CN218356375U - Master-slave control delay time testing system for surgical robot - Google Patents
Master-slave control delay time testing system for surgical robot Download PDFInfo
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- CN218356375U CN218356375U CN202123333641.3U CN202123333641U CN218356375U CN 218356375 U CN218356375 U CN 218356375U CN 202123333641 U CN202123333641 U CN 202123333641U CN 218356375 U CN218356375 U CN 218356375U
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Abstract
The utility model discloses a surgical robot principal and subordinate control delay time test system controls surgical robot main-end through industrial robot, makes it once can follow X, Y, the three direction of Z and moves according to setting for the procedure. The industrial manipulator and the high-speed camera are connected and communicated through the data acquisition card, so that the industrial manipulator can trigger the high-speed camera to measure the displacement of the master end and the slave end of the surgical robot while executing a set program, and the precision of master-slave control delay time measurement of the surgical robot is ensured. The high-speed camera comprises a first high-speed camera and a second high-speed camera which are matched, so that the motion mark points of the main end and the slave end of the surgical robot in the three-dimensional space can be shot at the same time. The high-speed camera is matched with the spatial motion analysis computer to carry out non-contact measurement, so that the master-slave control delay under the non-linear motion state can be detected, the influence of measurement equipment on the master-slave end of the surgical robot can be avoided, and the measurement precision is further ensured.
Description
Technical Field
The utility model relates to a technical field of robot control especially involves a surgical robot principal and subordinate control delay time test system.
Background
The master-slave control delay time is the time difference between the control of a robot master equipment operation end (called a master end for short) and the movement of a slave equipment operation end (called a slave end for short), and is an important index for evaluating the operation and control performance of the surgical robot. Therefore, YY/T1712-2021 auxiliary operation equipment and an auxiliary operation system adopting robotics uses a linear motion generating device to pull the driving end equipment to move according to a specified program, and a displacement sensor is matched with a data acquisition instrument to measure the change of the displacement of the driving end equipment and the driven end equipment along with time, and a specific test system is shown in figure 1. But at the same time, the test system also has the following limitations: 1) The linear motion generating device and the displacement sensor shown in the figure can only move along one coordinate axis direction at a time, and when the linear motion generating device and the displacement sensor move along the X-axis direction, the Y-axis direction and the Z-axis direction in a switching mode, a testing system needs to be adjusted and installed again, and testing efficiency is low. 2) The linear motion generating device and the displacement sensor shown in the figure can only test the master-slave control delay time of linear motion, and cannot detect the master-slave control delay time in a non-linear motion state. 3) For a robot with multiple slave ends, multiple displacement sensors are needed for monitoring. 4) The displacement sensor shown in the figure is a stay wire displacement sensor, certain resilience force exists, the driven end load of the displacement sensor is small for a specific type such as an ophthalmic robot, and the resilience force generated in the measurement process of the contact type displacement sensor can influence the performance of an instrument.
Disclosure of Invention
An object of the utility model is to overcome prior art not enough, provide a surgical robot principal and subordinate control delay time test system, enable surgical robot main part and also can follow X, Y, the three direction of Z and move under the condition that need not to transfer the dress test system again, can detect principal and subordinate control time delay under the nonlinear motion state, need not a plurality of displacement sensor to the surgical robot of many slaves and monitor, the test accuracy is high moreover.
In order to achieve the above object, the present invention provides a technical solution:
a surgical robot master-slave control delay time test system comprises a spatial motion generating device, a spatial motion acquisition device, a data acquisition card and a spatial motion analysis computer;
the space motion generating device is connected with the main end of the surgical robot and drives the main end of the surgical robot to move;
the data acquisition card is connected with the spatial motion generating device and receives a motion signal of the spatial motion generating device;
the spatial motion acquisition device is connected with the data acquisition card, is triggered by a motion signal received by the data acquisition card, acquires motion information of a main end and a slave end of the surgical robot, and sends the motion information to the data acquisition card;
the spatial motion analysis computer is connected with the data acquisition card, and calculates the delay time of master-slave control of the surgical robot according to the motion information of the master end and the slave end of the surgical robot.
Furthermore, the space motion acquisition device comprises a high-speed camera, a motion marking point and a coordinate calibration device;
the high-speed camera is connected with the data acquisition card, and the motion signal received by the data acquisition card triggers shooting;
the motion marking points are respectively stuck to the motion reference points of the main end and the slave end of the surgical robot;
the calibration module is used for calibrating the camera of the high-speed camera.
Further, the calibration module is a camera polyhedron calibration piece.
Further, the high-speed camera comprises a first high-speed camera and a second high-speed camera which are matched with each other to photograph the motion process of the main end and the secondary end of the surgical robot.
Further, the spatial motion generating device is an industrial robot gripping a main end of the surgical robot.
Compared with the prior art, the technical scheme has the following principles and advantages:
1. according to the technical scheme, the main end of the surgical robot is controlled by the industrial manipulator, so that the surgical robot can move in the X direction, the Y direction and the Z direction at one time according to a set program.
2. The industrial manipulator and the high-speed camera are connected and communicated through the data acquisition card, so that the industrial manipulator can trigger the high-speed camera to measure the displacement of the master end and the slave end of the surgical robot while executing a set program, and the measurement precision of master-slave control delay time of the surgical robot is ensured.
3. The high-speed camera comprises a first high-speed camera and a second high-speed camera which are matched, so that the motion mark points of the main end and the slave end of the surgical robot in the three-dimensional space can be shot at the same time.
4. The high-speed camera is matched with the spatial motion analysis computer to carry out non-contact measurement, so that the master-slave control delay under the non-linear motion state can be detected, the influence of measurement equipment on the master-slave end of the surgical robot can be avoided, and the measurement precision is further ensured.
Drawings
In order to illustrate more clearly the embodiments of the present invention or the technical solutions in the prior art, the services required for the embodiments or the technical solutions in the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of a master-slave control delay time testing apparatus in the prior art;
fig. 2 is a connection block diagram of a master-slave control delay time testing system of a surgical robot according to the present invention;
fig. 3 is a schematic diagram of a master-slave control delay time testing system of a surgical robot according to the present invention;
fig. 4 is a graph showing the position change of the motion mark points at the master and slave ends.
Reference numerals are as follows:
1-a spatial motion generating device; 2-a spatial motion acquisition device; 3-a data acquisition card; 4-a spatial motion analysis computer; 2-1-high speed camera; 2-2-motion marker points; 2-3-calibration module.
Detailed Description
The present invention will be further described with reference to the following specific embodiments:
as shown in fig. 2, the surgical robot master-slave control delay time testing system according to this embodiment includes a spatial motion generating device 1, a spatial motion collecting device 2, a data collecting card 3, and a spatial motion analyzing computer 4;
wherein, the space motion generating device 1 is connected with the main end of the surgical robot and drives the main end of the surgical robot to move; the data acquisition card 3 is connected with the spatial motion generating device 1 and receives a motion signal of the spatial motion generating device 1; the space motion acquisition device 2 is connected with the data acquisition card 3, is triggered by a motion signal received by the data acquisition card 3, carries out non-contact acquisition on motion information of a main end and a slave end of the surgical robot, and sends the motion information to the data acquisition card 3; and the space motion analysis computer 4 is connected with the data acquisition card 3 and calculates the delay time of master-slave control of the surgical robot according to the motion information of the master end and the slave end of the surgical robot.
Specifically, as shown in fig. 3, in this embodiment, the spatial motion acquisition device 2 includes a high-speed camera 2-1, a motion marking point 2-2, and a calibration module 2-3; the high-speed camera 2-1 is connected with the data acquisition card 3, and is triggered to shoot by the motion signal received by the data acquisition card 3; the motion mark points 2-2 are respectively stuck on the motion reference points of the main end and the slave end of the surgical robot; the calibration module 2-3 is used for camera calibration of the high-speed camera 2-1.
Specifically, in this embodiment, the calibration module 2-3 is a camera polyhedron calibration piece.
Specifically, in the present embodiment, the high-speed camera 2-1 includes a first high-speed camera and a second high-speed camera.
Specifically, in the present embodiment, the spatial motion generator 1 is an industrial robot that grips the main end of the surgical robot.
The working principle of the embodiment is as follows:
preparation before testing
And determining the object distance and the focal length of the lens according to the measurement range and the precision requirement. And photographing and resolving the camera polyhedron calibration pieces in different poses through the high-speed camera 2-1 to finish camera calibration.
Test procedure and data processing
Under the mapping proportion 1 of the master-slave control of the surgical robot:
starting the industrial manipulator, accelerating the motion reference point of the main end of the surgical robot from a static state to 80% of rated speed (or the speed given in the standard) within 200ms, and decelerating the reference point to a static state within 200ms after the reference point moves at a constant speed for a specified distance at 80% of rated speed;
the change situation of the displacement of the motion marking point 2-2 at the main end and the motion marking point 2-2 at the auxiliary end of the surgical robot along with the time in the process is simultaneously acquired by a high-speed camera 2-1, the motion information acquired by shooting is sent to a data acquisition card 3, and then the motion information is sent to a space motion analysis computer 4 by the data acquisition card 3 for analysis and measurement;
the process of the spatial motion analysis computer 4 for performing the analysis measurement is as follows:
according to a position change curve graph (as shown in fig. 4) corresponding to the change conditions of the displacement of the motion marking point 2-2 at the main end and the motion marking point 2-2 at the slave end along with the time of the surgical robot, taking the time difference of the motion marking point 2-2 at the main end and the motion marking point 2-2 at the slave end as the starting delay;
in 80% of the movement stroke of the main end of the surgical robot, taking the maximum value of the time difference between the movement marking point 2-2 at the main end and the movement marking point 2-2 at the slave end when the movement is the same as the displacement as the following delay;
respectively testing 3 mutually perpendicular motion directions (X, Y and Z), repeating the test for 3 times, and taking the average value of the 3 test results as the starting delay and the following delay in each direction;
taking the maximum starting delay values in X, Y and Z3 motion directions as the starting delay time of master-slave control;
and taking the maximum value of the following delay in X, Y and Z3 motion directions as the following delay time of master-slave control.
In the present embodiment, the first and second electrodes are,
the main end of the surgical robot is controlled by the industrial manipulator, so that the surgical robot can move along three directions of X, Y and Z once according to a set program.
The industrial manipulator and the high-speed camera 2-1 are connected and communicated through the data acquisition card 3, so that the industrial manipulator can trigger the high-speed camera 2-1 to measure the displacement of the master end and the slave end of the surgical robot while executing a set program, and the measurement precision of master-slave control delay time of the surgical robot is ensured.
The high-speed camera 2-1 comprises a first high-speed camera and a second high-speed camera which are matched with each other, so that the motion mark points 2-2 of the main end and the auxiliary end of the surgical robot in the three-dimensional space can be shot at the same time.
The high-speed camera 2-1 is matched with the spatial motion analysis computer 4 to carry out non-contact measurement, so that the master-slave control delay under the non-linear motion state can be detected, the influence of measurement equipment on the master-slave end of the surgical robot can be avoided, and the measurement precision is further ensured.
The above-mentioned embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that all the changes made according to the shape and principle of the present invention should be covered within the protection scope of the present invention.
Claims (5)
1. A surgical robot master-slave control delay time test system is characterized by comprising a space motion generating device (1), a space motion collecting device (2), a data collecting card (3) and a space motion analysis computer (4);
the space motion generating device (1) is connected with the main end of the surgical robot and drives the main end of the surgical robot to move;
the data acquisition card (3) is connected with the spatial motion generating device (1) and receives motion signals of the spatial motion generating device (1);
the spatial motion acquisition device (2) is connected with the data acquisition card (3), is triggered by motion signals received by the data acquisition card (3), acquires motion information of a master end and a slave end of the surgical robot in a non-contact manner, and sends the motion information to the data acquisition card (3);
the spatial motion analysis computer (4) is connected with the data acquisition card (3) and calculates the delay time of master-slave control of the surgical robot according to the motion information of the master end and the slave end of the surgical robot.
2. The surgical robot master-slave control delay time test system according to claim 1, wherein the space motion acquisition device (2) comprises a high-speed camera (2-1), a motion marking point (2-2) and a calibration module (2-3);
the high-speed camera (2-1) is connected with the data acquisition card (3), and is triggered to shoot by a motion signal received by the data acquisition card (3);
the motion mark points (2-2) are respectively stuck on the motion reference points of the main end and the slave end of the surgical robot;
the calibration module (2-3) is used for calibrating the camera of the high-speed camera (2-1).
3. A surgical robot master-slave control delay time test system according to claim 2, characterized in that the calibration modules (2-3) are camera polygon calibration pieces.
4. A surgical robot master-slave control delay time test system according to claim 2, characterized in that the high speed camera (2-1) comprises a first high speed camera and a second high speed camera, which cooperate to photograph the motion process of the master and slave of the surgical robot.
5. A surgical robot master-slave control delay time test system according to claim 1, characterized in that the spatial motion generating device (1) is an industrial robot hand which grips the master end of the surgical robot.
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| CN202123333641.3U CN218356375U (en) | 2021-12-28 | 2021-12-28 | Master-slave control delay time testing system for surgical robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116400671A (en) * | 2023-04-27 | 2023-07-07 | 广州鼎盛医疗技术服务有限公司 | Master-slave control time delay test method, system and medium of remote ultrasonic diagnosis and treatment equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116400671A (en) * | 2023-04-27 | 2023-07-07 | 广州鼎盛医疗技术服务有限公司 | Master-slave control time delay test method, system and medium of remote ultrasonic diagnosis and treatment equipment |
| CN116400671B (en) * | 2023-04-27 | 2024-04-05 | 广州鼎盛医疗技术服务有限公司 | Master-slave control time delay test method, system and medium of remote ultrasonic diagnosis and treatment equipment |
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Address after: 511450 150, No. 8, Qishan Road, Shiqi Town, Panyu District, Guangzhou City, Guangdong Province Patentee after: Radio and TV Measurement and Testing Group Co.,Ltd. Patentee after: GRG METROLOGY & TEST (BEIJING) CO.,LTD. Patentee after: GRG METROLOGY & TEST (CHONGQING) Co.,Ltd. Patentee after: Radio and television measurement and testing (Qingdao) Co.,Ltd. Address before: 511450 150, No. 8, Qishan Road, Shiqi Town, Panyu District, Guangzhou City, Guangdong Province Patentee before: GUANGZHOU GRG METROLOGY & TEST Co.,Ltd. Patentee before: GRG METROLOGY & TEST (BEIJING) CO.,LTD. Patentee before: GRG METROLOGY & TEST (CHONGQING) Co.,Ltd. Patentee before: Radio and television measurement and testing (Qingdao) Co.,Ltd. |