Data acquisition device suitable for reliability test of whole medical robot
By designing a data acquisition device suitable for the entire medical robot, the problems of insufficient independence, single environment, and incomplete measurement dimensions of existing testing tools were solved. Multi-dimensional data acquisition was achieved in a simulated real environment, improving testing efficiency and accuracy.
Patent Information
- Application Number
- CN202522005513.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-18
- Publication Date
- 2025-12-09
- Estimated Expiration
- 2035-09-18
AI Technical Summary
Existing reliability testing for medical robots lacks independent testing schemes, has a single testing environment that cannot simulate the actual environment, and has incomplete measurement dimensions, resulting in inaccurate test results and low efficiency.
A data acquisition device was designed, comprising an environmental control module, a positioning and measurement module, a robotic arm execution module, and a data acquisition box. This device is capable of acquiring multi-dimensional data, including repeatability accuracy, effective operating space, and effective operating force, through external tools in a simulated temperature and humidity cycle environment.
It enables independent and objective testing by third-party organizations, improves testing efficiency and accuracy, and allows for multi-dimensional data collection in a simulated real-world environment, ensuring the fairness and precision of test results.
Smart Images
Figure CN223643743U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robot testing technology, and in particular to a data acquisition device suitable for reliability testing of medical robots. Background Technology
[0002] The overall reliability of medical robots is a core indicator for ensuring surgical safety, and the testing of overall reliability urgently requires the support of specialized tooling.
[0003] Existing technology has two major flaws:
[0004] Lack of independent testing solutions: Medical robot manufacturers can only conduct tests by collecting internal data (such as joint angles and motor currents) or their own posture information. Third-party testing organizations cannot objectively conduct reliability ratings because they lack external measuring tools that are independent of the device under test.
[0005] The testing environment is too limited: existing tests are mostly conducted at room temperature, which cannot simulate the "temperature and humidity cycling shock" environment required for reliability testing. As a result, the test results cannot reflect the reliability level of medical robots in actual clinical environments (such as after high-temperature sterilization and low-temperature transportation).
[0006] Incomplete measurement dimensions: Existing tools cannot simultaneously achieve collaborative testing of "repeatability, effective operating space, and effective operating force," requiring multiple rounds of testing, which is inefficient and has poor data correlation.
[0007] Therefore, there is an urgent need for a testing device that can simulate temperature and humidity shock environments, is independent of the device under test, and can collect data in multiple dimensions to meet the standardized testing needs of third-party organizations. Utility Model Content
[0008] To address the aforementioned problems in the prior art, this utility model proposes a data acquisition device suitable for reliability testing of medical robots, which can effectively complete the data acquisition work for reliability testing and improve testing efficiency.
[0009] Specifically, this utility model proposes a data acquisition device suitable for reliability testing of medical robots, comprising,
[0010] The environmental control module includes a control cabinet and a sealed environmental test chamber that are electrically connected to each other. The control cabinet is used to set and control the temperature and humidity changes inside the environmental test chamber, and the medical robot to be tested is placed inside the environmental test chamber.
[0011] The positioning measurement module is installed inside the environmental test chamber and includes two fixed supports spaced apart and two sets of spatial coordinate measuring devices. Each set of spatial coordinate measuring devices is provided on each fixed support, and each set of spatial coordinate measuring devices includes three mutually orthogonal micrometers.
[0012] The robotic arm execution module includes a gripper, a three-dimensional force sensor, a load mechanism, and a contact ball. One end of the gripper is fixedly connected to the end of the robotic arm of the medical robot, and the other end of the gripper is fixedly connected to the load mechanism via the three-dimensional force sensor. The bottom of the load mechanism is fixedly connected to the contact ball, which is used to follow the robotic arm to the fixed support and to contact the micrometer of the spatial coordinate measuring device corresponding to the fixed support.
[0013] A data acquisition box is connected to the spatial coordinate measuring device and the three-dimensional force sensor. The data acquisition box is used to acquire the spatial coordinate data output by the spatial coordinate measuring device and the three-dimensional force data output by the three-dimensional force sensor.
[0014] According to one embodiment of the present invention, the control cabinet controls the temperature of the environmental test chamber to vary from -20℃ to 60℃, and the humidity to vary from 30%RH to 90%RH.
[0015] According to one embodiment of the present invention, the positioning and measuring module further includes a slide rail, and the fixed bracket is disposed on the slide rail. At least one of the fixed brackets is slidably engaged with the slide rail to adjust the distance between the two fixed brackets.
[0016] According to one embodiment of the present invention, the fixed bracket includes a vertical rod, and the spatial coordinate measuring device is slidably engaged with the vertical rod so that the height of the spatial coordinate measuring device is adjustable.
[0017] According to one embodiment of the present invention, the load mechanism includes a connecting rod and a weight, the weight being detachably fixed to the connecting rod, one end of the connecting rod being connected to the three-dimensional force sensor, and the other end being provided with a contact ball.
[0018] According to one embodiment of the present invention, the diameter of the contact ball is adapted to the measuring end size of the micrometer.
[0019] According to one embodiment of the present invention, the data acquisition box has a data filtering module and a noise reduction processing module, which are used to eliminate the minor deformation interference caused by temperature and humidity changes in the environmental test chamber to the micrometer.
[0020] According to one embodiment of the present invention, the robotic arm drives the contact ball to reciprocate between the two sets of spatial coordinate measuring devices according to a preset cycle, and the data acquisition box continuously collects spatial coordinate data and three-dimensional force data.
[0021] According to one embodiment of the present invention, the micrometer has a measurement accuracy of 0.01 mm and is used to collect the coordinate deviation of the contact ball in the x-axis, y-axis and z-axis directions in a spatial rectangular coordinate system.
[0022] According to one embodiment of the present invention, the three-dimensional force sensor has a measurement accuracy of 0.1N and is used to collect real-time force data in the x-axis, y-axis, and z-axis directions when the robotic arm drives the load mechanism to move.
[0023] This utility model provides a data acquisition device suitable for reliability testing of medical robots. Through the coordinated operation of an environmental control module, a positioning and measurement module, a robotic arm execution module, and a data acquisition box, it can effectively complete the data acquisition work for reliability testing and improve testing efficiency. Compared with existing technologies, this data acquisition device has the following advantages:
[0024] 1. High independence: Data is collected through an external positioning and measurement module (micrometer) and a three-dimensional force sensor, which is completely independent of the internal data of the medical robot under test (such as joint information). Third-party testing institutions can use it directly to ensure the objectivity and impartiality of the test results.
[0025] 2. Good environmental adaptability: The environmental control module simulates temperature cycling from -20℃ to 60℃ and humidity cycling from 30%RH to 90%RH, breaking through the limitations of existing room temperature testing and conforming to the environmental stress scenarios in actual use of medical robots;
[0026] 3. Multi-dimensional testing: Achieve simultaneous testing of repeatability accuracy (coordinate deviation collected by micrometer), effective operating space (adjustable spacing of fixed brackets), and effective operating force (force collected by three-dimensional force sensor + adjustable load weights), without the need to split the testing process, thus improving testing efficiency;
[0027] 4. High measurement accuracy: The micrometer has an accuracy of 0.01mm, the three-dimensional force sensor has an accuracy of 0.1N, and the data acquisition box has a filtering and noise reduction function, which can effectively eliminate environmental interference and ensure the accuracy of test data.
[0028] It should be understood that the above general description and the following detailed description of the present invention are exemplary and illustrative, and are intended to provide further explanation of the present invention as described in the claims. Attached Figure Description
[0029] The accompanying drawings are included to provide a further explanation of the present invention. They are incorporated in and constitute a part of this application. The drawings illustrate embodiments of the present invention and, together with this specification, serve to explain the principles of the present invention. In the drawings:
[0030] Figure 1 A schematic diagram of a data acquisition device for overall reliability testing of a medical robot, according to an embodiment of the present invention, is shown.
[0031] Figure 2 A schematic diagram of the positioning measurement module and the robotic arm execution module according to an embodiment of the present invention is shown.
[0032] Figure 3 yes Figure 2 A schematic diagram of the positioning and measurement module in the diagram.
[0033] Figure 4 yes Figure 2 A schematic diagram of the robotic arm execution module.
[0034] The above figures include the following reference numerals:
[0035] Data acquisition device 100
[0036] Environmental control module 101
[0037] Positioning and measurement module 102
[0038] Robotic arm execution module 103
[0039] Control cabinet 104
[0040] Environmental test chamber 105
[0041] Fixed bracket 106
[0042] Spatial coordinate measuring device 107
[0043] 108 micrometer
[0044] Fixture 109
[0045] 3D Force Sensor 110
[0046] Load mechanism 111
[0047] Contact ball 112
[0048] Slide rail 113
[0049] Vertical rod 114
[0050] Linkage 115
[0051] Weight 116
[0052] Medical robots 200
[0053] robotic arm 201 Detailed Implementation
[0054] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.
[0055] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.
[0056] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.
[0057] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.
[0058] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms 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 on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.
[0059] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. In addition, although the terminology used in this application is selected from commonly known and used terms, some terms mentioned in this application's specification may have been chosen by the applicant according to his or her judgment, and their detailed meanings are explained in the relevant sections of this description. Moreover, this application should be understood not only through the actual terms used, but also through the meaning implied by each term.
[0060] Figure 1 A schematic diagram of the structure of a data acquisition device according to an embodiment of the present invention is shown. Figure 2 A schematic diagram of the positioning measurement module and the robotic arm execution module according to an embodiment of the present invention is shown. Figure 3 yes Figure 2 A schematic diagram of the positioning and measurement module in the diagram. Figure 4 yes Figure 2 The diagram shows the structure of the robotic arm execution module. As shown, a data acquisition device 100 suitable for overall reliability testing of a medical robot 200 is specifically designed for this purpose, particularly suitable for independent testing by third-party testing organizations, and can meet the requirements of overall reliability testing. This data acquisition device 100, through the collaborative work of an environmental control module 101, a positioning and measurement module 102, a robotic arm execution module 103, and a data acquisition box (not shown), achieves multi-dimensional reliability parameter acquisition that does not rely on the internal data of the device under test and can simulate temperature and humidity cycling shock environments, solving the problems of insufficient independence, limited environmental scope, and incomplete measurement dimensions of existing testing tools.
[0061] Among them, reference Figure 1The environmental control module 101 serves as the "stress environment carrier" for overall system reliability testing, comprising an electrically connected control cabinet 104 and a sealed environmental test chamber 105. The control cabinet 104 is responsible for setting and regulating environmental parameters, accurately setting and monitoring temperature and humidity changes within the environmental test chamber 105 in real time to ensure a stable testing environment. The sealed environmental test chamber 105 provides a closed space for testing, where the medical robot 200 to be tested is placed. Its internal dimensions are adaptively designed to fully accommodate the medical robot 200 and other test components, preventing interference between the robotic arm 201 of the medical robot 200 and the inner wall of the environmental test chamber 105 during movement.
[0062] The positioning and measurement module 102 is deployed inside the environmental test chamber 105 and includes two spaced-apart fixed supports 106 and two sets of spatial coordinate measuring devices 107. Each fixed support 106 is equipped with a set of spatial coordinate measuring devices 107. Each set of spatial coordinate measuring devices 107 includes three mutually orthogonal micrometers 108. This orthogonal design can cover the x-axis, y-axis, and z-axis of the spatial rectangular coordinate system, and can comprehensively collect the three-dimensional coordinate data of the object in contact.
[0063] refer to Figure 4 The robotic arm execution module 103 serves as the carrier for motion and force transmission, including a gripper 109, a three-dimensional force sensor 110, a load mechanism 111, and a contact ball 112. One end of the gripper 109 is fixedly connected to the end of the robotic arm 201 of the medical robot 200, and the other end is connected to the load mechanism 111 via the three-dimensional force sensor 110. The bottom of the load mechanism 111 is connected to the contact ball 112. When the contact ball 112 moves with the robotic arm 201 to the fixed support 106, it can contact the micrometer 108 of the spatial coordinate measuring device 107 corresponding to the fixed support 106, triggering coordinate data acquisition.
[0064] The data acquisition box is connected to the spatial coordinate measuring device 107 and the three-dimensional force sensor 110 respectively, and is responsible for collecting and integrating spatial coordinate data and three-dimensional force data to provide raw data support for subsequent reliability analysis.
[0065] In some examples, to simulate the temperature and humidity changes that the medical robot 200 may encounter in actual use, the control cabinet 104 sets the temperature control range of the environmental test chamber 105 to -20℃ to 60℃ and the humidity control range to 30%RH to 90%RH. This temperature and humidity range can cover the environmental conditions after low-temperature transportation and high-temperature sterilization, making the test results more consistent with the reliability requirements of clinical and storage scenarios.
[0066] In some examples, reference Figure 3The positioning and measurement module 102 is also equipped with a slide rail 113. A fixed bracket 106 is mounted on the slide rail 113, and at least one fixed bracket 106 forms a sliding engagement with the slide rail 113. This design allows for easy adjustment of the distance between the two fixed brackets 106, thereby simulating different effective operating spaces. For example, by changing the spacing (e.g., 300mm, 500mm, 800mm), the reliability performance of the medical robot 200 under different operating ranges can be tested, determining whether it can work stably within the designed effective operating space.
[0067] In some examples, the fixed bracket 106 includes a vertical rod 114. A spatial coordinate measuring device 107 slides along this vertical rod 114, allowing for flexible height adjustment of the device. This facilitates adjusting the micrometer 108 to a suitable position based on the movement height of the robotic arm 201 of the medical robot 200. This ensures precise contact between the micrometer 108 and the contact ball 112 of the robotic arm execution module 103, thereby improving the accuracy and adaptability of spatial coordinate data acquisition.
[0068] In some examples, turn back to Figure 4 The load mechanism 111 includes a connecting rod 115 and a weight 116. The weight 116 is detachably fixed to the connecting rod 115. One end of the connecting rod 115 is connected to a three-dimensional force sensor 110 to ensure that the force transmitted by the robotic arm 201 is completely transmitted to the three-dimensional force sensor 110 for accurate force acquisition. The other end of the connecting rod 115 is fixedly assembled to a contact ball 112, so that the contact ball 112 can move synchronously with the connecting rod 115 and follow the movement of the robotic arm 201, thereby accurately contacting the micrometer 108 of the positioning measurement module 102 to trigger coordinate acquisition. The weight 116 is detachably fixed to the connecting rod 115. Specifically, by pre-setting slots, threaded holes, and other structures on the connecting rod 115, the weight 116 can be quickly assembled or disassembled. During testing, different weights of the weight 116 (such as 1kg, 2kg, etc.) can be replaced as needed to flexibly adjust the load weight of the robotic arm 201, thereby simulating the load conditions of the medical robot 200 under different working intensities. This provides test conditions for subsequent analysis of the "correlation between load and the positioning accuracy and force stability of the robotic arm 201".
[0069] In some examples, the contact ball 112 is made of stainless steel, and its diameter is matched to the measuring end size of the micrometer 108. Stainless steel has both wear resistance and high hardness, which can avoid wear and deformation caused by long-term contact with the micrometer 108, thus extending the service life of the component. The matching diameter of the contact ball 112 with the micrometer 108 can ensure that the micrometer 108 can be stably triggered to measure when in contact, preventing poor contact due to size mismatch (such as the ball being too small to trigger the measurement) or excessive compression (such as the ball being too large to damage the micrometer), thereby ensuring the accuracy of coordinate data acquisition.
[0070] In some examples, the data acquisition box integrates a data filtering module and a noise reduction module. Because the cyclical changes in temperature and humidity within the environmental test chamber 105 may cause minor deformations in the metal components of the micrometer 108 (such as slight elongation of the micrometer rod due to high temperatures), these deformations can introduce measurement errors. The filtering and noise reduction module can process the acquired raw coordinate data, eliminating such environmental interference signals, making the final output coordinate data more accurate, and reducing the impact of errors on reliability assessment.
[0071] In some examples, during the test, the robotic arm 201 drives the contact ball 112 to reciprocate between two sets of spatial coordinate measuring devices 107 according to a preset cycle, while the data acquisition box simultaneously and continuously collects spatial coordinate data and three-dimensional force data. Specifically, the preset cycle can be set according to the test requirements (e.g., 1 time / minute to 5 times / minute). Through long-term continuous reciprocating motion and data acquisition (e.g., 24 hours, 48 hours), the changes in positioning accuracy of the robotic arm 201 after multiple movements (e.g., whether there is an increase in deviation) and fluctuations in force stability (e.g., whether there is a sudden increase or decrease in force) can be captured, thereby comprehensively reflecting the reliability degradation of the entire robot under long-term operation.
[0072] In some examples, the measurement accuracy of the micrometer 108 is set to 0.01 mm. This level of accuracy can accurately capture minute coordinate deviations of the contact ball 112 in the x, y, and z axes of the Cartesian coordinate system. Even displacement changes of 0.01 mm can be identified, thereby accurately quantifying the repeatability of the medical robot 200 and determining whether it meets the requirements for positioning error in reliability standards.
[0073] In some examples, the measurement accuracy of the three-dimensional force sensor 110 is set to 0.1N. This accuracy allows for real-time acquisition of force data in the x, y, and z axes as the robotic arm 201 moves the load mechanism 111. Whether it is the instantaneous force at the start of movement, the stabilizing force during uniform motion, or the contact force during micrometer movement, all data can be accurately recorded. By analyzing this data, the stability of the effective operating force of the robotic arm 201 can be determined (e.g., whether there are excessive force fluctuations exceeding 0.5N), thereby assessing its reliability performance during load movement.
[0074] It will be apparent to those skilled in the art that various modifications and variations can be made to the exemplary embodiments of the present invention without departing from the spirit and scope of the present invention. Therefore, it is intended that the present invention cover modifications and variations falling within the scope of the appended claims and their equivalents.
Claims
1. A data acquisition device suitable for reliability testing of a medical robot, characterized in that, include: The environmental control module includes a control cabinet and a sealed environmental test chamber that are electrically connected to each other. The control cabinet is used to set and control the temperature and humidity changes inside the environmental test chamber, and the medical robot to be tested is placed inside the environmental test chamber. The positioning measurement module is installed inside the environmental test chamber and includes two fixed supports spaced apart and two sets of spatial coordinate measuring devices. Each set of spatial coordinate measuring devices is provided on each fixed support, and each set of spatial coordinate measuring devices includes three mutually orthogonal micrometers. The robotic arm execution module includes a gripper, a three-dimensional force sensor, a load mechanism, and a contact ball. One end of the gripper is fixedly connected to the end of the robotic arm of the medical robot, and the other end of the gripper is fixedly connected to the load mechanism via the three-dimensional force sensor. The bottom of the load mechanism is fixedly connected to the contact ball, which is used to follow the robotic arm to the fixed support and contact the micrometer of the spatial coordinate measuring device corresponding to the fixed support. A data acquisition box is connected to the spatial coordinate measuring device and the three-dimensional force sensor. The data acquisition box is used to acquire the spatial coordinate data output by the spatial coordinate measuring device and the three-dimensional force data output by the three-dimensional force sensor.
2. The data acquisition device as described in claim 1, characterized in that, The control cabinet controls the temperature of the environmental test chamber to range from -20℃ to 60℃ and the humidity to range from 30%RH to 90%RH.
3. The data acquisition device as described in claim 1, characterized in that, The positioning and measurement module also includes a slide rail, and the fixed bracket is disposed on the slide rail. At least one of the fixed brackets slides in cooperation with the slide rail to adjust the distance between the two fixed brackets.
4. The data acquisition device as described in claim 3, characterized in that, The fixed support includes a vertical rod, and the spatial coordinate measuring device slides with the vertical rod so that the height of the spatial coordinate measuring device is adjustable.
5. The data acquisition device as described in claim 1, characterized in that, The load mechanism includes a connecting rod and a weight. The weight is detachably fixed to the connecting rod. One end of the connecting rod is connected to the three-dimensional force sensor, and the other end is provided with a contact ball.
6. The data acquisition device as described in claim 1, characterized in that, The diameter of the contact ball is adapted to the measuring end size of the micrometer.
7. The data acquisition device as described in claim 1, characterized in that, The data acquisition box has a data filtering module and a noise reduction module, which are used to eliminate the minor deformation interference caused by temperature and humidity changes in the environmental test chamber to the micrometer.
8. The data acquisition device as described in claim 1, characterized in that, The robotic arm drives the contact ball to reciprocate between the two sets of spatial coordinate measuring devices according to a preset cycle, and the data acquisition box continuously collects spatial coordinate data and three-dimensional force data.
9. The data acquisition device as described in claim 1, characterized in that, The micrometer has a measurement accuracy of 0.01 mm and is used to collect the coordinate deviation of the contact ball in the x-axis, y-axis, and z-axis directions in a spatial rectangular coordinate system.
10. The data acquisition device as described in claim 1, characterized in that, The three-dimensional force sensor has a measurement accuracy of 0.1N and is used to collect real-time force data in the x, y, and z axes when the robotic arm drives the load mechanism.