Joint rotation resistance detection device, detection method, and electronic device

Abstract

The application provides a joint rotation resistance detection device, a detection method and an electronic device, the detection device comprising a driving module, a force sensor module and a data processing module, the force sensor module and the driving module being in communication connection with the data processing module, and the force sensor module being further connected with the driving module; the driving module is configured to drive the measured joint to rotate; the force sensor module is configured to connect the driving module with the measured joint, collect the rotation resistance data of the measured joint and transmit the rotation resistance data to the data processing module; the data processing module is configured to process the rotation resistance data of the measured joint to obtain at least one of the starting resistance information, the uniform speed resistance information and the maximum resistance information of the measured joint. The application can accurately detect the starting resistance, the uniform speed resistance during movement, the maximum resistance and other related indexes of a single joint, and the detection device has simple structure and low requirement on the structure of the measured joint, and has high universality.

Description

Technical Field

[0001] This invention relates to the field of joint resistance detection technology, and in particular to a joint rotation resistance detection device, detection method and electronic device. Background Technology

[0002] When using laparoscopic surgical robots, the feel of operating the main control arm greatly affects the surgeon's performance. However, this feel is a highly subjective concept. A more precise concept is the magnitude of joint movement resistance in the main control arm after the balancing function is activated. Therefore, to standardize the evaluation criteria for balancing algorithms and the qualification standards for products, we need to be able to quantitatively measure joint movement resistance.

[0003] The following are some existing methods for detecting joint resistance:

[0004] ① Design a motor control algorithm, use the motor at the joint to drive the joint movement, read the feedback torque of the motor or force sensor at the joint, use this data to analyze the starting resistance of the joint and the motion resistance when rotating at a constant speed, and measure the magnitude and uniformity of the resistance.

[0005] ② Use a force sensor perpendicular to the joint rotation axis and parallel to the joint movement direction to detect the force. The joint is indirectly driven to rotate through the force sensor, and the force sensor data is recorded.

[0006] ③ Design a tooling to drive joint movement and use force sensors on the tooling to detect joint resistance.

[0007] Regarding the existing technology①, using a motor at the joint to drive joint movement can be used to measure the effect of mechanical balancing, but it cannot measure the joint movement resistance after dynamic balancing. Furthermore, the feedback torque accuracy of the motor itself is not high, and force sensors are often not installed at the joint, so its versatility is poor.

[0008] Regarding the existing technology ②, the method often involves manually holding the force sensor and pushing the joint through the force sensor. On the one hand, this method cannot strictly guarantee the correct orientation of the force sensor detection unit. On the other hand, it can only assess the resistance to joint initiation, but cannot detect the resistance during joint movement, and cannot guarantee the consistency of multiple tests.

[0009] Regarding the existing technology ③, this method requires clever tooling design, along with corresponding control and detection algorithms, to achieve good detection results, but there are currently no good operational examples.

[0010] It should be noted that the information disclosed in the background section of this invention is intended only to enhance the understanding of the general background of this invention, and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0011] The purpose of this invention is to provide a joint rotation resistance detection device, detection method, and electronic device, which can accurately detect the starting resistance, uniform resistance during movement, maximum resistance, and other related indicators of a single joint. Moreover, the detection device has a simple structure, low requirements on the structure of the joint being tested, and can be used to detect the rotation resistance of different joints, making it highly versatile.

[0012] To achieve the above objectives, the present invention provides a joint rotation resistance detection device, which includes a drive module, a force sensor module, and a data processing module. The force sensor module and the drive module are both communicatively connected to the data processing module, and the force sensor module is also connected to the drive module.

[0013] The drive module is configured to drive the tested joint to rotate.

[0014] The force sensor module is configured to connect the drive module and the joint under test, collect the rotational resistance data of the joint under test, and transmit it to the data processing module.

[0015] The data processing module is configured to process the rotational resistance data of the tested joint to obtain at least one of the starting resistance information, constant speed resistance information, and maximum resistance information of the tested joint.

[0016] Optionally, the drive module includes a drive unit, a passive joint, and a linear joint connected in sequence. The linear joint is connected to the force sensor module. The drive unit is configured to drive the passive joint to rotate and drive the linear joint to perform linear motion, thereby driving the joint under test to rotate. A second encoder is mounted on the passive joint, and the second encoder is configured to collect the rotation angle data of the passive joint.

[0017] Optionally, the drive unit includes a rotary servo motor, a connecting rod for connecting the rotary servo motor and the passive joint, and an encoder disposed on the rotary servo motor. The encoder is configured to collect the rotation angle data of the rotary servo motor and transmit it to the data processing module.

[0018] Optionally, the drive unit includes a linear motor, a fixed block disposed on the mover of the linear motor, and a first displacement sensor disposed on the linear motor. The passive joint is rotatably connected to the fixed block, and the first displacement sensor is configured to collect displacement data of the linear motor and transmit it to the data processing module.

[0019] Optionally, the drive unit includes a screw linear transmission mechanism and a second displacement sensor mounted on the screw linear transmission mechanism. The screw linear transmission mechanism includes a rotary motor, a screw, and a slider. The passive joint is rotatably connected to the slider. One end of the screw is connected to the output shaft of the rotary motor. The slider is sleeved on the screw and threadedly connected to the screw. The second displacement sensor is configured to collect displacement data of the screw linear transmission mechanism and transmit it to the data processing module.

[0020] Optionally, the data processing module is further configured to obtain the correspondence between the rotation angle of the tested joint and the motion data of the driving unit based on the starting position data of the driving unit and the starting position data of the passive joint, and to plan the motion trajectory of the driving unit based on the correspondence and the mechanical rotation range of the tested joint, and to control the driving unit to drive the tested joint to rotate based on the motion trajectory.

[0021] Optionally, the joint rotation resistance detection device further includes a positioning sticker, which has at least one positioning hole. One side of the positioning sticker is used to connect to the force sensor module, and the other side of the positioning sticker is used to connect to the joint being tested.

[0022] Optionally, the rotational resistance data includes first rotational resistance data when the tested joint accelerates from zero at different starting angles and second rotational resistance data when the tested joint rotates at different speeds at different starting angles.

[0023] The data processing module is configured to perform at least one of the following operations:

[0024] Based on the average value and variance of the first rotational resistance data, the starting resistance information of the tested joint is obtained;

[0025] Based on the average value and variance of the second rotational resistance data, the uniform resistance information of the tested joint is obtained;

[0026] The maximum resistance information of the tested joint is obtained based on the maximum resistance in the first rotational resistance data and the second rotational resistance data.

[0027] To achieve the above objectives, the present invention also provides a method for detecting joint rotational resistance, the method comprising:

[0028] The drive module in the joint rotation resistance detection device drives the joint under test to rotate, and the force sensor in the joint rotation resistance detection device collects the rotation resistance data of the joint under test. The force sensor is connected to the drive module, and the joint under test is connected to the force sensor.

[0029] The rotational resistance data of the tested joint is processed to obtain at least one of the following: starting resistance information, constant speed resistance information, and maximum resistance information of the tested joint.

[0030] Optionally, the drive module in the joint rotation resistance detection device drives the tested joint to rotate, including:

[0031] According to the pre-planned motion trajectory, the drive module drives the tested joint to rotate at different speeds at different starting angles.

[0032] Optionally, the rotational resistance data includes first rotational resistance data when the tested joint accelerates from zero at different starting angles and second rotational resistance data when the tested joint rotates at different speeds at different starting angles.

[0033] The process of processing the rotational resistance data of the tested joint to obtain the starting resistance information of the tested joint includes:

[0034] Based on the average value and variance of the first rotational resistance data, the starting resistance information of the tested joint is obtained;

[0035] The process of processing the rotational resistance data of the tested joint to obtain the uniform resistance information of the tested joint includes:

[0036] Based on the average value and variance of the second rotational resistance data, the uniform resistance information of the tested joint is obtained;

[0037] The process of processing the rotational resistance data of the tested joint to obtain the maximum resistance information of the tested joint includes:

[0038] The maximum resistance information of the tested joint is obtained based on the maximum resistance in the first rotational resistance data and the second rotational resistance data.

[0039] To achieve the above objectives, the present invention also provides an electronic device, which includes a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the joint rotation resistance detection method described in any of the preceding claims.

[0040] Compared with the prior art, the joint rotation resistance detection device, detection method, and electronic device provided by the present invention have the following advantages:

[0041] The joint rotation resistance detection device provided by this invention includes a drive module, a force sensor module, and a data processing module. Both the force sensor module and the drive module are communicatively connected to the data processing module, and the force sensor module is also connected to the drive module. The drive module is configured to drive the tested joint to rotate. The force sensor module is configured to connect the drive module to the tested joint, collect the rotation resistance data of the tested joint, and transmit it to the data processing module. The data processing module is configured to process the rotation resistance data of the tested joint to obtain at least one of the following: starting resistance information, uniform resistance information, and maximum resistance information of the tested joint. Therefore, the joint rotation resistance detection device provided by this invention can accurately detect the starting resistance, uniform resistance during movement, maximum resistance, and other related indicators of a single joint, thereby establishing a unified evaluation index and helping to eliminate differences in subjective evaluation. Taking the joints on the main control arm of a surgical robot as an example, the joint rotation resistance detection device provided by this invention can accurately detect the magnitude of the rotation resistance of the joints on the main control arm. This allows for the establishment of a unified evaluation standard for assessing and comparing the operational feel of different surgical robots, helping to improve the consistency and comparability of surgical robot operations. Furthermore, by using the joint rotation resistance detection device provided by this invention to detect the magnitude of the rotation resistance of the joints on the main control arm, the balancing algorithm or mechanical counterweight can be optimized based on relevant indicators such as the starting resistance, uniform resistance during movement, and maximum resistance of the tested joint. This improves the operational performance of the surgical robot, making the joint movement of the main control arm smoother and more stable during operation, thus enhancing the accuracy and safety of the surgery. In addition, the joint rotation resistance detection device provided by this invention can be used to detect the joint movement resistance of the main control arm of a surgical robot during the manufacturing process. This helps ensure that surgical robot products leaving the factory meet consistent quality standards. Accurate detection of the joint movement resistance of the main control arm allows for the inspection and adjustment of key parameters in the surgical robot manufacturing process, ensuring the stability of the surgical robot's performance and quality. Furthermore, the joint rotation resistance detection device provided by this invention can also assist medical staff in regularly checking whether equipment needs maintenance.

[0042] Since the joint rotation resistance detection method and electronic device provided by this invention belong to the same inventive concept as the joint rotation resistance detection device provided by this invention, the joint rotation resistance detection method and electronic device provided by this invention have at least all the beneficial effects of the joint rotation resistance detection device provided by this invention. For details, please refer to the relevant descriptions of the beneficial effects of the joint rotation resistance detection device provided by this invention above. Therefore, the beneficial effects of the joint rotation resistance detection method and electronic device provided by this invention will not be elaborated here. Attached Figure Description

[0043] Figure 1 This is a schematic diagram illustrating an application scenario of the surgical robot provided in one embodiment of the present invention;

[0044] Figure 2 A schematic diagram of the structure of a doctor's control console provided in one embodiment of the present invention;

[0045] Figure 3 This is a schematic diagram of the main control arm provided in one embodiment of the present invention;

[0046] Figure 4 A schematic diagram of the structure of a doctor's console provided for another embodiment of the present invention;

[0047] Figure 5 A schematic diagram of the main control arm provided for another embodiment of the present invention;

[0048] Figure 6 A schematic diagram of the block structure of a joint rotation resistance detection device provided in one embodiment of the present invention;

[0049] Figure 7 This is a schematic diagram of the structure of a positioning sticker provided in one embodiment of the present invention;

[0050] Figure 8 A schematic diagram of a detection scenario for the joint rotation resistance detection device provided in the first embodiment of the present invention;

[0051] Figure 9 A schematic diagram of the joint rotation resistance detection device provided in the first embodiment of the present invention;

[0052] Figure 10 A schematic diagram of the joint rotation resistance detection device provided in the second embodiment of the present invention;

[0053] Figure 11 A schematic diagram of the joint rotation resistance detection device provided in the third embodiment of the present invention;

[0054] Figure 12This is a schematic diagram illustrating the principle of obtaining the correspondence between the rotation angle of the tested joint and the motion data of the drive unit, according to one embodiment of the present invention.

[0055] Figure 13 A schematic diagram illustrating the principle of obtaining the correspondence between the rotation angle of the joint under test and the motion data of the drive unit, as provided in another embodiment of the present invention;

[0056] Figure 14 A schematic diagram illustrating the specific workflow of a data processing module provided in one embodiment of the present invention;

[0057] Figure 15 A schematic flowchart of a joint rotation resistance detection method provided in one embodiment of the present invention;

[0058] Figure 16 This is a block diagram of an electronic device provided according to an embodiment of the present invention. Detailed Implementation

[0059] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, further illustrates the joint rotation resistance detection device, detection method, and electronic device proposed in this invention. The advantages and features of this invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, used only to facilitate and clearly illustrate the embodiments of this invention. Please refer to the drawings to make the objectives, features, and advantages of this invention more apparent and understandable. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the implementation conditions of this invention. Any modifications to the structure, changes in proportions, or adjustments to the size, provided that the effects and objectives achieved by this invention are the same or similar, should still fall within the scope of the technical content disclosed in this invention. Specific design features of the invention disclosed herein, including, for example, specific dimensions, orientations, positions, and shapes, will be determined in part by the specific application and usage environment. Furthermore, in the embodiments described below, the same reference numerals are sometimes used across different drawings to denote the same parts or parts with the same function, omitting repeated descriptions. In this specification, similar reference numerals and letters are used to denote similar items; therefore, once an item is defined in one figure, it need not be discussed further in subsequent figures. Furthermore, if the methods described herein involve a series of steps, and the order of these steps presented herein is not necessarily the only possible order in which they can be performed, some of the described steps may be omitted and / or other steps not described herein may be added to the method.

[0060] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installed," "connected," "joined," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Furthermore, in this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Moreover, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0061] The core idea of ​​this invention is to provide a joint rotation resistance detection device, detection method, and electronic device, which can accurately detect the starting resistance, uniform resistance during movement, maximum resistance, and other related indicators of a single joint. The detection device has a simple structure, low structural requirements on the joint being tested, and can be used to detect the rotation resistance of different joints, exhibiting strong versatility. It should be noted that, as those skilled in the art will understand, the joint rotation resistance detection method provided by this invention can be applied to the joint rotation resistance detection device provided by this invention, and the electronic device provided by this invention can be applied to the joint rotation resistance detection device provided by this invention. It should also be noted that, as those skilled in the art will understand, this invention is not only applicable to detecting the motion resistance of any joint on the main control arm of a surgical robot, but also applicable to detecting the motion resistance of any joint on any robotic arm of a surgical robot's patient operating platform, and even applicable to detecting the motion resistance of any joint in robotic devices in other fields besides surgical robots. Furthermore, it should be noted that, as those skilled in the art will understand, this invention does not limit the specific detection scenario; this invention is applicable not only to joint motion resistance detection during robot manufacturing but also to joint motion resistance detection during the formal use of the robot after it leaves the factory.

[0062] To facilitate understanding, before introducing the joint rotation resistance detection device, detection method, and electronic equipment provided by this invention, a brief description of the surgical robot will be given first.

[0063] Please refer to Figure 1 This is a schematic diagram illustrating an application scenario of the surgical robot provided in one embodiment of the present invention. For example... Figure 1 The surgical robot mainly comprises three parts: a doctor's console 100, a patient surgical platform 200, and an image display platform. It also includes auxiliary equipment such as a surgical instrument storage 410, life support equipment 420 (e.g., a ventilator), and a hospital bed 430.

[0064] A surgical robot is a medical device that combines laparoscopic and robotic technologies. It involves inserting a laparoscope (not shown) and surgical instruments (not shown) onto the end of a robotic arm 210 mounted on a surgical platform 200 inside the patient's body. The surgeon then operates the main control arm via a doctor's console 100 to perform surgeries in urology, gynecology, thoracic surgery, and general surgery. Due to the flexibility and precision of surgical robots, surgeons can perform more accurate surgical procedures, reducing surgical risks and complications. The laparoscope provides high-definition images and a magnified field of vision, allowing surgeons to observe the surgical area more clearly.

[0065] Please continue to refer to this. Figure 2This is a schematic diagram of the structure of a doctor's control console 100 provided in one embodiment of the present invention. Figure 2 As shown, in this embodiment, the doctor's console 100 comprises a closed imaging system 110a, a main control arm system 120a, a foot pedal system 130a, and a function panel 140a. During surgery, the doctor sits in front of the doctor's console 100, obtains a field of view of the surgical area through the closed imaging system 110a, and performs the surgery through the main control arm system 120a and the foot pedal system 130a. The main control arm system 120a and the foot pedal system 130a collect the operating instructions transmitted by the doctor through their hands and feet, and transmit these instructions to the patient surgical platform 200, which then performs the corresponding surgical procedures on the patient.

[0066] Furthermore, the main control arm system 120a includes two main control arms 121a (see...). Figure 3 Please continue to refer to this. Figure 3 This is a schematic diagram of the main control arm provided in one embodiment of the present invention. Figure 3 As shown, each of the main control arms 121a includes multiple joints (generally consisting of 6 to 7 joints), and its end effector can achieve six degrees of freedom of movement and rotation in space. Furthermore, the joints of the main control arm 121a are driven by motors (not shown in the figure), and the resistance such as gravity is compensated by the torque output from the motor after calculation. This structure has greater adaptability, but it requires a more sophisticated balancing algorithm.

[0067] Please continue to refer to this. Figure 4 This is a schematic diagram of the structure of a doctor's control console 100 provided in another embodiment of the present invention. Figure 2 As shown, in this embodiment, the doctor's console 100 comprises an open imaging system 110b, a main control arm system 120b, a foot pedal system 130b, and a function panel 140b. During surgery, the doctor sits in front of the doctor's console 100, obtains a field of view of the surgical area through the open imaging system 110b, and performs the surgery through the main control arm system 120b and the foot pedal system 130b. The main control arm system 120b and the foot pedal system 130b collect the operating instructions transmitted by the doctor through their hands and feet, and transmit these instructions to the patient surgical platform 200, which then performs the corresponding surgical procedures on the patient.

[0068] Furthermore, the main control arm system 120b includes two main control arms 121b. Please refer to [link / reference needed]. Figure 5 This is a schematic diagram of the main control arm provided in another embodiment of the present invention. Figure 5As shown, each of the main control arms 121b is also composed of multiple joints (generally 6 to 7 joints), and its end can achieve six degrees of freedom of movement and rotation in space. Furthermore, the joints of the main control arms 121b are not driven by motors, and their resistance, such as gravity, is compensated by mechanical counterweights. This structure is relatively lightweight, but it requires a high level of mechanical design and parts processing expertise.

[0069] Please refer to Figure 6 This is a block diagram of a joint rotation resistance detection device provided in one embodiment of the present invention. Figure 6 As shown, the joint rotation resistance detection device provided by the present invention includes a drive module 510, a force sensor module 520, and a data processing module 530. Both the force sensor module 520 and the drive module 510 are communicatively connected to the data processing module 530, and the force sensor module 520 is also connected to the drive module 510. The drive module 510 is configured to drive the tested joint 610 to rotate. The force sensor module 520 is configured to connect the drive module 510 to the tested joint 610, collect rotation resistance data of the tested joint 610, and transmit it to the data processing module 530. The data processing module 530 is configured to process the rotation resistance data of the tested joint 610 to obtain at least one of the following: starting resistance information, uniform resistance information, and maximum resistance information of the tested joint 610.

[0070] Therefore, the joint rotation resistance detection device provided by this invention can accurately detect relevant indicators such as the starting resistance, uniform resistance during movement, and maximum resistance of a single joint, thereby establishing a unified evaluation index and helping to eliminate differences in subjective evaluation. Taking the tested joint 610 as a joint on the main control arm of a surgical robot as an example, by using the joint rotation resistance detection device provided by this invention, the magnitude of the rotation resistance of the joint on the main control arm can be accurately detected, thereby establishing a unified evaluation standard for evaluating and comparing the operating feel of different surgical robots, which helps to improve the consistency and comparability of surgical robot operation. In addition, by using the joint rotation resistance detection device provided by this invention to detect the magnitude of the rotation resistance of the joint on the main control arm, the balancing algorithm or mechanical counterweight can be optimized based on relevant indicators such as the starting resistance, uniform resistance during movement, and maximum resistance of the tested joint 610, to improve the operating performance of the surgical robot, thereby making the joint movement of the main control arm smoother and more stable during operation, and improving the accuracy and safety of the surgery. Furthermore, the joint rotation resistance detection device provided by this invention can be used to detect the joint motion resistance of the main control arm of a surgical robot during the manufacturing process. This helps ensure that surgical robot products leaving the factory meet consistent quality standards. Accurate detection of the joint motion resistance of the main control arm allows for the inspection and adjustment of key parameters during the surgical robot's manufacturing process, ensuring the stability of the surgical robot's performance and quality. In addition, the joint rotation resistance detection device provided by this invention can also assist medical institution equipment department staff in regularly checking whether equipment requires maintenance.

[0071] Specifically, the force sensor module 520 includes at least one force sensor, which may be, but is not limited to, a tension / compression sensor, a torque sensor, etc.

[0072] Please continue to refer to this. Figure 6 ,like Figure 6 As shown, in some exemplary embodiments, the joint rotation resistance detection device provided by the present invention further includes a communication module 540 connected to the data processing module 530, the communication module 540 being configured to realize communication connection between the joint rotation resistance detection device and external devices.

[0073] Please continue to refer to this. Figure 6 ,like Figure 6 As shown, in some exemplary embodiments, the joint rotation resistance detection device provided by the present invention further includes a storage module 550 connected to the data processing module 530, the storage module 550 being configured to store the rotation resistance data.

[0074] Please continue to refer to this. Figure 7 This is a schematic diagram of the structure of the positioning sticker 560 provided in one embodiment of the present invention. Figure 7 As shown, in some exemplary embodiments, the joint rotation resistance detection device further includes a positioning sticker 560, which has at least one positioning hole 561. One side of the positioning sticker 560 is used to connect to the force sensor module 520, and the other side is used to connect to the joint under test 610. Thus, by setting the positioning sticker 560, the connection between the force sensor module 520 and the joint under test 610 can be achieved more conveniently without affecting the original structure of the joint under test 610. Furthermore, by providing a positioning hole 561 on the positioning sticker 560, positioning can be achieved by aligning the positioning hole 561 with the screw hole on the first connecting rod 620 corresponding to the joint under test 610 when connecting the joint under test 610. This allows for better establishment of a unified evaluation standard for assessing and comparing the operational feel of different surgical robots based on the rotation resistance detection results of the joint rotation resistance detection device, further improving the operational consistency and comparability of surgical robots.

[0075] Specifically, the positioning sticker 560 can be a double-sided adhesive structure, which not only enables a smooth connection between the force sensor module 520 and the joint under test 610, but also effectively prevents the positioning sticker 560 from affecting the detection results of rotational resistance.

[0076] It should be noted that, as those skilled in the art can understand, the shape of the positioning sticker 560 can be designed according to the shape of the first link 620 corresponding to the joint 610 being tested. Thus, the positioning sticker 560 of the corresponding shape can be selected according to the shape of the first link 620 corresponding to the joint 610 being tested to realize the connection between the joint rotation resistance detection device and the joint 610 being tested.

[0077] Please continue to refer to this. Figure 8 and Figure 9 ,in, Figure 8 This is a schematic diagram of a detection scenario for the joint rotation resistance detection device provided in the first embodiment of the present invention. Figure 9 This is a schematic diagram of the joint rotation resistance detection device provided in the first embodiment of the present invention. Figure 8 and Figure 9As shown, the drive module 510 includes a drive unit 511, a passive joint 512, and a linear joint 513 connected in sequence. The linear joint 513 is connected to the force sensor module 520. The drive unit 511 is configured to drive the passive joint 512 to rotate and drive the linear joint 513 to perform linear motion, thereby driving the tested joint 610 to rotate. Thus, the moving drive unit 511 can drive the passive joint 512 to rotate, thereby driving the linear joint 513 to perform linear motion, and subsequently driving the tested joint 610 to rotate. The rotational resistance data of the tested joint 610 can be obtained by collecting the resistance data from the force sensor module 520. Therefore, by setting the drive module 510 as a structure with the drive unit 511, passive joint 512, and linear joint 513 connected in sequence, the overall structure of the joint rotational resistance detection device provided by this invention can be effectively simplified, making it easier to operate. Furthermore, it can effectively ensure that the drive module 510 can smoothly drive the tested joint 610 to rotate.

[0078] Please continue to refer to this. Figure 8 and Figure 9 ,like Figure 8 and Figure 9 As shown, the passive joint 512 and the linear joint 513 are connected by a guide rod 514. One end of the guide rod 514 is fixedly connected to the passive joint 512, and the linear joint 513 is sleeved on the guide rod 514. The linear joint 513 can reciprocate along the axial direction of the guide rod 514. Thus, the rotating passive joint 512 can drive the guide rod 514 to rotate synchronously, thereby driving the linear joint 513 to move linearly along the axial direction of the guide rod 514. This can drive the tested joint 610, which is indirectly connected to the linear joint 513, to rotate. It can be seen that this arrangement not only further simplifies the overall structure of the joint rotation resistance detection device provided by the present invention, but also further ensures that the drive module 510 can smoothly drive the tested joint 610 to rotate.

[0079] Please continue to refer to this. Figure 8 and Figure 9 ,like Figure 8 and Figure 9As shown, in this embodiment, the drive unit 511 includes a first rotary motor 5111, a first connecting rod 620 for connecting the first rotary motor 5111 and the passive joint 512, and a first encoder (not shown) mounted on the first rotary motor 5111. The first encoder is configured to collect the rotation angle data of the first rotary motor 5111 and transmit it to the data processing module 530. Specifically, one end of the second connecting rod 5112 is fixedly connected to the output shaft of the first rotary motor 5111, and the other end of the second connecting rod 5112 is rotatably connected to the passive joint 512. Thus, the rotation of the first rotary motor 5111 can drive the second connecting rod 5112 to rotate synchronously, thereby driving the passive joint 512 to rotate. The rotating passive joint 512 can then drive the guide rod 514 to rotate synchronously, thereby driving the linear joint 513 to move linearly along the axial direction of the guide rod 514, thereby driving the measured joint 610 to rotate. Furthermore, by installing a first encoder on the first rotary motor 5111, the movement position of the first rotary motor 5111 can be precisely controlled based on the rotation angle data of the first rotary motor 5111 measured by the first encoder, so as to ensure that the first rotary motor 5111 can smoothly follow the pre-set movement trajectory. It should be noted that the present invention does not limit the specific type of the first encoder; for example, the first encoder can be, but is not limited to, an optical encoder.

[0080] Furthermore, the first rotary motor 5111 is a servo motor. Since servo motors have good stability and can maintain stable speed and efficiency, using a servo motor equipped with a first encoder as the drive unit 511 for driving the tested joint 610 to rotate can effectively ensure the stability of the tested joint 610 during rotation, thereby improving the stability of the joint rotation resistance detection device provided by the present invention and effectively ensuring the accuracy of the measured joint resistance.

[0081] In some exemplary embodiments, the passive joint 512 is provided with a second encoder (not shown in the figure), which is configured to acquire rotation angle data of the passive joint 512. It should be noted that the present invention does not limit the specific type of the second encoder; for example, the second encoder can be, but is not limited to, an optical encoder.

[0082] Please continue to refer to this. Figure 10 This is a schematic diagram of the specific structure of the joint rotation resistance detection device provided in the second embodiment of the present invention. Figure 10As shown, the main difference between the joint rotation resistance detection device provided in this embodiment and the joint rotation resistance detection device provided in the first embodiment lies in the difference in the drive unit 511. In this embodiment, the drive unit 511 includes a linear motor 5113, a fixed block 5114 disposed on the moving part of the linear motor 5113, and a first displacement sensor (not shown in the figure) disposed on the linear motor 5113. The passive joint 512 is rotatably connected to the fixed block 5114. The first displacement sensor is configured to collect the displacement data of the linear motor 5113 and transmit it to the data processing module 530. Thus, when the moving part of the linear motor 5113 performs linear motion, it can drive the fixed block 5114 to perform synchronous linear motion, thereby driving the passive joint 512 to rotate. The rotating passive joint 512 can then drive the guide rod 514 to rotate synchronously, thereby driving the linear joint 513 to perform linear motion along the axis of the guide rod 514, thereby driving the measured joint 610 to rotate. Therefore, by employing the drive unit 511 of the linear motor 5113, the overall structure of the drive module 510 can be simplified while ensuring that the drive module 510 can smoothly drive the measured joint 610 to rotate. Furthermore, by setting a first displacement sensor on the linear motor 5113, the movement position of the linear motor 5113 can be precisely controlled based on the displacement data of the linear motor 5113 (specifically, the displacement data of the moving part of the linear motor 5113) measured by the first displacement sensor, thereby effectively ensuring that the linear motor 5113 can smoothly follow a pre-set motion trajectory. It should be noted that, as those skilled in the art will understand, the present invention does not limit the specific type of the first displacement sensor; the first displacement sensor can be, but is not limited to, a potentiometer-type displacement sensor, an inductive displacement sensor, a capacitive displacement sensor, an eddy current displacement sensor, a Hall effect displacement sensor, etc.

[0083] Please continue to refer to this. Figure 11 This is a schematic diagram of the specific structure of the joint rotation resistance detection device provided in the third embodiment of the present invention. Figure 11As shown, the main difference between the joint rotation resistance detection device provided in this embodiment and the joint rotation resistance detection device provided in the first embodiment lies in the difference in the drive unit 511. In this embodiment, the drive unit 511 includes a screw linear transmission mechanism 5115 and a second displacement sensor (not shown in the figure) disposed on the screw linear transmission mechanism 5115. The screw linear transmission mechanism 5115 includes a second rotary motor 51151 (preferably a servo motor), a screw 51152, and a slider 51153. The passive joint 512 is rotatably connected to the slider 51153. One end of the screw 51152 is connected to the output shaft of the second rotary motor 51151. The slider 51153 is sleeved on the screw 51152 and threadedly connected to the screw 51152. The second displacement sensor is connected to the slider 51153. The second displacement sensor is configured to collect displacement data of the screw linear transmission mechanism 5115 and transmit it to the data processing module 530. Therefore, the rotating second rotary motor 51151 can drive the screw 51152 to rotate synchronously. The rotating screw 51152 can drive the slider 51153 to move linearly along the axis of the screw 51152, thereby driving the passive joint 512 to rotate. The rotating passive joint 512 can then drive the guide rod 514 to rotate synchronously, thereby driving the linear joint 513 to move linearly along the axis of the guide rod 514, thus driving the tested joint 610 to rotate. It can be seen that by using the drive unit 511 of the screw linear transmission mechanism 5115, the tested joint 610 can also be smoothly driven to rotate. Furthermore, by providing a second displacement sensor on the screw linear transmission mechanism 5115, the movement position of the screw linear transmission mechanism 5115 can be precisely controlled based on the displacement data of the screw linear transmission mechanism 5115 (specifically, the displacement data of the slider 51153) measured by the second displacement sensor. This effectively ensures that the screw linear transmission mechanism 5115 can smoothly follow the set motion trajectory. It should be noted that, as those skilled in the art will understand, the present invention does not limit the specific type of the second displacement sensor. The second displacement sensor can be, but is not limited to, a potentiometer-type displacement sensor, an inductive displacement sensor, a capacitive displacement sensor, an eddy current displacement sensor, a Hall effect displacement sensor, etc.

[0084] Please continue to refer to this. Figure 11 ,like Figure 11As shown, in this embodiment, the drive unit 511 further includes a fixing seat 5116 for fixing the screw linear transmission mechanism 5115, and the screw 51152 is rotatably connected to the fixing seat 5116. Therefore, by providing the fixing seat 5116, the stability of the screw linear transmission mechanism 5115 during movement can be effectively ensured.

[0085] It should also be noted that, as those skilled in the art will understand, to avoid redundancy, this document only describes the differences between the joint rotation resistance device provided in the second embodiment and the joint rotation resistance device provided in the third embodiment and the joint rotation resistance device provided in the first embodiment. The similarities between the joint rotation resistance device provided in the second embodiment and the joint rotation resistance device provided in the third embodiment and the joint rotation resistance device provided in the first embodiment are not described in detail. Other structures of the joint rotation resistance device provided in the second embodiment and the joint rotation resistance device provided in the third embodiment can be adapted by referring to the relevant content in the joint rotation resistance device provided in the first embodiment, and will not be described in detail here.

[0086] In some exemplary embodiments, the data processing module 530 is further configured to obtain the correspondence between the rotation angle of the tested joint 610 and the motion data of the drive unit 511 based on the initial position data of the drive unit 511 and the initial position data of the passive joint 512, and to plan the motion trajectory of the drive unit 511 based on the correspondence and the mechanical rotation range of the tested joint 610, and to control the drive unit 511 to drive the tested joint 610 to rotate based on the motion trajectory. Therefore, by obtaining the correspondence between the rotation angle of the tested joint 610 and the motion data of the drive unit 511, and based on the correspondence between the rotation angle of the tested joint 610 and the motion data of the drive unit 511, as well as the mechanical rotation range of the tested joint 610 (i.e., the rotation range of the tested joint 610 defined by its mechanical structure), the motion trajectory of the drive unit 511 is planned, and the drive unit 511 is controlled to drive the tested joint 610 to rotate according to the motion trajectory. This not only allows the measurement of the rotational resistance data of the tested joint 610 within the entire mechanical rotation range, but also effectively prevents the drive module 510 from driving the tested joint 610 to move outside its mechanical rotation range, thereby effectively preventing damage to the tested joint 610 due to excessive movement.

[0087] The following describes the specific details of how to obtain the correspondence between the rotation angle of the tested joint 610 and the motion data of the drive unit 511.

[0088] Specifically, when the drive unit 511 includes a first rotary motor 5111, please refer to... Figure 12 This is a schematic diagram illustrating the principle of obtaining the correspondence between the rotation angle of the tested joint 610 and the motion data of the drive unit 511, according to an embodiment of the present invention. Figure 12 As shown in the figure, the vertical dashed lines represent the zero positions of the drive unit 511, the passive joint 512, and the tested joint 610, respectively. θ represents the rotation angle of the first rotary motor 5111 during the rotation of the tested joint 610; β represents the rotation angle of the passive joint 512 when the rotation angle of the first rotary motor 5111 is θ; α represents the rotation angle of the tested joint 610 when the rotation angle of the first rotary motor 5111 is θ; and l represents the length of the second connecting rod 5112 used to connect the first rotary motor 5111 and the passive joint 512. θ1, β1, and α1 represent the starting angles of the first rotary motor 5111 (i.e., the starting position of the first rotary motor 5111), the passive joint 512 (i.e., the starting position of the passive joint 512), and the tested joint 610, respectively, after the joint rotation resistance detection device is installed (i.e., the tested joint 610 is connected to the joint rotation resistance detection device). Figure 11 The correspondence between the rotation angle of the tested joint 610 and the rotation angle of the first rotary motor 5111 can be obtained as shown in the following formula (1):

[0089]

[0090] Therefore, according to the above formula (1), the correspondence between the rotation angle of the tested joint 610 and the rotation angle of the first rotary motor 5111 can be obtained. Based on this correspondence and the mechanical rotation range of the tested joint 610, the motion trajectory of the first rotary motor 5111 can be planned.

[0091] When the drive unit 511 includes a linear motor 5113 or a screw linear transmission mechanism 5115, please refer to... Figure 13 This is a schematic diagram illustrating the principle of obtaining the correspondence between the rotation angle of the tested joint 610 and the motion data of the drive unit 511, as provided in another embodiment of the present invention. Figure 13As shown in the figure, the horizontal dashed line represents the zero position of the linear joint 513, and the vertical dashed line on the right represents the zero position of the tested joint 610. In the figure, h represents the linear displacement of the driving unit 511, β represents the rotation angle of the passive joint 512 when the linear displacement of the driving unit 511 is h, and α represents the rotation angle of the tested joint 610 when the linear displacement of the driving unit 511 is h. h1, β1, and α1 respectively represent the initial displacement (i.e., the initial position of the driving unit 511), the initial angle (i.e., the initial position of the passive joint 512), and the initial angle of the tested joint 610 after the joint rotation resistance detection device is installed (i.e., the tested joint 610 is connected to the joint rotation resistance detection device). Figure 13 The correspondence between the rotation angle of the tested joint 610 and the linear displacement of the drive unit 511 can be obtained as shown in the following formula (2):

[0092]

[0093] Therefore, according to the above formula (2), the correspondence between the rotation angle of the tested joint 610 and the displacement of the linear motor 5113 or the screw linear transmission mechanism 5115 can be obtained. Based on this correspondence and the mechanical rotation range of the tested joint 610, the motion trajectory of the linear motor 5113 or the screw linear transmission mechanism 5115 can be planned.

[0094] Please continue to refer to this. Figure 14 This is a schematic diagram illustrating the specific workflow of the data processing module 530 provided in one embodiment of the present invention. Figure 14 As shown, in some exemplary embodiments, the rotational resistance data includes first rotational resistance data when the tested joint 610 accelerates from zero at different starting angles and second rotational resistance data when the tested joint 610 rotates at different speeds at different starting angles.

[0095] The data processing module 530 is configured to perform at least one of the following operations:

[0096] Based on the average value and variance of the first rotational resistance data, the starting resistance information of the tested joint 610 is obtained;

[0097] Based on the average value and variance of the second rotational resistance data, the uniform resistance information of the tested joint 610 is obtained;

[0098] Based on the maximum resistance in the first rotational resistance data and the second rotational resistance data, the maximum resistance information of the tested joint 610 is obtained.

[0099] Specifically, the first rotational resistance data includes multiple sets of starting resistance data when the tested joint 610 accelerates from zero at different starting angles, and the second rotational resistance data includes multiple sets of uniform resistance data when the tested joint 610 rotates at different speeds at different starting angles. Therefore, based on the average and variance of the first rotational resistance data of the tested joint 610 (i.e., the average and variance of the starting resistance data of the tested joint 610 at different starting angles), the average starting resistance and variance of the tested joint 610 can be obtained. Thus, the magnitude of the starting resistance of the tested joint 610 can be measured based on the average starting resistance, and the stability of the tested joint 610 during startup can be measured based on the variance of the starting resistance (a smaller starting resistance variance indicates more stable startup). This allows for the evaluation of the effectiveness of the balancing algorithm or mechanical counterweight (a smaller and more stable starting resistance indicates a better effect of the balancing algorithm or mechanical counterweight) or the current working status of the equipment (e.g., the main control arm) where the tested joint 610 is located. Based on the average value and variance of the second rotational resistance data of the tested joint 610 (i.e., the average value and variance of the uniform resistance data of the tested joint 610 at different starting angles and speeds), the average value and variance of the uniform resistance of the tested joint 610 can be obtained. Thus, the average value of the uniform resistance of the tested joint 610 can be used to measure the magnitude of the rotational resistance of the tested joint 610 during uniform rotation, and the variance of the uniform resistance of the tested joint 610 can be used to measure the stability of the tested joint 610 during uniform motion (the smaller the variance of the uniform resistance, the more stable the uniform motion). This allows for further evaluation of the effect of the balancing algorithm or mechanical counterweight (the smaller and more stable the uniform resistance, the better the effect of the balancing algorithm or mechanical counterweight) or the current working status of the equipment (e.g., the main control arm) where the tested joint 610 is located. The maximum resistance of the tested joint 610 can be obtained from the maximum resistance in the first rotational resistance data and the second rotational resistance data. Based on this maximum resistance, the effect of the balancing algorithm or mechanical counterweight can be further evaluated (the smaller the maximum resistance, the better the effect of the balancing algorithm or mechanical counterweight) or the current working status of the equipment (e.g., the main control arm) where the tested joint 610 is located.

[0100] Furthermore, based on the actual working conditions of the equipment (e.g., the main control arm) where the tested joint 610 is located, thresholds for the average starting resistance, variance starting resistance, average constant speed resistance, variance constant speed resistance, and maximum resistance can be set respectively. When the obtained average starting resistance of the tested joint 610 is less than the average starting resistance threshold, the variance starting resistance is less than the variance starting resistance threshold, the average constant speed resistance is less than the average constant speed resistance threshold, the variance constant speed resistance is less than the variance constant speed resistance threshold, and the maximum resistance is less than the maximum resistance threshold, it can be determined that the equipment (e.g., the main control arm) where the tested joint 610 is located can still operate normally; otherwise, it indicates that the equipment (e.g., the main control arm) where the tested joint 610 is located needs maintenance.

[0101] It should be noted that, as those skilled in the art will understand, in the actual testing process, after connecting the joint 610 to the joint resistance detection device, a tripod can be used to fix the joint resistance detection device. Then, by adjusting the joint 610 to be stationary at a certain initial angle, the drive module 510 drives the joint 610 to accelerate from zero (i.e., drives the joint 610 to start), and the force sensor module 520 is controlled to collect the resistance data during this period, thus obtaining the starting resistance of the joint 610 at that initial angle. Then, the drive module 510 is controlled to drive the joint 610 to move at a certain speed according to a pre-set motion trajectory, and the force sensor module 520 is controlled to collect the resistance speed during this period, thus obtaining the uniform resistance of the joint 610 at that initial angle and speed. Then, at the same initial angle, by changing the speed of the joint 610 during rotation and repeating the above steps, the uniform resistance of the joint 610 when rotating at different speeds at the same initial angle can be obtained. By changing the initial angle of the tested joint 610 and repeating the above steps, the starting resistance of the tested joint 610 at different initial angles and the uniform resistance when the tested joint 610 rotates at different speeds at different initial angles can be obtained. Furthermore, to ensure the accuracy of the test data, the test can be repeated 8 to 10 times for each of the same initial conditions (the same initial angle for detecting starting resistance, and the same initial angle and speed for detecting uniform resistance), and the average value of the measured data is taken as the resistance data under that initial condition.

[0102] In some exemplary embodiments, the data processing module 530 is further configured to plot a curve of the uniform resistance following the change in velocity of the tested joint 610 based on the second rotational resistance data.

[0103] Specifically, for each speed, the average uniform resistance of the tested joint 610 at that speed can be obtained by averaging the uniform resistance data when the tested joint 610 moves at a constant speed from different starting angles. Therefore, based on the average uniform resistance of the tested joint 610 at different speeds, a curve showing the change in uniform resistance with speed can be plotted. Thus, by plotting the curve showing the change in uniform resistance with speed of the tested joint 610, it is convenient to compare different balancing algorithms or different mechanical counterweights at the same speed.

[0104] Based on the same inventive concept, this invention also provides a method for detecting joint rotational resistance, applicable to the joint rotational resistance detection device provided in any of the above embodiments. Please refer to [reference needed]. Figure 15 This is a schematic flowchart of a joint rotation resistance detection method provided in one embodiment of the present invention. Figure 15 As shown, the joint rotation resistance detection method provided by the present invention includes the following steps:

[0105] Step S100: Control the drive module 510 in the joint rotation resistance detection device to drive the tested joint 610 to rotate, and control the force sensor in the joint rotation resistance detection device to collect the rotation resistance data of the tested joint 610. The force sensor is connected to the drive module 510, and the tested joint 610 is connected to the force sensor.

[0106] Step S200: Process the rotational resistance data of the tested joint 610 to obtain at least one of the starting resistance information, constant speed resistance information, and maximum resistance information of the tested joint 610.

[0107] Therefore, the joint rotation resistance detection method provided by this invention can accurately detect the magnitude of the rotation resistance of the joints on the main control arm, thereby establishing a unified evaluation standard for assessing and comparing the operational feel of different surgical robots, which helps improve the operational consistency and comparability of surgical robots. Furthermore, by using the joint rotation resistance detection method provided by this invention to detect the magnitude of the rotation resistance of the joints on the main control arm, the balancing algorithm or mechanical counterweight can be optimized based on relevant indicators such as the starting resistance, uniform resistance during movement, and maximum resistance of the tested joint 610, to improve the operational performance of the surgical robot. This results in smoother and more stable joint movement of the main control arm during operation, improving the accuracy and safety of the surgery. In addition, the joint rotation resistance detection method provided by this invention can be used to detect the joint movement resistance of the main control arm of a surgical robot during the manufacturing process, thereby helping to ensure that the surgical robot products leaving the factory meet consistent quality standards. Accurate detection of the joint movement resistance of the main control arm allows for the inspection and adjustment of key parameters in the surgical robot manufacturing process, ensuring the stability of the surgical robot's performance and quality. Moreover, the joint rotation resistance detection method provided by this invention can also assist medical institution equipment department staff in regularly checking whether equipment requires maintenance.

[0108] It should be noted that, as those skilled in the art will understand, if the tested joint 610 has a drive motor, and if it is necessary to evaluate the effect of the balancing algorithm, the drive motor needs to be started before the drive module 510 in the joint rotation resistance detection device drives the tested joint 610 to rotate, so that the drive motor outputs the torque calculated based on the balancing algorithm to compensate for the resistance such as gravity of the tested joint 610; if it is necessary to evaluate the effect of the mechanical counterweight, the drive motor does not need to be started before or during the rotation of the tested joint 610 by the drive module 510 in the joint rotation resistance detection device.

[0109] In some exemplary embodiments, the drive module 510 in the joint rotation resistance detection device drives the tested joint 610 to rotate, including:

[0110] According to the pre-planned motion trajectory, the drive module 510 drives the tested joint 610 to rotate at different speeds at different starting angles.

[0111] In some exemplary embodiments, the motion trajectory is planned through the following steps:

[0112] Acquire the starting position data of the drive unit 511 and the starting position data of the passive joint 512;

[0113] Based on the starting position data of the drive unit 511 and the starting position data of the passive joint 512, the correspondence between the rotation angle of the tested joint 610 and the motion data of the drive unit 511 is obtained.

[0114] Based on the correspondence and the mechanical rotation range of the tested joint 610, the motion trajectory of the drive unit 511 is planned.

[0115] In some exemplary embodiments, the rotational resistance data includes first rotational resistance data when the tested joint 610 accelerates from zero at different starting angles and second rotational resistance data when the tested joint 610 rotates at different speeds at different starting angles.

[0116] The process of processing the rotational resistance data of the tested joint 610 to obtain the starting resistance information of the tested joint 610 includes:

[0117] Based on the average value and variance of the first rotational resistance data, the starting resistance information of the tested joint 610 is obtained.

[0118] The process of processing the rotational resistance data of the tested joint 610 to obtain the uniform resistance information of the tested joint 610 includes:

[0119] Based on the average value and variance of the second rotational resistance data, the uniform resistance information of the tested joint 610 is obtained.

[0120] The process of processing the rotational resistance data of the tested joint 610 to obtain the maximum resistance information of the tested joint 610 includes:

[0121] Based on the maximum resistance in the first rotational resistance data and the second rotational resistance data, the maximum resistance information of the tested joint 610 is obtained.

[0122] Based on the same inventive concept, the present invention also provides an electronic device, please refer to... Figure 16 This is a block diagram of an electronic device provided in one embodiment of the present invention. Figure 16As shown, the electronic device provided by this invention includes a processor 710 and a memory 730. The memory 730 stores a computer program, which, when executed by the processor 710, implements the joint rotation resistance detection method described above. Since the electronic device provided by this invention and the joint rotation resistance detection method provided by this invention belong to the same inventive concept, the electronic device provided by this invention possesses at least all the beneficial effects of the joint rotation resistance detection method provided by this invention. For details, please refer to the relevant descriptions of the beneficial effects of the joint rotation resistance detection method provided by this invention above; therefore, the beneficial effects of the electronic device provided by this invention will not be elaborated upon here.

[0123] like Figure 16 As shown, the electronic device provided by this invention also includes a communication interface 720 and a communication bus 740, wherein the processor 710, the communication interface 720, and the memory 730 communicate with each other through the communication bus 740. The communication bus 740 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus 740 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used to represent it in the figure, but this does not indicate that there is only one bus or one type of bus. The communication interface 720 is used for communication between the above-mentioned electronic device and other devices.

[0124] The processor 710 referred to in this invention can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processor 710 is the control center of the electronic device, connecting various parts of the electronic device through various interfaces and lines.

[0125] The memory 730 can be used to store the computer program. The processor 710 implements various functions of the electronic device by running or executing the computer program stored in the memory 730 and calling data stored in the memory 730. The memory 730 may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable memory (PROM), electrically programmable memory (EPROM), electrically erasable programmable memory (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, random access memory is available in a variety of forms, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous random access memory (SDRAM), dual data rate synchronous random access memory (DDRSDRAM), enhanced synchronous random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), memory bus direct random access memory (RDRAM), direct memory bus dynamic random access memory (DRDRAM), and memory bus dynamic random access memory (RDRAM), etc.

[0126] In summary, compared with the prior art, the joint rotation resistance detection device, detection method, and electronic device provided by the present invention have the following beneficial effects:

[0127] This invention can accurately detect relevant indicators such as the starting resistance, uniform resistance during movement, and maximum resistance of a single joint, thereby establishing unified evaluation indicators and helping to eliminate differences in subjective evaluation. Taking the tested joint 610 as a joint on the main control arm of a surgical robot as an example, by using this invention, the magnitude of the rotational resistance of the joint on the main control arm can be accurately detected, thereby establishing a unified evaluation standard for assessing and comparing the operational feel of different surgical robots, which helps to improve the operational consistency and comparability of surgical robots. In addition, by using the joint rotational resistance detection device provided by this invention to detect the magnitude of the rotational resistance of the joint on the main control arm, the balancing algorithm or mechanical counterweight can be optimized based on relevant indicators such as the starting resistance, uniform resistance during movement, and maximum resistance of the tested joint 610 to improve the operational performance of the surgical robot, thereby making the joint movement of the main control arm smoother and more stable during operation, and improving the accuracy and safety of the surgery. Furthermore, this invention can be used to detect the joint motion resistance of the main control arm of a surgical robot during the manufacturing process, thereby helping to ensure that surgical robot products leaving the factory meet consistent quality standards. By accurately detecting the joint motion resistance of the main control arm, key parameters in the surgical robot manufacturing process can be checked and adjusted to ensure the stability of the surgical robot's performance and quality. In addition, this invention can also assist medical institution equipment department staff in regularly checking whether equipment requires maintenance.

[0128] It should be noted that the above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure are within the protection scope of the present invention. Obviously, those skilled in the art can make various modifications and variations to the invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the present invention and its equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A joint rotation resistance detection device, characterized in that, It includes a drive module, a force sensor module, and a data processing module. The force sensor module and the drive module are both communicatively connected to the data processing module, and the force sensor module is also connected to the drive module. The drive module is configured to drive the tested joint to rotate. The force sensor module is configured to connect the drive module and the joint under test, collect the rotational resistance data of the joint under test, and transmit it to the data processing module. The data processing module is configured to process the rotational resistance data of the tested joint to obtain at least one of the starting resistance information, constant speed resistance information, and maximum resistance information of the tested joint. The drive module includes a drive unit, a passive joint, and a linear joint connected in sequence. The linear joint is connected to the force sensor module. The drive unit is configured to drive the passive joint to rotate and drive the linear joint to perform linear motion, thereby driving the joint under test to rotate.

2. The joint rotation resistance detection device according to claim 1, characterized in that, The drive unit includes a rotary servo motor, a connecting rod for connecting the rotary servo motor and the passive joint, and an encoder mounted on the rotary servo motor. The encoder is configured to collect the rotation angle data of the rotary servo motor and transmit it to the data processing module.

3. The joint rotation resistance detection device according to claim 1, characterized in that, The drive unit includes a linear motor, a fixed block disposed on the mover of the linear motor, and a first displacement sensor disposed on the linear motor. The passive joint is rotatably connected to the fixed block. The first displacement sensor is configured to collect displacement data of the linear motor and transmit it to the data processing module.

4. The joint rotation resistance detection device according to claim 1, characterized in that, The drive unit includes a screw linear transmission mechanism and a second displacement sensor mounted on the screw linear transmission mechanism. The screw linear transmission mechanism includes a rotary motor, a screw, and a slider. The passive joint is rotatably connected to the slider. One end of the screw is connected to the output shaft of the rotary motor. The slider is sleeved on the screw and threadedly connected to the screw. The second displacement sensor is configured to collect displacement data of the screw linear transmission mechanism and transmit it to the data processing module.

5. The joint rotation resistance detection device according to claim 1, characterized in that, The data processing module is further configured to obtain the correspondence between the rotation angle of the tested joint and the motion data of the drive unit based on the starting position data of the drive unit and the starting position data of the passive joint, and to plan the motion trajectory of the drive unit based on the correspondence and the mechanical rotation range of the tested joint, and to control the drive unit to drive the tested joint to rotate based on the motion trajectory.

6. The joint rotation resistance detection device according to claim 1, characterized in that, The joint rotation resistance detection device also includes a positioning sticker, which has at least one positioning hole. One side of the positioning sticker is used to connect to the force sensor module, and the other side of the positioning sticker is used to connect to the joint being tested.

7. The joint rotation resistance detection device according to claim 1, characterized in that, The rotational resistance data includes first rotational resistance data when the tested joint accelerates from zero at different starting angles, and second rotational resistance data when the tested joint rotates at different speeds at different starting angles. The data processing module is configured to perform at least one of the following operations: Based on the average value and variance of the first rotational resistance data, the starting resistance information of the tested joint is obtained; Based on the average value and variance of the second rotational resistance data, the uniform resistance information of the tested joint is obtained; The maximum resistance information of the tested joint is obtained based on the maximum resistance in the first rotational resistance data and the second rotational resistance data.

8. A method for detecting joint rotational resistance, characterized in that, The detection method includes: The drive module in the joint rotation resistance detection device drives the tested joint to rotate, and the force sensor in the joint rotation resistance detection device collects the rotation resistance data of the tested joint. The force sensor is connected to the drive module, and the tested joint is connected to the force sensor. The drive module includes a drive unit, a passive joint, and a linear joint connected in sequence. The linear joint is connected to the force sensor module. The drive unit is configured to drive the passive joint to rotate and drive the linear joint to perform linear motion, thereby driving the tested joint to rotate. The rotational resistance data of the tested joint is processed to obtain at least one of the following: starting resistance information, constant speed resistance information, and maximum resistance information of the tested joint.

9. The method for detecting joint rotational resistance according to claim 8, characterized in that, The drive module in the joint rotation resistance detection device drives the tested joint to rotate, including: According to the pre-planned motion trajectory, the drive module drives the tested joint to rotate at different speeds at different starting angles.

10. The method for detecting joint rotational resistance according to claim 9, characterized in that, The rotational resistance data includes first rotational resistance data when the tested joint accelerates from zero at different starting angles, and second rotational resistance data when the tested joint rotates at different speeds at different starting angles. The process of processing the rotational resistance data of the tested joint to obtain the starting resistance information of the tested joint includes: Based on the average value and variance of the first rotational resistance data, the starting resistance information of the tested joint is obtained; The process of processing the rotational resistance data of the tested joint to obtain the uniform resistance information of the tested joint includes: Based on the average value and variance of the second rotational resistance data, the uniform resistance information of the tested joint is obtained; The process of processing the rotational resistance data of the tested joint to obtain the maximum resistance information of the tested joint includes: The maximum resistance information of the tested joint is obtained based on the maximum resistance in the first rotational resistance data and the second rotational resistance data.

11. An electronic device, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the joint rotation resistance detection method according to any one of claims 8 to 10.

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