaluation method of static hammering test + dynamic tracking vibration test is proposed, and the vibration suppression effect of the vibration damping mechanism is comprehensively evaluated through this evaluation method, indicating that the vibration damping effect of this vibration damping solution is obvious in the cantilever structure and verifying the feasibility of this solution.

[0083] Embodiment III

[0084] Figure 8 is a schematic structural diagram of a surgical robot vibration damping evaluation device provided in Embodiment III of the present invention. As Figure 3 shown, the device includes: a vibration information acquisition module 310, a first evaluation module 320, a static stiffness detection module 330, and a second evaluation module 340.

[0085] Among them, the vibration information acquisition module 310 is used to obtain the first vibration information of the surgical robot in the power-off state and the second vibration information of the surgical robot installed with the vibration damping component in the power-off state; and obtain the third vibration information of the surgical robot in the power-on state and the fourth vibration information of the surgical robot installed with the vibration damping component in the power-on state; wherein, the vibration damping component is installed on the passive arm section of the cantilever of the surgical robot.

[0086] The first evaluation module 320 is configured to evaluate the vibration damping effect of the surgical robot after installing the vibration damping component respectively according to preset evaluation items based on the first vibration information, the second vibration information, the third vibration information, and the fourth vibration information, and determine the vibration damping evaluation result corresponding to each evaluation item of the surgical robot after installing the vibration damping component;

[0087] The static stiffness detection module 330 is configured to respectively perform static stiffness detection on the surgical robot before and after installing the vibration damping component, and evaluate the influence of the vibration damping component on the static stiffness of the surgical robot based on the static stiffness detection results of the surgical robot before and after installing the vibration damping component, and determine the static stiffness evaluation result of the surgical robot after installing the vibration damping component;

[0088] The second evaluation module 340 is configured to comprehensively evaluate the vibration damping effect of the surgical robot installed with the vibration damping component based on the vibration damping evaluation result and the static stiffness evaluation result, and obtain the comprehensive vibration damping evaluation result corresponding to the surgical robot.

[0089] The technical solution of this embodiment is to obtain the first vibration information of the surgical robot in the power-off state and the second vibration information of the surgical robot in the power-off state after installing the vibration damping component; and obtain the third vibration information of the surgical robot in the power-on state and the fourth vibration information of the surgical robot in the power-on state after installing the vibration damping component; wherein, the vibration damping component is installed on the passive arm section of the cantilever of the surgical robot, so as to comprehensively obtain the vibration information in the power-on state and the power-off state, providing data support for subsequent evaluation. Based on the first vibration information, the second vibration information, the third vibration information and the fourth vibration information, the vibration damping effect of the surgical robot after installing the vibration damping component is evaluated respectively according to the preset evaluation items, and the vibration damping evaluation results corresponding to each evaluation item of the surgical robot after installing the vibration damping component are determined, so that the vibration damping effect can be analyzed from multiple angles, and thus the vibration damping performance of the vibration damping component can be understood more comprehensively. The static stiffness of the surgical robot before and after installing the vibration damping component is detected respectively, and based on the static stiffness detection results of the surgical robot before and after installing the vibration damping component, the influence of the vibration damping component on the static stiffness of the surgical robot is evaluated, and the static stiffness evaluation result of the surgical robot after installing the vibration damping component is determined, which helps to analyze the stability and safety of the surgical robot after installing the vibration damping component. Based on the vibration damping evaluation result and the static stiffness evaluation result, the vibration damping effect of the surgical robot installed with the vibration damping component is comprehensively evaluated, and the corresponding comprehensive vibration damping evaluation result of the surgical robot is obtained, so as to comprehensively reflect the improvement effect of the vibration damping component on the vibration damping performance of the surgical robot. By obtaining vibration information, evaluating the vibration damping effect, performing static stiffness detection and comprehensively evaluating the vibration damping effect, the influence of the vibration damping component on the vibration damping performance of the surgical robot can be comprehensively and accurately evaluated, the comprehensive evaluation of the vibration damping effect of the surgical robot can be realized, and the accuracy and flexibility of the vibration damping evaluation are improved.

[0090] Optionally, the vibration information acquisition module 310 includes:

[0091] The first vibration information acquisition unit is configured to respectively perform pulse excitation on the cantilever end of the surgical robot in the power-off state before and after installing the vibration damping component, and acquire the first vibration information generated by the surgical robot under external excitation in the power-off state and the second vibration information generated by the surgical robot under external excitation in the power-off state after installing the vibration damping component, wherein the cantilever end is in the horizontal working condition.

[0092] Optionally, the powered-on state includes a first powered-on state and a second powered-on state. Among them, the first powered-on state means that a master-slave drive signal is sent to the surgical robot and the surgical robot is in a stationary state; the second powered-on state means that a master-slave drive signal is sent to the surgical robot and the surgical robot is in a moving state based on the master-slave drive signal.

[0093] The vibration information acquisition module 310 includes:

[0094] The second vibration information acquisition unit is configured to perform pulse excitation on the end of the cantilever of the surgical robot in the first powered-on state, acquire the first external excitation vibration information generated by the surgical robot under external excitation in the first powered-on state, and acquire the first internal excitation vibration information of the surgical robot in the second powered-on state; perform pulse excitation on the end of the cantilever of the surgical robot after installing the vibration damping component in the first powered-on state, acquire the second external excitation vibration information generated by the surgical robot under external excitation in the first powered-on state, and acquire the second internal excitation vibration information of the surgical robot in the second powered-on state.

[0095] Optionally, the preset evaluation items include: structural natural frequency, vibration decay time, and vibration energy transfer ratio; the first evaluation module 320 includes:

[0096] The first evaluation unit is configured to evaluate the structural natural frequency of the surgical robot after installing the vibration damping component based on the first vibration information and the second vibration information, and determine a first evaluation result;

[0097] The second evaluation unit is configured to evaluate the vibration decay time and the vibration energy transfer ratio of the surgical robot after installing the vibration damping component based on the third vibration information and the fourth vibration information, and determine a second evaluation result and a third evaluation result.

[0098] Optionally, the first evaluation unit is specifically configured to: based on the first vibration information and the second vibration information, respectively determine the first system natural frequency and the second system natural frequency of the surgical robot before and after installing the vibration damping component, and compare the first system natural frequency and the second system natural frequency to determine the change in the system natural frequency of the surgical robot after installing the vibration damping component; based on the first vibration information and the second vibration information, respectively determine the first vibration decay time and the second vibration decay time of the surgical robot before and after installing the vibration damping component, and compare the first vibration decay time and the second vibration decay time to determine the change in the vibration decay time of the surgical robot after installing the vibration damping component; based on the change in the system natural frequency and the change in the vibration decay time, evaluate the structural natural frequency of the surgical robot after installing the vibration damping component, and determine a first evaluation result.

[0099] Optionally, the second evaluation unit is specifically configured to: evaluate the vibration decay time of the surgical robot after installing the vibration damping component based on the first external excitation vibration information and the second external excitation vibration information, and determine a second evaluation result; evaluate the vibration energy transfer ratio of the surgical robot after installing the vibration damping component based on the first internal excitation vibration information and the second internal excitation vibration information, and determine a third evaluation result.

[0100] Optionally, the vibration damping component is installed on the force transmission channel of the passive arm of the cantilever of the surgical robot. The vibration damping component is a miniaturized vibration damping structure based on polyurethane material for bearing tensile force. The vibration damping component is compatible with any model of surgical robot, and the vibration damping effect of the vibration damping component is determined by the structural dimension parameters of the corresponding vibration damping material.

[0101] The surgical robot vibration damping evaluation device provided by the embodiments of the present invention can execute the surgical robot vibration damping evaluation method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0102] Figure 9 FIG. shows a schematic structural diagram of an electronic device 12 that can be used to implement the embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as, desktop computers, workstations, servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital assistants, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0103] As Figure 9 shown, the electronic device 12 is presented in the form of a general-purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components (including the system memory 28 and the processing unit 16).

[0104] The bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus structures. By way of example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0105] The electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0106] The system memory 28 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 can further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 can be used for reading and writing on non-removable, non-volatile magnetic media ( Figure 9 not shown, commonly referred to as a "hard disk drive"). Although Figure 9 not shown in, a disk drive for reading and writing on removable non-volatile disks (such as "floppy disks") and an optical disk drive for reading and writing on removable non-volatile optical disks (such as CD-ROM, DVD-ROM or other optical media) can be provided. In these cases, each drive can be connected to the bus 18 through one or more data media interfaces. The system memory 28 can include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the embodiments of the present invention.

[0107] A program / utility 40 having a set (at least one) of program modules 42 can be stored, for example, in the system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. The program modules 42 generally execute the functions and / or methods in the embodiments described in the present invention.

[0108] The electronic device 12 can also communicate with one or more external devices 14 (such as a keyboard, a pointing device, a display 24, etc.), and can also communicate with one or more devices that enable a user to interact with the electronic device 12, and / or communicate with any device that enables the electronic device 12 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through the input / output (I / O) interface 22. In addition, the electronic device 12 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 20. As shown in the figure, the network adapter 20 communicates with other modules of the electronic device 12 through the bus 18. It should be understood that although not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0109] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, for example, implementing the steps of a vibration damping evaluation method for a surgical robot provided by the present embodiment. The method includes:

[0110] Obtain the first vibration information of the surgical robot in the power-off state and the second vibration information of the surgical robot in the power-off state after installing the vibration damping component; and obtain the third vibration information of the surgical robot in the power-on state and the fourth vibration information of the surgical robot in the power-on state after installing the vibration damping component; wherein, the vibration damping component is installed on the passive arm segment of the surgical robot's cantilever.

[0111] Based on the first vibration information, the second vibration information, the third vibration information, and the fourth vibration information, respectively evaluate the vibration damping effect of the surgical robot after installing the vibration damping component according to preset evaluation items, and determine the vibration damping evaluation result corresponding to each evaluation item of the surgical robot after installing the vibration damping component.

[0112] Respectively perform static stiffness detection on the surgical robot before and after installing the vibration damping component, and based on the static stiffness detection results of the surgical robot before and after installing the vibration damping component, evaluate the influence of the vibration damping component on the static stiffness of the surgical robot, and determine the static stiffness evaluation result of the surgical robot after installing the vibration damping component.

[0113] Based on the vibration damping evaluation result and the static stiffness evaluation result, comprehensively evaluate the vibration damping effect of the surgical robot installed with the vibration damping component, and obtain the corresponding comprehensive vibration damping evaluation result of the surgical robot.

[0114] Of course, those skilled in the art can understand that the processor can also implement the technical solutions of the surgical robot vibration damping evaluation method provided in any embodiment of the present invention.

[0115] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements the steps of the surgical robot vibration damping evaluation method provided in any embodiment of the present invention. The method includes:

[0116] Obtain the first vibration information of the surgical robot in the power-off state and the second vibration information of the surgical robot in the power-off state after installing the vibration damping component; and obtain the third vibration information of the surgical robot in the power-on state and the fourth vibration information of the surgical robot in the power-on state after installing the vibration damping component; wherein, the vibration damping component is installed on the passive arm section of the surgical robot's cantilever.

[0117] Based on the first vibration information, the second vibration information, the third vibration information, and the fourth vibration information, evaluate the vibration damping effect of the surgical robot after installing the vibration damping component according to preset evaluation items respectively, and determine the vibration damping evaluation results corresponding to each evaluation item of the surgical robot after installing the vibration damping component.

[0118] Perform static stiffness detection on the surgical robot before and after installing the vibration damping component respectively, and evaluate the influence of the vibration damping component on the static stiffness of the surgical robot based on the static stiffness detection results before and after installing the vibration damping component, and determine the static stiffness evaluation result of the surgical robot after installing the vibration damping component.

[0119] Based on the vibration damping evaluation result and the static stiffness evaluation result, comprehensively evaluate the vibration damping effect of the surgical robot installed with the vibration damping component, and obtain the comprehensive vibration damping evaluation result corresponding to the surgical robot.

[0120] The computer storage medium of the embodiments of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage medium include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0121] The computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries the computer-readable program code. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0122] The program code contained on the computer-readable medium may be transmitted by any appropriate medium, including but not limited to: wireless, wire, optical fiber cable, RF, etc., or any suitable combination of the above.

[0123] The computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0124] Those of ordinary skill in the art should understand that the various modules or steps of the present invention described above can be implemented by a general-purpose computing device. They can be centralized on a single computing device or distributed over a network composed of multiple computing devices. Optionally, they can be implemented with program codes executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be separately fabricated into individual integrated circuit modules, or multiple modules or steps among them can be fabricated into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0125] Note that the above is only the preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments only. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A surgical robot vibration reduction evaluation method, characterized in that: include: Acquire first vibration information of the surgical robot in a power-off state and second vibration information of the surgical robot in a power-off state after installing a vibration reduction component; and acquire third vibration information of the surgical robot in a power-on state and fourth vibration information of the surgical robot in a power-on state after installing a vibration reduction component; wherein the vibration reduction component is installed on the passive arm section of the cantilever of the surgical robot; Based on the first vibration information, the second vibration information, the third vibration information, and the fourth vibration information, respectively, the vibration reduction effect of the surgical robot after the vibration reduction component is installed is evaluated according to preset evaluation items, and a vibration reduction evaluation result corresponding to each evaluation item of the surgical robot after the vibration reduction component is installed is determined; Performing static stiffness detection on the surgical robot before and after the vibration reduction assembly is installed, and based on the static stiffness detection results of the surgical robot before and after the vibration reduction assembly is installed, evaluating the influence of the vibration reduction assembly on the static stiffness of the surgical robot, and determining the static stiffness evaluation result of the surgical robot after the vibration reduction assembly is installed; Based on the vibration reduction evaluation result and the static stiffness evaluation result, a comprehensive evaluation is performed on the vibration reduction effect of the surgical robot equipped with the vibration reduction assembly to obtain a comprehensive vibration reduction evaluation result corresponding to the surgical robot.

2. The method according to claim 1, characterized in that The obtaining of first vibration information of the surgical robot in a power-off state and second vibration information of the surgical robot in a power-off state after installing a vibration reduction component comprises: The cantilever end of the surgical robot in a power-off state is pulse-excited before and after the vibration reduction component is installed, respectively, to obtain first vibration information generated by the external excitation of the surgical robot in the power-off state and second vibration information generated by the external excitation of the surgical robot in the power-off state after the vibration reduction component is installed, wherein the cantilever end is in a horizontal working condition.

3. The method according to claim 1, characterized in that The power-on state includes a first power-on state and a second power-on state, wherein the first power-on state refers to sending a master-slave drive signal to the surgical robot and the surgical robot is in a stationary state; the second power-on state refers to sending a master-slave drive signal to the surgical robot and the surgical robot is in a moving state based on the master-slave drive signal; Acquiring third vibration information of the surgical robot in a powered-on state and fourth vibration information of the surgical robot in a powered-on state after installing a vibration reduction component, including: Performing pulse excitation on the cantilever end of the surgical robot in a first power-on state to obtain first external excitation vibration information generated by the surgical robot in the first power-on state, and obtaining first internal excitation vibration information of the surgical robot in a second power-on state; The cantilever end of the surgical robot after the vibration reduction component is installed is pulse-excited in the first power-on state to obtain the second external excitation vibration information generated by the external excitation of the surgical robot in the first power-on state, and the second internal excitation vibration information of the surgical robot in the second power-on state is obtained.

4. The method according to claim 3, characterized in that The preset evaluation items include: structural fixed frequency, vibration attenuation time and vibration energy transfer ratio; The step of evaluating the vibration reduction effect of the surgical robot after the vibration reduction component is installed according to preset evaluation items based on the first vibration information, the second vibration information, the third vibration information, and the fourth vibration information, and determining a vibration reduction evaluation result corresponding to each evaluation item of the surgical robot after the vibration reduction component is installed, includes: Based on the first vibration information and the second vibration information, evaluating the structural fixed frequency of the surgical robot after the vibration reduction assembly is installed, and determining a first evaluation result; Based on the third vibration information and the fourth vibration information, the vibration attenuation time and the vibration energy transfer ratio of the surgical robot after the vibration reduction assembly is installed are evaluated to determine a second evaluation result and a third evaluation result.

5. The method according to claim 4, characterized in that The step of evaluating the structural fixed frequency of the surgical robot after the vibration reduction component is installed based on the first vibration information and the second vibration information to determine a first evaluation result includes: Based on the first vibration information and the second vibration information, respectively determine a first system fixed frequency and a second system fixed frequency of the surgical robot before and after the vibration reduction component is installed, and compare the first system fixed frequency with the second system fixed frequency to determine a change in the system fixed frequency of the surgical robot after the vibration reduction component is installed; Based on the first vibration information and the second vibration information, respectively determine a first vibration attenuation time and a second vibration attenuation time of the surgical robot before and after the vibration reduction component is installed, and compare the first vibration attenuation time and the second vibration attenuation time to determine a change in the vibration attenuation time of the surgical robot after the vibration reduction component is installed; Based on the change of the system fixed frequency and the change of the vibration attenuation time, the structural fixed frequency of the surgical robot after the vibration reduction component is installed is evaluated to determine a first evaluation result.

6. The method according to claim 4, characterized in that The step of evaluating the vibration attenuation time and the vibration energy transfer ratio of the surgical robot after the vibration reduction assembly is installed based on the third vibration information and the fourth vibration information, and determining the second evaluation result and the third evaluation result, comprises: Based on the first external excitation vibration information and the second external excitation vibration information, evaluating the vibration attenuation time of the surgical robot after the vibration reduction component is installed, and determining a second evaluation result; Based on the first internal excitation vibration information and the second internal excitation vibration information, the vibration energy transfer ratio of the surgical robot after the vibration reduction assembly is installed is evaluated to determine a third evaluation result.

7. The method according to claim 1, characterized in that The vibration damping component is installed on the force transmission channel of the passive arm of the surgical robot cantilever. The vibration damping component is a miniaturized vibration damping structure constructed based on polyurethane material for bearing tensile force. The vibration damping component is compatible with any model of surgical robot. The vibration damping effect of the vibration damping component is determined by the structural size parameters of the vibration damping material corresponding to the vibration damping component.

8. A surgical robot vibration reduction evaluation device, characterized in that: include: A vibration information acquisition module, used to acquire first vibration information of the surgical robot in a power-off state and second vibration information of the surgical robot in a power-off state after the vibration reduction component is installed; and to acquire third vibration information of the surgical robot in a power-on state and fourth vibration information of the surgical robot in a power-on state after the vibration reduction component is installed; wherein the vibration reduction component is installed on the passive arm section of the cantilever of the surgical robot; a first evaluation module, configured to evaluate the vibration reduction effect of the surgical robot after the vibration reduction component is installed according to preset evaluation items based on the first vibration information, the second vibration information, the third vibration information, and the fourth vibration information, and determine a vibration reduction evaluation result corresponding to each evaluation item of the surgical robot after the vibration reduction component is installed; a static stiffness detection module, used to respectively detect the static stiffness of the surgical robot before and after the vibration reduction assembly is installed, and based on the static stiffness detection results of the surgical robot before and after the vibration reduction assembly is installed, evaluate the influence of the vibration reduction assembly on the static stiffness of the surgical robot, and determine the static stiffness evaluation result of the surgical robot after the vibration reduction assembly is installed; The second evaluation module is used to comprehensively evaluate the vibration reduction effect of the surgical robot equipped with the vibration reduction assembly based on the vibration reduction evaluation result and the static stiffness evaluation result, so as to obtain a comprehensive vibration reduction evaluation result corresponding to the surgical robot.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the surgical robot vibration reduction evaluation method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the surgical robot vibration reduction evaluation method according to any one of claims 1 to 7 when executed.

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