Precision test system

Abstract

The invention is suitable for the technical field of testing, and provides a precision testing system, and a main control device is used for controlling a first subject matter to move according to a test point set through a motion platform, and obtaining a three-dimensional test coordinate when the first subject matter moves to the test point set, and controlling the surgical robot to move according to a benchmark test coordinate obtained by converting the three-dimensional test coordinate to obtain a three-dimensional actual coordinate, and determining the system precision of the surgical robot according to an error between the three-dimensional test coordinate and the three-dimensional actual coordinate. A full-automatic process from subject matter entering / placing and subject matter moving to surgical robot precision measurement can be achieved, human errors are prevented from being introduced in precision testing, the testing efficiency is improved through full-process automatic testing, and by flexibly configuring a testing point set and improving the testing sample size, the accuracy of the surgical robot is improved. The system precision performance of the surgical robot at multiple positions in the whole working space can be tested, and the accuracy of precision testing is improved.

Description

Technical Field

[0001] This application belongs to the technical field of robotics, and particularly relates to an accuracy testing system. Background Art

[0002] In clinical surgeries, the positions and postures of high-precision surgeries such as orthopedics, laparoscopy, puncture, and general vascular surgery entering the human body need to be very accurate. In extreme cases, the accuracy error may be required to be within one millimeter. Surgical robots have the advantages of high positioning accuracy, no jitter, and no fatigue, and can perform precise positioning. Surgical robots play a very important role in these high-precision surgeries.

[0003] Currently, when testing the accuracy of surgical robots, it is usually necessary to manually install positioning tools for contact testing, which is prone to introducing human errors, resulting in inaccurate and time-consuming accuracy test results and reducing the accuracy test efficiency. Therefore, how to improve the accuracy test efficiency of surgical robots has become an urgent problem to be solved. Summary of the Invention

[0004] In view of this, the embodiments of this application provide an accuracy testing system to solve the problem that existing accuracy tests usually require manual installation of positioning tools for contact testing, which is prone to introducing human errors, resulting in inaccurate and time-consuming accuracy test results.

[0005] The first aspect of the embodiments of this application provides an accuracy testing system, including a main control device, a motion platform, and a surgical robot; the main control device is electrically connected to the motion platform and the surgical robot respectively; the motion platform is provided with a first target object.

[0006] The main control device is used for:

[0007] Moving the motion platform based on a test plan, and controlling the first target object to move according to a test point set through the motion platform, and obtaining three-dimensional test coordinates when the first target object moves to the test point set; wherein, the test plan includes the range of the test workspace and the position of the test point set in the test workspace. After the motion platform moves based on the test plan, the movement range of the first target object can cover the test workspace.

[0008] Obtaining reference test coordinates based on a first conversion relationship and the three-dimensional test coordinates; the first conversion relationship represents the coordinate conversion relationship between the base coordinate system of the robotic arm and the three-dimensional coordinate system.

[0009] Controlling the movement of the surgical robot according to the reference test coordinates, and obtaining three-dimensional actual coordinates in the three-dimensional coordinate system when the surgical robot moves to the reference test coordinates.

[0010] Determine the system accuracy of the surgical robot according to the error between the three-dimensional test coordinates and the three-dimensional actual coordinates.

[0011] In the first aspect of the embodiments of the present application, a precision test system is provided. The precision test system includes a main control device, a motion platform, and a surgical robot. The main control device is electrically connected to the motion platform and the surgical robot respectively. The motion platform is provided with a first target. The main control device is used to move the motion platform based on a test plan, control the first target to move according to a test point set through the motion platform, obtain the three-dimensional test coordinates when the first target moves to the test point set, and control the surgical robot to move according to the reference test coordinates obtained by converting the three-dimensional test coordinates to obtain three-dimensional actual coordinates. Determine the system accuracy of the surgical robot according to the error between the three-dimensional test coordinates and the three-dimensional actual coordinates, which can realize the full-automatic process from the entry / placement of the target, the movement of the target to the accuracy measurement of the surgical robot, avoid introducing human errors in the accuracy test, improve the test efficiency through the full-process automatic test, and through flexible configuration of the test point set and increasing the test sample size, the system accuracy performance of the surgical robot at multiple positions in the entire working space can be tested, improving the accuracy of the accuracy test. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0013] Figure 1 It is the first structural schematic diagram of the precision test system provided by the embodiments of the present application;

[0014] Figure 2 It is the second structural schematic diagram of the precision test system provided by the embodiments of the present application;

[0015] Figure 3 It is the third structural schematic diagram of the precision test system provided by the embodiments of the present application;

[0016] Figure 4 It is the fourth structural schematic diagram of the precision test system provided by the embodiments of the present application;

[0017] Figure 5 It is the interface schematic diagram for obtaining the wire error provided by the embodiments of the present application;

[0018] Figure 6 It is the interface schematic diagram for obtaining the face error provided by the embodiments of the present application;

[0019] Figure 7 It is the fifth structural schematic diagram of the precision test system provided by the embodiments of the present application;

[0020] Figure 8 It is the sixth structural schematic diagram of the precision test system provided by the embodiments of the present application. Detailed implementation manners

[0021] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0022] It should be understood that when used in the specification and appended claims of the present application, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0023] It should also be understood that the term "and / or" as used in the specification and appended claims of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0024] As used in the specification and appended claims of the present application, the term "if" can be interpreted as "when", "once", "in response to determining", or "in response to detecting" depending on the context. Similarly, the phrase "if determined" or "if detecting [the described condition or event]" can be interpreted as meaning "once determined", "in response to determining", "once detecting [the described condition or event]", or "in response to detecting [the described condition or event]" depending on the context.

[0025] In addition, in the description of the specification and appended claims of the present application, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0026] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that specific features, structures, or characteristics described in connection with that embodiment are included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized.

[0027] In applications, when performing accuracy tests on surgical robots, it is usually necessary to manually install positioning tools for contact tests, which are prone to introducing human errors, resulting in inaccurate and time-consuming accuracy test results, and reducing the accuracy and efficiency of accuracy tests. Therefore, how to improve the accuracy and efficiency of accuracy tests for surgical robots has become an urgent problem to be solved currently.

[0028] To address the above technical problems, an embodiment of this application provides an accuracy test system, including a main control device, a motion platform, and a surgical robot; the main control device is electrically connected to the motion platform and the surgical robot respectively; the motion platform is provided with a first target object, and the main control device is configured to move the motion platform based on a test plan, control the first target object to move according to a test point set through the motion platform, obtain three-dimensional test coordinates when the first target object moves to the test point set, and control the surgical robot to move according to the reference test coordinates obtained by converting the three-dimensional test coordinates to obtain three-dimensional actual coordinates. According to the error between the three-dimensional test coordinates and the three-dimensional actual coordinates, the system accuracy of the surgical robot can be determined, realizing a full-automatic process from the entry / placement of the target object, the movement of the target object, to the accuracy measurement of the surgical robot, avoiding the introduction of human errors in the accuracy test, improving the test efficiency through the full-automatic test of the whole process, and by flexibly configuring the test point set and increasing the test sample size, the system accuracy performance of the surgical robot at multiple points can be detected as much as possible in a compact operating room space, improving the accuracy of the accuracy test.

[0029] The following describes the specific structure of the accuracy test system and the accuracy test method implemented thereby:

[0030] As Figure 1 shown, the accuracy test system 100 provided by an embodiment of this application includes a main control device 110, a motion platform 120, and a surgical robot 130; the main control device 110 is electrically connected to the motion platform 120 and the surgical robot 130 respectively; the motion platform 120 is provided with a first target object 121;

[0031] The main control device 110 is configured to:

[0032] Move the mobile motion platform 120 based on the test plan, and control the first target 121 to move according to the test point set through the motion platform 120, and obtain the three-dimensional test coordinates when the first target 121 moves to the test point set; wherein, the test plan includes the range of the test workspace and the position of the test point set in the test workspace. After the motion platform 120 moves based on the test plan, the motion range of the first target 121 can cover the test workspace.

[0033] Obtain the reference test coordinates based on the first conversion relationship and the three-dimensional test coordinates; the first conversion relationship represents the coordinate conversion relationship between the robotic arm base coordinate system and the three-dimensional coordinate system.

[0034] Control the surgical robot 130 to move according to the reference test coordinates, and obtain the three-dimensional actual coordinates in the three-dimensional coordinate system when the surgical robot 130 moves to the reference test coordinates.

[0035] Determine the system accuracy of the surgical robot 130 according to the error between the three-dimensional test coordinates and the three-dimensional actual coordinates.

[0036] In applications, the main control device 110 can be a desktop computer, a tablet computer, a laptop computer, an Ultra-Mobile Personal Computer (UMPC), a Personal Digital Assistant (PDA), a mobile phone, a wearable device, an Augmented Reality (AR) / Virtual Reality (VR) device, etc. The embodiments of the present application do not impose any restrictions on the specific type of the main control device 110.

[0037] In applications, the motion platform 120 may include at least one motion track / joint, the first motion track / joint is connected, and the first motion track / joint to the nth motion track / joint are connected in sequence, where n can be an integer greater than or equal to 2. The motion track / joint can specifically be a single-axis or multi-axis motion track / joint (for example, a biaxial motion track / joint with a 90-degree turn). When the motion platform 120 includes multiple motion tracks / joints, the multiple motion tracks / joints can be connected in sequence. The motion platform 120 can be fixedly connected to the first target 121, and the first target 121 can be disposed on any motion track / joint of the motion platform 120 (for reference, see Figure 1As shown, the motion platform 120 includes three motion tracks / joints. The first motion track / joint 122 and the second motion track / joint 123 are slidably connected, the second motion track / joint 123 and the third motion track / joint 124 are slidably connected, and the first target 121 is fixed to the third motion track / joint 124). In the embodiments of the present application, there are no restrictions on the number of motion tracks / joints of the motion platform 120 and the number of axes of each motion track / joint.

[0038] In applications, the number of motion tracks is positively correlated with the degrees of freedom of the motion platform 120. The motion platform 120 can have single-axis degrees of freedom or multi-axis degrees of freedom. Specifically, it can be a motion platform 120 with xyz three-axis degrees of freedom (as shown in Figure 1 ), which is used to drive the first target 121 to move on the xyz three axes, so that the first target 121 can be moved to any position within the motion range according to the test requirements. It should be noted that the motion range of the first target 121 depends on the position of the motion platform 120 and the positioning of the motion tracks / joints.

[0039] In applications, the surgical robot 130 can include a base 131 and a robotic arm 132. The base 131 and the robotic arm 132 are connected. The robotic arm 132 can specifically be a single-axis robotic arm or a multi-axis robotic arm. The form of the surgical robot 130 and the number of robotic arms can be selected according to the actual surgical needs. In the embodiments of the present application, there are no restrictions on the form of the surgical robot 130 and the number of robotic arms.

[0040] In applications, the main control device 110 is electrically connected to the motion platform 120 and the surgical robot 130 respectively. The main control device 110 can control the motion of the motion platform 120 to drive the first target 121 to move; the main control device 110 can also control the movement of the surgical robot 130; the main control device 110 can also be used to obtain the three-dimensional coordinates in the three-dimensional coordinate system, which can be realized through an integrated three-dimensional scanning device or an external three-dimensional measuring instrument.

[0041] In applications, the main control device 110 can determine the test plan according to the input surgical space parameters. The test plan includes the range of the test workspace and the positions of the test point sets in the test workspace. Among them, the range of the test workspace is determined according to the above-mentioned surgical space parameters. Specifically, the surgical space parameters are used to represent the actual position of the surgical space (for example, the surgical space is located at the first third of the operating table and the height is 50 cm). The main control device 110 can convert the surgical space parameters into surgical space coordinates, which can include coordinates in different coordinate systems such as a three-dimensional coordinate system and a robotic arm base coordinate system, and determine the range of the test workspace according to the surgical space coordinates.

[0042] In an application, after determining the scope of the test workspace, the master control device 110 can generate a test point set according to the scope of the test workspace and a preset generation strategy. The preset generation strategy can be to randomly generate a test point set within the scope of the test workspace, or to randomly generate a test point set at the boundary positions of the test workspace, or to randomly generate a test point set at the central position of the test workspace. This application does not impose any restrictions on the specific strategy of the preset generation strategy; the master control device 110 can also generate a test point set according to the scope of the test workspace and generation parameters. The generation parameters are used to specify the position of the test point set in the test workspace, and the generation parameters can be custom-configured by the tester. For example, the edge position of the test point set in the test workspace can be specified.

[0043] In an application, after determining the test plan, the master control device 110 can move the motion platform 120 according to the test plan, so that the motion platform 120 drives the first target 121 to move, so that the movement range of the first target 121 can cover the test workspace, and control the first target 121 to move according to the test point set through the motion platform 120, and obtain the three-dimensional test coordinates when the first target 121 moves to the test point set. It should be noted that before the test, the motion accuracy of the motion platform 120 needs to reach the preset accuracy, so that the three-dimensional test coordinates can accurately reflect the position of the test point set and ensure the test accuracy.

[0044] In an application, after obtaining the three-dimensional test coordinates, the master control device 110 can convert the three-dimensional test coordinates based on the first conversion relationship to obtain the reference test coordinates. The reference test coordinates are used to indicate the position of the test point set in the robotic arm base coordinate system.

[0045] In an application, the master control device 110 can control the surgical robot 130 to move according to the reference test coordinates, so that the (end) of the surgical robot 130 moves to the reference test coordinates. Specifically, the reference test coordinates and the (end) control instruction can be sent to the surgical robot 130, so that the (end) of the surgical robot 130 moves to the reference test coordinates. And when the (end) of the surgical robot 130 moves to the reference test coordinates, obtain the three-dimensional actual coordinates of the (end) of the surgical robot 130 at the current position.

[0046] In an application, after obtaining the three-dimensional test coordinates and the three-dimensional actual coordinates, the master control device 110 can determine the system accuracy of the surgical robot 130 according to the error between the three-dimensional test coordinates and the three-dimensional actual coordinates. Specifically, the error between the three-dimensional test coordinates and the three-dimensional actual coordinates characterizes the error between the position when the first target object 121 moves to the test point set and the position when the surgical robot 130 moves to the test point set. Further, the position when the first target object 121 moves to the test point set is approximately the same as or equivalent to the actual position of the test point set, while the position when the surgical robot 130 moves to the test point set reflects the actual position reached by the surgical robot 130 when moving towards the test point set as the target. It is easy to understand that the distance difference between the above two actual positions (i.e., the error between the three-dimensional test coordinates and the three-dimensional actual coordinates) can reflect the system accuracy of the surgical robot 130.

[0047] In an application, the accuracy test system provided by the embodiment of the present application can realize a full-automatic process from the entry / placement of the target object, the movement of the target object to the accuracy measurement of the surgical robot 130, avoiding the introduction of human errors in the accuracy test, improving the test efficiency through the automatic test of the whole process, and through the flexible configuration of the test point set and the increase of the test sample size, the system accuracy performance of the surgical robot 130 at multiple positions in the entire working space can be tested, improving the accuracy of the accuracy test.

[0048] The following describes the specific method for obtaining the system accuracy:

[0049] In one embodiment, the three-dimensional test coordinates are used to determine the position of the test point, the position of the test line, and / or the position of the test plane in the three-dimensional coordinate system;

[0050] Determining the system accuracy of the surgical robot 130 in the test working space according to the error between the three-dimensional test coordinates and the three-dimensional actual coordinates includes:

[0051] Determining the point error, line error, or plane error of the surgical robot 130 in the test working space according to the error between the three-dimensional test coordinates and the three-dimensional actual coordinates;

[0052] When determining the point error of the surgical robot 130 within the test workspace, the position of the test point is determined within the three-dimensional coordinate system based on a three-dimensional test coordinate. The second target 133 includes a sub-target to generate a corresponding three-dimensional actual coordinate. When determining the line error of the surgical robot 130 within the test workspace, the position of the test line is determined within the three-dimensional coordinate system based on two three-dimensional test coordinates. The second target 133 includes two sub-targets to generate two corresponding three-dimensional actual coordinates. When determining the surface error of the surgical robot 130 within the test workspace, the position of the test surface is determined within the three-dimensional coordinate system based on three three-dimensional test coordinates. The second target 133 includes three sub-targets to generate three corresponding three-dimensional actual coordinates.

[0053] The main control device 110 is configured to control the second target 133 to move according to the reference test coordinates through the surgical robot 130, and obtain the three-dimensional actual coordinates in the three-dimensional coordinate system when the second target 133 moves to the reference test coordinates.

[0054] In an application, the surgical robot 130 may be provided with a second target 133, and the second target 133 may be fixed to the end of the robotic arm of the surgical robot 130. The second target 133 may include one, two or three sub-targets. When the second target 133 includes two or three sub-targets, the sub-targets may be flexibly connected. For example, they may be flexibly connected by a telescopic rod with adjustable length and angle, so as to adjust the relative positional relationship between the sub-targets to adapt to the relative positional relationship of the two three-dimensional test coordinates constituting the test line, and then generate two three-dimensional actual coordinates corresponding to the above two three-dimensional test coordinates, or adapt to the relative positional relationship of the three three-dimensional test coordinates constituting the test surface, and then generate three three-dimensional actual coordinates corresponding to the above three three-dimensional test coordinates.

[0055] Figures 2 to 4 Schematic diagrams showing the structures of the second target 133 when it includes one sub-target, two sub-targets, and three sub-targets are respectively shown.

[0056] It should be noted that when determining the line error of the surgical robot 130 within the test workspace, it is necessary to determine the position of the test line within the three-dimensional coordinate system based on two three-dimensional test coordinates. When the second target 133 includes only one sub-target, it is also possible to control the above-mentioned one sub-target to move to the reference test coordinates corresponding to the above two three-dimensional test coordinates to obtain the corresponding two three-dimensional actual coordinates. Similarly, when determining the surface error of the surgical robot 130 within the test workspace, it is necessary to determine the position of the test surface within the three-dimensional coordinate system based on three three-dimensional test coordinates. When the second target 133 includes only one sub-target, it is also possible to control the above-mentioned one sub-target to move to the reference test coordinates corresponding to the above three three-dimensional test coordinates to obtain the corresponding three three-dimensional actual coordinates.

[0057] In application, when determining the point error, obtain the point error between each three-dimensional test coordinate and the corresponding three-dimensional actual coordinate, and determine the point error of the surgical robot 130 within the test workspace based on all the point errors; the point error is the distance between the three-dimensional test coordinate and the corresponding three-dimensional actual coordinate.

[0058] In application, when determining the line error, obtain the line sub-error between any two three-dimensional test coordinates and the corresponding two three-dimensional actual coordinates, and determine the line error of the surgical robot 130 within the test workspace based on all the line sub-errors; the line sub-error is determined according to the perpendicular length between the lines formed by any two three-dimensional test coordinates and the corresponding two three-dimensional actual coordinates. Specifically, the length of the longest perpendicular line between the lines formed by any two three-dimensional test coordinates and the corresponding two three-dimensional actual coordinates can be used as the line sub-error (as shown in Figure 5 As shown, assume that the two three-dimensional test coordinates are point 11 and point 12 respectively, and the two three-dimensional actual coordinates are point 21 and point 22 respectively. The perpendicular lines between the lines formed by point 11 and point 12 and point 21 and point 22 are 31 and 32 respectively, then the corresponding line sub-error is the length of the longest perpendicular line 32).

[0059] It should be noted that the length of the above-mentioned longest perpendicular line is positively correlated with the line sub-error. It is easy to understand that when the length of the longest perpendicular line is 0, that is, the test line formed by the two three-dimensional test coordinates completely coincides with the line formed by the two three-dimensional actual coordinates, and at this time the line sub-error is 0.

[0060] Figure 5An exemplary interface diagram for obtaining the line error is shown. In an application, when determining the surface error, the surface error between any three three-dimensional test coordinates and the corresponding three three-dimensional actual coordinates is obtained, and the surface error of the surgical robot 130 within the test workspace is determined based on all the surface errors; the surface error is determined according to the perpendicular length between the plane formed by any three three-dimensional test coordinates and the corresponding three three-dimensional actual coordinates. Specifically, the length of the longest perpendicular between the plane formed by any three three-dimensional test coordinates and the corresponding three three-dimensional actual coordinates can be used as the surface error (as shown in Figure 6 For example, assuming that the three three-dimensional test coordinates are point 13, point 14, and point 15 respectively, and the three three-dimensional actual coordinates are point 23, point 24, and point 25 respectively, and the perpendiculars from point 13, point 14, and point 15 to the above-mentioned plane are 33, 34, and 35 respectively, then the corresponding surface error is the length of the longest perpendicular 35).

[0061] It should be noted that the length of the above-mentioned longest perpendicular is positively correlated with the surface error. It is easy to understand that when the length of the longest perpendicular is 0, that is, the test plane formed by the three three-dimensional test coordinates completely coincides with the plane formed by the three three-dimensional actual coordinates, and at this time the surface error is 0.

[0062] Figure 6 An exemplary interface diagram for obtaining the surface error is shown.

[0063] In an application, the second target 133 can be configured according to actual test needs. Specifically, the second target 133 can be replaced through modular accessories to adapt to the system accuracy test requirements of point error, line error, or surface error. For example, when testing the surface error, each time the surface error is obtained, three three-dimensional actual coordinates corresponding to the test surface need to be obtained. If the second target 133 containing one sub-target is used for testing, the surgical robot 130 needs to be moved three times. If the second target 133 containing three sub-targets is used for testing, the surgical robot 130 only needs to be moved once. Moreover, compared with moving the surgical robot 130 three times to obtain three-dimensional actual coordinates, moving the surgical robot 130 once to obtain three-dimensional actual coordinates can improve the test efficiency and test accuracy at the same time.

[0064] In one embodiment, the main control device 110 is further configured to move the motion platform 120 away from the test workspace before controlling the surgical robot 130 to move according to the reference test coordinates.

[0065] In an application, after the main control device 110 obtains the three-dimensional test coordinates, before controlling the surgical robot 130 to move according to the test coordinates, it can control the motion platform 120 to move away from the test workspace to avoid the surgical robot 130 colliding with the motion platform 120 or the first target 121 when moving, and improve the stability and accuracy of the automatic precision test.

[0066] As Figure 7 shown, in one embodiment, the precision test system further includes a slide rail 140, the slide rail 140 is electrically connected to the main control device 110, and the slide rail 140 is slidably connected to the moving platform 120;

[0067] The slide rail 140 is configured to control the movement of the moving platform 120 in response to a movement instruction from the main control device 110.

[0068] In application, the main control device 110 can control the movement of the moving platform 120 through the slide rail 140. Specifically, the moving platform 120 can be moved based on a test plan through the slide rail 140, so that the moving platform 120 and the first target object 121 enter the test working space, and the movement range of the first target object 121 covers the test working space; before controlling the movement of the surgical robot 130 according to the reference test coordinates, the moving platform 120 can also be moved through the slide rail 140 to move the moving platform 120 away from the test working space.

[0069] As Figure 8 shown, in one embodiment, the precision test system further includes a test fixture 150, the moving platform 120 is fixedly arranged on the test fixture 150, and at least three reference balls are arranged on the surface of the test fixture 150;

[0070] The main control device 110 is configured to obtain a first conversion relationship by using the reference balls as a coordinate conversion medium;

[0071] The test fixture 150 is configured to simulate the target part of the target object in the test working space.

[0072] In application, the first conversion relationship is composed of a second conversion relationship and a third conversion relationship, and the third conversion relationship is composed of a fourth conversion relationship and a fifth conversion relationship;

[0073] The precision test system further includes a CT image scanner and a three-dimensional measuring instrument. The main control device 110 is respectively connected to the CT image scanner and the three-dimensional measuring instrument. The CT image scanner is configured to obtain CT image coordinates, and the three-dimensional measuring instrument is configured to obtain three-dimensional coordinates. The main control device 110 is configured to:

[0074] Establish a CT image coordinate system of the test fixture 150 based on the CT image coordinates of at least three reference balls;

[0075] Obtain a fourth conversion relationship based on the coordinates of the test fixture 150 of at least three reference balls and the CT image coordinates of at least three reference balls; the fourth conversion relationship represents the coordinate conversion relationship between the test fixture coordinate system and the CT image coordinate system, and the test fixture coordinate system is a coordinate system established with the test fixture 150 as the center;

[0076] Obtain a fifth conversion relationship based on the coordinates of the test tooling 150 with at least three reference spheres, the three-dimensional coordinates of at least three reference spheres, and the three-dimensional coordinates of the first target object 121 at at least three different positions; the fifth conversion relationship represents the coordinate conversion relationship between the test tooling coordinate system and the three-dimensional coordinate system;

[0077] Obtain a third conversion relationship according to the fourth conversion relationship and the fifth conversion relationship;

[0078] Register the surgical robot 130 according to the CT image coordinates of the test tooling 150 to obtain a second conversion relationship;

[0079] Obtain a first conversion relationship according to the second conversion relationship and the third conversion relationship.

[0080] It should be noted that Figure 8 The sequential connection of the middle slide rail 140, the test tooling 150, and the moving platform 120 is only exemplary, and it can also be the sequential connection of the slide rail 140, the moving platform 120, and the test tooling 150. The embodiments of the present application do not impose any restrictions on the composition and connection relationship of the accuracy test system.

[0081] In application, the test tooling 150 is used to simulate the target part of the target object in the test working space. Specifically, the target object can be a surgical object such as a human or an animal, and the target part can be parts such as the pelvis, femur, and spine. It should be noted that Figure 8 The presentation of the test tooling 150 in the form of a cuboid is only exemplary, and the shape of the test tooling 150 can be the shape of the above target part.

[0082] In one embodiment, the material of the test tooling 150 can be PMMA (Polymethyl Methacrylate, a polymer, commonly known as acrylic) or carbon fiber, etc., which are materials that are difficult to image in machine vision or medical imaging, and the material of the reference sphere can be stainless steel, silicon nitride ceramic, etc., which are materials that are easy to image in machine vision or medical imaging.

[0083] In application, as a coordinate conversion medium, the reference spheres can be arranged as scattered as possible on the test tooling 150, and the distance between the spheres should be as large as possible (as shown in Figure 8 Three reference spheres 151, 152, and 153 are respectively arranged at three corner positions on the surface of the test tooling 150). The number of reference spheres needs to meet the requirement of being greater than or equal to 3, so that the reference spheres can support coordinate conversion for a three-axis coordinate system and coordinate systems with more than three axes. Or, assuming that the reference spheres are used to support coordinate conversion for a three-axis coordinate system, any three reference spheres can be selected as the coordinate conversion medium, and other reference spheres are used to verify the system accuracy after the system accuracy is obtained.

[0084] In an application, the 3D measuring instrument can be a laser tracker based on optical tracking or a 3D positioning system based on magnetic navigation. If the 3D measuring instrument is a laser tracker based on optical tracking, it is necessary to ensure that the first target 121 is not blocked and always within the machine vision range of the laser tracker during the test; if the 3D measuring instrument is a 3D positioning system based on magnetic navigation, it can be not affected by the occlusion of the first target 121, and it is only necessary to ensure that the first target 121 is within the test working space. The specific type of the 3D measuring instrument in the embodiments of the present application is not limited in any way.

[0085] In an application, the following describes the entire process of the accuracy test system for obtaining point errors (including the establishment of coordinate transformation relationships):

[0086] A1. Obtain the fourth transformation relationship: The fourth transformation relationship represents the coordinate transformation relationship between the test fixture coordinate system and the CT image coordinate system;

[0087] Based on the CT image coordinates of at least three fiducial spheres, establish the CT image coordinate system of the test fixture 150; based on the test fixture 150 coordinates of at least three fiducial spheres and the CT image coordinates of at least three fiducial spheres, obtain the fourth transformation relationship;

[0088] A2. Obtain the fifth transformation relationship: The fifth transformation relationship represents the coordinate transformation relationship between the test fixture coordinate system and the 3D coordinate system;

[0089] Fix the motion platform 120 to the test fixture 150, and slidably connect the test fixture 150 with the slide rail 140;

[0090] Determine the zero position of the first target 121, and control the first target 121 to move a preset distance along the xyz axes respectively to reach three registration positions. Obtain the 3D coordinates of the first target 121 at the three registration positions through the 3D measuring instrument, and combine the 3D coordinates of the three fiducial spheres to obtain the sixth transformation relationship; The sixth transformation relationship represents the coordinate transformation relationship between the test fixture coordinate system and the motion platform coordinate system;

[0091] Among them, the motion platform coordinate system is obtained based on the 3D measuring instrument. According to the transformation relationship between the 3D coordinate system and the motion platform coordinate system and the sixth transformation relationship, the fifth transformation relationship can be obtained;

[0092] A3. Move the motion platform 120 based on the test plan:

[0093] The motion platform 120 can be moved through the slide rail 140, and the movement range of the first target 121 covers the test working space. Specifically, the first target 121 can be located at the center of the test working space, and the xyz three axes of the motion platform 120 can be parallel to the boundary of the test working space;

[0094] The position of the three-dimensional measuring instrument can also be adjusted according to the position of the test work space, so that the center of the machine vision of the three-dimensional measuring instrument is near the center of the test work space, thereby ensuring that the first target 121 is within the tracking range of the three-dimensional measuring instrument and the tracking line of sight is unobstructed.

[0095] A4. Determine the position of the test work space in the three-dimensional coordinate system:

[0096] Drive the second target 133 through the surgical robot 130, or drive the first target 121 through the motion platform 120 to move to the boundary position of the test work space (for example, assuming the test work space is a cube, move to the eight vertices of the above cube), and record the coordinates of the boundary position through the three-dimensional measuring instrument, so as to determine the position of the test work space in the three-dimensional coordinate system;

[0097] A5. Obtain the three-dimensional test coordinates and form test points:

[0098] Control the first target 121 to move according to the test point set through the motion platform 120, and obtain the three-dimensional test coordinates when the first target 121 moves to the test point set; the method for obtaining the three-dimensional test coordinates can refer to the relevant descriptions in the above embodiments and will not be elaborated here;

[0099] The test point can be any point in the test point set.

[0100] A6. Obtain the first conversion relationship and the reference test coordinates:

[0101] Combine the fourth conversion relationship and the fifth conversion relationship to obtain the third conversion relationship; the third conversion relationship represents the coordinate conversion relationship between the CT image coordinate system and the three-dimensional coordinate system;

[0102] Input the CT image coordinates of the test tooling 150 into the surgical robot 130 for registration to obtain the second conversion relationship, and the second conversion relationship represents the conversion relationship between the CT image coordinate system and the robotic arm base coordinate system;

[0103] Combine the second conversion relationship and the third conversion relationship to obtain the first conversion relationship;

[0104] By inputting the three-dimensional test coordinates into the first conversion relationship, the reference test coordinates are obtained;

[0105] A7. Control the motion platform 120 to move away from the test work space;

[0106] A8. Control the surgical robot 130 to move according to the reference test coordinates, and obtain the three-dimensional actual coordinates when the surgical robot 130 moves to the reference test coordinates;

[0107] A9. Obtain the point error between each three-dimensional test coordinate and the corresponding three-dimensional actual coordinate, and determine the point error of the surgical robot 130 in the test work space based on all the point errors;

[0108] In application, the implementation methods of A7 to A9 can refer to the relevant descriptions in the above embodiments and will not be elaborated here. It should be noted that after obtaining the reference test coordinates, the surgical robot 130 can perform inverse kinematics on the reference test coordinates to obtain the joint angles of each robotic arm corresponding to moving to the reference test coordinates, and move according to the above joint angles of the robotic arm to reach the position corresponding to the reference test coordinates.

[0109] In application, the following describes the full process of the accuracy test system for obtaining the line error:

[0110] The processes of B1 to B4 are the same as those of A1 to A4 for obtaining the point error above and will not be elaborated here. The difference is that in B4, the second target 133 can include one sub-target or two sub-targets.

[0111] B5. Obtain three-dimensional test coordinates and form a test line:

[0112] Control the first target 121 to move according to the test point set through the motion platform 120, and obtain the three-dimensional test coordinates when the first target 121 moves to the test point set; the method for obtaining the three-dimensional test coordinates can refer to the relevant descriptions in the above embodiments and will not be elaborated here;

[0113] The test line can be formed by any two three-dimensional test coordinates;

[0114] Alternatively, the test line can include a target point and an entry point, where the target point is any endpoint in the actual surgical planning line, and the entry point can be any three-dimensional test coordinate other than the target point; the line segment length of the test line can be approximately equal to the line segment length of the actual surgical planning line to simulate the actual surgical scenario for testing;

[0115] B6. Obtain the first conversion relationship and the reference test coordinates:

[0116] The method for obtaining the first conversion relationship can refer to the relevant descriptions in process A6 above and will not be elaborated here;

[0117] According to the first conversion relationship and the two three-dimensional test coordinates that form the test line, obtain the corresponding two reference test coordinates;

[0118] B7. Control the motion platform 120 to move away from the test work space;

[0119] B8. Control the surgical robot to move according to the reference test coordinates, and obtain the three-dimensional actual coordinates when the surgical robot 130 moves to the reference test coordinates;

[0120] B9. Obtain the line sub-error between any two three-dimensional test coordinates and the corresponding two three-dimensional actual coordinates, and determine the line error of the surgical robot 130 in the test workspace according to all the line sub-errors;

[0121] In application, the implementation methods of B7 to B9 and the inverse solution method of the reference test coordinates can refer to the relevant descriptions in the above embodiments, which will not be elaborated here.

[0122] In application, the following describes the full process of the accuracy test system for obtaining the surface error:

[0123] The processes of C1 to C4 are the same as those of A1 to A4 for obtaining the point error above, which will not be elaborated here. The difference is that in C4, the second target 133 may include one sub-target, two sub-targets or three sub-targets.

[0124] C5. Obtain three-dimensional test coordinates and form a test surface:

[0125] Control the first target 121 to move according to the test point set through the motion platform 120, and obtain the three-dimensional test coordinates when the first target 121 moves to the test point set; the method for obtaining the three-dimensional test coordinates can refer to the relevant descriptions in the above embodiments, which will not be elaborated here;

[0126] The test surface can be formed by any three three-dimensional test coordinates; the area of the test surface can be approximated to the area in the actual surgical planning surface to simulate the actual surgical scenario for testing;

[0127] C6. Obtain the first conversion relationship and the reference test coordinates:

[0128] The method for obtaining the first conversion relationship can refer to the relevant descriptions in process A6 above, which will not be elaborated here;

[0129] According to the first conversion relationship and the three three-dimensional test coordinates forming the test surface, obtain the corresponding three reference test coordinates;

[0130] C7. Control the motion platform 120 to move away from the test workspace;

[0131] C8. Control the surgical robot to move according to the reference test coordinates, and obtain the three-dimensional actual coordinates when the surgical robot 130 moves to the reference test coordinates;

[0132] C9. Obtain the surface sub-error between any three three-dimensional test coordinates and the corresponding three three-dimensional actual coordinates, and determine the surface error of the surgical robot 130 in the test workspace according to all the surface sub-errors;

[0133] In an application, the implementation method of C7 to C9 and the inverse solution method of the benchmark test coordinates may refer to the relevant descriptions in the above embodiments and will not be elaborated herein.

[0134] In an application, the above full processes of obtaining point error, line error, and surface error are based on three specific embodiments provided by the precision test system, rather than limiting the test process. Users can determine the test process according to actual test needs.

[0135] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For parts not elaborated or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0136] Those of ordinary skill in the art can realize that the modules and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0137] In the embodiments provided in this application, it should be understood that the disclosed master control device and method can be implemented in other ways. For example, the master control device embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces, and the indirect coupling or communication connection of devices or modules can be in an electrical, mechanical, or other form.

[0138] The above-described embodiments are only used to illustrate the technical solutions of this application and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments or perform equivalent replacements for some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application and should all be included within the protection scope of this application.

Claims

1. A precision testing system, characterized in that, It includes a main control device, a motion platform and a surgical robot; the main control device is electrically connected to the motion platform and the surgical robot respectively; the motion platform is provided with a first target object. The main control device is used for: Moving the motion platform based on a test plan, and controlling the first target object to move according to a test point set through the motion platform, so as to obtain three-dimensional test coordinates when the first target object moves to the test point set; wherein, the test plan includes the range of a test workspace and the positions of the test point set in the test workspace, and after the motion platform moves based on the test plan, the motion range of the first target object can cover the test workspace. Obtaining reference test coordinates based on a first conversion relationship and the three-dimensional test coordinates; the first conversion relationship represents the coordinate conversion relationship between the base coordinate system of the robotic arm and the three-dimensional coordinate system. Controlling the movement of the surgical robot according to the reference test coordinates, and obtaining three-dimensional actual coordinates in the three-dimensional coordinate system when the surgical robot moves to the reference test coordinates. Determining the system accuracy of the surgical robot according to the error between the three-dimensional test coordinates and the three-dimensional actual coordinates.

2. The precision test system according to claim 1, characterized in that, The three-dimensional test coordinates are used to determine the positions of test points, test lines and / or test planes in the three-dimensional coordinate system. Determining the system accuracy of the surgical robot in the test workspace according to the error between the three-dimensional test coordinates and the three-dimensional actual coordinates includes: Determining the point error, line error or plane error of the surgical robot in the test workspace according to the error between the three-dimensional test coordinates and the three-dimensional actual coordinates.

3. The precision test system according to claim 2, characterized in that The surgical robot is provided with a second target object. When determining the point error of the surgical robot in the test workspace, the position of a test point is determined in the three-dimensional coordinate system based on one three-dimensional test coordinate, and the second target object includes one sub-target object to generate a corresponding three-dimensional actual coordinate; when determining the line error of the surgical robot in the test workspace, the position of a test line is determined in the three-dimensional coordinate system based on two three-dimensional test coordinates, and the second target object includes two sub-target objects to generate corresponding two three-dimensional actual coordinates; when determining the plane error of the surgical robot in the test workspace, the position of a test plane is determined in the three-dimensional coordinate system based on three three-dimensional test coordinates, and the second target object includes three sub-target objects to generate corresponding three three-dimensional actual coordinates. The main control device is used for controlling the second target object to move according to the reference test coordinates through the surgical robot, and obtaining three-dimensional actual coordinates in the three-dimensional coordinate system when the second target object moves to the reference test coordinates.

4. The precision test system according to claim 2, characterized in that Determining the point error, line error or plane error of the surgical robot in the test workspace according to the error between the three-dimensional test coordinates and the three-dimensional actual coordinates includes: When determining the point error, obtaining the point error between each three-dimensional test coordinate and the corresponding three-dimensional actual coordinate, and determining the point error of the surgical robot in the test workspace according to all the point errors. The dot error is the distance between the three-dimensional test coordinates and the corresponding three-dimensional actual coordinates.

5. The precision test system according to claim 2, wherein Determining the point error, line error or plane error of the surgical robot in the test work space according to the error between the three-dimensional test coordinates and the three-dimensional actual coordinates includes: When determining the line error, obtaining the line sub-errors between any two three-dimensional test coordinates and the corresponding two three-dimensional actual coordinates, and determining the line error of the surgical robot in the test work space according to all the line sub-errors; The line sub-error is determined according to the perpendicular length between the lines formed by any two three-dimensional test coordinates and the corresponding two three-dimensional actual coordinates.

6. The precision test system according to claim 2, characterized in that, Determining the point error, line error or plane error of the surgical robot in the test work space according to the error between the three-dimensional test coordinates and the three-dimensional actual coordinates includes: When determining the plane error, obtaining the plane sub-errors between any three three-dimensional test coordinates and the corresponding three three-dimensional actual coordinates, and determining the plane error of the surgical robot in the test work space according to all the plane sub-errors; The plane sub-error is determined according to the perpendicular length between the planes formed by any three three-dimensional test coordinates and the corresponding three three-dimensional actual coordinates.

7. The precision test system according to claim 1, wherein The main control device is further configured to move the motion platform away from the test work space before controlling the movement of the surgical robot according to the reference test coordinates.

8. The precision test system according to claim 7, characterized in that, It further includes a slide rail, the slide rail is electrically connected to the main control device, and the slide rail is slidably connected to the motion platform; The slide rail is configured to control the movement of the motion platform in response to a movement instruction of the main control device.

9. The precision test system according to any one of claims 1 to 8, characterized in that, It further includes a test tooling, the motion platform is fixedly arranged on the test tooling, and at least three reference balls are arranged on the surface of the test tooling; The main control device is configured to obtain a first conversion relationship by using the reference balls as a coordinate conversion medium; The test tooling is configured to simulate the target part of the target object in the test work space.

10. The precision test system according to claim 9, wherein The first conversion relationship is composed of a second conversion relationship and a third conversion relationship, and the third conversion relationship is composed of a fourth conversion relationship and a fifth conversion relationship; The precision test system further includes a CT image scanner and a three-dimensional measuring instrument. The main control device is respectively connected to the CT image scanner and the three-dimensional measuring instrument. The CT image scanner is configured to obtain CT image coordinates, and the three-dimensional measuring instrument is configured to obtain three-dimensional coordinates. The main control device is configured to: Establish a CT image coordinate system of the test tooling based on the CT image coordinates of at least three reference balls; Obtain a fourth conversion relationship based on the test tooling coordinates of the at least three reference balls and the CT image coordinates of the at least three reference balls; the fourth conversion relationship represents the coordinate conversion relationship between the test tooling coordinate system and the CT image coordinate system, and the test tooling coordinate system is a coordinate system established with the test tooling as the center; Obtain a fifth conversion relationship based on the test tooling coordinates of the at least three reference balls, the three-dimensional coordinates of the at least three reference balls, and the three-dimensional coordinates of the first target object at at least three different positions; the fifth conversion relationship represents the coordinate conversion relationship between the test tooling coordinate system and the three-dimensional coordinate system; Obtain a third conversion relationship according to the fourth conversion relationship and the fifth conversion relationship; Register the surgical robot according to the CT image coordinates of the test tooling to obtain a second conversion relationship; Obtain a first conversion relationship according to the second conversion relationship and the third conversion relationship.

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