Surgical robot precision test method and surgical robot precision test system

Abstract

The invention discloses a surgical robot precision test method and a surgical robot precision test system, and relates to the technical field of surgical robots. The two ends of a calibration rod of the precision reference tool are provided with a reflective ball and a calibration point, and laser emitted by the laser measurement device is irradiated to the reflective ball, so that the laser measurement device can track the moving position of the reflective ball. The precision reference tool comprises at least one group of calibration parts, each group comprises a first calibration part and a second calibration part, the mechanical arm is controlled to enable the reflective ball to be attached to the first calibration part and the second calibration part respectively to obtain an actual value of the space angle, and the actual value of the space angle is compared with a design value of the space angle; therefore, whether the precision of the surgical robot meets design requirements is judged. The laser measuring device is matched with the reflective ball for measurement, measurement is more accurate, the laser measuring device can directly obtain actual points of space coordinates during measurement, measurement points do not need to be manually taken for multiple times, and operation is more convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and particularly to a method for inspecting the accuracy of a surgical robot and a system for inspecting the accuracy of a surgical robot. Background Art

[0002] Hip replacement restores function by replacing the diseased joint with an artificial prosthesis, and its core steps highly depend on the accuracy of the surgical robot system, such as the depth, angle of acetabular fossa rasping, and the accuracy of prosthesis implantation position, etc. In the prior art, to verify the accuracy of the surgical robot system, an accuracy inspection tooling needs to be installed at the end of the robotic arm, the spatial position of the accuracy inspection tooling is read by an optical navigation device, and the target points are repeatedly picked by a coordinate measuring machine or a probe to obtain coordinate data and convert it into accuracy indicators. However, the existing methods have significant defects: 1. The test accuracy of the coordinate measuring machine or the probe is relatively low, and manual picking of calibration points is required multiple times. Especially when measuring the spatial angle, the calibration points at both ends of the measuring part need to be picked, the process is complex and time-consuming, the operation is cumbersome, and the manual operation accuracy is low; 2. When using the coordinate measuring machine or the probe for measurement, all subsystems and measuring tools must be relatively fixed during the test process, and it is difficult to ensure the repeat accuracy and feasibility. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the defects that the operation is inconvenient and the detection accuracy is relatively low when the existing surgical robot accuracy inspection system measures the spatial angle, and to provide a method for inspecting the accuracy of a surgical robot and a system for inspecting the accuracy of a surgical robot.

[0004] The present invention solves the above technical problems through the following technical solutions:

[0005] The present invention provides a method for inspecting the accuracy of a surgical robot, and the method for inspecting the accuracy of a surgical robot includes the following steps:

[0006] Step S1: Install the accuracy reference tooling on a fixed platform, and install the accuracy inspection tooling at the end of the robotic arm of the surgical robot. Wherein, the accuracy reference tooling includes a first reference frame and a calibration part, and the accuracy inspection tooling includes a second reference frame, a calibration rod, a retroreflective sphere and calibration points, and the retroreflective sphere and the calibration points are arranged at both ends of the calibration rod;

[0007] Step S2: Turn on the optical navigation device, and complete hand-eye calibration through the first reference frame and the second reference frame, so as to convert the spatial coordinates of the accuracy reference tooling and the accuracy inspection tooling into a unified coordinate system;

[0008] Step S3: Turn on the laser measurement device, and irradiate the laser emitted by the laser measurement device onto the retroreflective sphere, so that the laser measurement device can track the moving position of the retroreflective sphere;

[0009] Step S4: Control the robotic arm to make the reflective sphere fit the first calibration part, obtain the actual spatial coordinate points of the reflective sphere through the laser measuring device, and obtain the actual spatial coordinate points of the calibration points at this time;

[0010] Control the robotic arm to make the reflective sphere fit the second calibration part respectively, obtain the actual spatial coordinate points of the reflective sphere through the laser measuring device, and obtain the actual spatial coordinate points of the calibration points at this time; wherein, there is at least one group of calibration parts, and each group of calibration parts includes the first calibration part and the second calibration part;

[0011] Step S5: Obtain the first axis through the connection line between the actual spatial coordinate points of the reflective sphere when it fits the first calibration part and the actual spatial coordinate points of the calibration points at this time, and obtain the second axis through the connection line between the actual spatial coordinate points of the reflective sphere when it fits the second calibration part and the actual spatial coordinate points of the calibration points at this time, and obtain the included angle between the first axis and the second axis as the actual spatial angle value according to the first axis and the second axis;

[0012] Obtain the third axis through the connection line between the first calibration part and the precision reference point, and obtain the fourth axis through the connection line between the second calibration part and the precision reference point, and obtain the included angle between the third axis and the fourth axis as the designed spatial angle value according to the third axis and the fourth axis;

[0013] Step S6: Compare the actual spatial angle value with the designed spatial angle value to determine whether the actual angle deviation is within the design threshold.

[0014] In this solution, when conducting the accuracy inspection of the surgical robot, first install the accuracy reference tooling on the fixed platform so that the accuracy reference tooling can serve as a test reference, and install the accuracy inspection tooling at the end of the robotic arm of the surgical robot, enabling the accuracy inspection tooling to move along with the end of the robotic arm of the surgical robot. Then turn on the optical navigation device. The robotic arm moves to several points in space, and hand-eye calibration is completed through the first reference frame and the second reference frame to convert the spatial coordinates of the accuracy reference tooling and the accuracy inspection tooling into a unified coordinate system. There is at least one set of calibration parts on the accuracy reference tooling, and each set includes a first calibration part and a second calibration part. Control the robotic arm to make the retroreflective sphere fit the first calibration part, and use the laser measurement device to obtain the actual spatial coordinate points of the retroreflective sphere, and at this time obtain the actual spatial coordinate points of the calibration points. Obtain the actual spatial coordinate points of the retroreflective sphere and the actual spatial coordinate points of the calibration points at this time in the same way when the retroreflective sphere fits the second calibration part. Furthermore, obtain the first axis through the connection line between the actual spatial coordinate points of the retroreflective sphere when it fits the first calibration part and the actual spatial coordinate points of the calibration points at this time, and obtain the second axis through the connection line between the actual spatial coordinate points of the retroreflective sphere when it fits the second calibration part and the actual spatial coordinate points of the calibration points at this time. The included angle formed by the first axis and the second axis is the actual value of the spatial angle. Obtain the third axis through the connection line between the first calibration part and the accuracy reference point, and obtain the fourth axis through the connection line between the second calibration part and the accuracy reference point, and obtain the included angle between the third axis and the fourth axis as the designed value of the spatial angle according to the third axis and the fourth axis. Then compare the actual value of the spatial angle with the designed value of the spatial angle to determine whether the actual angle deviation is within the design threshold, so as to determine whether the accuracy of the surgical robot meets the design requirements. This solution uses the laser measurement device in cooperation with the retroreflective sphere for measurement, which is more accurate than using a coordinate measuring machine and a probe for measurement. Therefore, the actual spatial coordinate points of the retroreflective sphere obtained are more accurate, and further the actual value of the spatial angle obtained is more accurate, resulting in higher inspection accuracy. Moreover, when measuring, the laser measurement device can directly obtain the actual spatial coordinate points without manually selecting measurement points multiple times, and the movement of each component is more convenient and the operation is more convenient.

[0015] Preferably, the actual spatial coordinate points of the calibration points are realized in the following way:

[0016] Touch the calibration points with the detecting part to obtain the actual spatial coordinate points of the calibration points.

[0017] In this solution, the operator can touch the calibration points with the detecting part to obtain the actual spatial points of the calibration points, and then obtain the axis through the actual spatial coordinate points of the retroreflective sphere and the actual spatial coordinate points of the calibration points. Using the detecting part to touch the calibration points to obtain the actual spatial coordinate points of the calibration points has a lower cost, reducing the accuracy detection cost.

[0018] Preferably, the surgical robot accuracy inspection method further includes the step S5':

[0019] Compare the actual spatial coordinate values with the designed spatial coordinate values to determine whether the actual coordinate deviation is within the designed threshold;

[0020] Wherein, the designed spatial coordinate value is the relative position between the calibration part and the accuracy reference point, and the actual spatial coordinate value is the relative position between the actual spatial coordinate point of the reflective sphere and the accuracy reference point.

[0021] In this solution, in addition to performing the spatial angle accuracy inspection by comparing the actual spatial angle values with the designed spatial angle values, this solution also performs the spatial coordinate accuracy inspection by comparing the actual spatial coordinate values with the designed spatial coordinate values. By performing the inspection from two aspects of spatial angle and spatial coordinate, the accuracy of the accuracy inspection can be further improved.

[0022] Preferably, when the reflective sphere fits the first calibration part, control the robotic arm to drive the accuracy inspection tooling to move to the first position so that the line connecting the reflective sphere and the calibration point is parallel to the fourth axis;

[0023] When the reflective sphere fits the second calibration part, control the robotic arm to drive the accuracy inspection tooling to move to the second position so that the line connecting the reflective sphere and the calibration point is parallel to the third axis.

[0024] In this solution, by designing the movement position of the robotic arm so that when the accuracy inspection tooling is in the first position, the line connecting the reflective sphere and the calibration point is parallel to the fourth axis, and when the accuracy inspection tooling is in the second position, the line connecting the reflective sphere and the calibration point is parallel to the third axis, the first axis, the second axis, the third axis, and the fourth axis are designed as a parallelogram. At this time, the included angle between the first axis and the second axis is the actual spatial angle value, and the included angle between the third axis and the fourth axis is the designed spatial angle value. Since the opposite angles of a parallelogram are equal, the actual spatial angle value and the designed spatial angle value are compared to determine whether the actual angle deviation is within the designed threshold. By forming a parallelogram and using the principle that the opposite angles of a parallelogram are equal to compare the actual spatial angle value and the designed spatial angle value, the spatial angle accuracy detection is made more convenient.

[0025] Preferably, there are multiple groups of calibration parts, and steps S4 and S5 are repeatedly executed to obtain multiple groups of actual spatial angle values and designed spatial angle values;

[0026] Step S6 includes: comparing the average values of multiple groups of actual spatial angle values and designed spatial angle values to determine whether the actual angle deviation is within the designed threshold.

[0027] In this solution, different groups of calibration parts are selected for multiple inspections. By obtaining the actual values and designed values of multiple groups of spatial angles and comparing the averages of multiple groups of measurement data, the error is reduced through multiple inspections, further improving the accuracy of accuracy inspection.

[0028] The present invention also provides a surgical robot accuracy inspection system, which is used to implement the surgical robot accuracy inspection method. The surgical robot accuracy inspection system includes the accuracy reference tooling, the accuracy inspection tooling, the optical navigation device, and the laser measurement device.

[0029] In this solution, the surgical robot accuracy inspection method is implemented using the surgical robot accuracy inspection system.

[0030] Preferably, the accuracy inspection tooling further includes a connecting member, the connecting member includes a connecting portion and a mounting portion, the calibration rod is provided with a first mounting hole, the connecting portion is connected to the first mounting hole, and a second mounting hole matching the shape of the reflective ball is provided on the end surface of the mounting portion away from the calibration rod, and the reflective ball is connected to the second mounting hole;

[0031] And / or, the accuracy inspection tooling further includes a magnetic member, and the connecting portion is further provided with a third mounting hole for accommodating the magnetic member, and the third mounting hole is arranged adjacent to the second mounting hole.

[0032] In this solution, the connecting member includes a connecting portion and a mounting portion, the calibration rod is provided with a first mounting hole, and by connecting the connecting portion to the first mounting hole, the connecting member is connected to the calibration rod. A second mounting hole matching the shape of the reflective ball is provided on the end surface of the mounting portion away from the calibration rod, and the reflective ball is connected to the connecting member through the second mounting hole. By providing the connecting member, the reflective ball is more firmly connected to the calibration rod.

[0033] The connecting member is further provided with a third mounting hole for accommodating the magnetic member, and the third mounting hole is arranged adjacent to the second mounting hole, so that the magnetic member can attract the reflective ball by magnetic force and connect the reflective ball to the connecting member. By providing the magnetic member, the installation and disassembly of the reflective ball are more convenient.

[0034] Preferably, a boss is provided at one end of the calibration rod close to the reflective ball, and a mounting opening matching the shape of the boss is provided on the second reference frame, and the boss is detachably connected to the mounting opening;

[0035] And / or, a first limiting portion is provided at one end of the calibration rod close to the boss, and the end surface of the first limiting portion close to the boss is attached to the surface of the second reference frame.

[0036] In this solution, a boss is provided at one end of the calibration rod close to the reflective sphere. An installation opening matching the shape of the boss is provided on the second reference frame. By connecting the installation opening to the boss, the second reference frame is connected to the boss. The boss and the installation opening are detachable, so that the second reference frame can be removed after hand-eye calibration to avoid the influence of the second reference frame on the detection process.

[0037] A first limiting portion is provided at one end of the calibration rod close to the boss. The end face of the first limiting portion close to the boss fits with the surface of the second reference frame. By setting the first limiting portion, the second reference frame can be limited, making the position of the second reference frame more accurate and avoiding the shaking of the second reference frame during use.

[0038] Preferably, the precision inspection tooling further includes a mounting member. One end of the mounting member is detachably connected to one end of the calibration rod close to the calibration point, and the other end of the mounting member is used to connect to the robotic arm of the surgical robot;

[0039] And / or, a fourth mounting hole is provided on the mounting member. A second limiting portion and a fixing portion are provided at one end of the calibration rod away from the reflective sphere. The fixing portion is inserted into the fourth mounting hole, and the end face of the second limiting portion close to the mounting member fits with the surface of the mounting member.

[0040] In this solution, a mounting member is further connected to one end of the calibration rod close to the calibration point. One end of the mounting member is detachably connected to the calibration rod, and the other end of the mounting member is used to connect to the robotic arm of the surgical robot, which facilitates connecting the precision inspection tooling to the robotic arm and also facilitates disassembling the precision inspection tooling after use.

[0041] A fourth mounting hole is provided on the mounting member. A fixing portion is provided at one end of the calibration rod away from the reflective sphere. The fixing portion is inserted into the fourth mounting hole to connect the calibration rod to the mounting member. A second limiting portion is further provided at one end of the calibration rod away from the reflective sphere. The end face of the second limiting portion close to the mounting member fits with the surface of the mounting member. By setting the second limiting portion, the connection position of the mounting member and the calibration rod can be limited, making the connection between the mounting member and the calibration rod more stable.

[0042] Preferably, the calibration portion is an arc-shaped notch matching the shape of the reflective sphere;

[0043] And / or, the precision reference tooling includes a horizontal reference plane, and a plurality of the calibration portions are arranged at intervals on the horizontal reference plane;

[0044] And / or, the heights of at least two of the calibration portions are different.

[0045] In this solution, the calibration portion is an arc-shaped notch matching the shape of the reflective sphere. Thus, when the reflective sphere fits the arc-shaped notch, the position of the center of the reflective sphere can be determined, making the position of the reflective sphere and the calibration at the top more accurate.

[0046] The precision reference tooling includes a horizontal reference plane, and a plurality of calibration parts are arranged at intervals on the horizontal reference plane. Compared with arranging the calibration parts at other positions such as the side of the precision reference tooling, arranging the calibration parts on the horizontal reference plane can make the measurement more convenient.

[0047] By setting at least two calibration parts at different heights, different height detections can be carried out during precision detection, making the detected position heights more diverse, and further improving the accuracy of precision detection.

[0048] The positive and progressive effects of the present invention are as follows:

[0049] Reflective balls and calibration points are provided at both ends of the calibration rod of the precision reference tooling. The laser emitted by the laser measurement device is irradiated onto the reflective ball so that the laser measurement device can track the moving position of the reflective ball. There is at least one group of calibration parts on the precision reference tooling, and each group includes a first calibration part and a second calibration part. Control the robotic arm to make the reflective ball fit the first calibration part and the second calibration part respectively to obtain the actual value of the spatial angle. Compare the actual value of the spatial angle with the designed value of the spatial angle to determine whether the precision of the surgical robot meets the design requirements. By using the cooperation of the laser measurement device and the reflective ball for measurement, it is more accurate than using a coordinate measuring machine and a probe for measurement. Thus, the actual points of the spatial coordinates of the obtained reflective ball are more accurate, and further the actual values of the obtained spatial angles are more accurate, making the inspection precision higher. And when measuring, the laser measurement device can directly obtain the actual points of the spatial coordinates without manually selecting measurement points multiple times, and the movement of each component is more convenient and the operation is more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a flowchart of a surgical robot precision inspection method according to an embodiment of the present invention.

[0051] Figure 2 It is a three-dimensional structural schematic diagram of a surgical robot precision inspection system according to an embodiment of the present invention.

[0052] Figure 3 It is a three-dimensional structural schematic diagram of a precision inspection tooling according to an embodiment of the present invention.

[0053] Figure 4 It is a three-dimensional structural schematic diagram of a calibration rod according to an embodiment of the present invention.

[0054] Figure 5 It is another three-dimensional structural schematic diagram of a calibration rod according to an embodiment of the present invention.

[0055] Figure 6 It is a three-dimensional structural schematic diagram of a connecting piece according to an embodiment of the present invention.

[0056] Figure 7 Cross-sectional view of a connecting member according to an embodiment of the present invention.

[0057] Figure 8 Schematic perspective view of a second reference frame according to an embodiment of the present invention.

[0058] Figure 9 Schematic perspective view of a mounting member according to an embodiment of the present invention.

[0059] Description of reference numerals:

[0060] Surgical robot accuracy inspection system 100

[0061] Accuracy reference tooling 110

[0062] Accuracy inspection tooling 120

[0063] First reference frame 210

[0064] Calibration part 220

[0065] Calibration rod 300

[0066] Calibration point 310

[0067] First mounting hole 320

[0068] Boss 330

[0069] First limiting part 340

[0070] Second limiting part 350

[0071] Fixing part 360

[0072] Reflective sphere 400

[0073] Connecting member 500

[0074] Connecting part 510

[0075] Mounting part 520

[0076] Second mounting hole 521

[0077] Third mounting hole 522

[0078] Mounting member 600

[0079] Fourth mounting hole 610

[0080] Second reference frame 700

[0081] Mounting opening 710

[0082] Accuracy reference point 800

[0083] Axis 900 Detailed implementation manners

[0084] The present invention will be further described below by way of embodiments, but the present invention is not limited to the following embodiments.

[0085] As Figure 1 shown, this embodiment provides a method for inspecting the accuracy of a surgical robot. The method for inspecting the accuracy of a surgical robot includes the following steps:

[0086] Step S1: Install the precision reference tooling 110 on the fixed platform, and install the precision inspection tooling 120 at the end of the robotic arm of the surgical robot. Among them, the precision reference tooling 110 includes a first reference frame 210 and a calibration part 220, and the precision inspection tooling 120 includes a second reference frame 700, a calibration rod 300, a reflective sphere 400, and a calibration point 310. The reflective sphere 400 and the calibration point 310 are arranged at both ends of the calibration rod 300;

[0087] Step S2: Turn on the optical navigation device, and complete the hand-eye calibration through the first reference frame 210 and the second reference frame 700, so as to convert the spatial coordinates of the precision reference tooling 110 and the precision inspection tooling 120 into a unified coordinate system;

[0088] Step S3: Turn on the laser measurement device, and irradiate the laser emitted by the laser measurement device onto the reflective sphere 400, so that the laser measurement device can track the moving position of the reflective sphere 400;

[0089] Step S4: Control the robotic arm to make the reflective sphere 400 fit the first calibration part, obtain the actual spatial coordinate point of the reflective sphere 400 through the laser measurement device, and obtain the actual spatial coordinate point of the calibration point 310 at this time;

[0090] Similarly, control the robotic arm to make the reflective sphere 400 fit the second calibration part respectively, obtain the actual spatial coordinate point of the reflective sphere 400 through the laser measurement device, and obtain the actual spatial coordinate point of the calibration point 310 at this time; among them, the calibration part 220 is at least one group, and each group includes a first calibration part and a second calibration part;

[0091] Step S5: Obtain a first axis through the connection line between the actual spatial coordinate point of the reflective sphere 400 when it fits the first calibration part and the actual spatial coordinate point of the calibration point 310 at this time, and obtain a second axis through the connection line between the actual spatial coordinate point of the reflective sphere 400 when it fits the second calibration part and the actual spatial coordinate point of the calibration point 310 at this time, and obtain the included angle between the first axis and the second axis as the actual spatial angle value according to the first axis and the second axis;

[0092] Obtain the third axis through the connection line between the first calibration part and the precision reference point 800, and obtain the fourth axis through the connection line between the second calibration part and the precision reference point 800, and obtain the included angle between the third axis and the fourth axis as the designed value of the spatial angle according to the third axis and the fourth axis;

[0093] Step S6: Compare the actual value of the spatial angle with the designed value of the spatial angle to determine whether the actual angle deviation is within the designed threshold.

[0094] When conducting the accuracy inspection of the surgical robot, first install the precision reference tooling 110 on the fixed platform so that the precision reference tooling 110 can serve as a test reference, and install the precision inspection tooling 120 at the end of the robotic arm of the surgical robot, so that the precision inspection tooling 120 can move along with the end of the robotic arm of the surgical robot. Then turn on the optical navigation device, and the robotic arm moves to several points in space. The hand-eye calibration is completed through the first reference frame 210 and the second reference frame 700, so that the spatial coordinates of the precision reference tooling 110 and the precision inspection tooling 120 are converted into a unified coordinate system. There is at least one group of calibration parts 220 on the precision reference tooling 110, and each group includes a first calibration part and a second calibration part. Control the robotic arm to make the reflective sphere 400 fit the first calibration part, and obtain the actual spatial coordinate points of the reflective sphere 400 through the laser measurement device, and obtain the actual spatial coordinate points of the calibration point 310 at this time. In the same way, obtain the actual spatial coordinate points of the reflective sphere 400 and the actual spatial coordinate points of the calibration point 310 at this time when the reflective sphere 400 fits the second calibration part. Furthermore, obtain the first axis through the connection line between the actual spatial coordinate points of the reflective sphere 400 when it fits the first calibration part and the actual spatial coordinate points of the calibration point 310 at this time, and obtain the second axis through the connection line between the actual spatial coordinate points of the reflective sphere 400 when it fits the second calibration part and the actual spatial coordinate points of the calibration point 310 at this time. The included angle formed by the first axis and the second axis is the actual value of the spatial angle. Obtain the third axis through the connection line between the first calibration part and the precision reference point 800, and obtain the fourth axis through the connection line between the second calibration part and the precision reference point 800, and obtain the included angle between the third axis and the fourth axis as the designed value of the spatial angle according to the third axis and the fourth axis. Furthermore, compare the actual value of the spatial angle with the designed value of the spatial angle to determine whether the actual angle deviation is within the designed threshold, so as to determine whether the accuracy of the surgical robot meets the design requirements.

[0095] By using a laser measuring device in cooperation with a retroreflective sphere 400 for measurement, it is more accurate than using a coordinate measuring machine and a probe for measurement. As a result, the actual spatial coordinate points of the retroreflective sphere 400 obtained are more accurate, and further, the actual values of the spatial angles obtained are more accurate, making the inspection accuracy higher. Moreover, when measuring, the laser measuring device can directly obtain the actual spatial coordinate points without the need for manual multiple point selections of measurement points, and the movement of each component is more convenient and the operation is more convenient.

[0096] In this embodiment, the position of the accuracy reference point 800 is as Figure 2 shown at the center of the first reference frame 210, thus making it more convenient to determine the position of the accuracy reference point 800. In other embodiments, other positions of the accuracy reference point 800 that are considered suitable by those skilled in the art can also be selected.

[0097] The actual spatial coordinate points of the calibration point 310 are achieved in the following manner: By touching the calibration point 310 with a detecting member to obtain the actual spatial coordinate points of the calibration point 310.

[0098] An operator can touch the calibration point 310 with the detecting member to obtain the actual spatial points of the calibration point 310, and then obtain the axis through the actual spatial coordinate points of the retroreflective sphere 400 and the actual spatial coordinate points of the calibration point 310.

[0099] In this embodiment, the calibration point 310 is a tapered hole, and the detecting member is a probe. By detecting the tapered hole with the probe, the actual spatial coordinate points of the tapered hole are obtained. Using the probe and the tapered hole to obtain coordinates requires relatively low cost, reducing the accuracy detection cost. In other embodiments, the calibration point 310 can also be a retroreflective sphere, and the actual spatial coordinate points of the retroreflective sphere are obtained through a laser measuring device, making the acquisition of the coordinates of the calibration point 310 more accurate and more convenient.

[0100] The surgical robot accuracy inspection method further includes step S5':

[0101] Comparing the actual spatial coordinate values with the designed spatial coordinate values to determine whether the actual coordinate deviation is within the design threshold;

[0102] Among them, the designed spatial coordinate value is the relative position between the calibration part 220 and the accuracy reference point 800, and the actual spatial coordinate value is the relative position between the actual spatial coordinate points of the retroreflective sphere 400 and the accuracy reference point 800.

[0103] In addition to performing spatial angle accuracy inspection by comparing the actual spatial angle values with the designed spatial angle values, this solution also performs spatial coordinate accuracy inspection by comparing the actual spatial coordinate values with the designed spatial coordinate values. By performing inspections from both aspects of spatial angle and spatial coordinate, the accuracy of the accuracy inspection can be further improved.

[0104] There is no clear order of precedence between the spatial angle accuracy test and the spatial coordinate accuracy test. Those skilled in the art can choose to perform the spatial angle accuracy test or the spatial coordinate accuracy test first according to actual needs.

[0105] When the reflective sphere 400 is attached to the first calibration part, control the robotic arm to drive the precision inspection tooling 120 to move to the first position so that the line connecting the reflective sphere 400 and the calibration point 310 is parallel to the fourth axis;

[0106] When the reflective sphere 400 is attached to the second calibration part, control the robotic arm to drive the precision inspection tooling 120 to move to the second position so that the line connecting the reflective sphere 400 and the calibration point 310 is parallel to the third axis.

[0107] By designing the movement position of the robotic arm so that when the precision inspection tooling 120 is in the first position, the line connecting the reflective sphere 400 and the calibration point 310 is parallel to the fourth axis, and when the precision inspection tooling 120 is in the second position, the line connecting the reflective sphere 400 and the calibration point 310 is parallel to the third axis, the first axis, the second axis, the third axis, and the fourth axis are designed as a parallelogram. At this time, the angle between the first axis and the second axis is the actual value of the spatial angle, and the angle between the third axis and the fourth axis is the designed value of the spatial angle. Since the opposite angles of a parallelogram are equal, the actual value of the spatial angle and the designed value of the spatial angle are compared to determine whether the actual angle deviation is within the design threshold. By forming a parallelogram to perform the spatial angle accuracy detection and using the principle that the opposite angles of a parallelogram are equal to compare the actual value of the spatial angle and the designed value of the spatial angle, the spatial angle accuracy detection is made more convenient.

[0108] The spatial angle accuracy detection is not limited to forming a parallelogram. In other embodiments, the moving position of the calibration point 310 can also be set to coincide with the precision reference point 800.

[0109] There are multiple groups of calibration parts 220, and steps S4 and S5 are repeatedly executed to obtain multiple groups of actual values of the spatial angle and designed values of the spatial angle;

[0110] Step S6 further includes: comparing the average value of multiple groups of actual values of the spatial angle with the designed values of the spatial angle to determine whether the actual angle deviation is within the design threshold.

[0111] Select different groups of calibration parts 220 for multiple inspections. By obtaining multiple groups of actual values of the spatial angle and designed values of the spatial angle and comparing the average values of multiple groups of measurement data, the error is reduced through multiple inspections, further improving the accuracy of the precision inspection.

[0112] Such as Figures 2 - 9As shown in the figure, this embodiment also provides a surgical robot accuracy inspection system 100. The surgical robot accuracy inspection system 100 is used to implement a surgical robot accuracy inspection method. The surgical robot accuracy inspection system 100 includes an accuracy reference tooling 110, an accuracy inspection tooling 120, an optical navigation device, and a laser measurement device.

[0113] The reflective sphere 400 and the calibration point 310 are arranged at both ends of the calibration rod 300. In this embodiment, the line connecting the reflective sphere 400 and the calibration point 310 coincides with the axis 900 of the calibration rod 300. In other embodiments, other suitable arrangement positions of the reflective sphere 400 and the calibration point 310 that are considered appropriate by those skilled in the art can also be selected.

[0114] As Figure 6 and Figure 7 As shown in the figure, the accuracy inspection tooling 120 further includes a connecting member 500. The connecting member 500 includes a connecting portion 510 and a mounting portion 520. The calibration rod 300 is provided with a first mounting hole 320. The connecting portion 510 is connected to the first mounting hole 320, thereby connecting the connecting member 500 to the calibration rod 300. In this embodiment, the connecting portion 510 is threadedly connected to the first mounting hole 320. In other embodiments, other connection methods that are considered appropriate by those skilled in the art can also be selected.

[0115] A second mounting hole 521 matching the shape of the reflective sphere 400 is provided on the end face of the mounting portion 520 away from the calibration rod 300. The reflective sphere 400 is connected to the second mounting hole 521. By providing the connecting member 500, the reflective sphere 400 is more firmly connected to the calibration rod 300. The second mounting hole 521 is arc-shaped, and its radius b is adapted to the radius of the reflective sphere 400.

[0116] The accuracy inspection tooling 120 further includes a magnetic member. The connecting portion 510 is further provided with a third mounting hole 522 for accommodating the magnetic member. The third mounting hole 522 is adjacent to the second mounting hole 521, so that the magnetic member can hold the reflective sphere 400 by magnetic force and connect the reflective sphere 400 to the connecting member 500. By providing the magnetic member, the installation and disassembly of the reflective sphere 400 are more convenient. The diameter a of the third mounting hole 522 is adapted to the size of the magnetic member.

[0117] A boss 330 is provided at one end of the calibration rod 300 close to the reflective sphere 400. An installation opening 710 matching the shape of the boss 330 is provided on the second reference frame 700. The boss 330 is detachably connected to the installation opening 710, thereby connecting the second reference frame 700 to the boss 330. The boss 330 and the installation opening 710 are detachable, so that the second reference frame 700 can be removed after hand-eye calibration to avoid the influence of the second reference frame 700 on the detection process.

[0118] As Figure 8As shown, the second reference extends in four directions: upper left, lower left, upper right, and lower right, until four position points. When performing hand-eye calibration, if the position point in the lower right corner is used as the reference point, the distances from the other three points to the reference point are c, d, and e respectively, and the magnitudes of c, d, and e are different from each other.

[0119] As Figures 3 - 5 As shown, one end of the calibration rod 300 close to the boss 330 is provided with a first limiting portion 340, and the end face of the first limiting portion 340 close to the boss 330 fits with the surface of the second reference frame 700. By providing the first limiting portion 340, the second reference frame 700 can be limited, making the position of the second reference frame 700 more accurate and preventing the second reference frame 700 from shaking during use. In this embodiment, the two side surfaces of the boss 330 are also fixed by screws, further improving the stability of the second reference frame 700.

[0120] The precision inspection tooling 120 further includes a mounting member 600. One end of the mounting member 600 is detachably connected to one end of the calibration rod 300 close to the calibration point 310, and the other end of the mounting member 600 is used to connect to the robotic arm of the surgical robot, so as to facilitate connecting the precision inspection tooling 120 to the robotic arm and also facilitate disassembling the precision inspection tooling 120 after use.

[0121] The mounting member 600 is provided with a fourth mounting hole 610. One end of the calibration rod 300 away from the reflective ball 400 is provided with a second limiting portion 350 and a fixing portion 360. The fixing portion 360 is inserted into the fourth mounting hole 610, and the end face of the second limiting portion 350 close to the mounting member 600 fits with the surface of the mounting member 600. By providing the second limiting portion 350, the connection position between the mounting member 600 and the calibration rod 300 can be limited, making the connection between the mounting member 600 and the calibration rod 300 more stable.

[0122] In this embodiment, the fixing portion 360 and the fourth mounting hole 610 are in interference fit and are positioned by the positioning pin on the top of the mounting member 600. In other embodiments, other connection methods of the fixing portion 360 and the fourth mounting hole 610 that are considered suitable by those skilled in the art can also be selected.

[0123] In this embodiment, the lower end of the mounting member 600 is hemispherical, and four counterbores are evenly distributed on the 45° circumferential side vertically. The anti-withdrawal screws pass through the counterbores and are connected to the end of the robotic arm, thereby fixing the mounting member 600 to the end of the robotic arm. In other embodiments, those skilled in the art can also select other suitable specific structures of the mounting member 600.

[0124] The calibration portion 220 is an arc-shaped notch matching the shape of the reflective ball 400. Thus, when the reflective ball 400 fits with the arc-shaped notch, the position of the center of the reflective ball 400 can be determined, making the position of the reflective ball 400 and the calibration on the surface of the table more accurate.

[0125] The precision reference tooling 110 includes a horizontal reference plane, and a plurality of calibration parts 220 are arranged at intervals on the horizontal reference plane. Compared with arranging the calibration parts 220 at other positions such as the side surface of the precision reference tooling 110, arranging the calibration parts 220 on the horizontal reference plane can make the measurement more convenient.

[0126] At least two of the calibration parts 220 have different heights, so that inspections at different heights can be carried out during precision inspection, making the inspection position heights more diverse, and further improving the accuracy of precision inspection.

[0127] In this embodiment, there are a total of 6 calibration parts 220, with a total of three heights. In other embodiments, those skilled in the art can also select other appropriate numbers and heights of the calibration parts 220.

[0128] In summary, this embodiment mainly involves three aspects: hand-eye calibration, spatial angle precision inspection, and spatial coordinate precision inspection. First, through hand-eye calibration, the spatial coordinate systems of the components of the surgical robot precision inspection system 100 are unified, serving as the basis for the precision inspection of the surgical robot. Then, through spatial angle precision inspection, the spatial angle precision of the surgical robot is obtained, and it is judged whether the angle precision deviation is within the design threshold, so as to determine whether the surgical robot meets the precision requirements of clinical surgery and the precision requirements of medical safety regulations testing. Further, the spatial coordinate precision of the surgical robot can also be obtained by combining spatial coordinate precision inspection, and it is judged whether the coordinate precision deviation is within the design threshold. By combining spatial angle precision inspection and spatial coordinate precision inspection, the inspection precision is further improved.

[0129] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is the orientation of the device or component in normal use, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation at any time. Therefore, it should not be construed as a limitation of the present invention in this regard.

[0130] Although the specific implementation manners of the present invention have been described above, those skilled in the art should understand that this is only an example, and the protection scope of the present invention is defined by the appended claims. Without departing from the principles and essence of the present invention, those skilled in the art can make various changes or modifications to these implementation manners, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A method for testing the accuracy of a surgical robot, characterized in that, The method for inspecting the accuracy of the surgical robot includes the following steps: Step S1: Install the accuracy reference tooling on the fixed platform, and install the accuracy inspection tooling at the end of the robotic arm of the surgical robot. Among them, the accuracy reference tooling includes a first reference frame and a calibration part, and the accuracy inspection tooling includes a second reference frame, a calibration rod, a reflective sphere, and a calibration point. The reflective sphere and the calibration point are arranged at both ends of the calibration rod; Step S2: Turn on the optical navigation device, and complete the hand-eye calibration through the first reference frame and the second reference frame, so that the spatial coordinates of the accuracy reference tooling and the accuracy inspection tooling are converted into a unified coordinate system; Step S3: Turn on the laser measurement device, and irradiate the laser emitted by the laser measurement device onto the reflective sphere, so that the laser measurement device can track the moving position of the reflective sphere; Step S4: Control the robotic arm to make the reflective sphere fit the first calibration part, obtain the actual spatial coordinate point of the reflective sphere through the laser measurement device, and obtain the actual spatial coordinate point of the calibration point at this time; Control the robotic arm to make the reflective sphere fit the second calibration part respectively, obtain the actual spatial coordinate point of the reflective sphere through the laser measurement device, and obtain the actual spatial coordinate point of the calibration point at this time; Among them, the calibration part is at least one group, and each group of the calibration part includes the first calibration part and the second calibration part; Step S6: Obtain the first axis through the connection line of the actual spatial coordinate point of the reflective sphere when it fits the first calibration part and the actual spatial coordinate point of the calibration point at this time, and obtain the second axis through the connection line of the actual spatial coordinate point of the reflective sphere when it fits the second calibration part and the actual spatial coordinate point of the calibration point at this time, and obtain the included angle between the first axis and the second axis as the actual spatial angle value according to the first axis and the second axis; Obtain the third axis through the connection line between the first calibration part and the accuracy reference point, and obtain the fourth axis through the connection line between the second calibration part and the accuracy reference point, and obtain the included angle between the third axis and the fourth axis as the designed spatial angle value according to the third axis and the fourth axis; Step S8: Compare the actual spatial angle value with the designed spatial angle value to determine whether the actual angle deviation is within the designed threshold.

2. The surgical robot accuracy inspection method according to claim 1, characterized in that The actual spatial coordinate point of the calibration point is realized by the following method: Touch the calibration point with the detection part to obtain the actual spatial coordinate point of the calibration point.

3. The method for inspecting the accuracy of a surgical robot according to claim 1, wherein, The method for inspecting the accuracy of the surgical robot further includes the step S5': Compare the actual spatial coordinate value with the designed spatial coordinate value to determine whether the actual coordinate deviation is within the designed threshold; Among them, the designed spatial coordinate value is the relative position between the calibration part and the accuracy reference point, and the actual spatial coordinate value is the relative position between the actual spatial coordinate point of the reflective sphere and the accuracy reference point.

4. The method for testing the accuracy of a surgical robot according to claim 1, wherein, When the reflective sphere fits against the first calibration part, control the robotic arm to drive the precision inspection tooling to move to the first position, so that the line connecting the reflective sphere and the calibration point is parallel to the fourth axis; When the reflective sphere fits against the second calibration part, control the robotic arm to drive the precision inspection tooling to move to the second position, so that the line connecting the reflective sphere and the calibration point is parallel to the third axis.

5. The method for testing the accuracy of a surgical robot according to any one of claims 1-4, characterized in that, There are multiple groups of the calibration parts. Repeat steps S4 and S5 to obtain multiple groups of actual spatial angle values and designed spatial angle values; Step S6 includes: comparing the average values of multiple groups of actual spatial angle values and designed spatial angle values to determine whether the actual angle deviation is within the designed threshold.

6. A surgical robot accuracy inspection system, characterized in that, The surgical robot precision inspection system is used to implement the surgical robot precision inspection method according to any one of claims 1-5. The surgical robot precision inspection system includes the precision reference tooling, the precision inspection tooling, the optical navigation device, and the laser measurement device.

7. The surgical robot accuracy inspection system according to claim 6, wherein The precision inspection tooling further includes a connecting piece. The connecting piece includes a connecting part and a mounting part. The calibration rod is provided with a first mounting hole. The connecting part is connected to the first mounting hole. A second mounting hole matching the shape of the reflective sphere is provided on the end surface of the mounting part away from the calibration rod. The reflective sphere is connected to the second mounting hole; And / or, the precision inspection tooling further includes a magnetic attraction piece. The connecting part is further provided with a third mounting hole for accommodating the magnetic attraction piece. The third mounting hole is arranged adjacent to the second mounting hole.

8. The surgical robot accuracy inspection system according to claim 6, wherein, A boss is provided at one end of the calibration rod close to the reflective sphere. An installation opening matching the shape of the boss is provided on the second reference frame. The boss is detachably connected to the installation opening; And / or, a first limiting part is provided at one end of the calibration rod close to the boss. The end surface of the first limiting part close to the boss is attached to the surface of the second reference frame.

9. The surgical robot accuracy inspection system according to claim 6, characterized in that, The precision inspection tooling further includes a mounting piece. One end of the mounting piece is detachably connected to one end of the calibration rod close to the calibration point. The other end of the mounting piece is used for connecting to the robotic arm of the surgical robot; And / or, a fourth mounting hole is provided on the mounting piece. A second limiting part and a fixing part are provided at one end of the calibration rod away from the reflective sphere. The fixing part is inserted into the fourth mounting hole. The end surface of the second limiting part close to the mounting piece is attached to the surface of the mounting piece.

10. The surgical robot accuracy inspection system according to claim 6, characterized in that, The calibration part is an arc-shaped notch matching the shape of the reflective sphere; And / or, the precision reference tooling includes a horizontal reference plane. Multiple calibration parts are arranged at intervals on the horizontal reference plane; And / or, the heights of at least two calibration parts are different.

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