CN215228385U - Target point tool and master-slave surgical robot testing system - Google Patents
Target point tool and master-slave surgical robot testing system Download PDFInfo
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- CN215228385U CN215228385U CN202121578856.9U CN202121578856U CN215228385U CN 215228385 U CN215228385 U CN 215228385U CN 202121578856 U CN202121578856 U CN 202121578856U CN 215228385 U CN215228385 U CN 215228385U
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- 238000012360 testing method Methods 0.000 title claims abstract description 44
- 238000003825 pressing Methods 0.000 claims description 7
- 239000000853 adhesive Substances 0.000 claims description 3
- 230000001070 adhesive effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
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Abstract
The utility model provides a target frock and master-slave surgical robot test system relates to master-slave control surgical machine technical field. Target point frock, including target point structure, shaft-like structure and connecting seat, the target point structure with the connecting seat is located respectively shaft-like structure length direction's both ends, and respectively with shaft-like structure is connected, the connecting seat is suitable for the revolution mechanic who is connected with principal and subordinate surgical robot, the structural target point that is used for demarcating spatial coordinate that is provided with at least one of target point. In the utility model, the rotary structure rotates a plurality of positions, and the space measuring equipment measures the space coordinate of the target point, so that the point on the rotary axis of the rotary structure can be found, and the position of the rotary axis of the rotary structure can be found; the rod-like structure keeps the position of the target point away from the axis of rotation of the rotating structure, ensuring to a certain extent that the position of this axis of rotation is found to be accurate.
Description
Technical Field
The utility model relates to a master-slave control surgical robot technical field particularly, relates to a target frock and master-slave surgical robot test system.
Background
During the calibration or test process of the master-slave surgical robot for abdominal cavity and other operations, the calibration of the rotation axis of the rotating structure or the test of the spatial pose needs to be carried out, but the rotation axes are calibrated in advance in the production process and are difficult to find in a measuring mode during subsequent assembly and use.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at solving to a certain extent and being difficult to find the problem of principal and subordinate surgical robot's revolution mechanic's rotation axis through the measuring mode among the correlation technique.
For at least one aspect at least solving above-mentioned problem to a certain extent, the utility model discloses the first aspect provides a target spot frock, including target spot structure, shaft-like structure and connecting seat, the target spot structure with the connecting seat is located respectively shaft-like structure length direction's both ends, and respectively with shaft-like structure is connected, the connecting seat is suitable for the revolution mechanic who is connected with principal and subordinate surgical robot, the structural target spot that is used for demarcating spatial coordinate that is provided with at least one of target spot.
Optionally, the connection seat is connected to the swivel structure by at least one of an adhesive connection, a fastener connection, a clip connection and a snap connection.
Optionally, an accommodating structure is arranged on the connecting seat, the accommodating structure is suitable for at least partially accommodating the rotating structure, and at least part of the accommodating structure is attached to the rotating structure.
Optionally, the connecting seat includes a connecting seat body and a press block detachable from the connecting seat body, and the accommodating structure is formed between the press block and the connecting seat body;
or, the connecting seat comprises a connecting seat body, a first connecting part and a second connecting part which are respectively fixedly connected with the connecting seat body, the first connecting part and the second connecting part are oppositely arranged and form an accommodating structure with an opening, the opening of the accommodating structure is suitable for the rotating structure to enter or depart from, and the first connecting part and the second connecting part are connected through a fastener.
Optionally, the connecting seat includes a connecting seat body and a mounting hole structure connected to the connecting seat body, one end of the rod-shaped structure is at least partially accommodated in the mounting hole structure, and the rod-shaped structure is detachably connected to the mounting hole structure.
Optionally, the cross-sectional shape of the rod-like structure is circular, the rod-like structure is rotatably connected with the mounting hole structure, and at least one target point is located on the axis of the rod-like structure.
Optionally, the target structure is rotationally coupled to the rod structure, and the rotational position of the target structure relative to the rod structure is adapted to remain locked.
Compared with the prior art, the utility model discloses following advantage has:
the target point tool is connected with a rotating structure of the master-slave surgical robot through a connecting seat, the rotating structure rotates to a plurality of positions, a space measuring device is used for measuring the space coordinate of the target point, and then a point on the rotating axis of the rotating structure can be found, and the position of the rotating axis of the rotating structure can be found; and the arrangement of the rod-shaped structure enables the position of the target point to be far away from the rotation axis of the rotating structure, so that the found position of the rotation axis of the rotating structure can be more accurate to a certain extent, and the reliability and the practicability are high.
A second aspect of the present invention provides a master-slave surgical robot testing system, including a surgical instrument testing device and/or a master hand structure testing device, the surgical instrument testing device includes the target point tool, the master hand structure testing device includes the target point tool.
Optionally, an instrument rod of a surgical instrument of the surgical instrument testing device is connected with at least one target point tool, and/or a clamp arm of the surgical instrument testing device is connected with at least one target point tool, and/or a scope rod or a scope holding arm of an endoscope of the surgical instrument testing device is connected with at least one target point tool;
the first joint connecting rod of the main end manipulator of the main hand structure testing device is connected with at least one target point tool, and the first joint connecting rod is a connecting rod connected with the base of the main end manipulator; and/or the tail end joint connecting rod of the main end manipulator is connected with at least one target point tool.
Optionally, at least three target points are arranged on the target point structure of at least one of the target point tools connected to the target point tool of the surgical instrument and the target point tool connected to the tail end joint connecting rod, and the three target points are located on three vertexes of a triangle respectively.
Therefore, when the master-slave surgical robot testing system is used for testing, a position point on a rotation axis of the surgical instrument can be found through the target point of the target point tool matched with the space measuring equipment, and/or a position point on a rotation axis of the main end manipulator can be found, and the practicability is high.
Drawings
Fig. 1 is a schematic structural diagram of a first embodiment of the target point tool of the present invention;
FIG. 2 is a schematic structural diagram of a second embodiment of the target point tool of the present invention;
FIG. 3 is a schematic structural diagram of a fifth embodiment of the target point tool of the present invention;
fig. 4 is a schematic structural diagram of a sixth embodiment of the target point tool of the present invention;
fig. 5 is a schematic structural diagram of the surgical instrument testing device according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a fourth embodiment of the target point tool of the present invention;
FIG. 7 is a schematic structural diagram of a third embodiment of the target point tool of the present invention;
fig. 8 is a schematic structural diagram of the master hand structure testing device according to an embodiment of the present invention;
fig. 9 is a schematic structural view of the target point tool installed on the mirror holding arm in the embodiment of the present invention.
Description of reference numerals:
1-target point tool, 11-target point structure, 111-target point, 12-rod-shaped structure, 13-connecting seat, 131-connecting seat body, 132-pressing block, 133-first connecting part, 134-second connecting part, 135-mounting hole structure, 14-accommodating structure, 31-base, 32-first joint connecting rod, 33-tail end joint connecting rod, 34-second joint connecting rod, 35-third joint connecting rod, 6-surgical instrument, 61-clamp arm, 62-instrument rod, 8-endoscope holding arm and 81-sliding table.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description herein, references to the terms "an embodiment," "one embodiment," "some embodiments," "exemplary" and "one embodiment," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or embodiment is included in at least one embodiment or embodiment of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or implementation. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or implementations.
The terms "first", "second", etc. 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, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
As shown in fig. 1 to 4, an embodiment of the present invention provides a target spot tool 1, including target spot structure 11, rod-shaped structure 12 and connecting seat 13, target spot structure 11 with connecting seat 13 is located respectively rod-shaped structure 12 length direction's both ends, and respectively with rod-shaped structure 12 is connected, connecting seat 13 is suitable for being connected with the revolution mechanic of principal and subordinate surgical robot, be provided with at least one target spot 111 that is used for demarcating spatial coordinate on target spot structure 11. Specifically, the spatial coordinates of the target point 111 are calibrated by the spatial measurement device.
The rotary structure can be a rotary structure such as a scope lever (or a scope holding arm of the slave end manipulator) fixedly connected to the endoscope at the tip of the slave end manipulator, an instrument lever 62 of the surgical instrument 6, a clamp arm 61 of the surgical instrument 6, a first joint link of the master end manipulator, and a tip joint link of the master end manipulator, for example. In some cases, for example, in position calibration and pose testing (e.g., testing of position accuracy) of a master-slave surgical robot, it is necessary to find the rotation axes of these rotary structures, or points on the rotation axes, but these points are difficult to find at the time of subsequent assembly and use except for calibration in advance during production.
As shown in fig. 3 and 4, the connecting seat 13 and the rod-shaped structure 12 may be integrally connected, in which case, the connecting seat 13 may also be regarded as a part of the rod-shaped structure 12, and generally, the structure of the connecting seat 13 is convenient for connecting with a master-slave surgical robot, and will not be described in detail herein.
In addition, the target point structure 11 and the rod-shaped structure 12 may be integrally connected or detachably connected, for example, the cross section of the rod-shaped structure 12 is configured to be rectangular, and the target point structure 11 is fixedly connected to an end of the rod-shaped structure 12 away from the connecting seat 13 and is attached to one side surface of the rod-shaped structure 12, which will be described in detail later.
Therefore, the target point tool is connected with the rotating structure of the master-slave surgical robot through the connecting seat 13, the rotating structure rotates to a plurality of positions, the space coordinate of the target point 111 is measured through space measuring equipment, and then a point on the rotating axis of the rotating structure can be found, and the position of the rotating axis of the rotating structure can be found; moreover, the rod-shaped structure 12 is arranged, so that the position of the target point 111 is far away from the rotation axis of the rotating structure, the found position of the rotation axis of the rotating structure can be ensured to be more accurate to a certain extent, and the reliability and the practicability are high.
In an embodiment of the present invention, the connection seat 13 is provided with a receiving structure 14, the receiving structure 14 is adapted to at least partially receive the rotating structure, and the receiving structure at least partially fits the rotating structure.
Exemplarily, as shown in fig. 8, the master end manipulator of the master-slave surgical robot includes a base 31 and a plurality of joint links connected in sequence, wherein one of the joint links rotatably connected to the base 31 is a first joint link 32, and the first joint link 32 is rotatably connected to the base 31 about a first axis L1; one of the plurality of joint links located at the distal end (i.e., the end away from the base 31) is a distal joint link 33, one of the plurality of joint links adjacent to the distal joint link 33 is the second joint link 34, and the distal joint link 33 is rotatably connected to the second joint link 34 about a second axis L2; one end of the second joint link 34 away from the terminal joint link 33 is rotatably connected to the third joint link 35, and the second joint link 34 is rotatably connected to the third joint link 35 around a third axis L3.
As shown in fig. 1 and 8, for example, the target point tool 1 shown in fig. 1 is a first target point tool, the accommodating structure 14 of the first target point tool at least partially accommodates the first joint connecting rod 32, the cross section of the first joint connecting rod 32 is rectangular, and the accommodating structure 14 is attached to at least two opposite sides of the rectangle.
As shown in fig. 7 and 8, for example, the target point tool 1 shown in fig. 7 is a third target point tool, the accommodating structure 14 of the third target point tool at least partially accommodates the terminal joint connecting rod 33, one side of the terminal joint connecting rod 33 is configured as an arc structure, and the accommodating structure 14 is attached to the arc structure.
Therefore, the connecting seat 13 and the rotating structure have a large contact area, the stability and reliability of the connection of the target point structure and the rotating structure are high, and the displacement along the length direction of the rotating structure is not easy to occur.
In some embodiments, the connecting socket 13 includes a connecting socket body 131 and a pressing block 132 detachable from the connecting socket body 131, and the accommodating structure 14 is formed between the pressing block 132 and the connecting socket body 131.
Illustratively, as shown in fig. 2 and 5, the rotary structure is a surgical instrument 6 connected to an end-effector, the target point tool 1 shown in fig. 2 is a second target point tool, the second target point tool is mounted on an instrument rod 62 of the surgical instrument 6 (the second target point tool is not shown in fig. 5), the cross section of the instrument rod 62 is circular, adjacent side surfaces of the pressing block 132 and the connecting seat body 131 are respectively provided with an arc structure, the two arc structures are respectively partially attached to the instrument rod 62 to press the instrument rod 62, and the pressing block 132 and the connecting seat body 131 are connected through a fastener.
As shown in fig. 6 and 8, in some embodiments, the rotating structure is the end joint link 33, the target point tool 1 shown in fig. 6 is a fourth target point tool, and for the fourth target point tool: the connecting seat 13 includes a connecting seat body 131, and a first connecting portion 133 and a second connecting portion 134 respectively fixedly connected to the connecting seat body 131, the first connecting portion 133 and the second connecting portion 134 are oppositely disposed and form the accommodating structure 14 having an opening, the opening of the accommodating structure 14 is suitable for the rotation structure (i.e., the end joint connecting rod 33) to enter or exit, and the first connecting portion 133 and the second connecting portion 134 are connected by a fastener.
At this moment, the position of the accommodating structure 14 on the connecting seat 13 is integrally in a U-shaped structure, the U-shaped structure can have certain elasticity so that the rotating structure can enter or depart from the inside wall of the U-shaped structure, a stop structure can be arranged on the inside wall of the U-shaped structure, the rotating structure is prevented from entering the U-shaped structure and then departing from the U-shaped structure, and at this moment, the axis direction of the rod-shaped structure 12 and the opening direction of the accommodating structure 14 are arranged at a preset included angle. The preset included angle can be adjusted according to the position of the target point structure mounted on the rotating structure, and is not described in detail here.
From this, connecting seat 13 can with revolution mechanic's connection structure is reliable, and stability is high, and the practicality is strong.
As shown in fig. 1, 6, 7 and 8, in an embodiment of the present invention, the connecting socket 13 includes a connecting socket body 131 and a mounting hole structure 135 connected to the connecting socket body 131, one end of the rod-shaped structure 12 is at least partially received in the mounting hole structure 135, and the rod-shaped structure 12 is detachably connected to the mounting hole structure 135.
Illustratively, fasteners pass through the sidewalls of the mounting hole structure 135 and threadably engage the rod-like structure 12, and illustratively, the rod-like structure 12 threadably engages the mounting hole structure 135.
Therefore, the length of the rod-shaped structure 12 can be adjusted as required, and in addition, the modular assembly of the target spot tool can be realized, so that the target spot tool can be conveniently stored after being disassembled.
In the present embodiment, the cross-sectional shape of the rod-shaped structure 12 is circular, and the rod-shaped structure 12 is rotatably connected to the mounting hole structure 135, wherein at least one target point 111 is located on the axis of the rod-shaped structure 12 (not shown in the figure).
As shown in fig. 1 and 8, a fastening member is screwed to a side wall of the mounting hole structure 135 and presses against the rod-like structure 12, and a positioning structure may be disposed on the rod-like structure 12 to position the rod-like structure 12 relative to the mounting hole structure 135 in the axial direction, and as shown in fig. 1, a flange structure may be disposed on the rod-like structure 12, and an annular groove structure for receiving a small end of the fastening member may be disposed on the rod-like structure 12 to position the rod-like structure 12 relative to the mounting hole structure 135 in the axial direction.
Therefore, the rod-shaped structure 12 rotates to any angle relative to the mounting hole structure 135, and the relative position of the target point 111 relative to the rotating structure is kept unchanged, so that the spatial coordinates of the target point 111 can be measured by a spatial measuring device.
In the above embodiment, as shown in fig. 2, the target structure 11 is rotatably connected to the rod-shaped structure 12, and the position of the target structure 11 rotated relative to the rod-shaped structure 12 is suitable for keeping locking.
Illustratively, as shown in fig. 2, a fastener is threaded through the target structure 11 and is connected with the rod-shaped structure 12, and after the target structure 11 is rotated to a preset position relative to the rod-shaped structure 12, the relative position of the target structure 11 and the rod-shaped structure 12 is locked by the fastener.
Illustratively, the target structure 11 and the rod-shaped structure 12 are connected through a rotating shaft, and a fastener is screwed with the target structure 11 and presses against the rod-shaped structure 12, so as to lock the relative positions of the target structure 11 and the rod-shaped structure 12.
Therefore, the position of the target point structure 11 relative to the rotating structure can be adjusted according to actual needs, and space measurement equipment is convenient to measure the space coordinates of the target point 111.
In an embodiment of the present invention, the connecting seat 13 is connected to the rotating structure through at least one of an adhesive connection, a fastener connection, a clamping connection, and a clamping connection. This part has already been explained above and will not be described further here. From this, connecting seat 13 is comparatively nimble with revolution mechanic's connected mode, and its reliability and stability of connecting are high, and the practicality is strong.
Another embodiment of the utility model provides a master slaver surgical robot test system, a serial communication port, including surgical instruments testing arrangement and/or main hand structure testing arrangement, surgical instruments testing arrangement includes at least one as above the target frock, main hand structure testing arrangement includes at least one as above the target frock.
Therefore, when the master-slave surgical robot testing system is used for testing, a position point on a rotation axis of the surgical instrument can be found through the target point 111 of the target point tool matched with space measuring equipment, and/or a position point on a rotation axis of a main end manipulator can be found, and the practicability is high.
The target point tool 1 shown in fig. 3 is a fifth target point tool, and the fifth target point tool is connected to the clamp arm 61 of the surgical instrument 6. The target point tool 1 shown in fig. 4 is a sixth target point tool, and a plurality of target points are arranged on the sixth target point tool.
As shown in fig. 1 to 9, in this embodiment, at least one target point tool is connected to an instrument rod 62 of the surgical instrument 6 of the surgical instrument testing device, and/or at least one target point tool is connected to a clamp arm 61 of the surgical instrument 6 of the surgical instrument testing device, and/or at least one target point tool is connected to a scope rod or a scope holding arm 8 of an endoscope of the surgical instrument testing device;
the first joint connecting rod 32 of a main end manipulator of the main hand structure testing device is connected with at least one target point tool, and the first joint connecting rod 32 is a connecting rod connected with a base 31 of the main end manipulator; and/or the tail end joint connecting rod 33 of the main end manipulator is connected with at least one target point tool.
Illustratively, the second target point tool is connected with an instrument rod 62 of the surgical instrument 6, and the fifth target point tool is connected with a clamp arm 61 of the surgical instrument 6; the sixth target point tool is connected with any one of the surgical instrument 6, the second target point tool and the fifth target point tool.
Illustratively, at least two second target point tools are connected to a scope rod of the endoscope;
exemplarily, as shown in fig. 8, a sliding table 81 is slidably connected to the endoscope holding arm 8, a scope rod of the endoscope is fixedly mounted on the sliding table 81, the target point tool 1 in fig. 8 is a seventh target point tool, two seventh target point tools are fixedly mounted on the endoscope holding arm 8, the two seventh target point tools are respectively located at the left and right sides of a sliding rail on which the sliding table 81 slides, the endoscope holding arm 8 drives the endoscope to rotate around a stationary point, the moving paths of the target points on the two seventh target point tools can be respectively fitted to obtain a circle, and a connecting line of circle centers of the two circles passes through the stationary point and can be used for judging the left and right direction of the endoscope, so as to establish a secondary description coordinate system.
Illustratively, the first target point tool is connected with a first joint connecting rod 32 of a main end manipulator, and the third target point tool, the fourth target point tool and the sixth target point tool are all connected on a tail end joint connecting rod 33 of the main end manipulator.
Illustratively, as shown in fig. 3 and 5, the receiving structure 14 provided on the connecting seat 13 of the fifth target point tool partially receives the clamping arm 61, and an elastic compression member such as rubber is provided in the receiving structure 14, the elastic compression member is fixedly connected with the connecting seat 13, and the elastic compression member is adapted to receive and clamp the clamping arm 61, in some embodiments, the connecting seat 13 is connected with the clamping arm 61 by gluing, the structures of the other target point tools have been described previously, and in addition, the structures of the two sixth target point tools are not necessarily the same, and will not be described in detail here.
Therefore, the rotation axis of the key joint of the surgical instrument 6 and/or the main end manipulator can be found through the target point tools, a reliable structural basis is provided for the performance test of the master-slave surgical robot, and the practicability is high.
In some embodiments, at least three target points 111 are disposed on the target structure 11 of at least one of the target tools connected to the surgical instrument 6 and the target tools connected to the end joint connecting rod 33, and the three target points 111 are located at three vertices of a triangle respectively.
Specifically, at least three target points 111 are arranged on the target point structure 11 of the sixth target point tool, and the three target points 111 are respectively located on three vertexes of a triangle.
Therefore, the rotation axis of the rotating structure can be found by matching two of the three target points 111 with the space measuring equipment, a coordinate system can be defined by the three target points 111, and the coordinate system can be used for describing the posture of the sixth target point tool, and can be used as an intermediate coordinate system, for example, the intermediate coordinate system used for calculating the posture description of the surgical instrument 6 relative to the endoscope and the intermediate coordinate system used for calculating the posture description of the end joint connecting rod 33 relative to the base 31, so that the posture test of the master-slave robot is facilitated, and the practicability is strong.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and such changes and modifications will fall within the scope of the present invention.
Claims (10)
1. The target spot tool is characterized by comprising a target spot structure (11), a rod-shaped structure (12) and a connecting seat (13), wherein the target spot structure (11) and the connecting seat (13) are respectively located at two ends of the rod-shaped structure (12) in the length direction and are respectively connected with the rod-shaped structure (12), the connecting seat (13) is suitable for being connected with a rotating structure of a master-slave surgical robot, and at least one target spot (111) used for calibrating a space coordinate is arranged on the target spot structure (11).
2. The target point tool of claim 1, wherein the connecting base (13) is connected to the rotary structure by at least one of an adhesive connection, a fastener connection, a clamp connection, and a snap connection.
3. The target point tool according to claim 1, wherein an accommodating structure (14) is arranged on the connecting seat (13), the accommodating structure (14) is suitable for at least partially accommodating the rotating structure, and at least part of the accommodating structure (14) is attached to the rotating structure.
4. The target spot tool according to claim 3, wherein the connecting seat (13) comprises a connecting seat body (131) and a pressing block (132) which is detachable from the connecting seat body (131), and the accommodating structure (14) is formed between the pressing block (132) and the connecting seat body (131);
or, the connecting base (13) includes a connecting base body (131), and a first connecting portion (133) and a second connecting portion (134) respectively fixedly connected to the connecting base body (131), the first connecting portion (133) and the second connecting portion (134) are oppositely disposed and form the accommodating structure (14) having an opening, the opening of the accommodating structure (14) is suitable for the rotary structure to enter or leave, and the first connecting portion (133) and the second connecting portion (134) are connected by a fastener.
5. The target point tool according to claim 1, wherein the connecting base (13) comprises a connecting base body (131) and a mounting hole structure (135) connected with the connecting base body (131), one end of the rod-shaped structure (12) is at least partially accommodated in the mounting hole structure (135), and the rod-shaped structure (12) is detachably connected with the mounting hole structure (135).
6. The target point tool according to claim 5, characterized in that the cross-sectional shape of the rod-shaped structure (12) is circular, the rod-shaped structure (12) is rotatably connected with the mounting hole structure (135), and at least one target point (111) is located on the axis of the rod-shaped structure (12).
7. The target point tool according to any one of claims 1 to 5, characterized in that the target point structure (11) is rotatably connected with the rod-shaped structure (12), and the rotational position of the target point structure (11) relative to the rod-shaped structure (12) is suitable for keeping locked.
8. A master-slave surgical robot testing system, comprising a surgical instrument testing device and/or a master hand structure testing device, wherein the surgical instrument testing device comprises at least one target point tool according to any one of claims 1 to 7, and the master hand structure testing device comprises at least one target point tool according to any one of claims 1 to 7.
9. The master-slave surgical robot testing system according to claim 8, characterized in that at least one target point tool is connected to an instrument rod (62) of a surgical instrument (6) of the surgical instrument testing device, and/or at least one target point tool is connected to a clamp arm (61) of a surgical instrument (6) of the surgical instrument testing device, and/or at least one target point tool is connected to a scope rod or a scope holding arm (8) of an endoscope of the surgical instrument testing device;
the first joint connecting rod (32) of a main end manipulator of the main hand structure testing device is connected with at least one target point tool, and the first joint connecting rod (32) is a connecting rod connected with a base (31) of the main end manipulator; and/or the tail end joint connecting rod (33) of the main end manipulator is connected with at least one target point tool.
10. The master-slave surgical robot testing system according to claim 9, characterized in that at least three target points (111) are arranged on the target structure (11) of at least one of the target point tools connected to the surgical instrument (6) and the target point tools connected to the end joint connecting rod (33), respectively, and the three target points (111) are located on three vertices of a triangle, respectively.
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| CN202121578856.9U CN215228385U (en) | 2021-07-12 | 2021-07-12 | Target point tool and master-slave surgical robot testing system |
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| CN202121578856.9U CN215228385U (en) | 2021-07-12 | 2021-07-12 | Target point tool and master-slave surgical robot testing system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114543723A (en) * | 2022-02-28 | 2022-05-27 | 苏州康多机器人有限公司 | DH model parameter measuring and calculating method, device and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114543723A (en) * | 2022-02-28 | 2022-05-27 | 苏州康多机器人有限公司 | DH model parameter measuring and calculating method, device and system |
| CN114543723B (en) * | 2022-02-28 | 2023-02-03 | 苏州康多机器人有限公司 | DH model parameter measuring and calculating method, device and system |
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Address after: No. 8, Dalian North Road, Haping Road Concentration Zone, Economic Development Zone, Harbin City, Heilongjiang Province, 150040 Patentee after: Harbin sizherui intelligent medical equipment Co.,Ltd. Address before: Room 08, 15 / F, No.368, Changjiang Road, Nangang District, economic development zone, Harbin City, Heilongjiang Province Patentee before: HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIPMENT Co.,Ltd. |
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