Flexible surgical robot pose test method

Abstract

The invention provides a method for testing the pose of a flexible surgical robot. The method comprises the following steps: S1, constructing a three-dimensional entity coordinate system and a high-speed camera; s2, a marking assembly comprising at least one marking ball is fixedly installed on the surgical instrument; s3, shooting the initial position coordinates of each marked sphere through a high-speed camera; s4, controlling the surgical instrument to move a distance S instruction value to a target position according to the X-axis or Y-axis or Z-axis direction of the three-dimensional entity coordinate system, and shooting the target position coordinate of each marked sphere through a high-speed camera; and S5, calculating an actual error value W measured value of the moving position precision of the marked sphere and an actual error value T measured value of the moving angle precision of the marked sphere. Calibration of a space coordinate system is carried out through a plurality of marking spheres, and the accuracy of a test result is determined; the problem that a flexible surgical robot execution device cannot bear a laser target ball or a polyhedral marker is solved, and a brand-new inspection method is provided for the pose accuracy of a novel minimally invasive / non-invasive surgical flexible robot.

Description

Technical Field

[0001] This invention relates to the field of medical device testing technology, specifically to a method for testing the pose of a flexible surgical robot. Background Technology

[0002] The end effector of a surgical robot needs to move to the pre-planned position and posture under the guidance of navigation equipment to achieve surgical operations such as robot-assisted positioning or cutting in three-dimensional space. Precision is always a core indicator for surgical robots. Before a surgical robot is applied to surgery, its end effector's positioning accuracy, including its position and posture (end effector angle), needs to be tested to ensure safe operation during application.

[0003] To test whether the position and orientation of the end effector of a surgical robot meets positioning accuracy requirements, several inventions have addressed this issue. For example, invention patent CN115721417B proposes a polyhedral full-field measurement device, which mainly solves the problem that accuracy testing has a small measurement range and cannot measure the end effector orientation under large range of motion; invention patent CN119188848A proposes a surgical robot pose performance testing system, method, equipment, medium, and product, which uses a laser tracking device to track the test fixture to calculate position and orientation; invention patent CN119086123A provides a device and method for detecting and verifying the accuracy of a surgical navigation robot, which does not involve orientation issues. However, the aforementioned patents and methods are mainly aimed at rigid surgical robots used in orthopedic surgeries and other scenarios. Their actuators have a certain load-bearing capacity and can be equipped with test fixtures such as target balls and polyhedra. However, for flexible surgical robots mainly used in minimally invasive or non-invasive scenarios such as urinary and gastrointestinal systems, their actuators are flexible joints and often do not have load-bearing capacity. Using existing test devices such as target balls or polyhedra will directly bend the actuators, making it impossible to conduct tests or even damaging the equipment. Summary of the Invention

[0004] The purpose of this invention is to propose a method and apparatus for testing the position and orientation of a flexible surgical robot. A small and lightweight marker component is used as a measuring device, and a three-dimensional solid coordinate system is constructed using three high-speed camera units of X, Y, and Z. The coordinates of the marker component on the actuator of the flexible surgical robot are obtained by shooting, thereby calculating the position and orientation information of the actuator.

[0005] This invention adopts the following technical solution: a method for testing the pose of a flexible surgical robot, wherein the flexible surgical robot includes an actuator and surgical instruments fixedly installed at the end of the actuator, and the testing method includes the following steps:

[0006] S1. Construct a three-dimensional solid coordinate system, and fix high-speed cameras directly opposite the XY plane, XZ plane, and YZ plane of the three-dimensional solid coordinate system.

[0007] S2. The surgical instrument is placed in the three-dimensional space formed by the three-dimensional solid coordinate system, and a marking component is fixedly installed on the surgical instrument. The marking component includes at least one marking sphere.

[0008] S3. Use three high-speed cameras to capture the initial coordinates (X, Y, Z) of the initial position of each marked sphere.

[0009] S4. The surgical instrument is controlled by the actuator to move a distance S along the X-axis, Y-axis, or Z-axis of the three-dimensional solid coordinate system. 指令值 Upon reaching the target location, three high-speed cameras are used to capture the target coordinates (X', Y', Z') of each marked sphere 51 at the target location.

[0010] S5. Based on the initial coordinates (X, Y, Z) of the initial position of each marked sphere, the target coordinates (X', Y', Z') of the target position, and S 指令值 Calculate the actual error value W of the marked sphere's positional accuracy. 实测值 And the actual error value T of the accuracy of the marked ball's movement angle. 实测值 .

[0011] Furthermore, the actual error value W 实测值 The calculation formula is:

[0012] ;

[0013] Where: when the marker component moves along the X-axis, A, These represent the X-axis coordinates of the marker sphere before and after its movement; or, when the marker component moves along the Y-axis, A, These represent the Y-axis coordinates of the marker sphere before and after its movement; or, when the marker component moves along the Z-axis, A, These represent the Z-axis coordinates of the marked spheres before and after their movement; n represents the number of marked spheres.

[0014] Furthermore, the actual error value The calculation formula is:

[0015] ;

[0016] Where: when the marker component moves along the X-axis, B, C and D represent the Y-axis coordinates of the marked sphere before and after its movement, respectively. These represent the Z-axis coordinates of the marker sphere before and after its movement; or, when the marker component moves along the Y-axis, B, C represents the X-axis coordinates of the marked sphere before and after its movement. This indicates the Z-axis coordinates of the marker sphere before and after its movement; or; when the marker component moves along the Z-axis, B, C represents the X-axis coordinates of the marked sphere before and after its movement. This represents the Y-axis coordinates of the marked sphere before and after its movement; n represents the number of marked spheres.

[0017] Furthermore, the flexible surgical robot pose testing method also includes:

[0018] S6. Determine the actual error value W of the moving position accuracy. 实测值 And the actual error value T of the moving angle accuracy 实测值 Does it meet the positioning accuracy requirements?

[0019] W 精度 ≥W 实测值 ;

[0020] T 精度 ≥T 实测值 ;

[0021] Among them: W 精度 It is the movement position error threshold; T 精度 It is the threshold for movement angle error.

[0022] Furthermore, the three-dimensional solid coordinate system includes XY plane plates, XZ plane plates, and YZ plane plates arranged perpendicularly to each other; wherein, the intersection of the XY plane plate and the XZ plane plate is the X-axis, the intersection of the XY plane plate and the YZ plane plate is the Y-axis, the intersection of the XZ plane plate and the YZ plane plate is the Z-axis, and the intersection point of the X-axis, Y-axis, and Z-axis is the origin of the three-dimensional solid coordinate system, with coordinates (0, 0, 0).

[0023] Scale lines are set on the horizontal and vertical axes of the XY plane, XZ plane, and YZ plane.

[0024] Furthermore, the graduation value between adjacent scale lines is less than or equal to 1 mm.

[0025] Furthermore, the marking assembly includes four marking spheres, a connecting rod, and a fixing member. The connecting rod is fixedly connected between the four marking spheres, and the fixing member is fixedly connected to the four marking spheres via the connecting rod. The fixing member is used to fix the marking assembly to the surgical instrument.

[0026] Furthermore, the three marked spheres are in the same plane and are located at the three vertices of an equilateral triangle respectively; one end of each of the three connecting rods is fixedly connected to a marked sphere, and the other end is fixedly connected to the center point of the equilateral triangle; one end of the fourth connecting rod is fixedly connected to the center point of the equilateral triangle and is perpendicular to the equilateral triangle; the fourth marked sphere is fixedly installed at the other end of the fourth connecting rod.

[0027] One end of the fifth connecting rod is fixedly connected to the center point of the equilateral triangle, and the other end is fixedly connected to the fixing component, which is used to fix the marking component to the surgical instrument. The fourth connecting rod is parallel to the surgical instrument.

[0028] Furthermore, the fixing component is an annular elastic fixing band or a clamp, the annular elastic fixing band can be tightened on the outside of the surgical instrument; the clamp includes two semi-circular clamping parts and a fastening bolt, a connecting plate is provided at both ends of the clamping parts, and a through hole is opened on the connecting plate, the fastening bolt passes through the through hole to fix and connect the two clamping parts.

[0029] The flexible surgical robot pose testing method of this invention involves fixing a lightweight marker component to the actuator (medical device) of the flexible surgical robot and placing the marker component in a three-dimensional space formed by a three-dimensional solid coordinate system. A high-speed camera captures the movement position coordinates of the marker component in the three-dimensional solid coordinate system. The pose accuracy of the flexible surgical robot is determined by the position and orientation errors after movement along the X, Y, and Z axes. Simultaneously, four marker spheres on the marker component are used to calibrate the spatial coordinate system, thus determining the accuracy of the test results. This method solves the problem that the actuator of the flexible surgical robot cannot support laser target spheres or polyhedral markers, providing a novel method for verifying the pose accuracy of new minimally invasive / non-invasive surgical flexible robots. Attached Figure Description

[0030] Appendix Figure 1 This is a flowchart illustrating the pose testing method for the flexible surgical robot in this invention.

[0031] Appendix Figure 2 This is a schematic diagram of the device used in the surgical robot pose testing method of the present invention.

[0032] Appendix Figure 3 This is a schematic diagram of the structure of the marking component 5 in this invention.

[0033] The reference numerals in the attached drawings are explained as follows: XY plane plate 1, scale line 11, XZ plane plate 2, YZ plane plate 3, high-speed camera 4, marking assembly 5, marking sphere 51, connecting rod 52, fixing part 53, clamp part 531, fastening bolt 532. Detailed Implementation

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. The invention will be further described below in conjunction with the drawings:

[0035] A flexible surgical robot includes an actuator and surgical instruments fixedly mounted at the end of the actuator.

[0036] Example 1

[0037] Refer to the instruction manual appendix Figure 2 This embodiment provides a device for a flexible surgical robot pose testing method, including a three-dimensional solid coordinate system, a high-speed camera 4, and a marker component 5; the three-dimensional solid coordinate system includes an XY plane plate 1, an XZ plane plate 2, and a YZ plane plate 3 arranged perpendicularly to each other.

[0038] The intersection of XY plane plate 1 and XZ plane plate 2 is the X-axis, the intersection of XY plane plate 1 and YZ plane plate 3 is the Y-axis, and the intersection of XZ plane plate 2 and YZ plane plate 3 is the Z-axis. The intersection of the X-axis, Y-axis and Z-axis is the origin of the three-dimensional solid coordinate system, with coordinates (0, 0, 0).

[0039] Scale lines 11 are set on the horizontal and vertical axes of XY plane plate 1, XZ plane plate 2 and YZ plane plate 3; the scale division between adjacent scale lines 11 is less than or equal to 1 mm.

[0040] Refer to the instruction manual appendix Figure 3 The marking component 5 is made of lightweight plastic and includes four marking spheres 51 (named A, B, C, and D respectively), a connecting rod 52, and a fixing member 53. The outer diameter of the marking spheres 51 is less than or equal to 1 mm, such as 0.5 mm, 0.25 mm, 0.1 mm, etc.

[0041] Three marked spheres 51 (A, B, C) are located in the same plane and at the three vertices of an equilateral triangle. Three connecting rods 52 are fixedly connected at one end to each of the marked spheres 51 and at the other end to the center point of the equilateral triangle. A fourth connecting rod 52 is fixedly connected at one end to the center point of the equilateral triangle and is perpendicular to the triangle. A fourth marked sphere 51 (D) is fixedly mounted on the other end of the fourth connecting rod 52. A fifth connecting rod 52 is fixedly connected at one end to the three connecting rods 52 at the center point of the equilateral triangle and at the other end to a fixing element 53.

[0042] When the fixing member 53 is an annular elastic fixing flat band, the annular elastic fixing flat band can be tightened to the outside of the surgical instrument by its own elasticity, so that the fourth connecting rod 52 is parallel to the surgical instrument.

[0043] When the fastener 53 is a clamp; the clamp includes two semi-circular clamp parts 531 and fastening bolts 532. Connecting plates are provided at both ends of the clamp parts 531, and through holes are provided on the connecting plates. The fastening bolts 532 pass through the through holes to fix and connect the two clamp parts 531.

[0044] One of the clamps 531 is fixedly connected to one end of the fifth connecting rod 52. During installation, first, the two clamps 531 are put on the outside of the surgical instrument. After passing the two fastening bolts 532 through the through holes on the connecting plate and tightening them, the two clamps 531 are clamped and fixed on the surgical instrument, so that the fourth connecting rod 52 is parallel to the surgical instrument.

[0045] Example 2

[0046] Refer to the instruction manual appendix Figure 1 Referring to Example 1, this embodiment provides a method for testing the pose of a flexible surgical robot, including the following steps:

[0047] 1. High-speed cameras 4 are fixed directly opposite the XY plane, XZ plane, and YZ plane of the three-dimensional solid coordinate system.

[0048] 2. Place the surgical instrument in a three-dimensional space formed by a three-dimensional solid coordinate system, and fix the marking component 5 on the surgical instrument. The marking component 5 contains four marking spheres 51 (named A, B, C and D respectively). A, B and C are in the same plane and are located at the three vertices of an equilateral triangle respectively. D is located on the center line perpendicular to the center line of the equilateral triangle and is parallel to the surgical instrument.

[0049] 3. Use three high-speed cameras 4 to capture the initial coordinates of the initial position of each marked sphere 51 (A, B, C, D):

[0050]

[0051] Theoretically, the X, Y, and Z coordinates of each marked sphere should be consistent under different cameras. For example: Y 0AX =Y 0AZ However, actual photo testing may contain errors. Since flexible surgical robots are usually used in confined spaces such as the urinary system, the operating range of their actuators is relatively small. Therefore, calibration and adjustment are required to ensure that the coordinates obtained by the three high-speed cameras are consistent or that the error is less than a certain value (it is recommended not to exceed 1%) before starting the test.

[0052] The initial coordinates are as follows:

[0053]

[0054] 4. According to the test standards, the surgical instruments are controlled by the actuator to move a distance S along the X-axis of the three-dimensional solid coordinate system. 指令值 Upon reaching the first target location, the target coordinates of each marked sphere 51 were captured by three high-speed cameras:

[0055]

[0056] Based on the initial coordinates of the initial position of each marked sphere 51, the target coordinates of the target position, and S 指令值 Calculate the actual error value of the moving position accuracy of the marked sphere 51. And the actual error value T of the accuracy of the moving angle of the marked sphere 51. X实测值 ;

[0057] in: -S 指令值 ; ;

[0058] The flexible surgical arm is controlled to return the medical instrument to its initial position. Following testing standards, the actuator controls the surgical instrument to move a distance S along the Y-axis of the three-dimensional solid coordinate system. 指令值 At the second target location, the target coordinates of each marked sphere 51 were captured by three high-speed cameras:

[0059]

[0060] Based on the initial coordinates of the initial position of each marked sphere 51, the target coordinates of the target position, and S 指令值 Calculate the actual error value of the moving position accuracy of the marked sphere 51. And the actual error value T of the accuracy of the moving angle of the marked sphere 51. Y实测值 ;

[0061] in: -S 指令值 ;

[0062] ;

[0063] The flexible surgical arm is controlled to return the medical instrument to its initial position. Following testing standards, the actuator controls the surgical instrument to move a distance S along the Z-axis of the three-dimensional solid coordinate system. 指令值 At the third target location, the target coordinates of each marked sphere 51 were captured by three high-speed cameras:

[0064]

[0065] Based on the initial coordinates of each marked sphere 51 at its initial position, the target coordinates of the target position, and S 指令值 , calculate the actual error value of the moving position accuracy of the marked sphere 51 and the actual error value T of the moving angle accuracy of the marked sphere 51 Z实测值 ;

[0066] Among them, -S 指令值 ;

[0067] ;

[0068] 5. Judge whether the actual error values W X实测值 , W Y实测值 , W Z实测值 and the actual error values T of the moving angle accuracy X实测值 , T Y实测值 , T Z实测值 meet the positioning accuracy requirements;

[0069] When W 精度 ≥MAX(W X实测值 , W Y实测值 , W Z实测值 ), the flexible surgical robot meets the moving position accuracy requirements and is qualified; when W 精度 <MAX(W X实测值 , W Y实测值 , W Z实测值 ), the flexible surgical robot does not meet the moving position accuracy requirements and is unqualified.

[0070] When T 精度 ≥MAX(T X实测值 , T Y实测值 , T Z实测值 ), the flexible surgical robot meets the moving angle accuracy requirements and is qualified; when T 精度 <MAX(T X实测值 , T Y实测值 , T Z实测值 ), the flexible surgical robot does not meet the moving angle accuracy requirements and is unqualified.

[0071] Among them: W 精度 is the moving position error threshold; T 精度 is the moving angle error threshold. The above moving position error threshold and moving angle error threshold are designed and determined by the manufacturer or the testing agency; for example, 0.5≤W 精度 ≤1mm; 0.2°≤T 精度 ≤0.5°.

[0072] Obviously, modifications and / or additions can be made to the above-described method for testing the pose of a flexible surgical robot without departing from the scope and domain of this invention.

[0073] It is equally clear that, although the present invention has described the flexible surgical robot pose testing method in detail, those skilled in the art will certainly be able to obtain many other equivalent forms of the flexible surgical robot pose testing method that have the features described in the claims, and therefore all fall within the scope of protection defined herein.

Claims

1. A method for testing the pose of a flexible surgical robot, characterized in that: The flexible surgical robot includes an actuator and surgical instruments fixedly mounted at the end of the actuator. The testing method includes the following steps: S1. Construct a three-dimensional solid coordinate system, and fix a high-speed camera (4) directly opposite the XY plane, XZ plane and YZ plane of the three-dimensional solid coordinate system. S2. The surgical instrument is placed in the three-dimensional space formed by the three-dimensional solid coordinate system, and a marking component (5) is fixedly installed on the surgical instrument. The marking component (5) contains at least one marking sphere (51). S3. Take the initial coordinates (X, Y, Z) of the initial position of each marked sphere (51) using three high-speed cameras (4); S4. The surgical instrument is controlled by the actuator to move a distance S along the X-axis, Y-axis, or Z-axis of the three-dimensional solid coordinate system. 指令值 Upon reaching the target location, the target coordinates (X', Y', Z') of each marked sphere (51) are captured by three high-speed cameras. S5. Based on the initial coordinates (X, Y, Z) of the initial position of each marked sphere (51), the target coordinates (X', Y', Z') of the target position, and S 指令值 Calculate the actual error value W of the moving position accuracy of the marked sphere (51). 实测值 And the actual error value T of the moving angle accuracy of the marker sphere (51) 实测值 .

2. The test method according to claim 1, characterized in that: The actual error value W 实测值 The calculation formula is: ； Among them: when the marking component (5) moves along the X-axis, A, These represent the X-axis coordinates of the marker sphere (51) before and after its movement; or, when the marker component (5) moves along the Y-axis, A, These represent the Y-axis coordinates of the marker sphere (51) before and after its movement; or, when the marker component (5) moves along the Z-axis, A, represents the Z-axis coordinates of the marker sphere (51) before and after its movement; n represents the number of marker spheres (51).

3. The test method according to claim 1, characterized in that: The actual error value T 实测值 The calculation formula is: ； Among them: when the marking component (5) moves along the X-axis, B, C and D represent the Y-axis coordinates of the marked sphere (51) before and after its movement. These represent the Z-axis coordinates of the marker sphere (51) before and after its movement; or, when the marker component (5) moves along the Y-axis, B, This indicates the X-axis coordinates of the marked sphere (51) before and after its movement, C, This indicates the Z-axis coordinates of the marker sphere (51) before and after its movement; or; when the marker component (5) moves along the Z-axis, B, This indicates the X-axis coordinates of the marked sphere (51) before and after its movement, C, The coordinates of the marker sphere (51) on the Y-axis before and after its movement are indicated by ; n represents the number of marker spheres (51).

4. The test method according to any one of claims 1-3, characterized in that: The flexible surgical robot pose testing method also includes: S6. Determine the actual error value W of the moving position accuracy. 实测值 And the actual error value T of the moving angle accuracy 实测值 Does it meet the positioning accuracy requirements? IN 精度 ≥In 实测值 ; T 精度 ≥T 实测值 ; Among them: W 精度 It is the movement position error threshold; T 精度 It is the threshold for movement angle error.

5. The test method according to claim 1, characterized in that: The three-dimensional solid coordinate system includes XY plane plate (1), XZ plane plate (2) and YZ plane plate (3) arranged perpendicularly to each other; wherein, the intersection of XY plane plate (1) and XZ plane plate (2) is the X-axis, the intersection of XY plane plate (1) and YZ plane plate (3) is the Y-axis, the intersection of XZ plane plate (2) and YZ plane plate (3) is the Z-axis, and the intersection of the X-axis, Y-axis and Z-axis is the origin of the three-dimensional solid coordinate system, with coordinates (0, 0, 0); Scale lines (11) are set on the horizontal and vertical coordinates of the XY plane plate (1), XZ plane plate (2) and YZ plane plate (3).

6. The test method according to claim 5, characterized in that: The graduation value between adjacent scale lines (11) is less than or equal to 1 mm.

7. The test method according to claim 1, characterized in that: The marking assembly (5) includes four marking spheres (51), a connecting rod (52), and a fixing member (53). The connecting rod (52) is fixedly connected between the four marking spheres (51), and the fixing member (53) is fixedly connected to the four marking spheres (51) through the connecting rod (52). The fixing member (53) is used to fix the marking assembly (5) to the surgical instrument.

8. The test method according to claim 7, characterized in that: The three marked spheres (51) are in the same plane and are located at the three vertices of an equilateral triangle respectively; one end of each of the three connecting rods (52) is fixedly connected to a marked sphere (51), and the other end is fixedly connected to the center point of the equilateral triangle; one end of the fourth connecting rod (52) is fixedly connected to the center point of the equilateral triangle and is perpendicular to the equilateral triangle; the fourth marked sphere (51) is fixedly installed at the other end of the fourth connecting rod (52); The fifth connecting rod (52) is fixedly connected at one end to the center point of the equilateral triangle and at the other end to the fixing member (53), which is used to fix the marking component (5) to the surgical instrument, and the fourth connecting rod (52) is parallel to the surgical instrument.

9. The test method according to claim 7, characterized in that: The fixing component (53) is an annular elastic fixing band or clamp, which can be tightened around the outside of the surgical instrument; the clamp includes two semi-circular clamp components (531) and a fastening bolt (532), with connecting plates at both ends of the clamp components (531), and through holes opened on the connecting plates, through which the fastening bolt (532) passes to fix and connect the two clamp components (531).

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