CN111134846B

CN111134846B - Assembly and method for detecting precision of active grinding surgical robot system

Info

Publication number: CN111134846B
Application number: CN202010060897.2A
Authority: CN
Inventors: 韩佳奇; 彭聪; 秦蓁
Original assignee: Tinavi Medical Technologies Co Ltd
Current assignee: Tinavi Medical Technologies Co Ltd
Priority date: 2020-01-10
Filing date: 2020-01-19
Publication date: 2021-05-07
Anticipated expiration: 2040-01-19
Also published as: CN111134846A

Abstract

An assembly and method for detecting accuracy of an active abrasive surgical robotic system is provided. The active abrasive surgical robotic system may include a medical imaging device. The assembly for detecting the accuracy of an active abrasive surgical robotic system may include: a frame having predetermined dimensions and mounting features and containing a material capable of being developed by the medical imaging device; and a test mold detachably mounted on the mounting portion and having a predetermined shape and size. The method detects the precision of the active grinding surgical robot system by acquiring the space coordinate information of the test mould and the detection probe and calculating the transformation relation between the test mould and the detection probe. By utilizing the component and the method, the precision detection result of the active grinding surgical robot system can be obtained, and the result can reflect the comprehensive precision of the whole system.

Description

Assembly and method for detecting precision of active grinding surgical robot system

Technical Field

The present application relates to the field of medical equipment technology, and in particular, to an assembly and method for detecting the accuracy of an active grinding surgical robotic system.

Background

The intelligent operation equipment is the core equipment for promoting the development and popularization of minimally invasive operations, and the medical robot is the product of advanced technology fusion as the leading-edge technology key research content. The orthopedic surgery robot is a subdivision field of medical robots, can realize more individualized surgery scheme design and simulation, and provides surgery positioning accuracy exceeding the limit of human hands, thereby greatly facilitating the operation of doctors, effectively reducing the risk of complications, improving the surgery quality, shortening the postoperative rehabilitation period, and reducing the medical cost on the whole.

For example, the active grinding surgical robot system is a novel orthopedic surgical robot system, can process various bone cavities matched with prostheses, better meets the requirement of high fit between an artificial joint and the bone cavities, can be favorable for the stability of the joint, can greatly prolong the service life of the joint, and reduces the pain of patients. In addition, the number of the vertebral plate decompression operations at home and abroad is increased year by year, but related experienced doctors are seriously deficient, and a grinding operation robot system with high safety, accurate precision and good stability is also an urgent need of the spine department.

On one hand, the positioning accuracy is the core performance and the outstanding advantages of the orthopaedic surgical robot system compared with the traditional free-hand surgery method, so that the accurate evaluation and detection of the positioning accuracy of the orthopaedic surgical robot system are key links for evaluating the product performance and guaranteeing the surgical safety and effect, and are important bases for technology research and development, product development and verification. On the other hand, the precision of the active grinding surgical robot system is different from that of other surgical robots, and the active grinding surgical robot system is not single precision but is composed of two parts, wherein one part is positioning precision, and the other part is size precision of the cavity shape. The existing active grinding system has the defects of non-uniform precision detection indexes and missing detection methods, and is difficult in product performance evaluation and product inspection.

Disclosure of Invention

In order to solve the above-mentioned problems occurring in the prior art, the present application provides an assembly and method for detecting the accuracy of an active abrasive surgical robot system. The active abrasive surgical robotic system may include a medical imaging device.

The assembly for detecting the accuracy of an active abrasive surgical robotic system may include:

a frame having a predetermined size with a mounting portion, the frame containing a material capable of being developed by a medical imaging device; and

and a test mold detachably mounted on the mounting part and having a predetermined shape and size.

According to one embodiment, the mounting portion is located at a predetermined position of the chassis.

According to one embodiment, the frame has a plurality of index points, each located at a predetermined position, for establishing a theoretical coordinate system of the test mold.

According to one embodiment, the frame is rectangular and has four marker points, each disposed adjacent a long side of the rectangle.

According to one embodiment, the active abrasive surgical robotic system further comprises a surgical robot, the assembly further comprising:

the detection probe is used for being installed at the tail end of a robot arm of the surgical robot and has a preset shape and a preset size, and the detection probe is provided with a plurality of mark points which are respectively positioned at different preset positions of the detection probe.

According to one embodiment, the detection probe has a body and a plurality of branches, the plurality of marker points being respectively provided on the body and in the centre of the ends of the plurality of branches.

According to one embodiment, the landmark point is a ball socket.

According to one embodiment, the assembly further comprises:

a plurality of plug gauges having the same predetermined shape and having different predetermined sizes for detecting the size of the ground cavity.

According to another aspect of the present application, the active grinding surgical robot system includes a surgical robot and a grinding head, and the method for detecting the accuracy of the active grinding surgical robot system may include:

acquiring space coordinate information of a testing mold for simulating the operated human skeleton in the active grinding operation;

controlling a robot arm of the surgical robot to move to a position according to a surgical planning instruction so as to enable a detection probe mounted at the tail end of the robot arm to be located at a planned position, wherein the detection probe is used for simulating the grinding head;

acquiring space coordinate information of the detection probe; and

and calculating the transformation relation between the space coordinate information of the test mould and the space coordinate information of the detection probe.

According to one embodiment, the spatial coordinate information of the test mold and the spatial coordinate information of the detection probe are measured by a spatial position measuring device.

According to one embodiment, acquiring spatial coordinate information of a test jig for simulating a human bone operated in an active grinding operation includes:

measuring the spatial positions of a plurality of index points on a rack, wherein the rack has a predetermined size, and the test mold is detachably mounted on the rack; and

and determining the space coordinate information of the test mould according to the space positions of the plurality of mark points.

According to one embodiment, acquiring spatial coordinate information of the detection probe comprises:

measuring the spatial positions of a plurality of marker points on the detection probe; and

and determining the space coordinate information of the detection probe according to the space positions of the plurality of mark points.

According to one embodiment, the active grinding surgical robot system further comprises a medical imaging device and an upper computer, and before controlling the robot arm of the surgical robot to move to a position according to a surgical planning instruction so that the detection probe mounted at the tail end of the robot arm is located at a planned position, the method further comprises:

controlling the medical imaging equipment to scan and image the rack on which the test mold is installed and carrying out image registration; and

and receiving an operation planning instruction of an operator, wherein the operation planning instruction comprises a planned position of the grinding head planned on the upper computer by the operator.

According to one embodiment, the method further comprises:

and controlling a robot arm of the surgical robot according to the surgical planning instruction to drive the grinding head mounted on the robot arm to grind the test mold so as to form an inner cavity with a preset shape and size in the test mold.

According to one embodiment, the method further comprises:

the dimensional accuracy of the ground cavity is checked using a plurality of plug gauges each having the predetermined shape but having a different predetermined size.

According to one embodiment, before controlling a robot arm of the surgical robot to bring the grinding head mounted on the robot arm to grind the test mold according to the surgical planning instruction, the method further comprises:

the test probe is removed from the robotic arm and the abrasive tip is mounted on the robotic arm.

Aiming at the problems in the prior art, the application provides a component and a method for detecting the precision of an active grinding surgical robot system, the component and the method can be used for obtaining the precision detection result of the active grinding surgical robot system, and the result reflects the comprehensive positioning precision of the whole system, on one hand, the component and the method not only comprise position errors, but also comprise angle errors, so that the comprehensive evaluation can be given to the precision of the whole system; on the other hand, since the whole operation process of the actual clinical operation is simulated, the result covers the comprehensive errors of the optical equipment, the computing equipment, the operating equipment and the like of the whole system in various aspects of software, hardware and the like.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 shows a schematic perspective view of components for detecting accuracy of an active abrasive surgical robotic system mounted on an inspection platform according to one embodiment of the present application.

Fig. 1A shows a schematic perspective view of the frame in the assembly.

FIG. 2 illustrates a schematic perspective view of components for detecting accuracy of an active abrasive surgical robotic system from a bottom surface, according to one embodiment of the present application.

FIG. 3 illustrates a schematic perspective view of a detection probe for detecting components of an active abrasive surgical robotic system precision in accordance with one embodiment of the present application.

FIG. 4 shows a schematic perspective view of a plurality of plug gauges used to detect components of an active abrasive surgical robotic system precision in accordance with one embodiment of the present application.

Fig. 4A shows a schematic diagram of detecting the grinding dimensional accuracy of a test mold using a plug gauge.

FIG. 5 illustrates a flow chart of a method of detecting accuracy of an active abrasive surgical robotic system according to one embodiment of the present application.

Fig. 6 shows a flowchart for acquiring spatial coordinate information of a test mold according to an embodiment of the present application.

FIG. 7 illustrates a flow chart for acquiring spatial coordinate information of a detection probe according to one embodiment of the present application.

Fig. 8 illustrates a flow chart of a method of detecting accuracy of an active abrasive surgical robotic system according to another embodiment of the present application.

Detailed Description

For a better understanding of the technical solutions and advantages of the present application, the following detailed description is provided in conjunction with the accompanying drawings and specific embodiments. The specific embodiments described herein are merely illustrative of the present application and are not intended to be limiting of the present application. In addition, the technical features mentioned in the embodiments of the present application described below may be combined and used unless they conflict with each other, thereby constituting other embodiments within the scope of the present application.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "straight," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientation or positional relationship indicated in the drawings, which is merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

The following description provides many different embodiments or examples for implementing different structures of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

An orthopaedic surgical robotic system generally includes three functional modules: the system comprises an optical camera shooting and displaying system (hereinafter referred to as optical tracking equipment), a computer-assisted preoperative planning and navigation system (hereinafter referred to as an upper computer), and a robot-assisted surgery operation platform (hereinafter referred to as a surgical robot). In the process of the robot-assisted active grinding operation, computer-assisted preoperative planning is firstly needed, and based on scanned images of a patient joint such as CT (computed tomography) and the like, registration among three coordinate systems of a medical image, an optical camera system and a patient is carried out by using an image processing technology, and a realistic graph is generated. The doctor determines the operative plan of osteotomy anatomical position, prosthesis implantation position and direction and the like in the three-dimensional visualization environment. Based on the operation scheme planned by the doctor, the upper computer forms a control instruction, controls the active grinding operation robot to carry power or a guide device (such as a grinding head) to move to the affected part of the patient, reaches an operation preset position and forms the size of a cavity for mounting the prosthesis or provides guide for the doctor to perform power operation to form the cavity, and finally the doctor implants the prosthesis into the cavity and performs corresponding fixing operation to complete active grinding operation. In the whole process, the optical tracking device captures and tracks the spatial position of the robot arm, the patient and the like of the surgical robot at all times.

Since the real surgical object is applied to the real patient, the detection of the system accuracy cannot be performed in the real surgery. The technical idea of the present application is that the precision detection operation only uses the simulation object to implement the robot operation process, that is, the detection tool is used to simulate and restore the actual process of the clinical active grinding operation, and obtain the precision detection result, that is, the error between the theoretical positioning and the actual positioning of the surgical robot system is obtained through the process, and the error may include a position error and an angle error, that is, the comprehensive positioning precision. The system precision detected according to the method is consistent with the precision of practical clinical application, the operation is simple and convenient, and the system positioning precision of the active grinding surgical robot can be accurately and comprehensively evaluated.

FIG. 1 shows a schematic perspective view of components mounted on an inspection platform for inspecting the accuracy of an active abrasive surgical robotic system according to one embodiment of the present application; fig. 1A shows a schematic perspective view of the frame in the assembly. As shown in fig. 1, the assembly 100 may include a frame 110 and a test die 120. The rack 110 may be mounted on different operating platforms according to actual test requirements. For example, the rack 110 shown in fig. 1 may be fixed on the operation platform T by screws, and during the detection of the system precision, the position of the rack 110 is fixed relative to the operation platform T to ensure the accuracy of the precision detection result. The frame 110 has a predetermined size so that spatial coordinate information of the test mold 120 can be determined by measuring the positions of some feature points on the frame 110 during the inspection with system accuracy (a specific process will be described in detail later). As shown in fig. 1A, the frame 110 may have a mounting portion 111 for mounting the test mold 120. It is understood that the mounting portion 111 may also have a predetermined size and be located at a predetermined position of the frame 110, so that when the test mold 120 is mounted on the mounting portion 111, the positional relationship and the spatial coordinate relationship between the test mold 120 and the frame 110 are known.

The test jig 120 is detachably mounted to the frame 110 for simulating a human bone to be ground in an active grinding operation. The test mold 120 has a predetermined shape and size, and may be designed according to actual needs. For example, prior to the precision checking operation, the test mold 120 is a block, and then after the precision checking operation, the active grinding surgical robot system actively grinds the inner cavity 121 having a predetermined shape and size in the test mold 120, and the inner cavity 121 simulates the inner cavity ground in the human bone ground in the active grinding operation. The test mold 120 is an object to be ground in the precision detection process, and before the grinding operation is started, there is no fine requirement for the size of the test mold 120, and it is only necessary to be able to be mounted on the mounting portion 111 of the frame 110 and occupy the space of the inner cavity to be ground in terms of volume. After the active grinding operation, the ground cavity 121 needs to have a predetermined shape and size in order to be measured. As shown in fig. 1, the test mold 120 is fixed to the frame 110 by a mounting block P, and it is understood that other fixing means may be adopted to detachably mount the test mold 120 to the frame 110.

The gantry 110 may contain material that can be visualized by a medical imaging device (e.g., CT) of the system. Accordingly, in simulating a real active milling procedure, an image of the gantry 110 may be obtained using the medical imaging device. The frame 110 may be made of a material that can be developed by the medical imaging apparatus as a whole, or may be coated with a coating material that can be developed by the medical imaging apparatus on its surface, all for the purpose of enabling an image showing its appearance to be obtained by the medical imaging apparatus.

FIG. 2 illustrates a schematic perspective view of components for detecting accuracy of an active abrasive surgical robotic system from a bottom surface, according to one embodiment of the present application. As shown in fig. 2, the frame 110 may have a plurality of index points 112A, 112B, 112C, 112D, which are respectively located at predetermined positions of the frame 110, and thus since the size of the frame 110 and the positional relationship of the test mold 120 mounted thereon are known, the positional relationship between the index points and the test mold 120 is also known. Therefore, if the spatial positions of these marker points are obtained, a theoretical coordinate system of the test mold 120 can be established therefrom.

As shown in fig. 2, the rack 110 may be substantially rectangular in overall, and four

marking points

112A, 112B, 112C, 112D on the rack 110 are respectively disposed adjacent to the long sides of the rectangle. According to one embodiment, the marker points 112A, 112B, 112C, 112D on the gantry 110 may be spherical sockets that are both distinguishable on an image developed by the medical imaging device and whose spatial positions are measured by a spatial position measurement device (e.g., a three-coordinate measuring machine).

FIG. 3 illustrates a schematic perspective view of a detection probe for detecting components of an active abrasive surgical robotic system precision in accordance with one embodiment of the present application. According to this embodiment, the assembly 100 may further include a detection probe 130 as shown in fig. 3, and the detection probe 130 may be mounted at the end of a robot arm (not shown) of a surgical robot of the system and may have a predetermined shape and size. In the present embodiment, the detection probe 130 is a grinding head (not shown) for simulating active grinding operation, and by detecting the spatial position of the detection probe 130 mounted on the robot arm of the surgical robot, the spatial position of the grinding head if it is mounted on the robot arm can be converted. As shown in fig. 3, the detection probe 130 may have a plurality of marker points 131, and the plurality of marker points 131 may be respectively located at different predetermined positions of the detection probe 130. For example, as shown in fig. 3, the inspection probe 130 may have a body 133 and a plurality of branches 132, and a plurality of marking points 131 may be respectively disposed on the body 133 and at the center of the ends of the plurality of branches 132. The design of the branch structure of the inspection probe 130 makes it possible to set a marker point on the body of the inspection probe and the end of each branch. Therefore, if the spatial positions of these marker points 131 are obtained, the coordinate system of the inspection probe 130 can be established therefrom. According to one embodiment, similar to the marker points 112A, 112B, 112C, 112D on the gantry 110, the marker points 131 on the detection probe 130 may also be spherical sockets whose spatial positions can be measured by a spatial position measurement device (e.g., a three-coordinate measuring machine).

FIG. 4 shows a schematic perspective view of a plurality of plug gauges of an assembly for detecting the accuracy of an active abrasive surgical robotic system according to one embodiment of the present application; fig. 4A shows a schematic diagram of detecting the grinding dimensional accuracy of a test mold using a plug gauge. According to this embodiment, the assembly 100 may also include a plurality of plug gauges 140 as shown in FIG. 4, the plurality of plug gauges 140 having the same predetermined shape but different predetermined dimensions. For example, as shown in fig. 1 and 4, in the accuracy detection process, the cavity 121 of the test mold may be ground into a cube, and then in order to detect the dimensional accuracy of the ground cavity 121, the plug gauge is also designed into a cube. For example, if the theoretical grinding dimension of the cavity is to have a ridge length of 3cm, the plug gauge may be sized according to the tolerance requirement for the cavity, e.g., if the tolerance requirement for the cavity is 1mm, the ridge lengths of multiple plug gauges of different sizes may be 3cm, 2.9cm, 3.1cm, etc., respectively. It is understood that the grinding cavity and the plug gauge can be designed according to actual requirements, and the size difference between the plug gauges can also be designed according to actual requirements.

FIG. 5 illustrates a flow chart of a method of detecting accuracy of an active abrasive surgical robotic system according to one embodiment of the present application. As shown in fig. 5, the method 200 may include steps S210, S220, S230, S240. In step S210, spatial coordinate information of a test jig for simulating a human bone operated in an active grinding operation is acquired. The test mold in step S210 may be the test mold 120, for example, the spatial coordinate information may be a spatial coordinate system established with the test mold 120 as a reference, including an origin and coordinate axes. According to one embodiment, the spatial coordinate information of the test mold 120 may be measured by a spatial position measuring device (such as a three-coordinate measuring machine), in a manner to be described in detail below.

In step S220, according to the surgical planning instruction, the robot arm of the surgical robot in the control system moves to a position so that the detection probe mounted at the end of the robot arm is located at the planned position. The inspection probe in step S220 is used for a grinding head in a simulation system, which may be the inspection probe 130 described above. In this step, the robot arm of the surgical robot may be controlled to move in place, and then the detection probe 130 is mounted on the robot arm; or the detection probe 130 can be installed on the robot arm of the surgical robot first, and then the robot arm is controlled to drive the detection probe 130 to move in place. The specific surgical planning steps that result in surgical planning instructions are described in detail below.

In step S230, spatial coordinate information of the detection probe is acquired. The detecting probe in step S230 may also be the detecting probe 130. For example, the spatial coordinate information may be a spatial coordinate system established with reference to the detection probe 130, including an origin and coordinate axes. According to one embodiment, the spatial coordinate information of the inspection probe 130 may be measured by a spatial position measuring device (such as a three-coordinate measuring machine), in a manner described in detail below.

In step S240, a transformation relationship between the spatial coordinate information of the test mold and the spatial coordinate information of the inspection probe is calculated. The spatial coordinate information of the test mold obtained in step S210 may be regarded as theoretical positioning of the active grinding surgical robot system; the spatial coordinate information of the detection probe obtained in step S230 can be regarded as the actual positioning of the system after the surgical planning and operation. Then, the transformation relationship between the spatial coordinate information obtained in the two steps can reflect the deviation between the actual positioning and the theoretical positioning.

Therefore, the positioning accuracy detection result of the active grinding surgical robot system is obtained, and the result reflects the comprehensive positioning accuracy of the whole system, on one hand, the result not only comprises a position error (namely, a position deviation between the original points of the two coordinate systems) but also comprises an angle error (namely, an angle deviation between coordinate axes of the two coordinate systems), so that comprehensive evaluation can be given to the accuracy of the whole system; on the other hand, since the whole operation process of the actual clinical operation is simulated, the result covers the comprehensive errors of the optical equipment, the computing equipment, the operating equipment and the like of the whole system in various aspects of software, hardware and the like.

Fig. 6 shows a flowchart for acquiring spatial coordinate information of a test mold according to an embodiment of the present application. As shown in fig. 6, the step S210 may include sub-steps S211 and S212. In sub-step S211, the spatial positions of a plurality of marker points on the gantry are measured. The frame in the substep S211 may be the frame 110 described above, i.e., it may have a predetermined size and have a plurality of index points respectively located at predetermined positions, to which the test mold 120 is detachably mounted. As shown in FIG. 2, there may be four

marker points

112A, 112B, 112C, 112D on the frame 110, which may have spherical dimples and constitute the four vertices of a rectangle. Based on the setting of the marker points on the gantry 110, its spatial position may be measured using a spatial position measuring device (such as a three-coordinate measuring machine). For example, the measuring probe of a coordinate measuring machine can be placed in a spherical socket of a marking point, so that the spatial position of the marking point is determined.

In sub-step S212, spatial coordinate information of the test mold is determined according to spatial positions of the plurality of marker points. As described above, the spatial positions of the plurality of index points on the rack have been measured in sub-step S211, and since the positional relationship between each index point on the rack 110 and the test mold 120 is known, the theoretical coordinate system of the test mold 120 can be established by the spatial position of each index point. As shown in fig. 2, the four

marker points

112A, 112B, 112C, and 112D on the frame 110 form four vertices of a rectangle, and the theoretical coordinate system of the test mold 120 can be obtained by using the midpoint of the four marker points as the origin of the theoretical coordinate system of the test mold 120, the vector from the marker point 112A to the marker point 112B as the X-axis, the vector from the marker point 112A to the marker point 112C as the Y-axis, and the cross product of the X-axis and the Y-axis as the Z-axis. It is understood that the above-mentioned method is only an example of determining the spatial coordinate information of the test mold 120, and the spatial coordinate information of the test mold may be determined according to the spatial position of each mark point in other manners according to actual needs and settings, and each mark point may be set in other geometric relationships as long as it is ensured that a coordinate system is established by the spatial position thereof.

FIG. 7 illustrates a flow chart for acquiring spatial coordinate information of a detection probe according to one embodiment of the present application. As shown in fig. 7, the above step S230 may include sub-steps S231 and S232. In sub-step S231, the spatial positions of a plurality of marker points on the detection probe are measured. The sensing probe in the sub-step S231 may be the above-described sensing probe 130, that is, it may have a predetermined size and have a plurality of marking points respectively located at predetermined positions. As shown in fig. 3, the inspection probe 130 may have a body 133 and a plurality of branches 132, and each of the index points 131 may be respectively disposed on the body 133 and at the center of the ends of the plurality of branches 132, and the index points may have a spherical socket. Based on the setting of the marker points on the detection probe 130, its spatial position can be measured using a spatial position measuring device (such as a three-coordinate measuring machine). For example, the measuring probe of a coordinate measuring machine can be placed in a spherical socket of a marking point, so that the spatial position of the marking point is determined. It will be appreciated that the inspection probe 130 may be designed in other shapes, so long as it is ensured that a plurality of marker points at different predetermined positions can be disposed thereon.

In sub-step S232, spatial coordinate information of the inspection probe is determined according to the spatial positions of the plurality of marker points. As described above, since the spatial positions of the plurality of marker points on the inspection probe have been measured in sub-step S231, the coordinate system of the inspection probe 130 can be established from the spatial positions of the marker points. Since the inspection probe 130 is a grinding head used in a simulation system, this coordinate system can be considered to be the actual coordinate system of the grinding head in operation. The space coordinate information of the detection probe can be determined according to the actual requirement and setting by adopting a known mode according to the space position of each mark point, and each mark point can also be set according to the geometric relation of the actual requirement as long as a coordinate system can be established according to the space position.

Fig. 8 illustrates a flow chart of a method of detecting accuracy of an active abrasive surgical robotic system according to another embodiment of the present application. As shown in fig. 8, the method 200 may further include steps S250 and S260 before the step S220, in addition to the steps S210, S220, S230, S240. For the sake of brevity, only the differences of the embodiment shown in fig. 8 from fig. 5 will be described below, and detailed descriptions of the same parts will be omitted.

In step S250, the medical imaging device in the control system performs scan imaging on the rack on which the test mold is mounted, and performs image registration. To simulate the course of an actual clinical procedure, images of the gantry are acquired using a medical imaging device (e.g., CT) in the system. As described above, the frame 110 may be assembled on different operation platforms according to actual test requirements, and contains a material capable of being developed by the medical imaging device, so that the medical imaging device can scan images. In the embodiment of the present application, the test mold 120 is used to simulate the human bone to be ground, and the specific shape and size before grinding can be set according to actual conditions, and the material is selected to be easily ground and not to be melted by the temperature rise during grinding, for example, the test mold is selected to be a material that can be developed by medical imaging equipment and has cutting properties such as hardness and heat resistance similar to those of human bone. Thus, the theoretical coordinate system for the entire grinding operation need only be determined by the index points on the machine frame that are used only for fixturing and are not to be ground. In addition, the image registration operation performed in step S250 is an image registration operation in a simulation of an actual clinical process, and may be implemented by using a known registration method according to actual needs. For example, image registration may be performed using a calibration scale. After the image registration is completed, since the position relationship between the space and the image is known, the operator can perform the operation planning on the upper computer of the system, namely, planning the grinding head (simulated by the detection probe) to the position needing to be ground. Since the dimensions of the inspection probe, the grinding head and the test mold are known, the coordinate system of the inspection probe (actual operating coordinate system) can be made to coincide with the coordinate system of the test mold (theoretical coordinate system) by surgical planning on an upper computer. Then, if the detecting probe is located at the planned position according to the operation planning instruction in the subsequent step S220, the deviation between the two coordinate systems at this time is the system deviation, which can reflect the positioning accuracy of the whole system.

In step S260, a surgical planning instruction of the operator is received, the surgical planning instruction including a planned position of the grinding head planned by the operator on the upper computer of the system. After step S250, an operator (e.g., a doctor) can perform a surgical planning on an upper computer of the system according to an image displayed on the upper computer to determine a planned position where the grinding head performs grinding, the planned position including the position and the direction of the grinding head, and the like.

In addition, the method and the device can detect the positioning accuracy of the active grinding surgical robot system and also can detect the dimensional accuracy, namely the dimensional deviation between the actual bone cavity size obtained through grinding and the planned bone cavity size.

First, after the above step S230, the test probe 130 may be removed from the robot arm of the surgical robot, and the grinding head may be mounted on the robot arm in order to perform an actual grinding operation on the test mold by the grinding head later. It is understood that the sequence between this step and the above step S240 may be determined according to actual needs, and may also be executed in parallel.

Subsequently, according to a surgical planning instruction made by a surgical operator (e.g., a doctor) on the upper computer, the robot arm of the surgical robot is controlled to drive the grinding head mounted on the robot arm to grind the test mold to form an inner cavity having a predetermined shape and size in the test mold. Therefore, the precision detection method provided by the application restores the whole clinical operation process of the active grinding operation, so that the obtained detection result is closer to the real operation state, and has stronger reference significance for the actual clinical operation.

When the actual grinding operation is performed on the test mold, the dimensional accuracy of the ground cavity 121 can be checked using a plurality of plug gauges each having a predetermined shape but having a different predetermined size. As shown in fig. 4 and 4A, the plurality of plug gauges 140 may have the same predetermined shape as the planned ground shape of the internal cavity of the test mold, but have different predetermined dimensions. For example, if the theoretical grinding dimension of the cavity is a cube with a 3cm edge length and the tolerance requirement for the cavity is 1mm, the edge length of each cube-shaped plug gauge may be 3cm, 2.9cm, 3.1cm, etc., respectively.

It can be understood that the method for detecting the accuracy of the active grinding surgical robot system can be implemented by an upper computer of the system. Besides, the sequence of the steps included in the method can be adjusted according to actual needs, except for the steps with the sequence explicitly stated, and the description sequence of the steps in the specification and the appearance sequence of the steps in the claims are not intended to limit the scope of the claims of the present application.

It should also be noted that the above-mentioned embodiments described with reference to the drawings are only intended to illustrate the present application and not to limit the scope of the present application, and those skilled in the art should understand that modifications or equivalent substitutions made on the present application without departing from the spirit and scope of the present application should be covered by the present application. Furthermore, unless the context indicates otherwise, words that appear in the singular include the plural and vice versa. Additionally, all or a portion of any embodiment may be utilized with all or a portion of any other embodiment, unless stated otherwise.

Claims

1. An assembly for detecting accuracy of an active abrasive surgical robotic system, comprising:

the test mould is detachably arranged on the mounting part and has a preset shape and a preset size, is used for simulating human bones to be ground in an active grinding operation and is an object to be ground in the precision detection process.

2. The assembly of claim 1, wherein the mounting portion is located at a predetermined position of the chassis.

3. The assembly of claim 1, wherein the frame has a plurality of index points, each located at a predetermined position, for establishing a theoretical coordinate system of the test mold.

4. The assembly of claim 3, wherein the frame is rectangular and has four marker points, each disposed adjacent a long side of the rectangle.

5. The assembly of claim 1, wherein the active abrasive surgical robotic system further comprises a surgical robot, the assembly further comprising:

6. The assembly of claim 5, wherein the inspection probe has a body and a plurality of branches, the plurality of marker points being centrally disposed on the body and on ends of the plurality of branches, respectively.

7. The assembly of claim 3 or 5, wherein the landmark point is a ball socket.

8. The assembly of claim 1, further comprising:

9. A method for detecting accuracy of an active grinding surgical robotic system, the active grinding surgical robotic system including a surgical robot and a grinding head, the method comprising:

acquiring space coordinate information of the detection probe; and

10. The method of claim 9, wherein the spatial coordinate information of the test mold and the spatial coordinate information of the inspection probe are measured by a spatial position measuring device.

11. The method of claim 9, wherein obtaining spatial coordinate information of a test mold for simulating a human bone manipulated in an active grinding procedure comprises:

12. The method of claim 9, wherein acquiring spatial coordinate information of the detection probe comprises:

13. The method of claim 9, wherein the active milling surgical robotic system further comprises a medical imaging device and an upper computer, and the method further comprises, before controlling the robot arm of the surgical robot to move into position according to the surgical planning instructions so that the detection probe mounted at the end of the robot arm is located at the planned position:

14. The method of claim 9, further comprising:

15. The method of claim 14, further comprising:

16. The method of claim 14, wherein prior to controlling a robot arm of the surgical robot to move the grinding head mounted on the robot arm to grind the test mold in accordance with the surgical planning instructions, the method further comprises:

removing the inspection probe from the robotic arm and mounting the abrasive tip on the robotic arm.