A robot surgery system precision test tool and test method

Abstract

The application relates to the technical field of surgical robots, and discloses a robot surgery system precision testing tool and a testing method. The robot surgery system precision testing tool comprises a testing model and a testing tool, the side wall of the testing model is provided with a testing hole, the end of the testing hole is provided with a conical groove, the center of the bottom surface of the conical groove is a target point, the length of the perpendicular line from the target point to the side wall of the conical groove is A; one end of the testing tool is used for connecting a robot, and the other end is provided with a spherical part; the radius of the spherical part is R, and the allowable error of the robot is S, wherein A=R+S; the robot can drive the testing tool to extend into the testing hole along the axis of the testing hole, so that the center of the spherical part moves to the target point. The robot surgery system precision testing tool does not need to use special measuring instruments, the cost is relatively low, and an operator only needs to perform simple operation to confirm that the system precision of the current system meets the preset precision requirement.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and in particular to a precision testing fixture and method for robotic surgical systems. Background Technology

[0002] Hearing is one of the most important ways of human perception. Hearing impairment not only severely reduces the quality of life for patients but also increases public expenditure. Clinically, hearing impairment is classified into conductive and sensorineural hearing loss. For patients with sensorineural hearing loss, cochlear implantation has become the recognized best treatment for restoring hearing. With the development of robotics technology, robotic surgical systems are gradually entering the operating room for cochlear implantation, and robotic surgical systems that assist doctors in performing cochlear implantation are emerging. Robotic surgical systems for cochlear implantation can reduce the physical labor of doctors during the procedure, effectively improve surgical precision, and result in less trauma, less blood loss, less postoperative infection, and faster postoperative recovery for patients.

[0003] To avoid unnecessary damage to critical patient tissues (such as major blood vessels and nerves) during surgery, the robotic surgical system used to assist surgeons in implantation procedures must possess high system precision, at least at the sub-millimeter level. Each robotic surgical system must undergo factory testing before leaving the factory, and determining whether the system's precision meets technical requirements is a crucial monitoring component. For robotic surgical systems requiring sub-millimeter precision, due to the small value of the precision to be measured, only specialized measuring equipment such as optical dynamic tracking systems or laser trackers can be used. However, these measuring devices are often expensive and require specialized personnel to operate.

[0004] Therefore, there is an urgent need for a precision testing fixture and method for robotic surgical systems to solve the aforementioned problems. Summary of the Invention

[0005] Based on the above, the purpose of this invention is to provide a precision testing fixture and method for robotic surgical systems. This method does not require specialized measuring instruments, has low cost, and allows operators to easily verify that the system precision meets the preset precision requirements.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] On the one hand, a precision testing fixture for a robotic surgical system is provided, comprising:

[0008] The test model has test holes on its sidewalls, and a conical groove at the end of the test hole. The center of the bottom surface of the conical groove is the target point, and the length of the perpendicular line from the target point to the sidewall of the conical groove is A.

[0009] The test fixture has one end for connecting to the robot and the other end for having a spherical part; the radius of the spherical part is R, and the allowable error of the robot is S, where: A=R+S;

[0010] The robot can drive the test fixture to extend into the test hole along the axis of the test hole, so that the center of the spherical part moves to the target point.

[0011] As a preferred technical solution for a precision testing fixture for a robotic surgical system, the test model includes a base and a test section. The test section is disposed on the base and is frustum-shaped, while the base is cuboid-shaped.

[0012] As a preferred technical solution for a precision testing fixture for a robotic surgical system, the circumferential sidewalls of the testing section are respectively provided with at least one test hole.

[0013] As a preferred technical solution for a precision testing fixture for a robotic surgical system, the testing fixture is provided with a disc portion, the diameter of the disc portion is D1, and the inner diameter of the testing hole is D2, where D2 = D1 + 2S.

[0014] As a preferred technical solution for a precision testing fixture for a robotic surgical system, the spherical part is hemispherical, and the hemispherical part is provided with a reference surface. The reference surface is located on the side of the spherical part away from the robot from the center of the spherical part, and the distance S between the center of the spherical part and the plane containing the edge of the reference surface is .

[0015] As a preferred technical solution for a precision testing fixture for a robotic surgical system, the robot is equipped with a force sensor; or the testing fixture is made of a transparent material.

[0016] On the other hand, a method for testing the accuracy of a robotic surgical system is provided, employing the robotic surgical system accuracy testing fixture as described in any of the above-mentioned solutions; the method for testing the accuracy of a robotic surgical system includes the following steps:

[0017] S1. Connect the test fixture to the robot and place the test model on the test platform;

[0018] S2. Scan the test model, select the location of the target point, and plan the motion trajectory of the test fixture;

[0019] S3. The robot drives the test fixture to move the center of the spherical part to the target point according to the motion trajectory;

[0020] S4. Determine whether the test fixture collides with the inner wall of the test hole; if yes, the robot's accuracy does not meet the requirements; if no, the robot's accuracy meets the requirements.

[0021] As a preferred technical solution for a precision testing method for a robotic surgical system, the robot is equipped with a force sensor. In step S4, when the test fixture collides with the inner wall of the test hole, the force sensor is configured to emit a collision signal; or the operator directly observes whether the test fixture collides with the inner wall of the test hole.

[0022] As a preferred technical solution for a robotic surgical system accuracy testing method, the test model is provided with at least three test holes in its circumferential direction, and the test is performed in at least three test holes according to the robotic surgical system accuracy testing method.

[0023] As a preferred technical solution for a precision testing method for a robotic surgical system, the spherical part is hemispherical, the hemispherical part is provided with a reference surface, the reference surface is located on the side of the center of the spherical part away from the robot, and the distance S between the center of the spherical part and the plane containing the edge of the reference surface;

[0024] Before step S4, it is also necessary to observe whether the edge of the reference surface is located on the side of the bottom circular plane of the conical groove that is close to the conical groove. If so, step S4 is performed; otherwise, the accuracy of the robot does not meet the requirements.

[0025] The beneficial effects of this invention are as follows:

[0026] This invention provides a precision testing fixture and method for a robotic surgical system. During testing, the end of the testing fixture is connected to the robot, and the test model is placed on the testing platform. The test model is scanned, the target point is selected, and the motion trajectory of the testing fixture is planned. The robot drives the testing fixture to move the center of the spherical part to the target point according to the motion trajectory. Since A=R+S, it is determined whether the testing fixture collides with the inner wall of the test hole. If so, the robot's precision meets the requirements; otherwise, the robot's precision does not meet the requirements. This precision testing fixture for a robotic surgical system does not require specialized measuring instruments, has low cost, and allows operators to easily confirm that the current system's precision meets the preset precision requirements. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0028] Figure 1This is a schematic diagram of the structure of the precision testing fixture for the robotic surgical system provided in a specific embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the test tooling extending into the test hole of the test model according to a specific embodiment of the present invention;

[0030] Figure 3 This is a flowchart of a method for testing the accuracy of a robotic surgical system provided in a specific embodiment of the present invention.

[0031] The markings in the image are as follows:

[0032] 10. Robot;

[0033] 1. Test model; 11. Base; 12. Test section; 121. Test hole; 1211. Conical groove; 1212. Target point;

[0034] 2. Test fixture; 21. Spherical part; 22. Disc part; 23. Reference surface. Detailed Implementation

[0035] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0036] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," 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.

[0037] 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. Furthermore, "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.

[0038] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0039] like Figure 1 and Figure 2 As shown, this embodiment provides a precision testing fixture for a robotic surgical system. The fixture includes a test model 1 and a test fixture 2. The test model 1 has a test hole 121 on its side wall, and a conical groove 1211 at the end of the test hole 121. The center of the bottom surface of the conical groove 1211 is the target point 1212, and the length of the perpendicular line from the target point 1212 to the side wall of the conical groove 1211 is A. One end of the test fixture 2 is used to connect to a robot 10, and the other end has a spherical part 21. The radius of the spherical part 21 is R, and the allowable error of the robot 10 is S, where A = R + S. The robot 10 can drive the test fixture 2 to extend into the test hole 121 along its axis, so that the center of the spherical part 21 moves to the target point 1212.

[0040] During testing, the end of the test fixture 2 is connected to the robot 10, and the test model 1 is placed on the test platform. The test model 1 is scanned, the position of the target point 1212 is selected, and the motion trajectory of the test fixture 2 is planned. A conical groove 1211 is designed at the bottom of the test hole 121, and the center of the bottom surface of the conical groove 1211 is used as the target point 1212 required for accuracy confirmation. The robot 10 drives the test fixture 2 to move the center of the spherical part 21 to the target point 1212 according to the motion trajectory. Since A=R+S, it is determined whether the test fixture 2 collides with the inner wall of the test hole 121. If yes, the accuracy of the robot 10 meets the requirements; if no, the accuracy of the robot 10 does not meet the requirements. This robotic surgical system accuracy testing fixture does not require the use of special measuring instruments, has low cost, and the operator only needs to operate it to confirm that the system accuracy of the current system meets the preset accuracy requirements.

[0041] In this embodiment, S is 0.5mm or 0.6mm. For example, when S is 0.5mm, the allowable error range of robot 10 is ±0.5mm.

[0042] Furthermore, the test model 1 includes a base portion 11 and a test portion 12. The test portion 12 is disposed on the base portion 11 and is shaped like a frustum, while the base portion 11 is shaped like a cuboid. A test hole 121 is located on the side wall of the frustum shape and is used to provide a target position for the robotic surgical system during the verification process. The test model 1 adopts a design combining a frustum shape and a cuboid shape, with the base portion 11 providing a stable foundation for the test model 1 and fixing it to the test platform.

[0043] Preferably, at least one test hole 121 is provided on the circumferential sidewalls of the test section 12. The robot 10 carrying the test fixture 2 can selectively extend into one of the test holes 121 to perform the test. In this embodiment, the robot 10 carrying the test fixture 2 performs the test in at least three test holes 121. Since the three test holes 121 are located on different sidewalls, the robot 10 needs the test fixture 2 to move and change angles in space. Therefore, six degrees of freedom testing of the robot 10 can be achieved.

[0044] To verify whether the radial deviation of the robotic surgical system along the test hole 121 meets the design requirements, the test fixture 2 is equipped with a disc portion 22. The diameter of the disc portion 22 is D1, and the inner diameter of the test hole 121 is D2, where D2 = D1 + 2S. The disc portion 22 is located in the middle of the test fixture 2. As the robot 10, carrying the test fixture 2, extends into the test hole 121, the disc portion 22 also extends into the test hole 121. Since D2 = D1 + 2S, if the radial deviation of the robot 10 along the test hole 121 is greater than S, the disc portion 22 will contact the inner wall of the test hole 121. At this point, it can be determined that the accuracy of the robot 10 does not meet the requirements.

[0045] Furthermore, the spherical part 21 is hemispherical, and a reference surface 23 is provided on the hemisphere. The reference surface 23 is located on the side of the center of the spherical part 21 away from the robot 10. The distance S between the center of the spherical part 21 and the plane containing the edge of the reference surface 23 is denoted as S. After the robot 10, carrying the test fixture 2, extends into the test hole 121 to move the center of the sphere to the target point 1212, it is observed whether the edge of the reference surface 23 of the spherical part 21 is located within the conical groove 1211. If the edge of the reference surface 23 is located on the side of the bottom circle of the conical groove 1211 away from the conical groove 1211, it is determined that the insertion depth of the test fixture 2 is insufficient, and the movement accuracy of the robot 10 along the axial direction of the test hole 121 does not meet the requirements.

[0046] In this embodiment, the spherical portion 21 and the disk portion 22 are determined by the size of the test hole 121 of the test model 1, and the size is determined by the following method: Figure 2As shown: When the center of the spherical part 21 coincides with the target point 1212 inside the test hole 121, and the axis of the test fixture 2 is collinear with the axis of the test hole 121, the gap between the spherical part 21 and the inner wall of the conical groove 1211 and the gap between the disc part 22 and the inner wall of the test hole 121 should both be equal to the system accuracy S. If the test fixture 2 collides with the inner wall of the test hole 121 during the movement of the robotic surgical system or after it has reached its position, it proves that the end position deviation of the current robotic surgical system exceeds the reserved gap, that is, exceeds the system accuracy S, and cannot meet the accuracy index given in the technical requirements.

[0047] In this embodiment, to facilitate the operator's accuracy verification of the robot 10, the test fixture 2 is made of transparent material. The operator can directly observe the state of the test fixture 2 after it is inserted into the test model 1, such as the relative positional relationship between the edge of the reference surface 23 and the bottom circle of the conical groove 1211, as well as whether the test fixture 2 touches the test hole 121 and the inner wall of the conical groove 1211. The operation is simple and the cost is low.

[0048] In other embodiments, a force sensor is provided inside the robot 10. When the test fixture 2 touches the inner wall of the test hole 121 or the conical groove 1211, the force sensor can send a force signal, and at this time it can be determined that the accuracy of the robotic surgical system does not meet the requirements.

[0049] In addition, in order to enable the rapid loading and unloading of the test fixture 2 onto the robot 10, the end of the test fixture 2 is specifically designed with a docking structure for the robot 10. The docking structure is existing technology and will not be described in detail here.

[0050] like Figures 1-3 As shown, it should be noted that this embodiment also provides a method for testing the accuracy of a robotic surgical system, using the aforementioned robotic surgical system accuracy testing fixture; the method for testing the accuracy of a robotic surgical system includes the following steps:

[0051] S1. Connect the test fixture 2 to the robot 10 and place the test model 1 on the test platform. After connecting the robot 10 and powering it on, wait for the robotic surgical system to start normally. When placing the test model 1 on the test platform, it is necessary to confirm that the position of the test model 1 can ensure that the test holes 121 are all within the scanning range of the medical imaging system of the robotic surgical system. The medical imaging system is a built-in system of the robot 10 and will not increase the cost of the accuracy test fixture for the robotic surgical system.

[0052] S2. Scan the test model 1, select the position of the target point 1212, and plan the motion trajectory of the test fixture 2. In this step, the medical imaging system of the robot 10 is first activated to scan the test model 1, and the target point 1212 within the test hole 121 is automatically or manually selected. Then, the system control software plans the corresponding motion trajectory based on the target point 1212. This motion trajectory can control the robotic surgical system to insert the test fixture 2 into the test hole 121 along the axis of the test hole 121.

[0053] S3. Robot 10 drives test fixture 2 to move the center of spherical part 21 to target point 1212 according to the motion trajectory;

[0054] S4. Determine whether the test fixture 2 collides with the inner wall of the test hole 121; if yes, the accuracy of the robot 10 does not meet the requirements; if no, the accuracy of the robot 10 meets the requirements.

[0055] The robot 10 is equipped with a force sensor. In step S4, when the test fixture 2 collides with the inner wall of the test hole 121, the force sensor is configured to emit a collision signal; or the operator can directly observe whether the test fixture 2 collides with the inner wall of the test hole 121, which is simple to operate.

[0056] Furthermore, the spherical part 21 is hemispherical, and a reference surface 23 is provided on the hemispherical part. The reference surface 23 is located on the side of the center of the spherical part 21 away from the robot 10, and the distance between the center of the spherical part 21 and the plane containing the edge of the reference surface 23 is S. Before step S4, it is also included to observe whether the edge of the reference surface 23 is located on the side of the bottom circular plane of the conical groove 1211 close to the conical groove 1211. If so, step S4 is performed; if not, the accuracy of the robot 10 does not meet the requirements.

[0057] The above-mentioned method for testing the accuracy of robotic surgical systems is simple to operate and can quickly confirm whether the system accuracy of the robotic surgical system meets the design requirements.

[0058] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A robotic surgical system precision test fixture, characterized by, include: The test model (1) has a test hole (121) on its side wall. The end of the test hole (121) is provided with a conical groove (1211). The center of the bottom surface of the conical groove (1211) is the target point (1212). The length of the perpendicular line from the target point (1212) to the side wall of the conical groove (1211) is A. The test fixture (2) has one end for connecting to the robot (10) and the other end is provided with a spherical part (21); the radius of the spherical part (21) is R, and the allowable error of the robot (10) is S, where: A=R+S; The robot (10) can drive the test fixture (2) to extend into the test hole (121) along the axis of the test hole (121) so that the center of the spherical part (21) moves to the target point (1212) and determine whether the test fixture (2) collides with the inner wall of the test hole (121); if yes, the accuracy of the robot (10) meets the requirements; if no, the accuracy of the robot (10) does not meet the requirements.

2. The robotic surgical system precision test fixture of claim 1, wherein, The test model (1) includes a base part (11) and a test part (12). The test part (12) is disposed on the base part (11). The test part (12) is frustum-shaped, and the base part (11) is cuboid-shaped.

3. The robotic surgical system precision test fixture of claim 2, wherein, The circumferential sidewalls of the test section (12) are provided with at least one test hole (121).

4. The robotic surgical system precision test fixture of claim 1, wherein, The test fixture (2) is provided with a disc part (22), the diameter of the disc part (22) is D1, and the inner diameter of the test hole (121) is D2, where D2 = D1 + 2S.

5. The robotic surgical system precision test fixture of claim 1, wherein, The spherical part (21) is hemispherical, and the hemispherical part is provided with a reference surface (23). The reference surface (23) is located on the side of the center of the spherical part (21) away from the robot (10). The distance between the center of the spherical part (21) and the plane containing the edge of the reference surface (23) is S.

6. The robotic surgical system precision test fixture of claim 1, wherein, The robot (10) is equipped with a force sensor; or the test fixture (2) is made of transparent material.

7. A method of testing the accuracy of a robotic surgical system, the method comprising: The robotic surgical system accuracy testing fixture as described in any one of claims 1-6 is used; the robotic surgical system accuracy testing method includes the following steps: S1. Connect the test fixture (2) to the robot (10) and place the test model (1) on the test platform; S2. Scan the test model (1), select the position of the target point (1212) and plan the motion trajectory of the test fixture (2); S3. The robot (10) drives the test fixture (2) to move the center of the spherical part (21) to the target point (1212) according to the motion trajectory. S4. Determine whether the test fixture (2) collides with the inner wall of the test hole (121); if yes, the accuracy of the robot (10) does not meet the requirements; if no, the accuracy of the robot (10) meets the requirements.

8. The robotic surgical system precision testing method of claim 7, wherein, The robot (10) is provided with a force sensor, and when the test tool (2) collides with the inner wall of the test hole (121) in the S4 step, the force sensor is configured to send a collision signal; or the operator directly observes whether the test tool (2) collides with the inner wall of the test hole (121).

9. The robotic surgical system precision testing method of claim 7, wherein, The test model (1) is circumferentially provided with at least three test holes (121), and the test is performed in at least three test holes (121) according to the robot surgery system precision test method.

10. The robotic surgical system precision testing method of claim 7, wherein, The spherical part (21) is semispherical, and the semispherical part is provided with a reference surface (23), the reference surface (23) is located on the side of the spherical center of the spherical part (21) away from the robot (10), and the distance between the spherical center of the spherical part (21) and the plane on which the edge of the reference surface (23) is located is S. Before the S4 step, it also includes observing whether the edge of the reference surface (23) is located on the side of the bottom circular plane of the conical groove (1211) close to the conical groove (1211), if yes, the S4 step is performed; if no, the precision of the robot (10) does not meet the requirements.

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