Surgical robot following performance detection device

Abstract

The utility model relates to the technical field of detection, and discloses a surgical robot following performance detection device, which comprises a motion simulation unit and a detection unit, the motion simulation unit is provided with a moving module and a moving end, and the moving module is used for driving the moving end to move along a first horizontal direction and / or a second horizontal direction and / or a vertical direction. An included angle is formed between the first horizontal direction and the second horizontal direction; the detection unit comprises a target end and a detection end, one of the target end and the detection end is arranged at the tail end of the surgical robot, the other one is arranged at the mobile end, the detection end is provided with a preset number of detection pieces, the preset number is the number of the mobile end in the moving direction, and the detection direction of the detection pieces is parallel to the corresponding moving direction; the target end is provided with detection surfaces in one-to-one correspondence with the detection members, and the detection members can detect the displacement of the detection members and the detection surfaces along the detection direction. According to the utility model, the movement of a patient in an operation process can be simulated, and the follow-up performance of the surgical robot can be detected at low cost.

Description

Technical Field

[0001] This utility model relates to the field of detection technology, and in particular to a device for detecting the following performance of a surgical robot. Background Technology

[0002] In robot-assisted surgery, unintended patient movement is a key factor affecting surgical outcomes. Taking robot-assisted implant surgery as an example, because the patient is not under local anesthesia, jerking or unintended movement during drilling can cause deviations in the drilling position, or even damage to vital tissue structures. To reduce the negative impact of unintended patient movement on surgical outcomes, most surgical robots are equipped with patient-following functionality. This function uses a navigation tracking device to monitor the patient's position in real time; once the patient moves, the surgical robot's end effector synchronously performs the same movement. However, due to delays in the tracking system, mechanical system, and control system, the effectiveness of this compensation needs to be tested.

[0003] In existing technologies, the commonly used detection method involves moving patient navigation markers and measuring the position, using a laser tracker to measure the relative position change between the patient and the end effector of the robotic arm in real time. However, laser trackers are not only expensive but also complex to use, significantly increasing the cost of testing.

[0004] Therefore, there is an urgent need for a surgical robot follow-up performance testing device to solve the above problems. Utility Model Content

[0005] Based on the above, the purpose of this utility model is to provide a surgical robot following performance testing device that can simulate the movement of a patient during surgery and test the following performance of the surgical robot at low cost.

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

[0007] Surgical robot follow-up performance testing device, including:

[0008] The motion simulation unit is equipped with a moving module and a moving end. The moving module is used to drive the moving end to move along a first horizontal direction and / or a second horizontal direction and / or a vertical direction. The first horizontal direction and the second horizontal direction are set at an angle.

[0009] The detection unit includes a target end and a detection end, one of which is located at the end of the surgical robot and the other is located at the mobile end. The detection end is provided with a preset number of detection components, the preset number being the number of movement directions of the mobile end. The detection direction of the detection component is parallel to the corresponding movement direction. The target end is provided with detection surfaces that correspond one-to-one with the detection components. The detection component can detect its displacement relative to the detection surface along the detection direction.

[0010] As a preferred embodiment of the surgical robot follow-up performance testing device, the mobile end moves along the first horizontal direction and the second horizontal direction, which are perpendicular to each other.

[0011] As a preferred embodiment of the surgical robot follow-up performance testing device, the mobile end moves along the first horizontal direction, the second horizontal direction, and the vertical direction, with the first horizontal direction and the second horizontal direction being perpendicular to each other.

[0012] As a preferred embodiment of the surgical robot follow-up performance testing device, the movement module includes a horizontal first drive component, a horizontal second drive component, and a vertical drive component. The detection end is disposed at the drive end of the vertical drive component. The horizontal first drive component is used to drive the horizontal second drive component and the vertical drive component to move along the horizontal first direction. The second drive component is used to drive the vertical drive component to move along the horizontal second direction. The vertical drive component is used to drive the detection end to move along the vertical direction.

[0013] As a preferred embodiment of the surgical robot follow-up performance testing device, two horizontal first drive components are provided, and the two horizontal first drive components are spaced apart along the horizontal second direction. Each horizontal first drive component includes a first drive member, a first guide rail extending along the horizontal second direction, and a first guide block disposed on the first guide rail. The first drive member can drive the first guide block to move along the first guide rail, and the horizontal second drive member is disposed on the two first guide blocks.

[0014] As a preferred embodiment of the surgical robot follow-up performance testing device, the testing end is provided with a testing plate, the testing component is disposed on the testing plate, and the testing plate is connected to the mobile end.

[0015] As a preferred embodiment of the surgical robot follow-up performance testing device, the testing plate is provided with three testing positions, each of which can be used to set the testing component.

[0016] As a preferred embodiment of the surgical robot follow-up performance testing device, each of the testing positions is provided with a mounting plate, the mounting plate is provided with mounting holes, and a connector passes through the mounting holes to connect with the corresponding testing component, so as to detachably connect the testing component to the corresponding testing plate.

[0017] As a preferred embodiment of the surgical robot follow-up performance testing device, the target end is provided with three detection surfaces that are perpendicular to each other in pairs. One of the detection surfaces is provided with a connection hole, and a connector passes through the connection hole to detachably connect the target end to the end of the surgical robot.

[0018] As a preferred embodiment of the surgical robot following performance testing device, the surgical robot following performance testing device further includes a base plate, and the motion simulation unit is disposed on the base plate.

[0019] The beneficial effects of this utility model are as follows:

[0020] This invention incorporates a motion simulation unit to simulate patient jerking or unexpected movements during surgery. This allows the surgical robot to follow the motion of the simulation unit as a target during testing of its tracking performance. Furthermore, the motion module of the simulation unit can simulate movement in any direction within three-dimensional space, resulting in more accurate and comprehensive testing of the surgical robot's tracking performance. A target end and a detection end are respectively positioned at the mobile end and the end effector of the surgical robot. The detection end has a detection element, and the target end has a detection surface. The detection element detects its displacement relative to the detection surface along the detection direction, allowing for real-time acquisition of the relative positions of the target end and the detection end during the surgical robot's tracking process, thus enabling the testing of the surgical robot's tracking performance. Additionally, the detection element used for displacement detection is less expensive than a laser tracker, effectively reducing the cost of the surgical robot tracking performance testing device. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this utility model and these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of a surgical robot follow-up performance testing device provided in a specific embodiment of this utility model;

[0023] Figure 2This is a schematic diagram of the detection plate of the surgical robot following performance testing device provided in a specific embodiment of this utility model;

[0024] Figure 3 This is a schematic diagram of the target end of the surgical robot following performance testing device provided in a specific embodiment of this utility model;

[0025] Figure 4 This is a cross-sectional view of another surgical robot following performance testing device provided in a specific embodiment of this utility model;

[0026] Figure 5 This is a cross-sectional view of another surgical robot follow-up performance testing device provided in a specific embodiment of this utility model.

[0027] In the picture:

[0028] 1. Surgical robots;

[0029] 100. Motion simulation unit; 110. Horizontal first drive component; 120. Horizontal second drive component; 130. Vertical drive component;

[0030] 200. Detection unit; 201. Detection component; 210. Detection plate; 211. Mounting plate; 212. Mounting hole; 220. Target end; 221. Detection surface; 222. Connection hole;

[0031] 300. Base plate. Detailed Implementation

[0032] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0033] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0034] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and connections within two components or interactions between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0035] 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.

[0036] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0037] like Figures 1-5 As shown, this embodiment provides a surgical robot following performance testing device, which includes a motion simulation unit 100 and a testing unit 200. The motion simulation unit 100 is provided with a moving module and a moving end. The moving module is used to drive the moving end to move along a first horizontal direction and / or a second horizontal direction and / or a vertical direction. The first horizontal direction and the second horizontal direction are set at an angle. The testing unit 200 includes a target end 220 and a testing end. One of them is set at the end of the surgical robot 1, and the other is set at the moving end. The testing end is provided with a preset number of testing elements 201. The preset number is the number of moving directions of the moving end. The testing direction of the testing element 201 is parallel to the corresponding moving direction. The target end 220 is provided with a testing surface 221 that corresponds one-to-one with the testing element 201. The testing element 201 can detect its displacement relative to the testing surface 221 along the testing direction.

[0038] By setting up a motion simulation unit 100 to simulate patient jerking or unexpected movements during surgery, the surgical robot 1 can use the moving end of the motion simulation unit 100 as a following target during the testing of its following performance. Simultaneously, the moving module of the motion simulation unit 100 can simulate movement in any direction within three-dimensional space, making the testing of the surgical robot 1's following performance more accurate and comprehensive. By setting a target end 220 and a detection end at the moving end and the end of the surgical robot 1 respectively, where the detection end is equipped with a detection element 201 and the target end 220 is equipped with a detection surface 221, the detection element 201 can detect its displacement relative to the detection surface 221 along the detection direction. This allows for real-time acquisition of the relative position of the target end 220 and the detection end during the surgical robot 1's following, thereby enabling the testing of the surgical robot 1's following performance. Furthermore, the detection element 201 used for displacement detection is less expensive than a laser tracker, effectively reducing the cost of the surgical robot's following performance testing device.

[0039] Specifically, the detection component 201 is configured as a sensor capable of measuring changes in linear distance and reading and saving data in real time. In addition to linear distance measuring instruments, electronic dial indicators, digital micrometers, etc. can also be used. All of the above sensors can be purchased externally and are less expensive than laser trackers.

[0040] In this embodiment, the surgical robot following performance testing device can simulate movement in three-dimensional space, that is, the moving end moves along a first horizontal direction, a second horizontal direction, and a vertical direction, wherein the first horizontal direction and the second horizontal direction are perpendicularly arranged. Correspondingly, the target end 220 is provided with three mutually perpendicular detection surfaces 221, and the detection end is provided with three detection elements 201. The three detection elements 201 are arranged one-to-one with the detection surfaces 221, and the detection directions of the three detection elements 201 are parallel to the first horizontal direction, the second horizontal direction, and the vertical direction, respectively.

[0041] Furthermore, the movement module includes a horizontal first drive component 110, a horizontal second drive component 120, and a vertical drive component 130. That is, by setting up three drive components, the movement of the detection end in three directions within three-dimensional space can be simulated. In other embodiments, the above-mentioned movement simulation can also be achieved by setting up a robotic arm, but the cost of a robotic arm is higher than that of the drive components.

[0042] For example, the detection end is disposed at the drive end of the vertical drive assembly 130. The horizontal first drive assembly 110 is used to drive the horizontal second drive assembly 120 and the vertical drive assembly 130 to move along a horizontal first direction. The second drive assembly is used to drive the vertical drive assembly 130 to move along a horizontal second direction. The vertical drive assembly 130 is used to drive the detection end to move along a vertical direction. Compared with manual simulation movement, the drive assembly has the advantages of accurate adjustment and convenient and reliable parameter acquisition. The operator can more accurately simulate the patient's intraoperative shaking or unexpected movement by adjusting the drive parameters of different drive assemblies.

[0043] Preferably, two horizontal first drive components 110 are provided, spaced apart along a horizontal second direction. Each horizontal first drive component 110 includes a first drive member, a first guide rail extending along the horizontal second direction, and a first guide block disposed on the first guide rail. The first drive member can drive the first guide block to move along the first guide rail. Horizontal second drive members are disposed on the two first guide blocks. By providing two horizontal first drive components 110, the reliability of the movement of the horizontal second drive component 120 and the vertical drive component 130 can be guaranteed. Optionally, the drive component can be configured as a lead screw and nut combination, that is, the first drive member is a motor, the first guide rail is a lead screw, and the first guide block is a nut. The motor drives the lead screw to rotate, causing the nut to move linearly on the lead screw. Alternatively, the drive component can also be configured as a cylinder, as long as linear movement can be achieved, and no specific limitation is made here. Regarding the specific configuration of the horizontal second drive component 120 and the vertical drive component 130, the configuration can be referenced to the horizontal first drive component 110, or configured as needed, as long as linear movement can be achieved, and no specific limitation is made here.

[0044] Specifically, such as Figure 2 As shown, a detection plate 210 is provided at the detection end, and the detection plate 210 is connected to the mobile end. The detection component 201 is disposed on the detection plate 210. By setting the detection plate 210, the detection component 201 can be installed on the motion simulation unit 100. Correspondingly, the drive end of the vertical drive assembly 130 is provided with an installation interface, and the detection plate 210 is detachably connected to the installation interface.

[0045] Furthermore, in order to realize the measurement of three-dimensional spatial displacement, the detection plate 210 is provided with three detection positions, each of which can be used to set the detection element 201. The inspection personnel can install the detection element 201 at different detection positions as needed, with a large selection space and applicable scenarios.

[0046] For example, each detection position is provided with a mounting plate 211, and the mounting plate 211 is provided with a mounting hole 212. A connector passes through the mounting hole 212 and connects to the corresponding detection element 201 to detachably connect the detection element 201 to the corresponding detection plate 210. It can be understood that the detection plate 210 is provided with two mounting plates 211. One side of one mounting plate 211 and the detection plate 210 form a detection position, and the other side forms another detection position. The two mounting plates 211 are arranged perpendicularly, and the other side of the mounting plate 211 connected to the end of the other mounting plate 211 forms yet another detection position.

[0047] Accordingly, such as Figure 3 As shown, the target end 220 is provided with three mutually perpendicular detection surfaces 221. One of the detection surfaces 221 has a connection hole 222 through which a connector passes to detachably connect the target end 220 to the end of the surgical robot 1. This facilitates the removal of the target end 220 after detection and replacement of the corresponding surgical head, thus facilitating subsequent surgical operations and preventing the target from interfering with subsequent procedures. Preferably, to improve detection accuracy, tracking markers, registration holes, etc., can also be added to the detection surfaces 221.

[0048] In this embodiment, the surgical robot following performance testing device also includes a base plate 300, on which the motion simulation unit 100 is disposed. By setting the base plate 300, the motion simulation unit 100 and the detection unit 200 are integrated, thereby improving the integration of the surgical robot following performance testing device. In addition, the surgical robot following performance testing device is also provided with a control unit. Each driving component and each detection component 201 is communicatively connected to the control unit. The control unit can control the motion simulation unit 100 to perform preset movements, and can also collect and analyze the detection results of the detection components 201 to evaluate the following performance of the surgical robot 1.

[0049] It is worth noting that if the surgical robot 1 only needs to follow in one or two directions, the motion simulation unit 100 can be simplified, i.e., only one or two of the horizontal first drive component 110, the horizontal second drive component 120, and the vertical drive component 130 can be set, to further reduce costs. For example, as... Figure 4 As shown, the mobile end moves along a first horizontal direction and a second horizontal direction, which are perpendicular to each other. At this time, detection elements 201 are installed in the corresponding two detection positions; or as shown... Figure 5 As shown, the mobile terminal moves only along the first horizontal direction or only along the second horizontal direction. At this time, the detection element 201 is installed only in the corresponding detection position. Those skilled in the art can set it according to the actual needs of the surgical robot 1 to be detected, and no specific limitation is made here.

[0050] The testing process of the above-mentioned surgical robot follow-up performance testing device is as follows:

[0051] Step 1: Install the detection end and target end 220 onto the mobile end and the end of the surgical robot 1, respectively;

[0052] Step 2: Reset the end effector of both the motion simulation unit 100 and the surgical robot 1 to the target position and posture, and ensure that the detection surface 221 of the target end 220 is within the detection range of the detection element 201 of the detection end. The movement of the end effector of the surgical robot 1 can be achieved by dragging the surgical robot 1 after entering the free drag mode. After dragging to the target position and posture, record the position.

[0053] Step 3: Record the initial value P of the three test pieces 201. X0 P Y0 P Z0 ;

[0054] Step 4: Activate the continuous counting function of the detection element 201 to continuously store the readings P of the three detection elements 201 in real time. Xt P Yt P Zt ;

[0055] Step 5: Operate the surgical robot to enter patient-following mode, and activate the motion simulation unit 100 to drive the mobile terminal to move along the predetermined trajectory;

[0056] Step 6: After the motion is completed, calculate the error in each of the three directions, ΔX = max(|P Xt -P X0 |); △Y = max(|P Yt -P Y0 |); △Z=max(|P Zt -P Z0 |).

[0057] The above description is only a preferred embodiment of this utility model. For those skilled in the art, there will be changes in the specific implementation method and application scope based on the idea of ​​this utility model. The content of this specification should not be construed as a limitation of this utility model.

Claims

1. A surgical robot followability performance detection apparatus, characterized by, The application relates to a motion simulation unit (100) provided with a moving module and a moving end, wherein the moving module is used for driving the moving end to move in a horizontal first direction and / or a horizontal second direction and / or a vertical direction, and the horizontal first direction and the horizontal second direction are arranged at an included angle; a detection unit (200) comprising a target end (220) and a detection end, one of which is arranged at the end of a surgical robot (1), and the other is arranged at the moving end, the detection end is provided with a preset number of detection pieces (201), the preset number is the number of moving directions of the moving end, the detection direction of the detection piece (201) is parallel to the corresponding moving direction, the target end (220) is provided with a detection surface (221) corresponding to the detection piece (201), and the detection piece (201) can detect the displacement along the detection direction with the detection surface (221). The moving end moves along the horizontal first direction and the horizontal second direction, and the horizontal first direction and the horizontal second direction are arranged vertically. The moving end moves along the horizontal first direction, the horizontal second direction and the vertical direction, and the horizontal first direction and the horizontal second direction are arranged vertically.

2. The surgical robot followability performance detection apparatus according to claim 1, characterized by, The moving module comprises a horizontal first driving assembly (110), a horizontal second driving assembly (120) and a vertical driving assembly (130), the detection end is arranged at the driving end of the vertical driving assembly (130), the horizontal first driving assembly (110) is used for driving the horizontal second driving assembly (120) and the vertical driving assembly (130) to move along the horizontal first direction, the second driving assembly is used for driving the vertical driving assembly (130) to move along the horizontal second direction, and the vertical driving assembly (130) is used for driving the detection end to move along the vertical direction.

3. The surgical robot followability performance detection apparatus according to claim 1, characterized by, The horizontal first driving assembly (110) is arranged in two, the two horizontal first driving assemblies (110) are arranged at intervals along the horizontal second direction, the horizontal first driving assembly (110) comprises a first driving piece, a first guide rail extending along the horizontal second direction and a first guide block arranged on the first guide rail, the first driving piece can drive the first guide block to move along the first guide rail, and the horizontal second driving piece is arranged on the two first guide blocks.

4. The surgical robot followability performance detection apparatus according to claim 1, characterized by, The detection end is provided with a detection plate (210), the detection piece (201) is arranged on the detection plate (210), and the detection plate (210) is connected with the moving end.

5. The surgical robotic follow performance detection device of claim 4, wherein, The detection plate (210) is provided with three detection positions, and each detection position can be used for arranging the detection piece (201).

6. The surgical robotic follow performance detection apparatus according to claim 1, wherein, Each detection position is provided with a mounting plate (211), the mounting plate (211) is provided with a mounting hole (212), a connecting piece is arranged in the mounting hole (212) and connected with the corresponding detection piece (201), so that the detection piece (201) and the corresponding detection plate (210) are detachably connected.

7. The surgical robotic follow performance detection device of claim 6, wherein, ​ 8. The surgical robotic follow performance detection device of claim 7, wherein, ​ 9. The surgical robotic follow performance detection apparatus according to claim 1, wherein, The target end (220) is provided with three detection surfaces (221) perpendicular to each other two by two, one of which is provided with a connecting hole (222), and a connecting piece is arranged in the connecting hole (222) to detachably connect the target end (220) with the end of the surgical robot (1).

10. The surgical robotic follow performance detection apparatus according to claim 1, wherein, The surgical robot following performance detection device further comprises a bottom plate (300), and the motion simulation unit (100) is arranged on the bottom plate (300).

Images