CN114081632A - Comprehensive positioning error detection device for orthopedic surgery robot - Google Patents
Comprehensive positioning error detection device for orthopedic surgery robot Download PDFInfo
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- CN114081632A CN114081632A CN202111395715.8A CN202111395715A CN114081632A CN 114081632 A CN114081632 A CN 114081632A CN 202111395715 A CN202111395715 A CN 202111395715A CN 114081632 A CN114081632 A CN 114081632A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
Abstract
The invention discloses a device for detecting comprehensive positioning errors of an orthopedic surgery robot. Belongs to the technical field of medical appliances. The device comprises a base, a horizontal guide rail, a detection channel, a slide bar, a stand column, a bracket, a marking ball, a slide seat, a slide groove, a locking knob, a waist drum-shaped cylinder and the like; the invention provides a detection device comprising a sliding seat, a waist drum-shaped cylinder and a detection channel, wherein the detection channel is used as a surgical planning path, the mechanical arm moves to the surgical planning path by executing the motion function of the mechanical arm of the orthopaedic surgical robot, and whether a test needle at the tail end of the mechanical arm can be accurately inserted into the detection channel is checked, so that the error of comprehensive positioning of the orthopaedic surgical robot is detected and judged; the clinical application verification is simple in operation and reliable and effective in result.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and relates to a comprehensive positioning error detection device for an orthopedic surgery robot.
Background
Along with the prominent advantages of the orthopaedic surgical robot (reducing the X-ray radiation injury of the surgeon and the patient, reducing the wound size of the patient, improving the accuracy and effectiveness of nail placement, reducing the operation time and the like), the orthopaedic surgical robot is more and more popular in application. The surgical robot is applied to the accurate positioning of surgical instruments or implants in the operation, is used in cooperation with specific X-ray imaging equipment, realizes the accurate positioning of the robot through preoperative path planning, and assists a surgeon to finish the operation with high quality and high efficiency.
The orthopedic surgery robot is used as an important assistant in surgery, the comprehensive positioning error of the orthopedic surgery robot becomes the focus of attention of surgeons, and the comprehensive positioning error is also a key index of clinical application of the orthopedic surgery robot; how to judge the comprehensive positioning error of the orthopaedic surgical robot also becomes a hot discussion problem for checking the safety and the effectiveness of the orthopaedic surgical robot.
In actual operation, the deviation between the implant channel and the preoperative planned path is not easy to operate by using a conventional measuring tool to directly and accurately measure, and human errors are uncontrollable, so that exact comprehensive positioning errors are very difficult to measure. Currently, there are patents which disclose a device and a detection method for evaluating an error of an orthopedic surgical robot, such as the surgical robot system accuracy detection device with the application number of 201520673162.1 and the surgical robot system accuracy detection device with the application number of 201811409733.5. The devices described in the above patents are relatively complex and are not in clinical use; the detection method lacks judgment of direction errors, cannot comprehensively and effectively judge comprehensive positioning errors of the orthopedic surgery robot, and can cause actual clinical application errors to exceed expectations. In order to ensure the safety and effectiveness of the orthopedic surgery robot-assisted surgery operation, a specific detection device needs to be designed, so that the comprehensive positioning error of the orthopedic surgery robot can be integrally, comprehensively and directly determined, and the comprehensive positioning error is close to the clinical practical application error.
Disclosure of Invention
The invention aims to: the invention aims to provide a device for detecting the comprehensive positioning error of the orthopaedic surgical robot, which can integrally, comprehensively and directly judge the comprehensive positioning error of the orthopaedic surgical robot, is close to the clinical practical application error and solves the problem that the error is difficult to directly measure.
The technical scheme is as follows: the invention discloses a comprehensive positioning error detection device of an orthopedic surgery robot, which comprises a base (1), wherein a sliding seat (10) is arranged at the upper end of the base (1), a plurality of waist drum-shaped cylinders (11) are arranged at the upper end of the sliding seat (10), and two detection channels (3) are respectively arranged on each waist drum-shaped cylinder (11).
Furthermore, two ends of the base (1) are respectively provided with a sliding stopping rod (4), the upper end of each sliding stopping rod (4) is provided with an upright post (5) through a bolt, the upper end of each upright post (5) is provided with a tracker used for tracking the spatial position information of the base (1), and each tracker comprises a bracket (6) and at least 4 marking balls (7) arranged on the bracket (6).
Furthermore, two horizontal sliding grooves (9) are arranged at the left end and the right end of one side of the sliding seat (10),
two horizontal guide rails (2) are arranged at the left end and the right end of the other side of the sliding seat (10) and at one side parallel to the two horizontal sliding grooves (9);
one end of each of the two horizontal sliding grooves (9) and the horizontal guide rail (2) is arranged on the sliding seat (10), and the other end of each of the two horizontal sliding grooves and the horizontal guide rail is arranged on the sliding stop rod (4).
Furthermore, a plurality of locking knobs (8) used for locking the horizontal sliding grooves (9) are uniformly distributed on one side, close to the horizontal sliding grooves (9), of the sliding seat (10).
Furthermore, the included angle of two detection channels (3) arranged on the waist drum-shaped cylinder (11) is more than or equal to 40 degrees,
the two detection channels (3) are symmetrical along the central line of the long axis of the sliding seat (10),
the detection channel (3) is a straight channel, the radius of the detection channel (3) is less than or equal to 1.5 mm, and the depth of the detection channel is more than or equal to 25 mm.
Furthermore, the two horizontal sliding chutes (9) are parallel and have the same length;
the two horizontal guide rails (2) are parallel and have the same length;
the horizontal sliding groove (9) is provided with a scale.
Furthermore, the relative positions of the sliding seat (10), the horizontal sliding groove (9) and the waist drum-shaped column body (11) are fixed and cannot be disassembled;
the sliding seat (10), the horizontal sliding groove (9) and the waist drum-shaped column body (11) are all made of organic glass, polycarbonate or polyvinyl chloride.
Furthermore, the base (1), the horizontal guide rail (2), the non-slip rod (4) and the upright post (5) are all made of carbon fiber.
Further, the marker ball (7) is arranged on the support (7), the distance between any two points of the marker ball (7) is larger than 50 mm, and the difference of the distances between any two points of the marker ball (7) is larger than 5 mm;
at least one of the marker balls (7) is not collinear with the other marker balls (7) in the marker balls (7).
Furthermore, a breathing simulation device is arranged at the lower end of the base (1), and a breathing controller (12) is arranged on the breathing simulation device.
Has the advantages that: compared with the prior art, the invention has the characteristics that the invention provides a detection device comprising a sliding seat, a waist drum-shaped cylinder and a detection channel, the detection channel is taken as a surgery planning path, the mechanical arm moves to the surgery planning path by executing the movement function of the mechanical arm of the orthopaedic surgery robot, and whether a test needle at the tail end of the mechanical arm can be accurately inserted into the detection channel is checked, so that the error of the comprehensive positioning of the orthopaedic surgery robot is detected and judged, and the invention simulates the physiological structure of a human vertebral body, has novel conception and practical functions; the clinical application verification is simple in operation and reliable and effective in result.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the present invention with the addition of a breathing simulation device;
FIG. 3 is a schematic cross-sectional view of a detection channel and a breathing simulation device according to the present invention;
FIG. 4 is an enlarged view of A-A in FIG. 3;
FIG. 5 is a functional diagram of the present invention;
in the figure, 1 is a base, 2 is a horizontal guide rail, 3 is a detection channel, 4 is a non-slip rod, 5 is a stand column, 6 is a bracket, 7 is a marker ball, 8 is a locking knob, 9 is a horizontal sliding groove, 10 is a sliding seat, 11 is a waist drum-shaped cylinder, and 12 is a breathing controller.
Detailed Description
The invention is further described below with reference to the following figures and specific examples.
As shown in the figure, the device for detecting the comprehensive positioning error of the orthopedic surgery robot comprises a base 1, wherein a sliding seat 10 is arranged at the upper end of the base 1, a plurality of waist drum-shaped cylinders 11 are arranged at the upper end of the sliding seat 10, and two detection channels 3 are arranged on each waist drum-shaped cylinder 11.
Further, two ends of the base 1 are respectively provided with a sliding stopping rod 4, the upper end of the sliding stopping rod 4 is provided with an upright post 5 through a bolt, the upper end of the upright post 5 is provided with a tracker for tracking the spatial position information of the base 1, and the tracker comprises a bracket 6 and at least 4 marking balls 7 arranged on the bracket 6.
Furthermore, two horizontal sliding grooves 9 are arranged at the left end and the right end of one side of the sliding seat 10,
two horizontal guide rails 2 are arranged at the left end and the right end of the other side of the sliding seat 10 and at one side parallel to the two horizontal sliding grooves 9;
one end of the two horizontal sliding chutes 9 and the horizontal guide rail 2 is arranged on the sliding seat 10, and the other end is arranged on the anti-slip rod 4.
Furthermore, a plurality of locking knobs 8 for locking the horizontal sliding grooves 9 are uniformly distributed on one side of the sliding seat 10, which is close to the horizontal sliding grooves 9.
Furthermore, the included angle of the two detection channels 3 arranged on the waist drum-shaped column body 11 is more than or equal to 40 degrees,
the two detection channels 3 are symmetrical along the long axis center line of the slide 10,
the detection channel 3 is a straight channel, the radius of the detection channel 3 is less than or equal to 1.5 mm, and the depth of the detection channel 3 is more than or equal to 25 mm.
Further, the two horizontal sliding chutes 9 are parallel and have the same length;
the two horizontal guide rails 2 are parallel and have the same length;
a scale is arranged on the horizontal chute 9.
Further, the relative positions of the sliding seat 10, the horizontal sliding groove 9 and the waist drum-shaped column body 11 are fixed and can not be disassembled;
the sliding seat 10, the horizontal sliding groove 9 and the waist drum-shaped column body 11 are made of organic glass, polycarbonate or polyvinyl chloride.
Furthermore, the base 1, the horizontal guide rail 2, the non-slip rod 4 and the upright post 5 are all made of carbon fiber.
Further, the marker ball 7 is arranged on the bracket 6, the distance between any two points of the marker ball 7 is more than 50 mm, and the difference between the distances between any two points of the marker ball 7 is more than 5 mm;
among the marker balls 7, at least one marker ball 7 is not collinear with the other marker balls 7.
Further, a breathing simulation device is arranged at the lower end of the base 1, and a breathing controller 12 is arranged on the breathing simulation device.
In particular, the method comprises the following steps of,
an orthopedic surgery robot comprehensive positioning error detection device; the device comprises a base 1 and a sliding seat 10, wherein a main body part of the sliding seat 10 is provided with a plurality of waist drum-shaped columns 11, and each waist drum-shaped column 11 is provided with two detection channels 3;
the included angle of the two detection channels 3 of the waist drum-shaped cylinder 11 is not less than 40 degrees, the two detection channels 3 are symmetrical along the central line of the long axis of the sliding seat 10, the detection channels 3 are straight channels, the radius of the detection channels 3 is not more than 1.5 mm, and the depth of the detection channels 3 is not less than 25 mm;
the bottom of the sliding seat 10 is provided with two horizontal sliding grooves 9, the two horizontal sliding grooves 9 are parallel, the two horizontal sliding grooves 9 are the same in length, a plurality of locking knobs 8 are arranged on the sliding seat 10 close to the horizontal sliding grooves 9, and the locking knobs 8 are used for locking the horizontal sliding grooves 9;
the relative positions of the sliding seat 10, the horizontal sliding groove 9 and the waist drum-shaped column body 11 are fixed and cannot be disassembled, and the sliding seat 10, the horizontal sliding groove 9 and the waist drum-shaped column body 11 are all made of organic glass, polycarbonate or polyvinyl chloride;
the two horizontal guide rails 2 are parallel, the two horizontal guide rails 2 are the same in length, and two ends of each horizontal guide rail 2 are provided with a sliding stop rod 4;
the two horizontal chutes 9 are provided with scale scales;
the front end of the base 1 is provided with an upright post 5, the upper end of the upright post 5 is provided with a plurality of screw mounting holes, and the relative position between the upright post 5 and the base 1 is fixed;
the base 1, the horizontal guide rail 2, the non-slip rod 4 and the upright post 5 are made of carbon fiber;
a tracker is fixed on the upright post 5 and used for tracking the spatial position information of the base 1, and the upright post 5 is detachably connected with the tracker;
the tracker comprises a bracket 6 and more than three marker balls 7; the marker balls 7 are arranged on the support 6, the distance between any two points of the marker balls 7 needs to be larger than 50 mm, the difference value of the distance between any two points of the marker balls 7 needs to be larger than 5 mm, and at least one marker ball 7 of the marker balls 7 is not collinear with other marker balls 7.
The working principle of the invention is as follows: a device and a method for detecting comprehensive positioning errors of an orthopedic surgery robot comprise a base 1, a horizontal guide rail 2, a detection channel 3, a non-slip rod 4, an upright post 5, a bracket 6, a marking ball 7, a sliding seat 10, a horizontal sliding groove 9, a locking knob 8 and a waist drum-shaped cylinder 11;
for a complete and detailed description of the usage of the present invention, the following description is made of the detection principle and the usage method:
error checking principle: as shown in fig. 5, a feature point a in a scanned image is taken as an entry point, and a feature point B is taken as an exit point, so that a straight line connecting the entry point and the exit point can be taken as a preoperative planned path and is recorded as a spatial line segment AB, the length of the line segment is recorded as L, and an extension line of the line segment AB is recorded as a spatial straight line M; the actual descending implant channel of the testing needle at the tail end of the mechanical arm of the orthopedic surgery robot is marked as a space line segment A 'B', the length of the line segment is L ', and the extension line of the line segment A' B 'is marked as a space straight line M'; therefore, the judgment of the comprehensive positioning error of the orthopaedic surgical robot is the judgment of the coincidence degree of the spatial straight line M' and the spatial line segment AB; the space distance from the point A of the measurement space line segment AB to the space straight line M ' is recorded as d1, the space distance from the point B of the measurement space line segment AB to the space straight line M ' is recorded as d2, and the included angle between the space line segment AB and the space straight line M ' is recorded as theta; as shown in the figure, if d1 and d2 are both 0, the synchronization θ is also 0, which indicates that the fixed point error and the orientation error are both 0, the spatial line segment AB and the spatial straight line M' are completely overlapped, and then the comprehensive positioning error of the orthopaedic surgical robot is also 0; if theta is not 0, one or both of d1 and d2 are not 0, which indicates that the fixed point error and the orientation error are not 0, the contact ratio of the spatial line segment AB and the spatial straight line M' is not good, and the comprehensive positioning error of the orthopaedic surgical robot is generated. Therefore, d1, d2 and theta are preferably and reasonably used as the comprehensive positioning error of the orthopaedic surgical robot.
Specifically, the direct and accurate measurement of the distance from one point of the space to one straight line of the space, the included angle between two straight lines of the space, the fine space distance and the included angle is extremely difficult to operate; in one embodiment of the invention, the substitution method is skillfully used, and the fixed point error is directly replaced by d1 and d2, and the orientation error is replaced by theta. In implementation, the detection device is used for carrying out three-dimensional image acquisition by using a three-dimensional C-arm machine and carrying out image registration of the orthopaedic surgery robot; and performing surgical planning by taking the detection channel 3 on the image as a surgical implant path, taking the circle center of the inlet hole of the detection channel 3 on the image as a surgical planning entry point, and taking the circle center of the bottom hole of the detection channel on the image as a surgical planning exit point. Further checking whether a test needle at the tail end of the mechanical arm can be accurately inserted into the detection channel or not by executing the movement of the mechanical arm of the orthopedic surgery robot; recording the radius of the detection channel 3 as R, the length of the detection channel 3 as L, and recording the included angle between the diagonal line of the detection channel 3 and the bus of the detection channel 3 as theta; if the test needle can be inserted into the detection channel 3, the entering point fixed point error d1 is not more than R, otherwise, the d1 is more than R; and the test needle continues to descend, if the test needle descends to the bottom hole of the detection channel 3 without blockage, the error d2 is not more than R, otherwise, the error d2 is more than R. When d1 is less than or equal to R and d2 is less than or equal to R, the fixed-point positioning error of the orthopaedic surgical robot is less than or equal to R, and the directional positioning error is less than or equal to theta.
The using method comprises the following steps:
1) the detection device is subjected to perspective by a three-dimensional C-arm machine, a waist drum-shaped cylinder 11 of the device is placed at the isocenter position of a C arm to carry out three-dimensional image acquisition, and the acquired image is transmitted to an orthopedic surgery robot to carry out image registration;
2) selecting one side detection channel 3 in a certain waist drum-shaped cylinder 11 in the detection device as a test target, taking the circle center of the inlet hole of the selected detection channel 3 as an operation planning inlet point and the circle center of the bottom hole of the detection channel 3 as an operation planning outlet point in the orthopedic operation robot, and planning the operation path of the implant.
3) Starting the movement execution function of a mechanical arm of the orthopedic surgery robot to enable a tool at the tail end of the mechanical arm to reach the implant surgery path planning position;
4) inserting a testing needle into a tool at the tail end of the mechanical arm, and checking the touch condition of the testing needle and the inlet hole of the detected channel 3;
5) the test needle continues to descend, and the touch condition of the test needle and the bottom hole of the detected channel 3 is checked;
6) in conclusion, the comprehensive positioning error of the orthopaedic surgical robot at the current test position can be determined according to the touch condition of the test needle and the inlet hole and the bottom hole of the detected channel 3.
Example two: on the basis of the first embodiment, the detection channel 3 on the other side of the same waist drum-shaped cylinder 11 is selected as a test target, the purpose is to change the planning direction of the implant surgery path aiming at the same focus body, so that the mechanical arm of the orthopaedic surgery robot executes different poses, and further, the comprehensive positioning errors of the mechanical arm of the orthopaedic surgery robot in the same spatial region and different execution poses are detected and judged, so that the detection and judgment are closer to the clinical practical use condition of the orthopaedic surgery robot.
Example three: on the basis of the first embodiment, the distance between the sliding seat 10 and the tracker is adjusted through the locking knob 10, and then the steps of the first embodiment are re-operated, so that the aim is to aim at different focus bodies in a certain large operation space area and the same direction of implant operation path planning, but the mechanical arm of the orthopedic operation robot executes different poses, and further detect and judge comprehensive positioning errors of the mechanical arm of the orthopedic operation robot in different focus bodies and different execution poses in the certain large operation space area, so that the comprehensive positioning errors are closer to the clinical practical use condition of the orthopedic operation robot.
Example four: as a further improvement, on the basis of the first embodiment, a breathing simulation device (component) capable of moving longitudinally is added below the base 1, the amplitude and frequency of the movement can be adjusted, and the steps of the first embodiment are operated again, so that the same implant surgery path planning is performed on the same focus body, but the movement is influenced by the spontaneous respiration of the patient, and the orthopedic surgery robot mechanical arm executes different poses, and further, the comprehensive positioning errors of the orthopedic surgery robot mechanical arm in the same focus body, the same surgery planning path and different execution poses are detected and judged, so that the orthopedic surgery robot is closer to the clinical practical use condition of the orthopedic surgery robot.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to those skilled in the art without departing from the principles of the present invention may be apparent to those skilled in the relevant art and are intended to be within the scope of the present invention.
Claims (10)
1. The utility model provides an orthopedic surgery robot integrated positioning error detection device, its characterized in that includes base (1) slide (10) have been installed to the upper end of base (1) the upper end of slide (10) has been installed a plurality of waist drum shape cylinder (11), every waist drum shape cylinder (11) on all installed two detection passageways (3).
2. The integrated positioning error detecting apparatus for orthopedic surgery robot according to claim 1,
the device comprises a base (1), two ends of the base (1) are respectively provided with a stop sliding rod (4), the upper end of each stop sliding rod (4) is provided with an upright post (5) through a bolt, the upper end of each upright post (5) is provided with a tracker used for tracking the spatial position information of the base (1), and each tracker comprises a bracket (6) and at least 4 marker balls (7) arranged on the bracket (6).
3. The integrated positioning error detecting apparatus for an orthopedic surgical robot according to claims 1 and 2,
two horizontal sliding grooves (9) are arranged at the left end and the right end of one side of the sliding seat (10),
two horizontal guide rails (2) are arranged at the left end and the right end of the other side of the sliding seat (10) and at one side parallel to the two horizontal sliding grooves (9);
one end of each of the two horizontal sliding grooves (9) and the horizontal guide rail (2) is arranged on the sliding seat (10), and the other end of each of the two horizontal sliding grooves and the horizontal guide rail is arranged on the sliding stop rod (4).
4. The integrated positioning error detecting apparatus for orthopedic surgery robot according to claim 1,
a plurality of locking knobs (8) used for locking the horizontal sliding groove (9) are further uniformly distributed on one side, close to the horizontal sliding groove (9), of the sliding seat (10).
5. The integrated positioning error detecting apparatus for orthopedic surgery robot according to claim 1,
the included angle of the two detection channels (3) arranged on the waist drum-shaped column body (11) is more than or equal to 40 degrees,
the two detection channels (3) are symmetrical along the central line of the long axis of the sliding seat (10),
the detection channel (3) is a straight channel, the radius of the detection channel (3) is less than or equal to 1.5 mm, and the depth of the detection channel is more than or equal to 25 mm.
6. The device of claim 3, wherein the device comprises a positioning device and a positioning error detection device,
the two horizontal sliding chutes (9) are parallel and have the same length;
the two horizontal guide rails (2) are parallel and have the same length;
the horizontal sliding groove (9) is provided with a scale.
7. The integrated positioning error detecting apparatus for an orthopedic surgical robot according to claims 1 and 3,
the relative positions of the sliding seat (10), the horizontal sliding groove (9) and the waist drum-shaped column body (11) are fixed and cannot be disassembled;
the sliding seat (10), the horizontal sliding groove (9) and the waist drum-shaped column body (11) are all made of organic glass, polycarbonate or polyvinyl chloride.
8. The integrated positioning error detection device of the orthopedic surgery robot as claimed in claim 3, wherein:
the base (1), the horizontal guide rail (2), the anti-slip rod (4) and the upright post (5) are all made of carbon fiber.
9. The integrated positioning error detection device of the orthopedic surgery robot as claimed in claim 2, wherein:
the marking ball (7) is arranged on the bracket (6), the distance between any two points of the marking ball (7) is more than 50 mm, and the difference value of the distances between any two points of the marking ball (7) is more than 5 mm;
at least one of the marker balls (7) is not collinear with the other marker balls (7).
10. The integrated positioning error detection device of the orthopedic surgery robot as claimed in claim 1, wherein:
a breathing simulation device is arranged at the lower end of the base (1), and a breathing controller (12) is arranged on the breathing simulation device.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115737127A (en) * | 2022-11-30 | 2023-03-07 | 北京铸正机器人有限公司 | Detection device and detection method for positioning accuracy of tail end of surgical robot |
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