CN118902622A - Verifying device for motion following precision of surgical robot - Google Patents

Abstract

The present invention discloses a verification device for the motion following accuracy of a surgical robot, comprising: a robot system consisting of a mechanical arm cart and a navigator cart, and a motion device, wherein a mechanical arm is installed on the mechanical arm cart, and a test mold tooling is installed on the motion device; a calibration finger tooling is fixedly installed on the mechanical arm by bolts, and the calibration finger tooling is composed of 20 light rods, the base of a calibration finger and a calibration finger. The present invention simulates human body movement, and the position verification parameters are stable and reliable. It can quickly match the positions of relevant feature points, so that the surgical robot is more accurate when verifying the motion accuracy. The overall motion accuracy of the surgical robot is verified and parameterized, ensuring the precise position requirements of the surgical robot; it can provide accuracy verification at various angles for verification accuracy, and can reduce the current verification difficulty of the motion following of the surgical robot.

Description

A verification device for the motion following accuracy of a surgical robot

Technical Field

The present invention relates to the technical field of surgical robots, and more particularly to a device for verifying the motion following accuracy of a surgical robot.

Background Art

Surgical robots are highly integrated medical devices that can perform complex surgeries accurately. This system is generally composed of three main parts: surgical control cart, robotic arm cart and visual navigation cart. The motion tracking hardware of the surgical robot is mainly composed of a robotic arm, surgical instruments mounted on the robotic arm, a navigator, a reference device, etc. Its working method is that the navigator identifies the reference device on the patient to confirm the patient's position, sends the patient's position to the robotic arm, and allows the robotic arm to drive the surgical instrument to move above the patient, thereby maintaining the motion position of both parties.

The main purpose of the surgical robot motion tracking is to meet the needs of patients moving during surgery. The robot vision system will promptly identify the patient's movement and recalculate the position of the surgical instruments and the patient, so that the surgical instruments can move with the patient and maintain the same position distance. At present, in order to simulate the movement of patients during surgery, this technology uses a manual handheld reference device to move in space to check whether the surgical instruments move synchronously with the reference device in the hand. The inspection method is relatively simple;

In the prior art, it is difficult to ensure the motion accuracy of a manual handheld reference device, it is impossible to digitize the verification results, it is impossible to accurately provide parameters of position accuracy, and it is impossible to verify whether the motion parameters are consistent with the actual motion parameters.

Summary of the invention

In view of the problems existing in the prior art, the purpose of the present invention is to provide a device for verifying the motion following accuracy of a surgical robot to solve the background technical problems.

To achieve the above object, the present invention adopts the following technical solution:

A device for verifying the motion following accuracy of a surgical robot comprises: a robot system consisting of a mechanical arm cart and a navigator cart, and a motion device, wherein the mechanical arm cart is equipped with a mechanical arm, and the motion device is equipped with a test mold tooling;

The robot arm is fixed with a calibration finger tooling by bolts, and the calibration finger tooling is composed of 20 polished rods, a calibration finger root and a calibration finger. The calibration finger root is first positioned by a pin and then fixed to the robot arm flange by screws;

The test mold tooling is composed of a test mold body and a fixed seat fixedly mounted on the test mold body, a 40 polished rod is fixedly mounted on the base of the calibration finger and the test mold body, and a reference device is fixedly mounted on the base of the calibration finger and the fixed seat;

The motion device is composed of an emergency stop, a touch screen, a chassis, a mounting plate and a foot;

A display arm and a navigator arm are installed on the navigator cart, and a display and a navigator are fixedly installed on the display arm and the navigator arm respectively.

As a further description of the above technical solution:

The test phantom is processed with multiple pin holes for placing the 20 polished rod and the 40 polished rod into position. The surface of the test phantom is processed with eight-millimeter circular feature points, and three pairs of five-millimeter circular pits are processed on the three orthogonal surfaces of the test phantom for measuring the motion accuracy of the motion device.

As a further description of the above technical solution:

The reference device surface is processed with evenly distributed threaded holes, each of which is threadedly connected with an adapter, and a reflective ball is fixedly mounted on the adapter for identification by the navigator.

As a further description of the above technical solution:

The 20 polished rod is precisely processed with a cylindrical surface to match the cylindricality of the base of the calibration finger. The 20 polished rod is inserted into the pin hole at the base of the calibration finger by means of a pin. A screw hole is processed on the base of the calibration finger, and a screw is used to thread the 20 polished rod.

As a further description of the above technical solution:

The relevant holes processed on the test mold are all processed by CNC precision, the processing accuracy of the lower surface of the adapter is negative tolerance, and it is installed by interference fit. As a further description of the above technical solution:

The 20mm polished rod, 40mm polished rod and calibration finger are all processed with a semi-spherical feature with a diameter of 5 mm, and the semi-spherical feature is matched with the circular pit in the test phantom for use in conjunction.

As a further description of the above technical solution:

The installation positions of the 20 polished rods and the 40 polished rods are selected by opening corresponding installation holes at the base of the calibration finger and the reference device.

As a further description of the above technical solution:

The mounting plate and the bottom of the test mold are both processed with six corresponding four-millimeter pin holes, and the mounting plate and the test mold are fixed by mounting pins. The mounting plate is slidably mounted on the chassis and driven by a driving device in the chassis.

Compared with the prior art, the advantages of the present invention are:

(1) This solution uses a motion device in conjunction with a reference device to allow the position of the reference device to change randomly, replacing the manually held reference device and simulating human body movement. The position verification parameters are stable and reliable. The calibration tooling uses the ball head of the 20-light rod and the ball pit of the test model to quickly match the positions of relevant feature points. These can make the surgical robot more accurate when verifying the motion accuracy. These improvements have verified and parameterized the overall motion accuracy of the surgical robot, ensuring the precise positioning requirements of the surgical robot.

(2) In this solution, the calibration finger tooling, the test mold tooling and the motion device constitute a comprehensive verification implementation. By coordinating the calibration finger ball with the ball pit, the accuracy of the position can be quickly calibrated. By testing the various optical rods and feature points on the test model, the accuracy verification can be provided at various angles, which can reduce the current verification difficulty of surgical robot motion tracking.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1 is a schematic structural diagram of the present invention;

FIG2 is a schematic diagram of the connection structure between the test mold tooling and the motion device of the present invention;

FIG3 is a schematic structural diagram of a finger calibration tooling of the present invention;

FIG4 is a schematic structural diagram of a test mold tooling of the present invention;

FIG. 5 is a schematic diagram of the structure of the test phantom of the present invention.

Description of the numbers in the figure:

1. Calibration finger tooling; 2. Test mold tooling; 21. Test mold; 22. Fixed seat; 3. Navigation instrument cart; 4. Robotic arm cart; 5. Robotic arm; 6. Movement device; 61. Emergency stop; 62. Touch screen; 63. Chassis; 64. Mounting plate; 65. Foot; 7. Navigation instrument; 8. Display; 9. Display arm; 10. Navigation instrument arm; 11. 20 optical rod; 12. Reflective ball; 13. Calibration finger base; 14. Adapter; 15. Reference device; 16. 40 optical rod; 17. Calibration finger.

DETAILED DESCRIPTION

The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

Please refer to Figures 1-5, the present invention provides Example 1:

A device for verifying the motion following accuracy of a surgical robot comprises: a robot system consisting of a robot arm trolley 4 and a navigator trolley 3, and a motion device 6, wherein the robot arm trolley 4 is equipped with a robot arm 5, and the motion device 6 is equipped with a test mold tooling 2.

A calibration finger tooling 1 is fixedly installed on the robot arm 5 by bolts. The calibration finger tooling 1 is composed of a 20-light rod 11, a calibration finger root 13 and a calibration finger 17. The calibration finger root 13 is first positioned by a pin and then fixed to the flange of the robot arm 5 by screws.

The test mold tooling 2 consists of a test mold body 21 and a fixed seat 22 fixedly installed on the test mold body 21. A 40-degree optical rod 16 is fixedly installed on the calibration finger root 13 and the test mold body 21, and a reference device 15 is fixedly installed on the calibration finger root 13 and the fixed seat 22.

The motion device 6 is composed of an emergency stop 61, a touch screen 62, a chassis 63, a mounting plate 64 and a foot 65. In the motion device 6, threaded holes and pin holes are set on the mounting plate 64, which are all made by precision machining. Its control method is provided by PLC, and all motion parameters are displayed on the touch screen 62. When it is necessary to pause, press the emergency stop 61. After the problem is solved, reversely rotate the emergency stop 61 to open the knob. At this time, all devices of the motion device 6 are powered on. Four foot feet 65 are fixed at the bottom of the motion device 6 by threads, and the heights of all foot feet 65 are measured to be consistent;

A display arm 9 and a navigator arm 10 are installed on the navigator cart 3 , and a display 8 and a navigator 7 are fixedly installed on the display arm 9 and the navigator arm 10 respectively.

The reference device 15 is installed on the motion device 6, and the robotic arm 5 and the calibration finger tooling 1 are installed. The navigator 7 can simultaneously identify the reference device 15 and the calibration finger tooling 1. The motion device 6 starts to move with the reference device 15 on the motion device 6 through the start button. At this time, the calibration finger tooling 1 on the robotic arm 5 will also move along. At this time, the movement parameters of the motion device 6 can be verified with the position parameters of the calibration finger tooling 1 identified by the navigator 7.

The specific verification steps are as follows:

Step 1: Before verification, the STL data of the test mold fixture 2 needs to be imported into the navigator 7 as CT data. At this time, all parameters of the test mold fixture have been measured, and the calibration finger fixture 1 has been installed on the flange of the robot arm 5. At this time, there is a reference device 15 in the calibration finger fixture 1 and there is also a reference device 15 in the test mold fixture 2;

Step 2: calibrate the calibration finger fixture 1, match the ball head of the calibration finger 17 with the circular pit of the measuring phantom, calibrate the position through the navigator 7, expose the reference device 15 on the test mold fixture 2 to the field of view of the navigator 7, and calibrate the position of the reference device 15 in the test mold fixture 2;

Step 3: Install the test mold tooling 2 on the motion device 6, turn on the motion device 6, set the movement mode, and let the test mold tooling 2 move. The movement data is displayed on the touch screen 62 on the motion device 6, and the robot arm 5 drives the calibration finger tooling 1 to follow the test mold tooling 2 to move;

Step 4: Verify the position parameters of the moving test mold fixture 2 relative to the position parameters of the calibration finger fixture 1 identified by the navigator 7 .

Among them, the navigator 7 is able to identify the reference device 15 on the motion device 6 by: using the sensor of the navigation system (such as a camera, an electromagnetic sensor, etc.) to continuously or periodically capture the position data of the reference device 15, and then process the captured position data to eliminate noise and errors, and then convert the position data of the reference device 15 on the motion device 6 from the sensor coordinate system to the working coordinate system of the surgical robot, and use the IK algorithm to calculate the movement that the robot arm 5 needs to perform, and complete the calibration of the finger tooling 1 and the reference device 15 thereon to track the test mold tooling 2.

In the present invention, the surface of the reference device 15 is processed with evenly distributed threaded holes, each of which is threadedly connected with an adapter 14 , and a reflective ball 12 is fixedly mounted on the adapter 14 for identification by the navigator 7 .

The relevant holes processed on the test mold 21 are all processed by CNC precision machining, and the machining accuracy of the lower surface of the adapter 14 is a negative tolerance, and it is installed by interference fit.

The interference fit installation method can ensure the stability of the connection between the reference device 15 and the test phantom 21 or the base 13 of the calibration finger after installation, effectively preventing the reference device 15 from causing excessive deviation in the calibration value, and improving the accuracy of the calibration data.

In the present invention, six corresponding four-millimeter pin holes are processed on the mounting plate 64 and the bottom of the test mold 21, and the mounting plate 64 and the test mold 21 are fixed by mounting pins. The mounting plate 64 is slidably mounted on the chassis 63 and driven by the driving device in the chassis 63.

An electric guide rail (not shown in the figure) is installed inside the chassis 63. The electric guide rail in the chassis 63 is controlled by the emergency stop 61 and the start button to drive the test model 21 on the mounting plate 64 to move in a straight line, simulating the position offset of the patient on the bed. The touch screen 62 displays the working progress of the electric guide rail and the displacement of the test model 21 to perform test verification.

The present invention utilizes the motion device 6 in conjunction with the reference device 15 so that the position of the reference device 15 can change randomly, replacing the manually held reference device 15 and simulating human body movement. The position verification parameters are stable and reliable. The calibration tooling is used in conjunction with the ball head of the optical rod 11 20 and the ball pit of the test model 21 to quickly match the positions of relevant feature points. These can make the surgical robot more accurate when verifying the motion accuracy. These improvements have verified and parameterized the overall motion accuracy of the surgical robot, ensuring the precise positioning requirements of the surgical robot.

The calibration finger tooling 1, the test mold tooling 2 and the motion device 6 constitute a comprehensive verification implementation. By coordinating the calibration finger 17 ball with the ball pit, the accuracy of the position can be quickly calibrated. By testing the various light rods and feature points on the test model 21, accuracy verification at various angles can be provided for verification accuracy, which can reduce the current verification difficulty of surgical robot motion following.

Please refer to Figures 3-5. Based on Example 1, the present invention further provides Example 2:

A plurality of pin holes are processed on the test mold 21 for placing the 20 polished rods 11 and 40 polished rods 16 into position. An eight-millimeter circular feature point is processed on the surface of the test mold 21, and three pairs of five-millimeter circular pits are processed on three orthogonal surfaces of the test mold 21 for measuring the motion accuracy of the motion device 6.

The 20 polished rod 11, 40 polished rod 16 and calibration finger 17 are all processed with a semi-spherical feature with a diameter of five millimeters, and the semi-spherical feature matches the circular pit in the test phantom 21 for use in conjunction.

In the present invention, the 20 polished rod 11 is precisely processed with a cylindrical surface and matched with the cylindricity of the calibration finger root 13. The 20 polished rod 11 is inserted into the pin light hole of the calibration finger root 13 by means of a pin. A screw circular hole is processed on the calibration finger root 13, and a screw is used to threadably fix the 20 polished rod 11.

The 20 polished rod 11, 40 polished rod 16 and calibration finger 17 are all processed with a semi-spherical feature with a diameter of five millimeters, and the semi-spherical feature matches the circular pit in the test phantom 21 for use in conjunction.

The installation positions of the 20 polished rod 11 and the 40 polished rod 16 are selected by opening corresponding installation holes on the calibration finger root 13 and the reference device 15 .

The 20 polished rods 11 and 40 polished rods 16 can be installed at appropriate positions on the test phantom 21, thereby adjusting the calibration positions of the 20 polished rods 11 and 40 polished rods 16, and adjusting the calibration position mode according to verification requirements to improve verification accuracy.

The above is only a preferred specific implementation of the present invention; however, the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and its improved conception within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims (8)

1. A device for verifying the motion following accuracy of a surgical robot, characterized in that it comprises: a robot system consisting of a robot arm trolley (4) and a navigation trolley (3), and a motion device (6), wherein a robot arm (5) is installed on the robot arm trolley (4), and a test mold tooling (2) is installed on the motion device (6); The mechanical arm (5) is fixedly mounted with a calibration finger tool (1) by means of bolts. The calibration finger tool (1) is composed of 20 light rods (11), a calibration finger root (13) and a calibration finger (17). The calibration finger root (13) is first positioned by means of a pin and then fixed to the flange of the mechanical arm (5) by means of screws. The test mold tooling (2) is composed of a test mold (21) and a fixed seat (22) fixedly mounted on the test mold (21), a 40-meter polished rod (16) is fixedly mounted on the base of the calibration finger (13) and the test mold (21), and a reference device (15) is fixedly mounted on the base of the calibration finger (13) and the fixed seat (22); The motion device (6) is composed of an emergency stop (61), a touch screen (62), a chassis (63), a mounting plate (64) and a foot (65); A display arm (9) and a navigator arm (10) are installed on the navigator cart (3), and a display (8) and a navigator (7) are fixedly installed on the display arm (9) and the navigator arm (10) respectively. 2. A surgical robot motion following accuracy verification device according to claim 1, characterized in that: a plurality of pin light holes are processed on the test phantom (21) for placing the 20 light rod (11) and the 40 light rod (16) into position, and eight millimeter circular feature points are processed on the surface of the test phantom (21), and three pairs of five millimeter circular pits are processed on three orthogonal surfaces of the test phantom (21) for measuring the motion accuracy of the motion device (6). 3. A surgical robot motion following accuracy verification device according to claim 1, characterized in that: the surface of the reference device (15) is processed with evenly distributed threaded holes, each of the threaded holes is threadedly connected with an adapter (14), and a reflective ball (12) is fixedly installed on the adapter (14) for identification of the navigator (7). 4. A surgical robot motion following accuracy verification device according to claim 2, characterized in that: the 20-gauge rod (11) is precisely processed with a cylindrical surface and matched with the base (13) of the calibration finger for cylindricity, and the 20-gauge rod (11) is inserted into the pin hole of the base (13) of the calibration finger by means of a pin, and a screw hole is processed on the base (13) of the calibration finger, and a screw is used to threadably fix the 20-gauge rod (11). 5. A surgical robot motion following accuracy verification device according to claim 1, characterized in that: the relevant hole positions processed on the test phantom (21) are all processed by CNC precision machining, the machining accuracy of the lower surface of the adapter (14) is a negative tolerance, and it is installed by interference fit. 6. A surgical robot motion following accuracy verification device according to claim 2, characterized in that: the 20 optical rods (11), 40 optical rods (16) and calibration fingers (17) are all processed with semi-spherical features with a diameter of five millimeters, and the semi-spherical features are matched with the circular pits in the test model (21) for use in conjunction. 7. A surgical robot motion following accuracy verification device according to claim 1, characterized in that: the installation positions of the 20 optical rods (11) and the 40 optical rods (16) are selected by opening corresponding installation holes on the base of the calibration finger (13) and the reference device (15). 8. A surgical robot motion following accuracy verification device according to claim 1, characterized in that: six four-millimeter pin holes are processed on the mounting plate (64) and the bottom of the test phantom (21), and the mounting plate (64) and the test phantom (21) are fixed by mounting pins, and the mounting plate (64) is slidably mounted on the chassis (63) and driven by a driving device in the chassis (63).