CN215228386U

CN215228386U - Positioning tool and master structure testing device

Info

Publication number: CN215228386U
Application number: CN202121595332.0U
Authority: CN
Inventors: 文洋; 王伟; 刘龙
Original assignee: Harbin Sagebot Intelligent Medical Equipment Co Ltd
Current assignee: Harbin Sagebot Intelligent Medical Equipment Co Ltd
Priority date: 2021-07-12
Filing date: 2021-07-12
Publication date: 2021-12-21
Anticipated expiration: 2031-07-12

Abstract

The utility model provides a location frock and master hand structure testing arrangement relates to principal and subordinate control surgical robot technical field. Location frock, including frock body, first location structure and second location structure, first location structure with second location structure respectively with the frock body is connected, first location structure with second location structure is suitable for terminal joint connecting rod and the second joint connecting rod of location main-end operation hand respectively, in order to realize terminal joint connecting rod with the relative position locking of second joint connecting rod, the second joint connecting rod be with the connecting rod that terminal joint connecting rod is connected. The utility model discloses location frock can realize the position location of terminal joint connecting rod and second joint connecting rod, and terminal joint connecting rod takes place for the motion of second joint connecting rod when can avoiding establishing the reference coordinate system based on terminal joint connecting rod, marks and/or the position appearance test provides reliable basis for the coordinate system who realizes the master hand structure.

Description

Positioning tool and master structure testing device

Technical Field

The utility model relates to a master-slave control surgical robot technical field particularly, relates to a location frock and master hand structure testing arrangement.

Background

In the process of testing the master-slave control performance of the master-slave surgical robot for abdominal operations and the like, the coordinate system calibration and the pose test of a master hand structure are required, but because the master end manipulator adopts a passive control mode, the joint connecting rods of the master end manipulator are easy to move relatively, the position positioning is difficult to realize, and a corresponding reference is difficult to find.

SUMMERY OF THE UTILITY MODEL

The utility model discloses it is difficult to realize the location to aim at solving in the correlation technique to a certain extent in how to realize the coordinate system of main hand structure demarcation and the position appearance test to and be difficult to find the problem of corresponding benchmark.

For at least one aspect at least solving above-mentioned problem to a certain extent, the utility model discloses the first aspect provides a location frock, including frock body, first location structure and second location structure, first location structure with second location structure respectively with the frock body is connected, first location structure with second location structure is suitable for terminal joint connecting rod and the second joint connecting rod of fixing a position main end operation hand respectively, in order to realize terminal joint connecting rod with the relative position locking of second joint connecting rod, the second joint connecting rod be with the connecting rod that terminal joint connecting rod is connected.

Optionally, the positioning tool further comprises a first surface structure, and when the first positioning structure and the second positioning structure are respectively connected with the tool body, the first surface structure is parallel to the symmetrical surfaces of the two holders of the tail end joint connecting rod.

Optionally, the first locating structure is a slot-like structure adapted to at least partially receive a distal end of the distal articulation link to enable locating of the distal articulation link;

and/or, the second location structure includes two relative clamping piece structures that set up, two form between the clamping piece structure and be suitable for at least partial holding the first holding structure of second joint connecting rod, two the clamping piece structure be suitable for with two relative lateral wall laminating of second joint connecting rod are in order to press from both sides tightly second joint connecting rod.

Optionally, the slot-like structure is adapted to locate a weight of the end knuckle link.

Optionally, the positioning tool further comprises two elastic compression parts which are arranged oppositely, the two elastic compression parts are located between the two clamping piece structures and are respectively connected with the two clamping piece structures, and the two clamping piece structures compress the second joint connecting rod through the two elastic compression parts.

For correlation technique, location frock have following advantage:

the first positioning structure and the second positioning structure can realize the position positioning of the tail end joint connecting rod and the second joint connecting rod, keep the relative position locking of the tail end joint connecting rod and the second joint connecting rod, avoid the movement of the tail end joint connecting rod relative to the second joint connecting rod when a reference coordinate system based on the tail end joint connecting rod is established, and provide a reliable basis for realizing the coordinate system calibration and/or the pose test of the master hand structure.

The second aspect of the utility model provides a master hand structure testing arrangement, it includes as above location frock, still include at least one target spot frock, the target spot frock includes 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 the master end operation hand, the structural at least one target spot that is used for demarcating space coordinate that is provided with of target spot.

Optionally, at least one target point tool is connected to a first joint connecting rod of the main-end manipulator, and the first joint connecting rod is connected to a 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 tail end joint connecting rod, and the three target points are respectively located on three vertexes of a triangle.

Optionally, a second accommodating structure is arranged on the connecting seat, the second accommodating structure is suitable for at least partially accommodating the rotating structure, and at least part of the second accommodating structure is attached to the rotating structure.

Optionally, the main hand structure testing device further comprises an adjusting assembly, the adjusting assembly comprises a first tool, the adjusting assembly is connected with the second joint connecting rod through the first tool, and the adjusting assembly is suitable for adjusting the spatial position of the second joint connecting rod.

For correlation technique, master hand structure testing arrangement, have following advantage:

when the coordinate system calibration or the posture measurement is carried out on the main end manipulator, the relative position locking of the tail end joint connecting rod and the second joint connecting rod can be ensured, the movement of the tail end joint connecting rod relative to the second joint connecting rod can be avoided when a reference coordinate system based on the tail end joint connecting rod is established, and the stability of the tail end joint connecting rod is ensured; meanwhile, the target point tool is connected with the rotating structure of the main end manipulator through the connecting seat, the rotating structure rotates to a plurality of positions, the space coordinate of the target point is calibrated through space measuring equipment, so that a point on the rotating axis of the rotating structure can be found, the position of the rotating axis of the rotating structure can be further found, and each coordinate system of the main end manipulator can be conveniently established according to the rotating axis; 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 is accurate to a certain extent, and the reliability and the practicability are high.

Drawings

Fig. 1 is a schematic structural view of a positioning tool in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a master hand structure testing device in an embodiment of the present invention;

fig. 3 is a schematic structural view of the positioning tool according to the embodiment of the present invention connected to the end joint connecting rod and the second joint connecting rod, respectively;

FIG. 4 is a schematic structural diagram of a first embodiment of the target point tool of the present invention;

FIG. 5 is a schematic structural diagram of a third embodiment of the target point tool 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 second embodiment of the target point tool of the present invention;

fig. 8 is a schematic structural diagram of a fifth embodiment of the target point tool of the present invention;

fig. 9 is a schematic structural diagram of the first tool in an 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-second accommodating structure, 2-first tool, 31-base, 32-first joint connecting rod, 33-tail end joint connecting rod, 331-connecting rod body, 332-clamping device, 333-handle, 34-second joint connecting rod, 35-third joint connecting rod, 5-positioning tool, 51-tool body, 52-first positioning structure, 53-second positioning structure, 531-clamping piece structure, 532-first surface structure and 54-first accommodating structure.

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 and 3, an embodiment of the present invention provides a positioning tool 5, the positioning tool 5 includes a tool body 51, a first positioning structure 52 and a second positioning structure 53, the first positioning structure 52 and the second positioning structure 53 are respectively connected to the tool body 51, the first positioning structure 52 and the second positioning structure 53 are suitable for respectively positioning the terminal joint connecting rod 33 and the second joint connecting rod 34 of the main-end manipulator, so as to realize the locking of the relative position of the terminal joint connecting rod 33 and the second joint connecting rod 34, and the second joint connecting rod 34 is rotatably connected to the terminal joint connecting rod 33.

As shown in fig. 2, it should be noted that 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 around 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.

It should be noted that, the connection structures of the first positioning structure 52 and the tool body 51, and the second positioning structure 53 and the tool body 51 are not limited, and may be integrally connected or detachably connected. The specific structure of the first positioning structure 52 positioned (or connected) with the end joint link 33 and the specific structure of the second positioning structure 53 positioned (or connected) with the second joint link 34 are not limited, and the positioning thereof may be implemented.

Therefore, the first positioning structure 52 and the second positioning structure 53 can position the distal joint link 33 and the second joint link 34, keep the relative positions of the two locked, avoid the distal joint link 33 from moving relative to the second joint link 34 when establishing a reference coordinate system based on the distal joint link 33, and ensure the stability thereof.

As shown in fig. 1 and 3, in an embodiment of the present invention, the first positioning structure 52 is a groove-shaped structure adapted to at least partially receive the end of the end joint link 33 to position the end joint link 33.

As shown in fig. 3, the distal joint link 33 includes a link body 331, a hand grip 333 which is positioned at the distal end of the link body 331 and is fixedly connected to the link body 331, and a gripper 332 which is connected to the link body 331, the posture of the link body 331 is mapped to the surgical instrument of the slave end manipulator, the operator holds the hand grip 333 to apply a force and controls the posture of the link body 331, thereby controlling the posture of the surgical instrument of the slave end manipulator, and the operator controls the movement of the gripper arm of the surgical instrument by controlling the movement of the gripper 332 of the distal joint link 33. Illustratively, the slot-like structure is adapted to at least partially receive the handle 333 to effect positioning of the end articulation link 33.

Therefore, the first positioning structure 52 is matched with the self structure of the tail end joint connecting rod 33 to realize relative position positioning, the positioning structure is simple, the first positioning structure 52 and the tail end of the tail end joint connecting rod 33 are positioned, the distance between the first positioning structure 52 and the second positioning structure 53 is relatively long, the positioning error caused by the machining error of the positioning tool 5 is relatively small, the reliability is high, and the practicability is high.

In particular, in this embodiment, the trough-like structure is adapted to locate the counterweight of the end articulation link 33.

Illustratively, the weight is provided as a cylindrical structure (not shown in the figures) and connected to a side of the handle 333 away from the link body 331, an axis of the cylindrical structure is parallel to the second axis L2, and an axis of the link body 331 coincides with the second axis L2.

Compared with other positions, the wear of the balancing weight is relatively small, the distance between the end joint connecting rod 33 and the connecting position of the second joint connecting rod 34 is far, and the positioning effect of the first positioning structure 52 is good.

As shown in fig. 1, 2 and 3, in an embodiment of the present invention, the second positioning structure 53 includes two oppositely disposed clip structures 531, a first receiving structure 54 adapted to at least partially receive the second joint link 34 is formed between the two clip structures 531, and the two clip structures 531 are adapted to be attached to two opposite sidewalls of the second joint link 34 to clamp the second joint link 34.

Illustratively, the second joint link 34 has two side walls parallel to the symmetry planes of the two holders 332 (e.g., two side walls symmetrical about the symmetry planes of the two holders 332), and the two clip structures 531 respectively fit the two side walls to position the second joint link 34, that is, the second axis L2 is located on the symmetry planes of the two side walls.

Exemplarily, at this time, the two clip structures 531 may be connected to each other by a fastener to realize reliable connection between the positioning tool 5 and the second joint connecting rod 34, and may also be connected to the second joint connecting rod 34 by elastic deformation of the two clip structures 531.

Therefore, the positioning tool 5 and the second joint link 34 can be positioned simply by using the conventional structure of the second joint link 34, and the positioning tool can be used in cooperation with the first positioning structure 52 to position the relative positions of the distal joint link 33 and the second joint link 34 and maintain the position locking of the distal joint link 33 and the second joint link 34. It is possible to provide a stable structural basis for the joint movement of the distal joint link 33 and the second joint link 34, or to facilitate the posture measurement of the distal joint link 33.

In this embodiment, the positioning tool 5 further includes two elastic compression members (shown in the figure) disposed oppositely, the two elastic compression members are located between the two clip structures 531 and are respectively connected to the two clip structures 531, and the two clip structures 531 compress the second joint connecting rod 34 through the two elastic compression members.

The elastic compression member is illustratively a silicone member, and is disposed at a position in contact with the clip structure 531 and the second joint link 34, so that the elastic performance of the elastic compression member is utilized to clamp the second joint link 34, no additional fastening device is needed for fastening, and the elastic performance of the elastic compression member is utilized to reduce the influence of machining errors on the positioning accuracy to some extent, and a third accommodating structure, such as an accommodating groove, adapted to partially accommodate the second joint link 34 may also be disposed on the elastic compression member, and will not be described in detail herein.

As shown in fig. 1, in the above embodiment, the positioning tool 5 further includes a first surface structure 532, and when the first positioning structure 52 and the second positioning structure 53 are respectively connected to the tool body 51, (the surface of) the first surface structure 532 is parallel to the symmetry plane of the two grippers 332 of the end joint link 33.

Illustratively, the first face structure 532 is a side structure of the clip structure 531 located at the outer side. Of course, it may also be disposed on the tool body 51 and/or the first positioning structure 52, and of course, an outer side wall of the positioning tool 5 may be a planar structure, and the first surface structure 532 is located on the planar structure, which will not be described in detail.

Therefore, the positioning tool 5 can not only realize the relative position positioning of the end joint connecting rod 33 and the second joint connecting rod 34, but also determine the position of the first surface structure 532 by measuring at least three points on the first surface structure 532 through a space measuring device, and the positioning tool 5 can provide a surface parallel to the symmetrical surfaces of the two clampers 332, so as to establish a reference coordinate system based on the end joint connecting rod 13 and facilitate the control accuracy test of the master-slave control surgical robot.

As shown in fig. 2 and 3, another embodiment of the present invention provides a master hand structure testing device, which includes the positioning tool 5.

Illustratively, the master hand structure testing device is used for coordinate system calibration and/or attitude measurement of the tail end joint link 33 of a master end manipulator of a master-slave control surgical robot.

As shown in fig. 2 to 4, the main-hand structure testing device further includes at least one target point tool 1, and the target point tool 1 is connected to the rotating structure of the main-end manipulator.

The rotary structure may be a rotary structure such as a first joint link 32 fixedly connected to the main end manipulator and a distal end joint link 33 of the main 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. 4, the target point tool 1 includes a target point structure 11, a rod-shaped structure 12 and a connecting seat 13, the target point 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 to the rod-shaped structure 12, the connecting seat 13 is suitable for being connected to a rotating structure of a main end manipulator, and at least one target point 111 for calibrating a spatial coordinate is disposed on the target point structure 11. Specifically, the spatial coordinates of the target point 111 are calibrated by the spatial measurement device.

Specifically, the target point tool 1 shown in fig. 4 is a first target point tool, and the first target point tool is connected to the first joint connecting rod 32 (that is, the rotating structure is the first joint connecting rod 32), and the working manner of the target point tool 1 is exemplarily illustrated as follows:

the first joint link 32 rotates around the first axis L1 at least three positions (e.g., 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 positions), and the spatial measurement device obtains spatial coordinates of the target point 111 on the first target point tool at each position;

obtaining a first position point (a circle center is obtained through a multi-point fitting circle) on the first axis L1 according to the space coordinates of the target point 111 of the first target point tool at each position;

repeating the above steps to obtain a second position point located on the first axis L1, and obtaining the first axis L1 according to the first position point and the second position point. So that a reference coordinate system based on the base 31 of the main end manipulator can be established according to the first axis L1.

It should be noted that the connecting seat 13 and the rod-shaped structure 12 may be integrally connected, and in this 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 rotating structure, and will not be described in detail here.

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, when the coordinate system calibration or the posture measurement is performed on the main end manipulator, the relative position locking of the tail end joint link 33 and the second joint link 34 can be ensured, the movement of the tail end joint link 33 relative to the second joint link 34 can be avoided when the reference coordinate system based on the tail end joint link 33 is established, and the stability of the tail end joint link 33 is ensured; meanwhile, the target point tool 1 is connected with the rotating structure of the main end manipulator through the connecting seat 13, the rotating structure rotates to a plurality of positions, the space coordinate of the target point 111 is calibrated through space measuring equipment, so that a point on the rotating axis of the rotating structure can be found, the position of the rotating axis of the rotating structure can be further found, and each coordinate system of the main end manipulator can be conveniently established according to the rotating axis; 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 rotation axis of the rotating structure is accurate to a certain extent, and the reliability and the practicability are high.

In an embodiment of the present invention, the connecting seat 13 is provided with a second receiving structure 14, the second receiving structure 14 is adapted to at least partially receive the rotating structure, and the second receiving structure at least partially adheres to the rotating structure.

Exemplarily, as shown in fig. 2 and 4, the second receiving structure 14 of the first target point tool shown in fig. 4 at least partially receives the first joint connecting rod 32, the cross section of the first joint connecting rod 32 is rectangular, and the second receiving structure 14 is attached to at least two opposite sides of the rectangle.

Exemplarily, as shown in fig. 2 and 6, the target point tool 1 shown in fig. 6 is a fourth target point tool (only a connection seat of the fourth target point tool is shown in fig. 6), the second accommodating structure 14 of the fourth target point tool at least partially accommodates the terminal joint connecting rod 33, one side of the terminal joint connecting rod 33 is set to be an arc structure, and the second 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.

Exemplarily, as shown in fig. 8, the target point tool shown in fig. 8 is a fifth target point tool, the connecting seat 13 of the fifth target point tool includes a connecting seat body 131 and a pressing block 132 detachable from the connecting seat body 131, and the second accommodating structure 14 is formed between the pressing block 132 and the connecting seat body 131. When the cross section of the first joint connecting rod 32 is circular, the adjacent side surfaces of the pressing block 132 and the connecting seat body 131 are respectively provided with an arc-shaped structure, the two arc-shaped structures are respectively attached to the part of the first joint connecting rod 32 to press the first joint connecting rod 32, and the pressing block 132 is connected with the connecting seat body 131 through a fastener.

Exemplarily, as shown in fig. 2 and 6, the rotation structure is the end joint link 33, the connection seat 13 of the fourth target point tool includes a connection seat body 131, and a first connection portion 133 and a second connection portion 134 fixedly connected to the connection seat body 131, respectively, the first connection portion 133 and the second connection portion 134 are oppositely disposed and form the second receiving structure 14 having an opening, the opening of the second receiving structure 14 is suitable for the rotation structure (i.e., the end joint link 33) to enter or exit, and the first connection portion 133 and the second connection portion 134 are connected by a fastener.

At this time, the position of the second accommodating structure 14 on the connecting seat 13 is integrally in a U-shaped structure, the U-shaped structure can have certain elasticity so as to facilitate the entering or releasing of the rotating structure, a stop structure can be arranged on the inner side wall of the U-shaped structure to prevent the rotating structure from releasing after entering the U-shaped structure, and at this time, the axis direction of the rod-shaped structure 12 and the opening direction of the second accommodating structure 14 are set to be 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.

Therefore, the connecting seat 13 can be reliably connected with the rotating structure, and the stability is high.

As shown in fig. 4 to 6, in the 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.

Specifically, 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. 4 and 5, 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. 4, 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. 8, 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. 8, 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.

As shown in fig. 1 to 8, at least one target point tool 1 is connected to a first joint link 32 of the main end manipulator, and the first joint link 32 is a link connected to 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 1.

Illustratively, the first joint connecting rod 32 is connected with at least one first target point tool, and the tail end joint connecting rod 33 is connected with a third target point tool, a fourth target point tool and a second target point tool.

It should be noted that the third target point tool is the target point tool shown in fig. 5, the second target point tool is the target point tool shown in fig. 7, the connecting seats 13 may be the same or different, and the third target point tool, the fourth target point tool and the second target point tool may be displayed in an integrated manner, for example, the second target point tool is provided with two or three target points 111, and has the functions of the third target point tool and the fourth target point tool, and the fourth target point tool may also be connected to the third target point tool so as to be connected to the end joint connecting rod 33. In addition, the structure of the second target point tool shown in fig. 7 is not limited, and the structure of the second target point tool may adopt the structure of other target point tools, which is not described in detail here.

Illustratively, the fourth target point tool shown in fig. 6 is connected to one end of the terminal joint link 33 connected to the second joint link 34, and the third target point tool shown in fig. 5 is connected to one end of the terminal joint link 33 far from the second joint link 34, so that the position error of the second axis L2 determined by the point on the second axis L2 obtained by the third target point tool and the point on the fourth target point tool is small, and a reference coordinate system based on the terminal joint link 33 can be established according to the first surface structure 532 and the second axis L2.

Thereby, the axes of rotation of the key joints of the main end manipulator can be found by the target point tools, providing a reliable basis for coordinate system calibration and/or pose testing of the main end manipulator, e.g. a description coordinate system of the main end manipulator based on the base 31 can be calibrated by means of measurements, and/or a reference coordinate system based on the end joint link 33, and/or an intermediate coordinate system of the description coordinate system and the pose description of the reference coordinate system is established (the intermediate coordinate system is determined from the at least three target points 111 of the end joint link 33).

Specifically, in some embodiments, at least three target points 111 are disposed on the target point structure 11 of the second target point tool, and the three target points 111 are located at three vertices of a triangle respectively.

Therefore, the rotation axis of the rotating structure can be found by matching two of the three target points 111 with a space measuring device (at this time, the third target point tool and the fourth target point tool can be optionally omitted), a coordinate system can be defined by the three target points 111, the coordinate system can be used for describing the posture of the second target point tool, and the coordinate system can be used as an intermediate coordinate system, for example, the intermediate coordinate system can be used for calculating the posture description of the tail end joint connecting rod 33 relative to the base 31, so that the master-slave control posture accuracy test of a subsequent master-slave surgical robot is facilitated, and the practicability is high.

As shown in fig. 2 and 9, the master hand structure testing device further includes an adjusting component, the adjusting component includes a first fixture 2, the adjusting component is connected to the second joint connecting rod 34 through the first fixture 2, and the adjusting component is adapted to adjust a spatial position of the second joint connecting rod 34.

The specific manner of connecting the first tool 2 and the second joint link 34 may be similar to the specific manner of connecting the target tool 1 and the rotating structure, which is not limited.

Exemplarily, the adjusting assembly further comprises a UR robot, a second tool and a connecting rod connected between the second tool and the first tool 2, wherein the second tool is connected with the tail end of the UR robot, so that the UR robot can integrally adjust the postures of the tail end joint connecting rod 33 and the second joint connecting rod 34 and keep the postures unchanged, thereby facilitating various measuring operations on the tail end joint connecting rod 33, and the practicability is high.

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

1. The positioning tool is characterized by comprising a tool body (51), a first positioning structure (52) and a second positioning structure (53), wherein the first positioning structure (52) and the second positioning structure (53) are respectively connected with the tool body (51), the first positioning structure (52) and the second positioning structure (53) are suitable for respectively positioning a tail end joint connecting rod (33) and a second joint connecting rod (34) of a main end manipulator to realize the relative position locking of the tail end joint connecting rod (33) and the second joint connecting rod (34), and the second joint connecting rod (34) is a connecting rod connected with the tail end joint connecting rod (33).

2. The positioning tool according to claim 1, further comprising a first surface structure (532), wherein when the first positioning structure (52) and the second positioning structure (53) are respectively connected with the tool body (51), the first surface structure (532) is parallel to a symmetrical plane of the two grippers (332) of the end joint connecting rod (33).

3. The positioning tool according to claim 1 or 2, characterized in that the first positioning structure (52) is a groove-shaped structure adapted to at least partially receive a terminal end of the terminal end joint link (33) to achieve positioning of the terminal end joint link (33);

and/or the second positioning structure (53) comprises two oppositely arranged clamping piece structures (531), a first accommodating structure (54) suitable for at least partially accommodating the second joint connecting rod (34) is formed between the two clamping piece structures (531), and the two clamping piece structures (531) are suitable for being attached to two opposite side walls of the second joint connecting rod (34) to clamp the second joint connecting rod (34).

4. The positioning tooling as claimed in claim 3, wherein the trough-like structure is adapted to position a counterweight of the terminal articulation link (33).

5. The positioning tool according to claim 3, further comprising two elastic compression members arranged oppositely, wherein the two elastic compression members are located between the two clip structures (531) and are respectively connected with the two clip structures (531), and the two clip structures (531) compress the second joint connecting rod (34) through the two elastic compression members.

6. The master hand structure testing device is characterized by comprising the positioning tool according to any one of claims 1 to 5 and at least one target point tool (1), wherein the target point tool (1) comprises a target point structure (11), a rod-shaped structure (12) and a connecting seat (13), the target point 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 end manipulator, and at least one target point (111) used for calibrating space coordinates is arranged on the target point structure (11).

7. The main hand structure testing device according to claim 6, characterized in that at least one target point tool (1) is connected to a first joint link (32) of the main end manipulator, the first joint link (32) is a link connected to 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 (1).

8. The master hand structure testing device according to claim 7, wherein at least three target points (111) are arranged on the target point structure (11) of at least one target point tool (1) in the target point tools (1) connected to the tail end joint connecting rod (33), and the three target points (111) are respectively located on three vertexes of a triangle.

9. The master hand structure testing device according to any one of claims 6 to 8, wherein a second receiving structure (14) is disposed on the connecting seat (13), the second receiving structure (14) is adapted to at least partially receive the rotating structure, and the second receiving structure (14) at least partially abuts against the rotating structure.

10. The master hand structure testing device according to any one of claims 6 to 8, further comprising an adjustment assembly, wherein the adjustment assembly comprises a first fixture (2), the adjustment assembly is connected with the second joint connecting rod (34) through the first fixture (2), and the adjustment assembly is suitable for adjusting the spatial position of the second joint connecting rod (34).