Surgical robot test method and apparatus, device, and storage medium

Abstract

A surgical robot test method and apparatus, a device, and a storage medium. The test method comprises: acquiring surgical operation data collected by a surgical robot during actual surgical procedure execution (101); simulating a surgical procedure reenactment and execution process in a simulation environment on the basis of the surgical operation data (102); and in response to a test instruction for the surgical robot in the surgical procedure reenactment and execution process, acquiring a test result corresponding to the test instruction (103). The simulated surgical procedure reenactment and execution process ensures that a test environment is closer to a real operation scenario. In addition, testing the surgical robot in the surgical procedure reenactment and execution process enables more targeted testing, thereby significantly improving the surgical efficiency and effect of surgical robots in subsequent procedures.

Description

A surgical robot testing method, device, equipment and storage medium

[0001] This application claims priority to the Chinese patent application No.CN 202411126574.3, filed on August 15, 2024, entitled "A surgical robot testing method, device, equipment and storage medium", the disclosure of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of computer, in particular, to a surgical robot testing method, device, equipment and storage medium. BACKGROUND

[0003] At present, with the continuous development and progress of medical technology, surgical operations are also developing in the direction of more complex and delicate. As an important medical device, surgical robots are gradually applied in various high-difficulty operations because they can provide accurate assistance and control during the operation and can improve the efficiency of the operation and the safety of the patient.

[0004] In order to ensure the operation accuracy of the surgical robot, it is often necessary to effectively find problems and eliminate faults in the testing process to ensure the normal operation of the surgical robot or avoid misoperation.

[0005] However, since the traditional testing method often relies on simulators or manually created test scenarios, these methods may not fully reflect the complexity and unexpected situations in the actual operation process, so that the operation accuracy is difficult to meet the expected requirements, which not only affects the operation efficiency, but also affects the effect of the operation. SUMMARY

[0006] The embodiments of the present application at least provide a surgical robot testing method, device, equipment and storage medium to restore the operation process by actual execution of the operation process related data, ensure that the test environment is closer to the real operation scene, facilitate to cope with various complex and unexpected situations in subsequent application, and significantly improve the operation efficiency and effect.

[0007] In a first aspect, the embodiments of the present application provide a surgical robot testing method, comprising:

[0008] Obtaining various operation data of the surgical robot collected in the actual execution of the operation;

[0009] Simulating the operation restoration execution process in the simulation environment based on the various operation data of the surgical robot;

[0010] In response to the test instruction for the surgical robot in the operation restoration execution process, obtaining the test result corresponding to the test instruction.

[0011] Optionally, in the case where the test instruction comprises a first test instruction for instructing to perform a motion control test on the surgical robot, the obtaining of the test result corresponding to the test instruction comprises:

[0012] obtaining motion axis parameters preset in a motion control test mode;

[0013] controlling a motion axis of the surgical robot to perform motion according to the motion axis parameters based on the first test instruction, and displaying a motion control effect in real time on a motion control test page;

[0014] in the case where the motion axis parameters are adjusted, determining whether the motor motion is correctly adjusted;

[0015] determining the test result corresponding to the first test instruction based on the adjustment result.

[0016] Optionally, in the case where the motion axis is controlled to perform continuous motion, the determination of whether the motor motion is correctly adjusted comprises:

[0017] determining whether the motor operation remains stable during the continuous motion test.

[0018] Optionally, the obtaining of the motion axis parameters preset in the motion control test mode comprises:

[0019] entering a motion control test page in the motion control test mode;

[0020] obtaining the motion axis parameters in response to a target rotation position and a target rotation speed input by a user on the motion control test page.

[0021] Optionally, in the case where the test instruction comprises a second test instruction for instructing to perform a reliability test on the surgical robot, the obtaining of the test result corresponding to the test instruction comprises:

[0022] obtaining various surgical operation data loaded in a reliability test mode;

[0023] controlling the surgical robot to perform multiple reliability tests in a long-time operation based on the second test instruction, and displaying a reliability test effect in real time on a reliability test page;

[0024] in the case where the working speed of the surgical robot is adjusted, determining the stability and thermal durability of the surgical robot;

[0025] determining the test result corresponding to the second test instruction based on the judgment result.

[0026] Optionally, the various surgical operation data loaded in the reliability test mode includes:

[0027] Enter a reliability test page in the reliability test mode;

[0028] In response to a data loading instruction triggered in the reliability test page, the various surgical operation data is acquired.

[0029] Optionally, in a case where the test instruction includes a third test instruction for instructing a following test on the surgical robot, the acquiring of the test result corresponding to the test instruction includes:

[0030] Acquiring a following parameter preset in a following test mode;

[0031] Controlling a control system of the surgical robot to follow according to the following parameter based on the third test instruction, and displaying a following effect in real time on a following test page;

[0032] In a case where the following parameter is modified, determining whether an actual response level of the control system conforms to a preset response level;

[0033] Based on the judgment result, a test result corresponding to the third test instruction is determined.

[0034] Optionally, the acquiring of the following parameter preset in the following test mode includes:

[0035] Enter a following test page in the following test mode;

[0036] In response to a following speed input in a speed loop menu option in the following test page, the following parameter is acquired; or,

[0037] In response to a following position input in a position loop menu option in the following test page, the following parameter is acquired.

[0038] Optionally, in a case where the test instruction includes a fourth test instruction for instructing an enable test on a motor included in the surgical robot, the acquiring of the test result corresponding to the test instruction includes:

[0039] Enter a motor enable test page in a motor enable test mode;

[0040] In response to a trigger operation on a first enable function in the motor enable test page, determining whether a motor state display area is displayed as enabled; and / or,

[0041] determining whether the motor state display area displays as not enabled in response to a triggering operation for a second enabling function on the motor enabling test page; and / or,

[0042] determining whether to automatically send an enabling signal and monitoring the start and stop processes of the motor in response to a triggering operation for a third enabling function on the motor enabling test page; and / or,

[0043] determining whether the test result display area has a result indication in response to a triggering operation for a fourth enabling function on the motor enabling test page.

[0044] Optionally, in the case where the test instruction includes a fifth test instruction for instructing to perform a function test on a pedal included in the surgical robot, the obtaining of the test result corresponding to the test instruction comprises:

[0045] entering a pedal function test page in the pedal function test mode;

[0046] determining whether the pedal response result displayed in the pedal function test page conforms to the actual pedal input action in response to a pedal input signal of the user; and / or,

[0047] determining whether the pedal input action reinitiated under the sensitivity adjustment signal has an adapted pedal response result in response to a sensitivity adjustment signal input on the pedal function test page.

[0048] Optionally, in the case where the test instruction includes a sixth test instruction for instructing to perform a state test on a buzzer included in the surgical robot, the obtaining of the test result corresponding to the test instruction comprises:

[0049] entering a buzzer test page in the buzzer test mode;

[0050] determining whether the buzzer emits sound at a preset frequency in response to a triggering operation for a first buzzer function on the buzzer test page; and / or,

[0051] determining whether the output of the buzzer is normal under different response durations in response to a triggering operation for a second buzzer function on the buzzer test page; and / or,

[0052] determining whether the buzzer performs the volume adjustment operation to complete the volume increase and decrease test in response to a volume adjustment operation for a third buzzer function on the buzzer test page.

[0053] Optionally, in a case where the test instruction comprises a composite test instruction for instructing to test the surgical robot as a whole first and then test each functional module included in the surgical robot, the obtaining of the test result corresponding to the test instruction comprises:

[0054] determining an overall feedback result obtained by testing the surgical robot as a whole;

[0055] in a case where an overall test result obtained based on a comparison between the overall feedback result and a preset standard meets a preset test requirement, obtaining a module feedback result for each functional module included in the surgical robot;

[0056] verifying based on the module feedback result until a normal operation standard of the surgical robot is met.

[0057] Optionally, the method further comprises:

[0058] generating a test analysis report based on the test result;

[0059] outputting the test analysis report in response to an output instruction for the test analysis report.

[0060] Optionally, the simulating of the surgical restoration execution process in the simulation environment based on the various surgical operation data comprises:

[0061] obtaining human body monitoring data collected by various medical devices;

[0062] fusing the human body monitoring data collected by the medical devices and the various surgical operation data collected by the surgical robot to obtain fused data;

[0063] simulating the surgical restoration execution process in the simulation environment based on the fused data.

[0064] Optionally, the simulating of the surgical restoration execution process in the simulation environment based on the various surgical operation data comprises:

[0065] obtaining a pre-trained data analysis model;

[0066] analyzing the surgical operation data by using the data analysis model to determine a surgical operation strategy of the surgical robot;

[0067] simulating the surgical restoration execution process in the simulation environment based on the surgical operation strategy.

[0068] In a second aspect, an embodiment of the present application further provides a surgical robot testing device, comprising:

[0069] acquire various surgical operation data collected by the surgical robot in the process of actually performing surgery;

[0070] simulate a surgical restoration execution process in a simulation environment based on the various surgical operation data;

[0071] acquire a test result corresponding to the test instruction in response to the test instruction for the surgical robot in the surgical restoration execution process.

[0072] In a third aspect, an electronic device is provided, which includes a processor, a memory, and a bus. The memory stores machine readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory through the bus. The machine readable instructions are executed by the processor to perform the surgical robot testing method according to any one of the first aspect and the various embodiments thereof.

[0073] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program. When the computer program is run by a processor, the surgical robot testing method according to any one of the first aspect and the various embodiments thereof is performed.

[0074] With the surgical robot testing method, device, equipment, and storage medium, when the various surgical operation data collected by the surgical robot in the process of actually performing surgery is acquired, the surgical restoration execution process can be determined based on the various surgical operation data, and the test for the surgical robot and each functional module thereof in the surgical restoration execution process is performed. The surgical restoration execution process simulated by the present application ensures that the test environment is closer to the real operation scenario. At the same time, the test for the surgical robot in the surgical restoration execution process is more targeted, so that the surgical efficiency and effect of the subsequent surgical robot can be significantly improved.

[0075] Other advantages of the present application will be described in more detail in conjunction with the following description and drawings.

[0076] It should be understood that the above description is only a summary of the technical solutions of the present application, so as to enable a general understanding of the technical means of the present application, and then implement the content of the description. In order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0077] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. The drawings herein are incorporated into the description and form a part of the description, which show the embodiments consistent with the present application, and are used to illustrate the technical solutions of the present application together with the description. It should be understood that the drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation on the scope of protection, and for those skilled in the art, other related drawings can also be obtained without creative labor. Moreover, the same reference numerals are used to represent the same components throughout the drawings. In the drawings:

[0078] Fig. 1 shows a flowchart of a surgical robot testing method provided by an embodiment of the present application;

[0079] Fig. 2 shows a display effect schematic diagram of a motion control test page in the surgical robot testing method provided by an embodiment of the present application;

[0080] Fig. 3 shows a display effect schematic diagram of a device reliability test page in the surgical robot testing method provided by an embodiment of the present application;

[0081] Fig. 4(a) shows a display effect schematic diagram of a following test page in the surgical robot testing method provided by an embodiment of the present application;

[0082] Fig. 4(b) shows another display effect schematic diagram of a following test page in the surgical robot testing method provided by an embodiment of the present application;

[0083] Fig. 5 shows a display effect schematic diagram of a motor enable test page in the surgical robot testing method provided by an embodiment of the present application;

[0084] Fig. 6 shows a display effect schematic diagram of a pedal function test page in the surgical robot testing method provided by an embodiment of the present application;

[0085] Fig. 7 shows a display effect schematic diagram of a buzzer test page in the surgical robot testing method provided by an embodiment of the present application;

[0086] Fig. 8 shows a display effect schematic diagram of a motor test page in the surgical robot testing method provided by an embodiment of the present application;

[0087] Fig. 9 shows a schematic diagram of a surgical robot testing device provided by an embodiment of the present application;

[0088] Fig. 10 shows a schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0089] Exemplary embodiments of the present application will be described herein below with reference to the accompanying drawings. While exemplary embodiments of the present application are illustrated, it is to be understood that the present application can be carried out in various forms and should not be limited to those illustrated herein. Rather, these embodiments are provided as part of the disclosure to convey the scope of the present application to those skilled in the art.

[0090] In the description of the embodiments of the present application, it should be understood that terms such as "include" or "have" are intended to indicate that there is existence of the disclosed features, numbers, steps, actions, components, parts or combinations thereof in the specification, and do not exclude the possibility that one or more other features, numbers, steps, actions, components, parts or combinations thereof exist.

[0091] Unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" herein is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist together, and B exists alone.

[0092] The terms "first", "second", and the like are only used to distinguish the same or similar technical features, and cannot be understood as indicating or implying relative importance or quantity of the technical features. Therefore, the features defined by "first", "second", and the like can explicitly or implicitly include one or more such features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of the term "a plurality of" is two or more than two.

[0093] It is found through research that, in order to ensure the operation accuracy of the surgical robot, it is often necessary to effectively find problems and eliminate faults in the test process, to ensure the normal operation of the surgical robot or to avoid misoperation.

[0094] However, since the traditional test method often relies on simulators or manually created test scenarios, these methods may not fully reflect the complexity and unexpected situations in the actual surgical process, so that the operation accuracy is difficult to meet the expected requirements, which not only affects the surgical efficiency, but also affects the effect of the surgery.

[0095] In order to at least partially solve one or more of the above problems and other potential problems, the present application provides a surgical robot test method, device, equipment and storage medium, to restore the surgical process by actually performing the relevant data in the surgical process, to ensure that the test environment is closer to the real operation scene, to facilitate subsequent application to cope with various complex and unexpected situations, and to significantly improve the surgical efficiency and effect.

[0096] For the convenience of understanding the embodiment, first, a surgical robot test method disclosed by the embodiment is introduced in detail. The execution subject of the surgical robot test method provided by the embodiment is generally an electronic device with certain computing capability, which includes, for example, a terminal device or a server or other processing device. The terminal device can be a user equipment (UE), a mobile device, a personal digital assistant (PDA), a handheld device, a computing device, etc. The other processing device can be, for example, a host computer device of a surgical robot. In some possible implementation manners, the surgical robot test method can be implemented by a processor calling computer readable instructions stored in a memory.

[0097] Referring to FIG. 1, a flowchart of a surgical robot test method provided by the embodiment is shown, and the method includes the following steps S101-S103:

[0098] S101: acquiring various surgical operation data collected by a surgical robot in the process of actually performing a surgery;

[0099] S102: simulating a surgery restoration execution process in a simulation environment based on the various surgical operation data;

[0100] S103: acquiring a test result corresponding to a test instruction in response to the test instruction for the surgical robot in the surgery restoration execution process.

[0101] In order to facilitate the understanding of the surgical robot test method provided by the embodiment, the application scenario of the method is first briefly described. The surgical robot test method herein can be mainly applied to various surgical operations of a surgical robot, which includes, for example, tumor resection surgery, cosmetic surgery, etc., and can also be a remote surgery scene with radiotherapy efficacy, which is not specifically limited here.

[0102] It is considered that in the related art, a test is often implemented by relying on a simulator or a manually created test scene, and the complexity and unexpected situations in the actual surgery process can not be fully reflected. Based on this, the embodiment provides a data-driven test method, which can dynamically test according to surgical operation data. This method can capture more subtle operation details and abnormal situations. In addition, the surgery process is restored by using actual surgery history data, which ensures that the test environment is closer to the real operation scene.

[0103] The various surgical operation data herein is various related data collected by a surgical robot in the process of actually performing a surgery, including but not limited to, for example, surgical steps, robot motion trajectories, operation force feedback, etc.

[0104] Based on the above various surgical operation data, the surgical restoration execution process can be simulated, that is, it can be determined how the surgical robot performs the corresponding surgical operation to complete the entire surgical process. Since the simulated surgical restoration execution process here is determined based on the historical generated various surgical operation data, the order of the surgical operation, the use of the surgical instrument, and the operation force feedback can be reproduced, so the entire process has more realistic reference significance.

[0105] In this way, the actual test operation for the surgical robot can timely capture the abnormal situation that may occur in the surgical process and analyze it, and at the same time, the test scheme can be dynamically adjusted here to ensure that all possible operation scenarios are covered, so that the surgical efficiency and surgical effect can be significantly improved.

[0106] In addition, since the test process here is for the abnormalities and faults found in the surgical process itself, the fault cause can be determined through in-depth analysis, and the surgical robot can be optimized and improved, and at the same time, re-running the restored surgical process is sufficient to verify the optimization effect, ensuring that the problem is completely solved, so it is more practical.

[0107] The surgical robot test method provided by the embodiment of the application can adopt various test methods, for example, the test of the surgical robot and each functional module thereof can be performed synchronously, or the test of the entire surgical robot can be performed first, and then the test of each module of the surgical robot can be performed, or other test methods can be adopted. The embodiment of the application does not make specific limitations on this. Next, the test of the surgical robot is performed first, for example, the motion control test of the motion shaft, the robot reliability test, the speed or position following test and the like; and then, each functional module such as the motor, the pedal, the buzzer and the like is tested.

[0108] In actual application, an assembly worker can connect the surgical robot subsystem (composed of functional modules) or the whole machine to the test and inspection system (corresponding to the upper computer device of the surgical robot), and make good inspection preparation. Here, the test software is run to simulate test instructions, and the feedback signals of the surgical robot subsystem or the whole machine are recorded and analyzed. By matching and verifying the feedback results with the expected standard, it is displayed on the test page whether the verification is passed.

[0109] Specifically, after the expected test sample size is reached, the detailed test input can be obtained through the report export function, and the output feedback can be obtained as the basis for system test or troubleshooting. After the system is adjusted, it is verified again through the test software until the test result reaches the normal operation standard and forms a record.

[0110] It should be noted that in the actual execution of the test, an automatic data-driven test mode can be used, for example, the test is performed according to the above test sequence, thereby greatly shortening the test period and improving the product development efficiency. At the same time, the test efficiency can be greatly improved through the reduction and data analysis of the automatic operation process, and the errors caused by manual intervention can be reduced.

[0111] The test scheme provided by the embodiments of the present application includes but is not limited to the test of the whole surgical robot and the test of various functional modules included in the surgical robot. In the embodiments of the present application, the above test functions can be integrated into a production test tool, and the above various test functions can be realized through the tool. Next, the corresponding test process will be described in detail with respect to different test subjects.

[0112] The first aspect: in the case where the test instruction includes a first test instruction for indicating the motion control test of the whole surgical robot, the test result corresponding to the test instruction is obtained according to the following steps:

[0113] Step one, obtaining the motion axis parameters preset in the motion control test mode;

[0114] Step two, controlling the motion axis of the whole surgical robot to move according to the motion axis parameters based on the first test instruction, and real-time displaying the motion control effect on the motion control test page;

[0115] Step three, determining whether the motor movement is correctly adjusted in the case where the motion axis parameters are adjusted;

[0116] Step four, determining the test result corresponding to the first test instruction based on the adjustment result.

[0117] As shown in FIG. 2, the motion control test page displayed by the production test tool provided by the embodiments of the present application. In the motion control test page, the test of the motion axis can be initiated based on the first test instruction, specifically, the test can be initiated by triggering the “start” button, and once the “start” button is triggered, the motion axis will move according to the set motion axis parameters, at this time, the motion control effect can be real-time displayed.

[0118] The motion axis parameters can be determined based on the target rotation position and the target rotation speed input by the user on the motion control test page after entering the motion control test page in the motion control test mode.

[0119] Here, the motion axis parameters can also be adjusted to determine whether the cooperation of the motion axis and the motor is completed. In addition, the embodiments of the present application can also perform continuous motion test on the motion axis to determine whether the motor operation is stable.

[0120] In combination with the motion control test page shown in FIG. 2, in actual application, the test on the motion shaft can be implemented according to the following steps:

[0121] 1) Enter the motion control test page.

[0122] 2) View the current state of the motion shaft: confirm that the shaft state display is in an idle state.

[0123] 3) Set the target position: use the input box to set the required target rotation angle or distance on the page.

[0124] 4) Set the target speed: set the motion speed of the shaft on the page.

[0125] 5) Start the motion: press the "Start" button to make the shaft start moving according to the set parameters.

[0126] 6) Monitor the motion of the shaft: observe whether the shaft moves according to the set parameters in real time on the real-time display area on the motion control test page.

[0127] 7) Adjust the motion parameters: modify the target position and / or speed to observe whether the motor motion is correctly adjusted.

[0128] 8) Set the continuous motion mode: click the "Continuous Motion" button to observe the motion of the shaft in the interval between the target position and the starting position.

[0129] 9) Test the stability: perform the continuous motion test to observe whether the motor remains stable during long-time operation.

[0130] 10) Export the test report: click the "Test Report" button to export the test report.

[0131] It should be noted that the above steps (1) to (10) can be sequentially executed or non-sequentially executed, which is not specifically limited here. In order to ensure the completeness of the motion control test as much as possible, the steps can be executed in sequence.

[0132] Second aspect: in the case where the test instruction includes a second test instruction for instructing to perform a reliability test on the whole surgical robot, the test result corresponding to the test instruction is obtained according to the following steps:

[0133] Step one, obtain various surgical operation data loaded in the reliability test mode;

[0134] Step two, control the whole surgical robot to perform multiple reliability tests in a long-time operation process based on the second test instruction, and display the reliability test effect in real time on the reliability test page;

[0135] Step three, determine the stability and thermal durability of the surgical robot in the case of adjusting the working speed of the surgical robot.

[0136] Step four, determine the test result corresponding to the second test instruction based on the judgment result.

[0137] As shown in FIG. 3, a reliability test page displayed by the production test tool provided by the embodiment of the present application is shown. In the reliability test page, the test for the device reliability can be initiated based on the second test instruction, specifically, the test can be initiated by triggering the "start" button, and once the "start" button is triggered, the reliability test can be performed based on the loaded various surgical operation data, at this time, the reliability test effect can be displayed in real time.

[0138] Among them, the various surgical operation data loaded in the reliability test mode can be the data loaded based on the triggered data loading instruction after entering the reliability test page in the reliability test mode.

[0139] Here, in addition to determining the test result of the surgical robot as a whole in the long-time running process and multiple reliability tests, the stability and thermal durability of the surgical robot can also be determined in the case of adjusting the working speed of the surgical robot.

[0140] In combination with the reliability test page shown in FIG. 3, in actual application, the test for the device reliability can be implemented according to the following steps:

[0141] 1) Enter the reliability test page.

[0142] 2) View the current state of the device: confirm that the device state display is in an idle state.

[0143] 3) Load data: click the "load" button to load the historical surgical operation data.

[0144] 4) Start the reliability test: press the "start" button to make the device start long-time running and repeated testing.

[0145] 5) Continuous running observation: observe the real-time performance of the device in the long-time running in the real-time display area on the reliability test page.

[0146] 6) Modify the speed: adjust the working speed of the device according to the test requirements.

[0147] 7) Continuous running test: continuously run the device for a long time to observe the stability of the device under different parameters.

[0148] 8) Record abnormal conditions: if the device has abnormal conditions, record the abnormal details in time.

[0149] 9) Pause test: pause the test after running for a while to evaluate the thermal durability of the device.

[0150] 10) Resume test: resume the test and continue to run the device for a long time.

[0151] 11) Export test report: click the "test report" button to export the test report.

[0152] It should be noted that the above steps (1) to (11) can be executed sequentially or non-sequentially, and no specific limitation is made here. In order to ensure the completeness of the reliability test as much as possible, the execution can be performed in sequence.

[0153] Third aspect: in the case where the test instruction includes a third test instruction for instructing the follow-up test for the whole surgical robot, the test result corresponding to the test instruction is obtained according to the following steps:

[0154] Step one, obtain the follow-up parameters preset in the follow-up test mode;

[0155] Step two, control the control system of the whole surgical robot according to the follow-up parameters based on the third test instruction, and display the follow-up effect in real time on the follow-up test page;

[0156] Step three, in the case where the follow-up parameters are modified, determine whether the actual response level of the control system meets the preset response level;

[0157] Step four, determine the test result corresponding to the third test instruction based on the judgment result.

[0158] As shown in FIG. 4(a) or 4(b), the follow-up test page displayed by the production test tool provided by the embodiment of the application. In the follow-up test page, the test for the follow-up effect of the control system can be initiated based on the third test instruction, specifically, it can be initiated by triggering the "start" button, and once the "start" button is triggered, the control system of the whole surgical robot will follow the preset follow-up parameters, at this time, the follow-up effect can be displayed in real time.

[0159] The follow-up parameters can be determined based on the follow-up speed input by the user in the speed loop menu option in the follow-up test page, or the follow-up position input by the user in the position loop menu option in the follow-up test page after entering the follow-up test page in the follow-up test mode.

[0160] Here, the follow-up parameters can also be adjusted to determine whether the actual response of the control system is comparable to the preset response level.

[0161] In combination with the follow-up test page shown in FIG. 4(a), in actual application, the speed follow-up test for the control system can be implemented according to the following steps:

[0162] 1) Enter the follow-up test page.

[0163] 2) Select the test mode: select "speed mode" in the menu.

[0164] 3) Check the control system status: confirm that the control motor status display is in the idle state.

[0165] 4) Set the target speed: use the provided input box to set the required target speed.

[0166] 5) Start the control: press the "start" button to make the control system start following the set target speed.

[0167] 6) Monitor the system response: observe whether the control system can accurately follow the target speed in the real-time display area on the follow-up test page.

[0168] 7) Verify the speed accuracy: according to the actual motion speed of the device, verify whether it is consistent with the target speed.

[0169] 8) Adjust the target speed: modify the target speed and observe the response and adjustment ability of the control system.

[0170] 9) Continuous follow-up test: set a continuous follow-up test mode and observe whether the control system can work stably and continuously.

[0171] 10) Export the test report: click the "test report" button to export the test report.

[0172] It should be noted that the above steps (1) to (10) can be sequentially executed or non-sequentially executed, which is not specifically limited here. In order to ensure the completeness of the test as much as possible, the steps can be executed in sequence.

[0173] In combination with the follow-up test page shown in FIG. 4(b), in actual application, the position follow-up test for the control system can be implemented according to the following steps:

[0174] 1) Enter the follow-up test page.

[0175] 2) Select the test mode: select "position mode" in the menu.

[0176] 3) Check the control system status: confirm that the control motor status display is in the idle state.

[0177] 4) Set the target position: use the provided input box to set the required target position.

[0178] 5) Start control: press the "start" button to make the control system start following the set target position.

[0179] 6) Monitor system response: observe whether the control system can accurately follow the target position in the real-time display area on the follow test page.

[0180] 7) Verify position accuracy: verify whether the actual position of the device can be accurately controlled to the target position.

[0181] 8) Adjust target position: modify the target position and observe the response and adjustment capability of the control system.

[0182] 9) Continuous follow test: set a continuous follow test mode and observe whether the control system can work stably and continuously.

[0183] 10) Export test report: click the "test report" button to export the test report.

[0184] Similarly, the above steps (1) to (10) can be executed in sequence or non-sequentially, and no specific limitation is made here. In order to ensure the completeness of the test as much as possible, the steps can be executed in sequence.

[0185] Fourth aspect: in the case where the test instruction includes a fourth test instruction for instructing to enable the test of the motor included in the surgical robot, the test result corresponding to the test instruction is obtained according to the following steps:

[0186] Step one, enter the motor enable test page in the motor enable test mode;

[0187] Step two, in response to the triggering operation of the first enable function on the motor enable test page, determine whether the motor state display area is displayed as enabled; and / or, in response to the triggering operation of the second enable function on the motor enable test page, determine whether the motor state display area is displayed as not enabled; and / or, in response to the triggering operation of the third enable function on the motor enable test page, determine whether to automatically send an enable signal and monitor the start and stop process of the motor; and / or, in response to the triggering operation of the fourth enable function on the motor enable test page, determine whether the test result display area has a result indication.

[0188] As shown in FIG. 5, the motor enable test page displayed by the production test tool provided by the embodiment of the application. In the motor enable test page, various motor enable tests can be initiated based on the fourth test instruction, such as whether to display as enabled when triggering the enable motor; and for example, whether to display as not enabled when triggering the close motor.

[0189] In combination with the motor enable test page shown in FIG. 5, in actual application, the test for motor enable can be implemented according to the following steps:

[0190] 1) Enter the motor enable test page.

[0191] 2) Select the motor to be tested: click the drop-down box to select the motor.

[0192] 3) Observe the initial state: check the current state display area of the motor to confirm whether it is "idle".

[0193] 4) Turn on the enable: manually click the enable signal trigger button (i.e. "turn on enable"), and observe and record whether the motor state display area shows "enabled".

[0194] 5) Stop enable: click the enable signal trigger button again, and observe and record whether the motor state display area becomes "not enabled".

[0195] 6) Start the automatic test process: click the "automatic test" button, and observe whether the software automatically sends the enable signal and monitors the start and stop process of the motor.

[0196] 7) View test results: after the test is completed, observe whether the test result display area has a clear result indication, such as "success" or "failure".

[0197] 8) Export test report: click the "test report" button to export the test report.

[0198] It should be noted that the above steps (1) to (8) can be executed sequentially or non-sequentially, and no specific limitation is made here. In order to ensure the completeness of the test as much as possible, the steps can be executed in sequence.

[0199] Fifth aspect: in the case where the test instruction includes a fifth test instruction for instructing to perform a function test on a pedal included in the surgical robot, the test result corresponding to the test instruction is obtained according to the following steps:

[0200] Step one, enter the pedal function test page in the pedal function test mode;

[0201] Step two, in response to the pedal input signal of the user, determine whether the pedal response result displayed in the pedal function test page conforms to the actual pedal input action; and / or, in response to the sensitivity adjustment signal input in the pedal function test page, determine whether the pedal input action reinitiated under the sensitivity adjustment signal has an adaptive pedal response result.

[0202] As shown in FIG. 6, a pedal function test page displayed by the production test tool provided by the embodiment of the present application is shown. In the pedal function test page, based on the fifth test instruction, the pedal input signal of the user can be determined, and it is determined whether the pedal response result is consistent with the actual pedal input action. In addition, the pedal sensitivity adjustment can be performed in combination with the sensitivity adjustment signal, and the response of the pedal can be observed.

[0203] In combination with the pedal function test page shown in FIG. 6, in actual application, the test for the pedal function can be implemented according to the following steps:

[0204] 1) Enter the pedal function test page.

[0205] 2) Check the pedal state: confirm that the current pedal state is displayed as an inactive state.

[0206] 3) Pedal input: step on the pedal or release the pedal to give an input signal.

[0207] 4) Observe the pedal response: ensure that the response is consistent with the input signal.

[0208] 5) Adjust the pedal sensitivity: adjust the pedal signal sensitivity by using the page slider.

[0209] 6) Verify the sensitivity adjustment: step on the pedal again, and observe whether the response is consistent with the input.

[0210] 7) Continuous pedal input: perform continuous pedal operation, and check whether the response of each input is correct.

[0211] 8) Export the test report: click the "test report" button to export the test report.

[0212] It should be noted that the above steps (1) to (8) can be sequentially executed or non-sequentially executed, which is not specifically limited here. In order to ensure the completeness of the test as much as possible, the steps can be executed in sequence.

[0213] The sixth aspect: in the case where the test instruction includes the sixth test instruction for instructing to perform the state test on the buzzer included in the surgical robot, the test result corresponding to the test instruction is obtained according to the following steps:

[0214] Step one, enter the buzzer test page in the buzzer test mode;

[0215] Step two, in response to the triggering operation of the first buzzer function on the buzzer test page, determine that the buzzer sounds at a preset frequency; and / or, in response to the triggering operation of the second buzzer function on the buzzer test page, determine whether the output of the buzzer is normal under different response durations; and / or, in response to the volume adjustment operation of the third buzzer function on the buzzer test page, determine whether the buzzer performs the volume adjustment operation to complete the volume increase / decrease test.

[0216] As shown in FIG. 7, the buzzer test page displayed by the production test tool provided by the embodiment of the present application. In the buzzer test page, the test for the buzzer can be initiated based on the sixth test instruction, specifically, the test can be initiated by triggering the "play" button, at this time, it can be determined whether the buzzer sounds at a preset frequency (such as 1 second, 2 seconds, 5 seconds, etc.).

[0217] In addition, it can also be determined whether the output of the buzzer is normal under different response durations, and the volume adjustment is performed using the page slider to complete the volume increase / decrease test.

[0218] In combination with the buzzer test page shown in FIG. 7, in actual application, the test for the buzzer state can be implemented according to the following steps:

[0219] 1) Enter the buzzer test page.

[0220] 2) Check the buzzer state: confirm that the current state of the buzzer is displayed as an inactive state.

[0221] 2) Adjust the response time: set the response time of the buzzer, such as 1 second.

[0222] 3) Trigger the buzzer: press the "play" button to make the buzzer sound at the selected frequency.

[0223] 4) Evaluate the sound clarity: listen to the sound of the buzzer and confirm whether it is clear and noise-free.

[0224] 5) Test the response at different durations: test the buzzer output at different durations in turn and confirm whether it works normally.

[0225] 6) Adjust the volume of the buzzer: adjust the volume using the page slider.

[0226] 7) Verify the volume adjustment: re-trigger the buzzer to ensure that the volume will increase or decrease.

[0227] 8) Continuous play test: set a continuous play test mode and observe whether the buzzer can work continuously and normally.

[0228] 9) Export the test report: click the "test report" button to export the test report.

[0229] It should be noted that the above steps (1)-(9) can be sequentially executed, or non-sequentially executed, which is not specifically limited here. In order to ensure the completeness of the test as much as possible, it can be executed in sequence here.

[0230] The surgical robot test method provided by the embodiment of the application can also test the motor included in the surgical robot, as shown in FIG. 8, and can be implemented according to the following steps:

[0231] 1) Enter the motor test page.

[0232] 2) View the current state of the motor: confirm that the motor state display is in an idle state.

[0233] 3) Set the test voltage: use the voltage slider provided on the page to select a specific test voltage.

[0234] 4) Start the motor: press the “Start” button to start the motor.

[0235] 5) Monitor the speed: in the speed display area, observe whether the real-time speed of the motor is consistent with the expected value.

[0236] 6) Adjust the test frequency: use the frequency slider on the page to set the frequency you want to test.

[0237] 7) Adjust the position increment: use the edit box on the page to input the position increment required for each command transmission.

[0238] 8) Verify the motor frequency response: start the motor again and observe its speed change at different frequencies.

[0239] 9) Measure the torque: in the display area, view the real-time torque of the motor under the given voltage and frequency.

[0240] 10) Continuous operation test: set a duration, such as 5 minutes or 10 minutes, and check whether the motor can work stably.

[0241] 11) Export test report: click the “Test Report” button to export the test report.

[0242] It should be noted that the above steps (1)-(11) can be sequentially executed, or non-sequentially executed, which is not specifically limited here. In order to ensure the completeness of the test as much as possible, it can be executed in sequence here.

[0243] It should be noted that the above various test schemes can be executed individually, or sequentially based on the test needs of the user, and the entire process is automatically run, which can greatly improve the test efficiency.

[0244] In the actual test process, the whole machine test can be performed first, and then the test of each functional module is performed. The specific implementation is as follows:

[0245] Step one, determining the whole machine feedback result obtained by testing the whole machine of the surgical robot;

[0246] Step two, obtaining the module feedback result of each functional module included in the surgical robot in the case that the whole machine test result obtained by comparing the whole machine feedback result with the preset standard meets the preset test requirement;

[0247] Step three, verifying based on the module feedback result until the normal operation standard of the surgical robot is met.

[0248] Here, in the case that the whole machine meets the test requirement, the test of each functional module is performed, and the normal operation of the surgical robot is adjusted based on the further verification of the module feedback result. On the one hand, the real surgical operation data is used to improve the accuracy of the test, which can more effectively identify the problems that may occur in the actual use of the equipment. On the other hand, through more rigorous and comprehensive testing, the reliability and safety of the equipment in the actual surgery are significantly improved.

[0249] Based on the above description, in the case of determining the test result, the test analysis report can be generated based on the test result, and the test analysis report can be output for the user to view in response to the output instruction of the test analysis report.

[0250] In order to further improve the test effect of the surgical robot, the surgical robot test method provided by the embodiment of the present application can also integrate various technical means to realize the restoration of the surgical execution process.

[0251] Firstly, the data of other medical equipment in the operating room can be integrated, such as patient vital sign monitoring equipment, imaging equipment, etc., to construct a more comprehensive surgical process model, and further improve the authenticity and comprehensiveness of the test. The specific implementation of the surgical restoration execution process can be as follows:

[0252] Step one, obtaining human monitoring data collected by various medical equipment;

[0253] Step two, fusing the human monitoring data collected by the medical equipment and the various surgical operation data collected by the surgical robot to obtain fusion data;

[0254] Step three, simulating the surgical restoration execution process in a simulation environment based on the fusion data.

[0255] Here, the operation actually required to be performed by the surgical robot can be determined in combination with the human monitoring data collected by the medical device, achieving the mutual fusion of various data, thereby making the entire surgical process more accurate, which further makes the test effect better.

[0256] Secondly, the surgical execution process can be restored by using machine learning and artificial intelligence methods, and the specific steps are as follows:

[0257] Step one, obtaining a pre-trained data analysis model;

[0258] Step two, using the data analysis model to analyze the surgical operation data to determine the surgical operation strategy of the surgical robot;

[0259] Step three, simulating the surgical restoration execution process in the simulation environment based on the surgical operation strategy.

[0260] In actual application, a large amount of surgical operation data can be analyzed to extract potential patterns and rules in the surgical operation, and to optimize the operation strategy and test scheme of the surgical robot.

[0261] In addition, the surgical robot test method provided by the embodiment of the application can also realize remote test and collaborative test through the network to further improve the test effect. In actual application, the test personnel can share the test data and test process in real time at different locations to improve the efficiency and collaboration of the test.

[0262] In the description of the present specification, the description referring to the terms "some possible embodiments", "some embodiments", "examples", "specific examples", or "some examples" and the like means that the specific features, structures, materials or characteristics described in combination with the embodiments or examples are contained in at least one embodiment or example of the present application, and the above terms do not necessarily represent the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0263] With respect to the method flowcharts of the embodiments of the present application, certain operations are described as different steps performed in a certain order. Such flowcharts are illustrative and not limiting. Certain steps described herein can be grouped together and performed in a single operation, or certain steps can be split into multiple sub-steps, and certain steps can be performed in an order different from that shown herein. The individual steps shown in the flowcharts can be implemented in any manner by any circuitry structure and / or tangible mechanism (e.g., by software running on a computer device, hardware (e.g., a processor or a chip-implemented logic function), etc., and / or any combination thereof).

[0264] Those skilled in the art can understand that, in the method described in the foregoing specific embodiments, the writing order of the steps does not mean a strict execution order, and the specific execution order of the steps should be determined according to their functions and possible inherent logic.

[0265] Based on the same inventive concept, the embodiments of the present application also provide a surgical robot testing device corresponding to the surgical robot testing method. Since the principle of solving problems by the device in the embodiments of the present application is similar to the above-mentioned surgical robot testing method of the embodiments of the present application, the implementation of the device can be referred to the implementation of the method, and the repeated parts will not be described herein.

[0266] Referring to FIG. 9, it is a schematic diagram of a surgical robot testing device provided by the embodiments of the present application. The above-mentioned device comprises: an acquisition module 901, a simulation module 902, and a testing module 903; wherein,

[0267] The acquisition module 901 is configured to acquire various surgical operation data collected by the surgical robot in the process of actually performing surgery.

[0268] The simulation module 902 is configured to simulate a surgical restoration execution process in a simulation environment based on the various surgical operation data.

[0269] The testing module 903 is configured to acquire a test result corresponding to a test instruction for the surgical robot in response to the test instruction in the surgical restoration execution process.

[0270] With the above-mentioned surgical robot testing device, in the case of acquiring various surgical operation data collected by the surgical robot in the process of actually performing surgery, a surgical restoration execution process can be determined based on the various surgical operation data, and the test for the surgical robot as a whole and each functional module thereof in the surgical restoration execution process can be performed. The present application ensures that the test environment is more close to the real operation scenario through the simulated surgical restoration execution process, and at the same time, the test for the surgical robot in the surgical restoration execution process is also more targeted, so that the surgical efficiency and effect of the subsequent surgical robot can be significantly improved.

[0271] Optionally, when the test instructions include a first test instruction for instructing motion control testing of the entire surgical robot, the test module 903 is specifically configured to obtain the test results corresponding to the test instructions according to the following steps:

[0272] Obtain the preset motion axis parameters in motion control test mode;

[0273] Based on the first test command, the motion axis of the entire surgical robot is controlled to move according to the motion axis parameters, and the motion control effect is displayed in real time on the motion control test page.

[0274] When adjusting the motion axis parameters, determine whether the motor motion is adjusted correctly;

[0275] The test result corresponding to the first test instruction is determined based on the adjustment results.

[0276] Optionally, when controlling the motion axis to move continuously, the test module 903 is specifically used to determine whether the motor motion is correctly adjusted according to the following steps:

[0277] To determine whether the motor operation remains stable during continuous motion testing.

[0278] Optionally, the test module 903 is specifically used to obtain preset motion axis parameters in the motion control test mode according to the following steps:

[0279] Enter the motion control test page in motion control test mode;

[0280] In response to the target rotation position and target rotation speed entered by the user on the motion control test page, the motion axis parameters are obtained.

[0281] Optionally, when the test instruction includes a second test instruction to instruct a reliability test on the entire surgical robot, the test module 903 is specifically configured to obtain the test results corresponding to the test instruction according to the following steps:

[0282] Acquire various surgical operation data that have been loaded in reliability test mode;

[0283] Based on the second test command, the entire surgical robot is controlled to undergo multiple reliability tests during long-term operation, and the reliability test results are displayed in real time on the reliability test page.

[0284] The stability and thermal durability of the surgical robot were determined by adjusting its operating speed.

[0285] The test result corresponding to the second test instruction is determined based on the judgment result.

[0286] Optionally, the test module 903 is specifically configured to acquire various surgical operation data loaded in the reliability test mode according to the following steps:

[0287] entering a reliability test page in the reliability test mode;

[0288] acquiring the various surgical operation data in response to a data loading instruction triggered in the reliability test page.

[0289] Optionally, in a case where the test instruction includes a third test instruction for instructing to perform a following test on the surgical robot as a whole, the test module 903 is specifically configured to acquire a test result corresponding to the test instruction according to the following steps:

[0290] acquiring following parameters preset in the following test mode;

[0291] controlling a control system of the surgical robot as a whole to follow according to the following parameters based on the third test instruction, and displaying a following effect in real time on a following test page;

[0292] in a case where the following parameters are modified, determining whether an actual response level of the control system conforms to a preset response level;

[0293] determining the test result corresponding to the third test instruction based on a judgment result.

[0294] Optionally, the test module 903 is specifically configured to acquire the following parameters preset in the following test mode according to the following steps:

[0295] entering a following test page in the following test mode;

[0296] acquiring the following parameters in response to a following speed input in a speed loop menu option in the following test page; or

[0297] acquiring the following parameters in response to a following position input in a position loop menu option in the following test page.

[0298] Optionally, in a case where the test instruction includes a fourth test instruction for instructing to perform an enable test on a motor included in the surgical robot, the test module 903 is specifically configured to acquire a test result corresponding to the test instruction according to the following steps:

[0299] entering a motor enable test page in the motor enable test mode;

[0300] determining whether a motor state display area is displayed as enabled in response to a trigger operation on a first enable function in the motor enable test page; and / or

[0301] determining whether the motor state display area displays as not enabled in response to a triggering operation for a second enabling function on the motor enabling test page; and / or,

[0302] determining whether to automatically send an enabling signal and monitoring the start and stop processes of the motor in response to a triggering operation for a third enabling function on the motor enabling test page; and / or,

[0303] determining whether the test result display area has a result indication in response to a triggering operation for a fourth enabling function on the motor enabling test page.

[0304] Optionally, in the case where the test instruction includes a fifth test instruction for instructing to perform a function test on a pedal included in the surgical robot, the test module 903 is specifically configured to obtain a test result corresponding to the test instruction according to the following steps:

[0305] entering a pedal function test page in the pedal function test mode;

[0306] determining whether the pedal response result displayed in the pedal function test page conforms to the actual pedal input action in response to the pedal input signal of the user; and / or,

[0307] determining whether the pedal input action reinitiated under the sensitivity adjustment signal has an adapted pedal response result in response to the sensitivity adjustment signal input in the pedal function test page.

[0308] Optionally, in the case where the test instruction includes a sixth test instruction for instructing to perform a state test on a buzzer included in the surgical robot, the test module 903 is specifically configured to obtain a test result corresponding to the test instruction according to the following steps:

[0309] entering a buzzer test page in the buzzer test mode;

[0310] determining whether the buzzer emits sound at a preset frequency in response to a triggering operation for a first buzzer function on the buzzer test page; and / or,

[0311] determining whether the output of the buzzer under different response durations is normal in response to a triggering operation for a second buzzer function on the buzzer test page; and / or,

[0312] determining whether the buzzer performs the volume adjustment operation to complete the volume increase and decrease test in response to a volume adjustment operation for a third buzzer function on the buzzer test page.

[0313] Optionally, in a case where the test instruction comprises a composite test instruction for instructing to test the surgical robot as a whole first and then test each functional module included in the surgical robot, the test module 903 is specifically configured to acquire the test result corresponding to the test instruction according to the following steps:

[0314] determine the whole-machine feedback result obtained by testing the surgical robot as a whole;

[0315] in a case where the whole-machine test result obtained based on the comparison between the whole-machine feedback result and the preset standard meets the preset test requirement, acquire the module feedback result for each functional module included in the surgical robot;

[0316] verify based on the module feedback result until the normal operation standard of the surgical robot is met.

[0317] Optionally, the apparatus further comprises:

[0318] the generation module 904 is configured to generate a test analysis report based on the test result; and output the test analysis report in response to an output instruction for the test analysis report.

[0319] Optionally, the simulation module 902 is specifically configured to simulate the surgical restoration execution process in the simulation environment based on the various surgical operation data according to the following steps:

[0320] acquire human body monitoring data collected by various medical devices;

[0321] fuse the human body monitoring data collected by the medical devices and the various surgical operation data collected by the surgical robot to obtain fused data;

[0322] simulate the surgical restoration execution process in the simulation environment based on the fused data.

[0323] Optionally, the simulation module 902 is specifically configured to simulate the surgical restoration execution process in the simulation environment based on the various surgical operation data according to the following steps:

[0324] acquire a pre-trained data analysis model;

[0325] analyze the surgical operation data by using the data analysis model to determine a surgical operation strategy of the surgical robot;

[0326] simulate the surgical restoration execution process in the simulation environment based on the surgical operation strategy.

[0327] It should be noted that the apparatus in the embodiments of the present application can implement each process of the embodiments of the foregoing method, and achieve the same effects and functions, which will not be described here.

[0328] The embodiment of the present application further provides an electronic device, as shown in Figure 10, which is a structural schematic diagram of an electronic device provided by the embodiment of the present application, and includes a processor 1001, a memory 1002, and a bus 1003. The memory 1002 stores machine readable instructions executable by the processor 1001 (for example, the execution instructions corresponding to the acquisition module 901, the simulation module 902, and the test module 903 in the device in Figure 9, etc.), and when the electronic device is running, the processor 1001 and the memory 1002 communicate through the bus 1003, and the machine readable instructions are executed by the processor 1001 to perform the following processing:

[0329] acquire various surgical operation data collected by the surgical robot in the actual execution of the surgery;

[0330] simulate the execution process of the surgery in the simulation environment based on the various surgical operation data;

[0331] acquire a test result corresponding to the test instruction in response to the test instruction for the surgical robot in the execution process of the surgery.

[0332] The embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to perform the steps of the surgical robot test method described in the method embodiment. The storage medium can be a volatile or non-volatile computer readable storage medium.

[0333] The embodiment of the present application further provides a computer program product, and the computer program product carries a program code, and the instructions included in the program code can be used to perform the steps of the surgical robot test method described in the method embodiment. For details, refer to the method embodiment, which will not be described here.

[0334] The computer program product can be specifically implemented by hardware, software, or a combination thereof. In an optional embodiment, the computer program product is specifically embodied as a computer storage medium, and in another optional embodiment, the computer program product is specifically embodied as a software product, such as a software development kit (Software Development Kit, SDK), etc.

[0335] Each embodiment in the present application is described in a progressive manner, and the same or similar parts of each embodiment can be mutually referred to. Each embodiment focuses on the differences from other embodiments. Especially, the device, equipment, and computer readable storage medium embodiments are basically similar to the method embodiments, so the description is simplified, and the relevant parts can be referred to the part of the method embodiment.

[0336] The apparatus, device, and computer readable storage medium provided by the embodiments of the present application correspond to the method, and therefore, the apparatus, device, and computer readable storage medium also have similar beneficial technical effects as the method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the apparatus, device, and computer readable storage medium will not be described here again.

[0337] Those skilled in the art should understand that the embodiments of the present application can be implemented in a method and an apparatus (device or system), or a computer readable storage medium. Therefore, the present application can adopt a completely hardware implementation, a completely software implementation, or an implementation combining software and hardware. Moreover, the present application can adopt the form of a computer readable storage medium implemented on one or more computer readable storage media containing computer usable program code, including but not limited to magnetic disk memory, compact disk memory (CD-ROM), optical memory, etc.

[0338] The present application is described with reference to flowcharts and / or block diagrams of the method, apparatus (device or system) and computer readable storage medium according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce the apparatus for implementing the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0339] These computer program instructions can also be stored in a computer readable memory capable of causing the computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce a product including instruction apparatus, wherein the instruction apparatus implements the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0340] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are performed on the computer or other programmable device to produce a computer implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0341] In a typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memories.

[0342] Memory can include non-persistent memory in computer-readable media, random access memory (RAM), and / or non-volatile memory, such as read only memory (ROM) or Flash memory. Memory is an example of computer-readable media.

[0343] Computer-readable media includes permanent and non-permanent, removable and non-removable media, which can be implemented by any method or technology for storing information. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer-readable storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory, read-only memory, electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device. In addition, although the operations of the methods of the present application are described in a particular order in the drawings, this does not require or imply that the operations must be performed in that particular order, or that all of the illustrated operations must be performed to achieve the desired result. In addition, certain steps can be omitted, a plurality of steps can be combined into one step, and / or a single step can be divided into a plurality of sub-steps.

[0344] Although the spirit and principles of the present application have been described above with reference to several specific embodiments, it should be understood that the present application is not limited to the disclosed specific embodiments, and the division of aspects does not mean that the features in these aspects cannot be combined. The present application is intended to cover various modifications and equivalent arrangements included in the spirit and scope of the appended claims.

Claims

1. A surgical robot testing method, comprising: acquiring various surgical operation data collected by a surgical robot during actual execution of a surgery; simulating a surgery restoration execution process in a simulation environment based on the various surgical operation data; in response to a test instruction for the surgical robot in the surgery restoration execution process, acquiring a test result corresponding to the test instruction.

2. The method of claim 1, wherein, in a case where the test instruction comprises a first test instruction for instructing a motion control test for the surgical robot as a whole, the acquiring of the test result corresponding to the test instruction comprises: acquiring motion axis parameters preset in a motion control test mode; controlling a motion axis of the surgical robot as a whole to move according to the motion axis parameters based on the first test instruction, and displaying a motion control effect in real time on a motion control test page; in a case where the motion axis parameters are adjusted, determining whether motor movement is correctly adjusted; determining the test result corresponding to the first test instruction based on an adjustment result.

3. The method of claim 2, wherein, in a case where the motion axis is controlled to move continuously, the determining of whether the motor movement is correctly adjusted comprises: determining whether the motor movement remains stable during the continuous motion test.

4. The method of claim 2 or 3, wherein, the acquiring of the motion axis parameters preset in the motion control test mode comprises: entering a motion control test page in the motion control test mode; in response to a target rotation position and a target rotation speed input by a user on the motion control test page, acquiring the motion axis parameters.

5. The method of any one of claims 1 to 4, wherein, in a case where the test instruction comprises a second test instruction for instructing a reliability test for the surgical robot as a whole, the acquiring of the test result corresponding to the test instruction comprises: acquiring various surgical operation data loaded in a reliability test mode; controlling the surgical robot as a whole to perform multiple reliability tests in a long-time operation process based on the second test instruction, and displaying a reliability test effect in real time on a reliability test page; in a case where a working speed of the surgical robot is adjusted, determining stability and thermal durability of the surgical robot; determining the test result corresponding to the second test instruction based on a judgment result.

6. The method of claim 5, wherein, the acquiring of the various surgical operation data loaded in the reliability test mode comprises: entering a reliability test page in the reliability test mode; in response to a data loading instruction triggered on the reliability test page, acquiring the various surgical operation data.

7. The method of any one of claims 1 to 6, wherein, in a case where the test instruction comprises a third test instruction for instructing a following test for the surgical robot as a whole, the acquiring of the test result corresponding to the test instruction comprises: acquiring following parameters preset in a following test mode; controlling a control system of the surgical robot as a whole to follow the following parameters based on the third test instruction, and displaying a following effect in real time on a following test page; in a case where the following parameters are modified, determining whether an actual response level of the control system meets a preset response level; Determine the test result corresponding to the third test instruction based on the determination result.

8. The method of claim 7, wherein, The acquisition of the preset following parameter in the following test mode includes: Enter the following test page in the following test mode; In response to the following speed input in the speed loop menu option in the following test page, the following parameter is acquired; or, In response to the following position input in the position loop menu option in the following test page, the following parameter is acquired.

9. The method of any one of claims 1 to 8, wherein, In the case where the test instruction includes a fourth test instruction for instructing to perform an enable test on a motor included in the surgical robot, the acquisition of the test result corresponding to the test instruction includes: Enter the motor enable test page in the motor enable test mode; In response to the trigger operation for the first enable function in the motor enable test page, determine whether the motor state display area is displayed as enabled; and / or, In response to the trigger operation for the second enable function in the motor enable test page, determine whether the motor state display area is displayed as not enabled; and / or, In response to the trigger operation for the third enable function in the motor enable test page, determine whether to automatically send an enable signal and monitor the start and stop process of the motor; and / or, In response to the trigger operation for the fourth enable function in the motor enable test page, determine whether the test result display area has a result indication.

10. The method of any one of claims 1 to 9, wherein, In the case where the test instruction includes a fifth test instruction for instructing to perform a function test on a pedal included in the surgical robot, the acquisition of the test result corresponding to the test instruction includes: Enter the pedal function test page in the pedal function test mode; In response to the pedal input signal of the user, determine whether the pedal response result displayed in the pedal function test page conforms to the actual pedal input action; and / or, In response to the sensitivity adjustment signal input in the pedal function test page, determine whether the pedal input action reinitiated under the sensitivity adjustment signal has an adaptive pedal response result.

11. The method of any one of claims 1 to 10, wherein, In the case where the test instruction includes a sixth test instruction for instructing to perform a state test on a buzzer included in the surgical robot, the acquisition of the test result corresponding to the test instruction includes: Enter the buzzer test page in the buzzer test mode; In response to the trigger operation for the first buzzer function in the buzzer test page, determine whether the buzzer emits sound at a preset frequency; and / or, In response to the trigger operation for the second buzzer function in the buzzer test page, determine whether the output of the buzzer is normal under different response durations; and / or, In response to the volume adjustment operation for the third buzzer function in the buzzer test page, determine whether the buzzer performs the volume adjustment operation to complete the volume increase and decrease test.

12. The method of any one of claims 1 to 11, wherein, In the case where the test instruction includes a composite test instruction for instructing to first test the entire surgical robot and then test each functional module included in the surgical robot, the acquisition of the test result corresponding to the test instruction includes: determine an overall feedback result of testing the surgical robot as a whole; in a case where the overall test result based on comparison of the overall feedback result and a preset standard meets preset test requirements, obtain a module feedback result for each functional module included in the surgical robot; verify based on the module feedback result until a normal operation standard of the surgical robot is met.

13. The method of any one of claims 1 to 12, wherein, The method further includes: generating a test analysis report based on the test result; in response to an output instruction for the test analysis report, output the test analysis report.

14. The method of any one of claims 1 to 12, wherein, The simulation of the surgical execution process in the simulation environment based on the various surgical operation data includes: obtain human body monitoring data collected by various medical devices; fuse the human body monitoring data collected by the medical devices and the various surgical operation data collected by the surgical robot to obtain fused data; simulate a surgical execution process in a simulation environment based on the fused data.

15. The method of any one of claims 1 to 12, wherein, The simulation of the surgical execution process in the simulation environment based on the various surgical operation data includes: obtain a pre-trained data analysis model; analyze the surgical operation data using the data analysis model to determine a surgical operation strategy of the surgical robot; simulate a surgical execution process in a simulation environment based on the surgical operation strategy.

16. A surgical robot testing device, comprising: an obtaining module configured to obtain various surgical operation data collected by a surgical robot during actual execution of a surgery; a simulation module configured to simulate a surgical execution process in a simulation environment based on the various surgical operation data; a testing module configured to obtain a test result corresponding to a test instruction for the surgical robot in the surgical execution process in the simulation environment in response to the test instruction.

17. An electronic device comprising: A processor, a memory, and a bus, the memory stores machine readable instructions executable by the processor, when the electronic device is running, the processor and the memory communicate through the bus, the machine readable instructions are executed by the processor to perform the surgical robot testing method in any one of claims 1 to 15.

18. A computer readable storage medium, the computer readable storage medium stores a computer program, the computer program is executed by a processor to perform the surgical robot testing method in any one of claims 1 to 15.

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