A surgical robot precision detection tool

Abstract

The utility model relates to robot precision detection technical field discloses a kind of surgical robot precision detection tool. Wherein surgical robot precision detection tool includes detection car needle, detection column and multiple detection module, detection car needle is used to connect in the output end of surgical robot;Detection column is provided with the cylindrical hole extending along the axial direction, and the cylindrical hole is used to supply detection car needle to wear;Detection column is provided with at least three radial extension determination holes, at least three determination holes penetrate detection column and the cylindrical hole in detection column, at least three determination holes are circumferentially spaced, and the axis of cylindrical hole and the axis of at least three determination holes intersect at detection point;Multiple camera modules and multiple determination holes one-to-one correspondence, camera module is used to photograph and identify in corresponding determination hole. Camera module is used to photograph and identify, improves detection accuracy, and improves detection convenience, without complex calculation and high-end equipment, operator is easy to understand and execute, and precision determination result can be given quickly and accurately.

Description

Technical Field

[0001] This utility model relates to the field of robot precision testing technology, and in particular to a tooling for testing the precision of a surgical robot. Background Technology

[0002] In robotic-assisted surgical procedures, the accuracy of the robot's navigation and positioning plays a crucial role in the success of the surgery. However, current methods for testing the accuracy of surgical robot systems have many shortcomings. Commonly used coordinate measuring machines (CMMs) such as laser rangefinders and Faro measuring arms are not only expensive but also bulky and complex to operate, which limits their widespread adoption in practical applications.

[0003] Therefore, there is an urgent need for a precision testing fixture for surgical robots to solve the aforementioned problems. Utility Model Content

[0004] Based on the above, the purpose of this utility model is to provide a surgical robot precision detection fixture, which uses a camera module for image capture and recognition, thereby improving detection accuracy and convenience. It does not require complex calculations or high-end equipment, is easy for operators to understand and execute, and can quickly and accurately provide precision judgment results.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A precision testing fixture for a surgical robot includes:

[0007] The test needle is used to connect to the output end of the surgical robot;

[0008] The detection post has an axially extending cylindrical hole for the detection needle to pass through; the detection post has at least three radially extending determination holes, the at least three determination holes penetrating the detection post and the cylindrical hole inside the detection post, the at least three determination holes being spaced apart circumferentially, and the axis of the cylindrical hole intersecting the axis of the at least three determination holes at a detection point.

[0009] Multiple camera modules are provided, and each of the multiple camera modules corresponds to a multiple determination hole. The camera modules are used to capture images of the corresponding determination holes.

[0010] As a preferred technical solution for a precision testing fixture for a surgical robot, the allowable deviation error of the axis of the testing needle is A, the diameter of the cylindrical hole is D1, the diameter of the testing needle is D2, and D1 = D2 + 2A.

[0011] As a preferred technical solution for a precision testing fixture for surgical robots, the testing column comprises multiple columns.

[0012] As a preferred technical solution for a surgical robot precision testing fixture, there are three testing columns, and at least one determination hole is coaxially arranged between each pair of testing columns. Two coaxially arranged determination holes correspond to one camera module.

[0013] As a preferred technical solution for a precision testing fixture for surgical robots, it also includes a base plate, on which multiple testing columns are mounted.

[0014] As a preferred technical solution for a precision testing fixture for surgical robots, the base plate is provided with multiple positioning slots, each of which corresponds to a single detection column, and the detection columns are installed in the positioning slots.

[0015] As a preferred technical solution for a precision testing fixture for surgical robots, the bottom of the positioning groove is provided with a magnetic suction element, which is used to magnetically attract the testing column.

[0016] As a preferred technical solution for a surgical robot precision testing fixture, the surgical robot precision testing fixture further includes a probe and an optical positioning system. The base plate is provided with a calibration hole, and the probe is used to identify the calibration hole.

[0017] The base plate is provided with navigation markers, and the optical positioning system is used to identify the navigation markers.

[0018] As a preferred technical solution for a precision testing fixture for surgical robots, it also includes a three-axis fine-tuning displacement platform, which is driven and connected to the side of the base plate away from the testing column.

[0019] As a preferred technical solution for a precision testing fixture for surgical robots, one end of the testing needle is used to connect to the output end of the surgical robot, and the other end is conical to form a testing tip.

[0020] The beneficial effects of this utility model are as follows:

[0021] This invention provides a precision testing fixture for a surgical robot. Multiple judgment holes are set up, forming multiple cylindrical spaces. The space formed by the intersection of these cylindrical spaces approximates a spherical space. Therefore, this approximate spherical space can be constructed by setting multiple judgment holes. If the detection needle can fall into each judgment hole simultaneously, it indicates that the detection needle is within this approximate spherical space. During testing, the detection needle is connected to the output end of the surgical robot, and a target path for the needle is planned. The target path is from the midpoint of one end of a cylindrical hole along the axis of the cylindrical hole to the detection point. After the surgical robot carrying the end of the detection needle moves to the detection point according to the target path, a camera module captures and identifies the area within the judgment hole from one end, using the other end of the judgment hole as a reference. If the end of the detection needle can be captured in the image, and the end of the detection needle does not contact the edge line of the judgment hole, it can be determined that the end of the detection needle is located inside the space of the judgment hole. If the camera module captures and identifies the end of the detection needle in multiple judgment holes, it is determined that the operating error of the surgical robot meets the requirements. Furthermore, the judgment hole is inconvenient to observe with the eyes. This utility model uses a camera module for image capture and recognition, which improves the detection accuracy and convenience. It does not require complex calculations or high-end equipment, and is easy for operators to understand and execute, and can quickly and accurately provide accuracy judgment results. Attached Figure Description

[0022] 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.

[0023] Figure 1 This is a schematic diagram of the structure of the surgical robot precision testing fixture provided in a specific embodiment of this utility model;

[0024] Figure 2 This is a partial structural schematic diagram of the surgical robot precision testing fixture provided in a specific embodiment of this utility model;

[0025] Figure 3 This is a schematic diagram showing that the three determination holes provided in a specific embodiment of this utility model form an approximately spherical space;

[0026] Figure 4 This is a schematic diagram illustrating the accuracy deviation of the axis of the detection needle on the target path according to a specific embodiment of this utility model.

[0027] The markings in the image are as follows:

[0028] 10. Surgical robots;

[0029] 1. Inspect the bur; 11. Inspect the tip;

[0030] 2. Detection column; 21. Cylindrical hole; 22. Judgment hole; 23. Detection point;

[0031] 3. Camera module; 31. Lens; 32. Bracket;

[0032] 4. Base plate; 41. Positioning groove; 42. Calibration hole;

[0033] 5. Probe; 6. Three-axis fine-tuning displacement platform; 7. Navigation marker. Detailed Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0035] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0036] 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.

[0037] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0038] like Figures 1-3 As shown, this embodiment provides a surgical robot precision testing fixture, which includes a testing needle 1, a testing post 2, and multiple camera modules 3. The testing needle 1 is used to connect to the output end of the surgical robot 10. The testing post 2 is provided with a cylindrical hole 21 extending axially, through which the testing needle 1 passes. The testing post 2 is provided with at least three radially extending determination holes 22, which penetrate the testing post 2 and the cylindrical hole 21 within the testing post 2. The at least three determination holes 22 are spaced apart circumferentially, and the axis of the cylindrical hole 21 intersects the axis of the at least three determination holes 22 at a testing point 23. The multiple camera modules 3 correspond one-to-one with the multiple determination holes 22, and are used to capture and identify the contents of the corresponding determination holes 22.

[0039] By setting multiple determination holes 22, multiple determination holes 22 form multiple cylindrical spaces, and the space formed by the intersection of multiple cylindrical spaces is approximately spherical. Therefore, such an approximately spherical space can be constructed by setting multiple determination holes 22. If the detection needle 1 can fall into each determination hole 22 simultaneously, it indicates that the detection needle 1 is in the approximately spherical space. During testing, the detection needle 1 is connected to the output end of the surgical robot 10, and a target path for the detection needle 1 is planned. The target path is to move from the midpoint of one end of the cylindrical hole 21 along the axis of the cylindrical hole 21 to the detection point 23. The midpoint of one end of the cylindrical hole 21 serves as the entry point of the target path, and the detection point 23 serves as the exit point of the target path. After the surgical robot 10 carries the end of the detection needle 1 to the detection point 23 according to the target path, the camera module 3 takes a picture of the inside of the determination hole 22 from one end of the determination hole 22. Using the other end of the determination hole 22 as a reference, if the end of the detection needle 1 can be captured in the picture, and the end of the detection needle 1 does not contact the edge line of the determination hole 22, it can be determined that the end of the detection needle 1 is located inside the space of the determination hole 22. If the camera module 3 captures and identifies the end of the detection needle 1 in multiple determination holes 22, it is determined that the operating error of the surgical robot 10 meets the requirements. Furthermore, the judgment hole 22 is inconvenient to observe with the eyes. This embodiment uses a camera module 3 for image capture and recognition, which improves the detection accuracy and convenience. It does not require complex calculations or high-end equipment, and is easy for operators to understand and execute, and can quickly and accurately provide accuracy judgment results.

[0040] In certain special testing environments, such as EMC (Electromagnetic Compatibility) testing darkrooms where personnel are not allowed to observe the equipment nearby, this surgical robot precision testing fixture can achieve remote observation via camera module 3. The image data captured by camera module 3 can be transmitted to external monitoring equipment in real time. Furthermore, computer vision technology can be used to analyze and process the captured images to automatically determine whether the surgical robot 10 is out of tolerance. Computer vision algorithms can accurately identify the positional relationship between the tip of the inspection needle 1 and the edge of the judgment hole 22, as well as whether the inspection needle 1 is within acceptable limits, thus replacing manual observation and achieving automated, high-precision accuracy judgment. This extended application not only solves the testing challenges in special environments but also improves testing efficiency and accuracy, enabling the surgical robot precision testing fixture to adapt to a wider range of application scenarios.

[0041] In this embodiment, one end of the detection needle 1 is used to connect to the output end of the surgical robot 10, and the other end is conical to form a detection tip 11. The detection needle 1 with the detection tip 11 is used to simulate the working state of a drill bit in actual surgery, so as to accurately detect the accuracy of the surgical robot 10 system. By observing whether the detection tip 11 is located within multiple judgment holes 22, it is determined whether the operating error of the surgical robot 10 meets the requirements.

[0042] The accuracy determination of the surgical robot 10 system based on line planning mainly involves the detection of two key indicators: first, the error between the exit point of the target path and the detection tip 11 of the detection needle 1; second, the distance by which the axis of the detection needle 1 deviates from the target path. Existing technology can only detect the accuracy of the exit point of the target path, but cannot detect the distance by which the axis of the detection needle 1 deviates from the target path. For example... Figure 4 As shown, to solve the above problems, in this embodiment, the allowable deviation error of the axis of the detection needle 1 is A, the diameter of the cylindrical hole 21 is D1, and the diameter of the detection needle 1 is D2, where D1 = D2 + 2A. The target path and the axis of the cylindrical hole 21 are collinear. When the deviation of the detection needle 1 on the target path exceeds A, the detection needle 1 will inevitably contact the cylindrical hole 21; when the deviation of the detection needle 1 on the target path meets the requirements, the detection needle 1 and the cylindrical hole 21 do not contact, and the requirement is met. This method allows for a direct assessment of whether the detection needle 1 exceeds the allowable error range on the path based on whether it contacts the cylindrical hole 21, thus achieving effective determination of path accuracy.

[0043] like Figures 1-3As shown, in this embodiment, there are multiple detection columns 2, and the output end of the surgical robot 10 performs detection sequentially in multiple detection columns 2, thereby improving detection accuracy and reliability of detection results.

[0044] In this embodiment, there are three detection columns 2, and at least one determination hole 22 is coaxially arranged between each pair of detection columns 2. Two coaxially arranged determination holes 22 correspond to one camera module 3. Through one camera module 3, two determination holes 22 can be observed for shooting and identification, thereby reducing the number of camera modules 3 and reducing costs.

[0045] The surgical robot precision testing fixture also includes a base plate 4, on which multiple testing posts 2 are mounted, thus fixing the multiple testing posts 2. In this embodiment, the camera module 3 includes a lens 31 and a bracket 32, with the lens 31 mounted on the base plate 4 via the bracket 32.

[0046] Because the diameter of the judgment hole 22 for determining the accuracy of the target path exit point is small, it is very inconvenient to observe the results with the naked eye. This application improves convenience by using a camera module 3 for image capture and recognition. The surgical robot accuracy detection fixture can also be equipped with a display and lens signal module for auxiliary observation to assist in observing the results. Of course, it can also be extended to automatically judge the accuracy through AI vision algorithms.

[0047] In this embodiment, the base plate 4 is provided with multiple positioning grooves 41, each corresponding to a single detection column 2, which is installed within the positioning groove 41. The detection column 2 and the base plate 4 are positioned by the positioning grooves 41 and the end face of the base plate 4. For ease of observation and adjustment, the detection column 2 is detachably connected to the positioning groove 41. Specifically, a magnetic suction element is provided at the bottom of the positioning groove 41, which is used to magnetically attract the detection column 2, thus fixing the detection column 2 and facilitating its rotation and adjustment.

[0048] In existing technologies, when the testing equipment is replaced or moved, medical images such as CT or MRI must be taken again before it can be used again, which undoubtedly increases the testing cost and operational difficulty.

[0049] To address the aforementioned issues, the surgical robot precision testing fixture also includes a probe 5 and an optical positioning system. A calibration hole 42 is provided on the base plate 4, and the probe 5 is used to identify the calibration hole 42. A navigation marker 7 is provided on the base plate 4, and the optical positioning system is used to identify the navigation marker 7. By identifying the calibration hole 42 through the probe 5 and the navigation marker 7 through the optical positioning system, the relative position between the surgical robot 10 and the detection column 2, as well as the direction of movement of the surgical robot 10 driving the detection needle 1, can be defined. When the navigation marker 7 is initially installed, or when it needs to be replaced due to wear, collision, or other reasons, the probe 5 can be used to re-obtain the positional relationship between the calibration hole 42 and the navigation marker 7, thereby calculating the positional relationship between the target path on the detection column 2 and the navigation marker 7, ensuring the accuracy of the surgical robot precision testing fixture under different usage conditions. In this embodiment, the navigation marker 7 can be an optical or magnetic navigation marker. The optical positioning system's identification of the navigation marker 7 is existing technology and will not be elaborated here. Of course, for a mechanically navigated surgical robot 10, the positional relationship between the mechanical interface and the target path can also be ensured directly through machining.

[0050] After assembly, the relative positional relationship between the calibration hole 42 and each determination hole 22 is ensured by machining, thereby ensuring the accuracy of the entire tooling.

[0051] Preferably, the surgical robot precision testing fixture also includes a three-axis fine-tuning displacement platform 6, which is driven and connected to the side of the base plate 4 opposite to the detection column 2. When the precision of the surgical robot 10 is found to be out of tolerance through the judgment hole 22, the adjustment function of the three-axis fine-tuning displacement platform 6 can be used to measure the out-of-tolerance value. The specific operation is as follows: by adjusting the knobs on the three-axis fine-tuning displacement platform 6 in the corresponding directions, the detection needle 1 is brought to a state within tolerance on the target path. During the adjustment process, the value of each adjustment knob rotation is read. These values ​​correspond to the out-of-tolerance values ​​of the detection needle 1 in the X, Y, and Z directions, respectively. The obtained out-of-tolerance values ​​in each direction can be used as important data to assist the surgical robot 10 in calibration, thereby improving the precision of the subsequent operation of the surgical robot 10 and ensuring its accuracy and reliability in actual surgical operations. When the precision of the surgical robot 10 is found to be out of tolerance, the deviation value is adjusted and measured through the three-axis fine-tuning displacement platform 6, which directly provides data support for the calibration of the surgical robot 10, forming a complete system of detection-measurement-calibration, which helps to continuously improve the precision of the surgical robot 10 and ensure surgical safety and quality.

[0052] It should be noted that the three-axis fine-tuning displacement platform 6 can adjust the position of the base plate 4 in the X, Y and Z directions by three knobs. The three-axis fine-tuning displacement platform 6 is existing technology, and its specific structure and working principle will not be described in detail here.

[0053] In this embodiment, three determination holes 22 form a specific spherical space with the detection point 23 as the center and the error value as the radius. The size of the determination holes 22 is specially designed according to the target error to ensure the accuracy of the detection. The diameter of the determination holes 22 can be mathematically calculated based on the error. Exemplarily, the aperture range of the determination holes 22 can be reasonably set by those skilled in the art as needed. The aperture range of the determination holes 22 can be set to 0.43mm to 3.46mm (corresponding to a detection accuracy of approximately 0.5mm to 4mm). For example, the aperture of the determination holes 22 can be 0.43mm, 0.5mm, 0.8mm, 2.1mm, 3.4mm, or 3.46mm, etc., all of which can achieve the purpose of this application. Their purpose has not departed from the design concept of this utility model, and will not be elaborated here. They should all fall within the protection scope of this application.

[0054] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A precision testing fixture for a surgical robot, characterized in that, include: A detection needle (1) is used to connect to the output end of the surgical robot (10); The detection column (2) is provided with a cylindrical hole (21) extending axially, the cylindrical hole (21) being used for the detection needle (1) to pass through; the detection column (2) is provided with at least three radially extending determination holes (22), the at least three determination holes (22) penetrating the detection column (2) and the cylindrical hole (21) inside the detection column (2), the at least three determination holes (22) being spaced apart circumferentially, and the axis of the cylindrical hole (21) intersecting the axis of the at least three determination holes (22) at the detection point (23). Multiple camera modules (3) are provided, and each of the multiple camera modules (3) corresponds to a multiple determination hole (22). The camera modules (3) are used to capture images of the corresponding determination hole (22).

2. The surgical robot precision testing fixture according to claim 1, characterized in that, The allowable deviation error of the axis of the detection needle (1) is A, the diameter of the cylindrical hole (21) is D1, the diameter of the detection needle (1) is D2, and D1 = D2 + 2A.

3. The surgical robot precision testing fixture according to claim 1, characterized in that, The detection column (2) consists of multiple columns.

4. The surgical robot precision testing fixture according to claim 3, characterized in that, There are three detection columns (2), and at least one determination hole (22) is coaxially arranged between each pair of detection columns (2). Two coaxially arranged determination holes (22) correspond to one camera module (3).

5. The surgical robot precision testing fixture according to claim 1, characterized in that, It also includes a base plate (4), on which multiple detection columns (2) are mounted.

6. The surgical robot precision testing fixture according to claim 5, characterized in that, The base plate (4) is provided with a plurality of positioning grooves (41), and the plurality of positioning grooves (41) correspond one-to-one with the plurality of detection columns (2), and the detection columns (2) are installed in the positioning grooves (41).

7. The surgical robot precision testing fixture according to claim 6, characterized in that, The bottom of the positioning groove (41) is provided with a magnetic suction element, which is used to magnetically attract the detection column (2).

8. The surgical robot precision testing fixture according to claim 5, characterized in that, The surgical robot precision detection fixture also includes a probe (5) and an optical positioning system. A calibration hole (42) is provided on the base plate (4), and the probe (5) is used to identify the calibration hole (42). The base plate (4) is provided with navigation markers (7), and the optical positioning system is used to identify the navigation markers (7).

9. The surgical robot precision testing fixture according to claim 5, characterized in that, It also includes a three-axis fine-tuning displacement platform (6), which is driven and connected to the side of the base plate (4) away from the detection column (2).

10. The surgical robot precision testing fixture according to claim 1, characterized in that, One end of the detection needle (1) is used to connect to the output end of the surgical robot (10), and the other end is conical to form a detection tip (11).

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