Posture acquisition device and reliability test system for medical robot mechanical arm

Abstract

The utility model provides a posture acquisition device for a medical robot mechanical arm and a reliability test system, and relates to the technical field of data acquisition. The posture collecting device for the medical robot mechanical arm is suitable for obtaining space positioning data of a detected mechanical arm, the detected mechanical arm comprises at least one rotating joint, the posture collecting device comprises at least one data collecting module, and the data collecting module comprises an adsorption unit and a data collecting unit; the adsorption units are fixedly connected with the corresponding data acquisition units, the adsorption units are suitable for adsorbing the corresponding rotating joints, the data acquisition units comprise pose sensors and vibration sensors, the pose sensors are suitable for collecting pose data of the corresponding rotating joints, and the vibration sensors are suitable for collecting vibration data of the corresponding rotating joints; the spatial positioning data comprises pose data and vibration data.

Description

Technical Field

[0001] This application mainly relates to the field of data acquisition technology, and in particular to a posture acquisition device and reliability testing system for a medical robot arm. Background Technology

[0002] Reliability testing is required for medical robots. Among these, the robotic arm, as one of the most critical components, requires component-level reliability testing. Reliability testing of the robotic arm primarily involves detecting spatial positioning accuracy and must be conducted in specific environmental settings. However, existing high-precision spatial positioning detection devices such as measuring arms and laser trackers cannot be used in these environments. For example, limited internal space prevents the high-precision spatial positioning detection devices from being deployed, and the internal temperature and humidity of the environment may not meet the required standards.

[0003] Therefore, there is an urgent need for an attitude acquisition device that can effectively acquire the spatial positioning data of the tested robotic arm. Utility Model Content

[0004] The technical problem to be solved by this application is to provide a posture acquisition device and reliability testing system for a medical robot arm, which can effectively acquire the spatial positioning data of the robot arm under test.

[0005] To address the aforementioned technical problems, this application provides a posture acquisition device for a medical robot arm. The posture acquisition device is suitable for acquiring spatial positioning data of the tested robot arm, which includes at least one rotary joint. The posture acquisition device includes at least one data acquisition module, which comprises an adsorption unit and a data acquisition unit. The adsorption unit is fixedly connected to the corresponding data acquisition unit and is adapted to adsorb the corresponding rotary joint. The data acquisition unit includes a pose sensor and a vibration sensor. The pose sensor is adapted to acquire pose data of the corresponding rotary joint, and the vibration sensor is adapted to acquire vibration data of the corresponding rotary joint. The spatial positioning data includes pose data and vibration data.

[0006] Optionally, the adsorption unit includes a first suction cup, which is adapted to adsorb the corresponding rotating joint.

[0007] Optionally, the data acquisition module is adapted to ensure that the center of the first suction cup, the axis of the corresponding rotating joint, and the center of the data acquisition unit are on the same straight line.

[0008] Optionally, the attitude acquisition device further includes a data aggregation module and at least one data transmission line, wherein the data transmission line is adapted to connect the data aggregation module and the corresponding data acquisition module, and the data aggregation module is adapted to receive pose data and vibration data through the data transmission line.

[0009] Optionally, the attitude acquisition device further includes: at least one auxiliary fixing module, the auxiliary fixing module including a second suction cup, the second suction cup being adapted to adsorb the surface of the connecting section between adjacent rotating joints, and the auxiliary fixing module being adapted to fix the corresponding data transmission line.

[0010] Optionally, the auxiliary fixing module also includes a fixing tube, which is fixedly connected to the second suction cup, and the fixing tube is adapted to be through which the data transmission line corresponding to the auxiliary fixing module passes.

[0011] To address the aforementioned technical problems, this application provides a reliability testing system for a medical robot arm. The reliability testing system includes the aforementioned attitude acquisition device, which is adapted to acquire spatial positioning data of the robot arm under test.

[0012] Optionally, the reliability testing system also includes: an environmental test chamber, which includes a chamber body suitable for placing the robotic arm under test, an attitude acquisition device suitable for being located outside the chamber body, and an environmental test chamber suitable for regulating the temperature and humidity inside the chamber body.

[0013] Optionally, the reliability testing system also includes a host computer connected to the attitude acquisition device, which is adapted to receive spatial positioning data.

[0014] Compared with the prior art, this application has the following advantages: by using the adsorption unit, the corresponding pose sensor and vibration sensor are adsorbed onto the rotating joint of the tested robotic arm, thereby effectively acquiring the pose data and vibration data of each rotating joint, and then obtaining the spatial positioning data of the tested robotic arm through the pose data and vibration data. Attached Figure Description

[0015] The accompanying drawings are included to provide a further understanding of this application; they are incorporated into and constitute a part of this application. The drawings illustrate embodiments of this application and, together with this specification, serve to explain the principles of this application. In the drawings:

[0016] Figure 1 This is a schematic diagram of the structure of an attitude acquisition device according to an embodiment of this application;

[0017] Figure 2 yes Figure 1 A schematic diagram showing the connection between the attitude acquisition device and the robotic arm under test;

[0018] Figure 3 This is a schematic diagram of the framework of a reliability testing system according to an embodiment of this application;

[0019] Figure 4 The tested robotic arm and Figure 3 Attitude acquisition device and Figure 3 A schematic diagram showing the location of the enclosure of the environmental test chamber. Detailed Implementation

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this application. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0021] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not specifically singular and may include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified elements, which do not constitute an exclusive list, and the device may also include other elements.

[0022] 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. Technologies and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such technologies and equipment 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.

[0023] 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.

[0024] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0025] 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. Example 1

[0026] Reference Figure 1 and Figure 2 This embodiment proposes a posture acquisition device 10 (hereinafter referred to as posture acquisition device 10) for a medical robot arm. The posture acquisition device 10 is suitable for acquiring spatial positioning data of the robot arm 200 under test, wherein the spatial positioning data includes pose data and vibration data. In this embodiment, the robot arm 200 under test includes three rotary joints 201, and there is a connecting section 202 between each pair of adjacent rotary joints 201. It is understood that each rotary joint 201 can rotate at a certain angle, thereby allowing the operating end 203 of the entire robot arm 200 under test to be located at a specific point in space. It should be noted that this application does not limit the number of rotary joints in the robot arm under test; in some embodiments, the number of rotary joints is one.

[0027] Continue to refer to Figure 1 and Figure 2The attitude acquisition device 10 includes three data acquisition modules 11, a data aggregation module 12, three data transmission lines 13, and three auxiliary fixing modules 14. In this embodiment, each data acquisition module 11 corresponds to a rotating joint 201, thereby effectively acquiring the spatial positioning data of each rotating joint. Specifically, in this embodiment, the data acquisition module 11 includes an adsorption unit 111 and a data acquisition unit 112, and the adsorption unit 111 is fixedly connected to the corresponding data acquisition unit 112. The adsorption unit 111 includes a first suction cup 1111, which is suitable for adsorbing the corresponding rotating joint 201. In this embodiment, the material of the first suction cup 1111 is preferably rubber. Understandably, after the operator attaches the first suction cup 1111 to the surface of the corresponding rotating joint 201, the operator presses the first suction cup 1111 to expel the air between the first suction cup 1111 and the rotating joint 201, thereby using atmospheric negative pressure to make the first suction cup 1111 stably and firmly adhere to the rotating joint 201, so that the data acquisition unit 112 can stably follow the movement of the corresponding rotating joint 201 to obtain the corresponding spatial positioning data.

[0028] Continue to refer to Figure 1 and Figure 2 The data acquisition unit 112 includes a housing 1121, a pose sensor (not shown in the figure), and a vibration sensor (not shown in the figure). In this embodiment, the pose sensor and the vibration sensor are disposed in the housing 1121. The pose sensor is adapted to acquire pose data of the corresponding rotational joint 201, and the vibration sensor is adapted to acquire vibration data of the corresponding rotational joint 201. In this embodiment, the pose data includes acceleration data and angular velocity data. In this embodiment, the center of the pose sensor, the center of the vibration sensor, and the center of the corresponding first suction cup 1111 are located on the same straight line. It can be understood that in this embodiment, the pose sensor and the vibration sensor are stacked in the housing 1121, so that the center of the pose sensor and the center of the vibration sensor are on the same straight line as the center of the first suction cup 1111. Based on this, when the operator causes the first suction cup 1111 to adhere to the corresponding rotating joint 201, the position of the first suction cup 1111 is adjusted so that the aforementioned straight line also passes through the axis of the rotating joint 201. That is, the center of the pose sensor, the center of the vibration sensor, the center of the corresponding first suction cup 1111, and the axis of the rotating joint 201 are all on the same straight line. This allows the rotating joint 201 to drive each sensor to rotate at the same angular velocity at its axis when it moves, thus preventing the sensors from collecting biased vibration data or pose data. This avoids further correction or conversion of the spatial positioning data, reduces the amount of calculation, and improves the accuracy of the results.

[0029] Continue to refer to Figure 1 and Figure 2Each data transmission line 13 is adapted to connect the data aggregation module 12 and the corresponding data acquisition module 11. Specifically, one end of each data transmission line 13 is connected to the data acquisition module 11, and the other end of each data transmission line 13 is connected to the data aggregation module 12, thereby enabling the data aggregation module 12 to receive vibration data and pose data acquired by the corresponding data acquisition module 11 through each data transmission line 13. It should be noted that in this embodiment, the data transmission line 13 includes multiple sub-lines, each of which is connected to a corresponding pose sensor or vibration sensor, thereby enabling the transmission of vibration data and pose data.

[0030] Continue to refer to Figure 1 and Figure 2 In this embodiment, each auxiliary fixing module 14 corresponds one-to-one with each data acquisition module 11. Each auxiliary fixing module 14 includes a second suction cup 141 and a fixing tube 142, with the fixing tube 142 fixedly connected to the second suction cup 141. The second suction cup 141 is adapted to adhere to the surface of the connection section 202 between adjacent rotating joints 201, and the fixing tube 142 is adapted to be through which the data transmission line 13 corresponding to the auxiliary fixing module 14 passes, thereby enabling the auxiliary fixing module 14 to fix the corresponding data transmission line 13.

[0031] Understandably, since the data transmission line 13 connects the data acquisition module 11 and the data aggregation module 12, it will move when the tested robotic arm 200 rotates, potentially becoming entangled in the robotic arm 200 and causing it to malfunction or deviate from its rotational position. Furthermore, the swaying of the data transmission line 13 during movement may be transmitted to the data acquisition module 11, affecting the accuracy of the vibration and pose data collected. Therefore, the fixing tube 142 effectively limits the swaying amplitude of the data transmission line 13 during the movement of the tested robotic arm 200 and fixes its movement path, thereby preventing the data transmission line 13 from interfering with the tested robotic arm 200 and the data acquisition module 11.

[0032] In this embodiment, one end of the fixing tube 142 is fixedly connected to the second suction cup 141, and the other end of the fixing tube 142 extends towards the corresponding data acquisition module 11, thereby reducing the impact of data transmission line 13 shaking on the data acquisition module 11. It should be noted that this application does not limit the extension method of the fixing tube. In some embodiments, the middle part of the fixing tube is fixedly connected to the second suction cup 141, and the fixing tube extends towards both the data acquisition module and the data aggregation module, thereby reducing the probability of the tested robotic arm 200 being interfered with by the data transmission line. Furthermore, in this embodiment, the diameters of the first suction cup 1111 and the second suction cup 141 are both in the range of 50mm to 100mm, thereby enabling stable and firm adsorption of the tested robotic arm 200. Example 2

[0033] The attitude acquisition device 10 has been briefly described above. The following section will further elaborate on this. Figure 3 and Figure 4 A reliability testing system 100 (hereinafter referred to as the reliability testing system 100) for a medical robot arm using an attitude acquisition device 10 will be described. In this embodiment, the reliability testing system 100 is adapted to acquire spatial positioning data of the robot arm 200 under test. Specifically, the reliability testing system 100 includes an attitude acquisition device 10, an environmental test chamber 20, and a host computer 30.

[0034] Continue to refer to Figure 3 and Figure 4 The environmental test chamber 20 includes a chamber 21, which is adapted to house the robotic arm 200 under test. Furthermore, the environmental test chamber 20 is adapted to regulate the temperature and humidity inside the chamber 21, thereby placing the robotic arm 200 under test in a harsh environment (e.g., high temperature, low temperature, high humidity), and then acquiring spatial positioning data of the robotic arm 200 under test in the harsh environment through the attitude acquisition device 10.

[0035] Continue to refer to Figure 3 and Figure 4 In this embodiment, the data aggregation module 12 of the attitude acquisition device 10 is located outside the housing 21, thus protecting it from harsh environments and ensuring the reliability of data interaction. Furthermore, in this embodiment, the host computer 30 is also located outside the housing 21. The host computer 30 is connected to the data aggregation module 12 and is adapted to receive the spatial positioning data collected by the attitude acquisition device 10. Further, the host computer 30 performs integration and back-calculation based on the spatial positioning data to obtain the spatial motion information of the tested robotic arm 200, thereby confirming whether the operating end 203 of the tested robotic arm 200 in harsh environments has accurately moved to a specific point, in order to accurately obtain the reliability analysis results of the tested robotic arm 200.

[0036] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the exemplary embodiments of this application.

[0037] Furthermore, this application uses specific terms to describe embodiments of the application. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic related to at least one embodiment of the application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0038] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the present application requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0039] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of scope in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0040] Although this application has been described with reference to specific embodiments, those skilled in the art should recognize that the above embodiments are only used to illustrate this application, and various equivalent changes or substitutions can be made without departing from the spirit of this application. Therefore, any changes or modifications to the above embodiments within the essential spirit of this application will fall within the scope of the claims of this application.

Claims

1. A posture acquisition device for a medical robot arm, characterized in that, The attitude acquisition device is adapted to acquire spatial positioning data of the tested robotic arm, the tested robotic arm including at least one rotary joint, and the attitude acquisition device includes: At least one data acquisition module, the data acquisition module comprising an adsorption unit and a data acquisition unit, the adsorption unit being fixedly connected to a corresponding data acquisition unit, and the adsorption unit being adapted to adsorb the corresponding rotating joint. The data acquisition unit includes a pose sensor and a vibration sensor. The pose sensor is adapted to acquire pose data of the corresponding rotational joint, and the vibration sensor is adapted to acquire vibration data of the corresponding rotational joint. The spatial positioning data includes the pose data and the vibration data.

2. The attitude acquisition device as described in claim 1, characterized in that, The adsorption unit includes a first suction cup, which is adapted to adsorb the corresponding rotating joint.

3. The attitude acquisition device as described in claim 2, characterized in that, The data acquisition module is adapted to ensure that the center of the first suction cup, the axis of the corresponding rotating joint, and the center of the data acquisition unit are on the same straight line.

4. The attitude acquisition device according to any one of claims 1 to 3, characterized in that, The attitude acquisition device also includes a data aggregation module and at least one data transmission line. The data transmission line is adapted to connect the data aggregation module and the corresponding data acquisition module, and the data aggregation module is adapted to receive the pose data and the vibration data through the data transmission line.

5. The attitude acquisition device as described in claim 4, characterized in that, The attitude acquisition device also includes: At least one auxiliary fixing module, the auxiliary fixing module including a second suction cup adapted to adhere to the surface of the connecting section between adjacent rotating joints, the auxiliary fixing module being adapted to fix the corresponding data transmission line.

6. The attitude acquisition device as described in claim 5, characterized in that, The auxiliary fixing module also includes a fixing tube, which is fixedly connected to the second suction cup, and the fixing tube is adapted to be passed through by the data transmission line corresponding to the auxiliary fixing module.

7. A reliability testing system for a medical robot arm, characterized in that, The reliability testing system includes: The attitude acquisition device according to any one of claims 1 to 6, wherein the attitude acquisition device is adapted to acquire the spatial positioning data of the tested robotic arm.

8. The reliability testing system as described in claim 7, characterized in that, The reliability testing system also includes: An environmental test chamber includes a chamber body adapted to house the robotic arm under test, an attitude acquisition device adapted to be located outside the chamber body, and an environmental test chamber adapted to regulate the temperature and humidity inside the chamber body.

9. The reliability testing system as described in claim 7 or 8, characterized in that, The reliability testing system also includes: A host computer is connected to the attitude acquisition device and is adapted to receive the spatial positioning data.

Images