Utility model content
The utility model provides a kind of operating robot Locating System Accuracy detection device, solves operating robot positioning systemSystem precision is difficult to the problem of detecting.
The utility model provides a kind of operating robot Locating System Accuracy detection device, for operation robot localizationSystem carries out accuracy detection, comprising:
Pedestal；
More than two pillars, each pillar include opposite first end and second end, and the first end is connected to instituteState pedestal；And
More than two X-ray opaque test points are arranged in a one-to-one correspondence the second end in the pillar.
According to the one aspect of the utility model embodiment, the detection spot diameter is 2.5-3.5 millimeters.
According to the one aspect of the utility model embodiment, further includes:
Multiple X-ray opaques register reference point, are arranged in the pedestal with pre-defined rule.
According to the one aspect of the utility model embodiment, the diameter for registering reference point is 1.0-2.0 millimeter.
According to the one aspect of the utility model embodiment, further includes:
Tracer is fixed with the pedestal, for showing the spatial position of the pedestal.
According to the one aspect of the utility model embodiment, the tracer includes:
Bracket；And
Three points identified above are set to the bracket, identification point described in wherein at least one and other identification pointsIt is not conllinear.
According to the one aspect of the utility model embodiment, the pedestal has mounting surface, and the mounting surface is equipped with twoIt is a with upper installing hole, the first end and the mounting hole of the pillar are detachably connected.
According to the one aspect of the utility model embodiment, the pillar is perpendicular to the mounting surface, described in two or morePillar includes the first group of pillar, second group of pillar and third group pillar being arranged in pairs, wherein the length of first group of pillarDegree is respectively 80 to 90 millimeters, 20 to 30 millimeters, and the length of second group of pillar is respectively 45 to 55 millimeters, 20 to 30 millisRice, the length of first group of pillar is respectively 20 to 30 millimeters, 20 to 30 millimeters.
According to the one aspect of the utility model embodiment, more than two mounting hole array arrangements, two of them withThe line space of the upper mounting hole is 50 to 70 millimeters, and column pitch is 20 to 40 millimeters.
According to the one aspect of the utility model embodiment, the aperture of the mounting hole is 5 to 8 millimeters, and hole depth is 5 to 8Millimeter；
The pillar is open tubular column, and one end of the pillar is equipped with and the matched connector of the mounting hole, the pillarOuter diameter be 5 to 8 millimeters, internal diameter is 4 to 7 millimeters, and the outer diameter of the connector is 5 to 8 millimeters, and the connector is from the branch5 to 8 millimeters of one end extension of column.
According to the one aspect of the utility model embodiment, the mounting surface is the top surface of the pedestal, the mounting surfaceTo be rectangular-shaped, including adjacent first while and when second, the length on first side is 80 to 100 millimeters, second sideLength is 100 to 120 millimeters, and the pedestal is 70 to 90 millimeters high.
According to the operating robot Locating System Accuracy detection device of the utility model embodiment, completion can be cooperated to realizeThe accurate detection of surgical robot system precision.Multiple test points, the essence of multiple test points can be set on accuracy detecting deviceDegree detection can be completed in a position scanning, calibration registration and path planning, improve surgical robot system precisionDetection efficiency.
Specific embodiment
The feature and exemplary embodiment of the various aspects of the utility model is described more fully below, in order to keep this practical newThe objects, technical solutions and advantages of type are more clearly understood, and below in conjunction with drawings and the specific embodiments, carry out to the utility modelIt is described in further detail.It should be understood that specific embodiment described herein is only configured to explain the utility model, do not matchedIt is set to restriction the utility model.To those skilled in the art, the utility model can not need these detailsIn some details in the case where implement.Below the description of embodiment is used for the purpose of passing through the example for showing the utility modelThe utility model is better understood to provide.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a realityBody or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operationIn any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended toNon-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including thoseElement, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipmentIntrinsic element.In the absence of more restrictions, the element limited by sentence " including ... ", it is not excluded that includingThere is also other identical elements in the process, method, article or equipment of the element.
It should be appreciated that being known as being located at another floor, another area when by a floor, a region when describing the structure of componentWhen domain " above " or " top ", can refer to above another layer, another region, or its with another layer, it is anotherAlso comprising other layers or region between a region.Also, if by part turnover, this layer, a region will be located at it is anotherLayer, another region " following " or " lower section ".
The utility model embodiment improves a kind of operating robot Locating System Accuracy detection method, for detecting operationRobot positioning system's precision, Fig. 1 show the structural schematic diagram of the operating robot positioning system.The precision of the utility model is examinedSurvey method, can detecte including operating robot 300, host computer 400 and imaging device 500 (can be two dimension or three-dimensionalImaging device, embodiment as described below is by taking three-dimensional imaging device as an example) positioning system.Also it is more multi-functional to can detecte realizationPositioning system, operating robot positioning system as shown in Figure 1, including operating robot 300, host computer 400, imaging device500 and optical tracker 600.Wherein, operating robot 300 can be equipped with tracer.As shown in Figure 1, completing positioning systemWhen accuracy detection of uniting, it will test device 100 and be set within the scope of the visual field of imaging device 500, carry out Image Acquisition acquisitionThe corresponding scan image of detection device 100.For different positioning systems, corresponding precision detection system is formed.
Fig. 2 shows the flow charts according to the utility model embodiment operating robot Locating System Accuracy detection method, shouldDetection method includes step S100 to step S300.
In the step s 100, the spatial position coordinate of the first test point, the second test point is obtained.First test point,Two test points are obtained from several test points.Wherein the first test point, the second test point, which can be, is arranged in predetermined surgical machineTest point in people's system accuracy detection device 100, the accuracy detecting device 100 are placed on effective work of operating robot 300Make in space, hereinafter will the accuracy detecting device 100 to the operating robot be described in detail.In the present embodiment,The coordinate of the first test point obtained is Xa (xa,ya,za), the coordinate of the second test point is Xb (xb,yb,zb)。
In the present embodiment, the step of obtaining the spatial position coordinate of the first test point, the second test point, passes through to obtain3 D measuring instrument measures the spatial position coordinate of first test point, the second test point.
Wherein, detection device 100 is placed in the visual field of three-dimensional imaging device 500 and is scanned, and three-dimensional imaging is set(image of detection device 100 includes detection point image to the image of standby 500 acquisition detection device 100, also may further include noteVolume refers to point image), and it is transferred to host computer 400.Image can be completed by the way that registration reference point is arranged in detection device 100Registration, can also by using be individually provided with registration point positioning device realize image registration.Here to detect dressIt sets for reference point is registered in 100 settings and is illustrated.Further, tracer can be set in detection device, is filled to detectionWhile setting 100 carry out 3-D scanning, optical tracker 600 obtains the coordinate of tracer and is transferred to host computer 400, thus realExisting real-time tracking.
In step s 200, spatial axis information when operating robot 300 reaches planning path is obtained, wherein describedPlanning path is formed based on first test point and the second test point.
For step S100 and S200, the same test device test can be used, the spatial position for obtaining test point is satMark and spatial axis information, such as measured using 3 D measuring instrument.In this way, the data that obtain of step S100 and step S200 can be withUnder the same coordinate system.Data after test device detection are transferred to host computer 400.
Fig. 3 shows obtaining when operating robot reaches planning path according to the detection method of the utility model embodimentThe flow chart of the step of spatial axis information.Specifically step S200 includes step S210 to step S240.
In step S210, first test point, the second test point are obtained in 300 positioning system of operating robotUnder scan image.
Further include step S220 after step S210, i.e., scan image and the first test point and the second test point is carried outThe step of image registration is registered.
The process of registration may is that host computer 400 to the registration reference point and pre-set positioning point geometry in imageFeature is compared, and realizes the registration reference point identification corresponding with the location reference point in image in detection device 100.
In step S230, using the imaging point of the first test point and the second test point in scan image as access point and go outDot is at planning path.
Selected on image in the present embodiment after registration the first test point and the second test point respectively as access point/go outPoint forms planning path.Under different operating environments, two points can also be selected in the picture, then survey corresponding test pointSpace coordinate.
In some embodiments, coordinate system is the world where can choose one of image or detection device 100 after registeringCoordinate system.At this point, the space coordinate of planning path namely the straight line being expressed as in world coordinate system, the straight line is as ruleDraw path output.
As described above, 300 positioning system of operating robot can also include optical tracker 600, realize to other devicesReal-time tracking.In order to ensure the accuracy of accuracy detection, the spatial position of detection device 100 can be monitored in real time, to prevent hairLead to accuracy detection misalignment when raw shift in position.Accuracy checking method further includes obtaining the first test point and the second detection as a result,The location information of point, it is corresponding to adjust the planning path when detecting dot position information variation.
In above process, it is mobile to monitor detection device 100 in real time for the optical tracker 600 with real-time tracking function(that is, tracer in monitoring detection device 100), and mobile direction and size are calculated, it is uploaded to host computer 400, onPosition machine 400 controls operating robot 300 can carry out the amendment of displacement according to data such as mobile direction and sizes, thusGuarantee that guider and planning path are accurately consistent.In order to realize that real-time monitoring, optical tracker 600 can be refreshed with certain frequencyMonitoring data.
In step S240, spatial axis information when operating robot 300 moves to planning path is obtained.
In the present embodiment, the step of obtaining spatial axis information when operating robot 300 moves to planning path, canThink and obtains through the central axis information at measurement 300 actuating station of operating robot as spatial axis information.As one kindEmbodiment can obtain central axis information by installing test probe at actuating station.
In the present embodiment, the actuating station of operating robot 300 includes guiding device, and test probe is mounted on surgical machineOn the guiding device of people 300.After calculating planning path, 300 precise motion of PC control operating robot makes and its endThe guider being connected is directed toward this planning path.The central axis of test probe is also the axis of guider, i.e. operating robot300 positions actually navigated.
Fig. 4 shows the spy of the test in the operating robot Locating System Accuracy detection method according to the utility model embodimentThe schematic cross-section of needle.The test probe 200 is in the form of a column, and the both ends of test probe 200 have centre bore 210.Wherein test is visitedThe length L1 of needle 200 is 50 to 150 millimeters, and e.g. 100 millimeters, tolerance is within 0.05 millimeter.Consider positioning systemFeature, when test probe is 100 millimeters, detection data precision and occupied space rate relative equilibrium.In different application scenarios,The size of the diameter and centre bore 210 of testing probe 200 can be designed according to the actual demand of operating robot 300.
In some embodiments, the central axis information of test probe is at above-mentioned 300 actuating station of measurement operating robotThe central axis information of test probe is measured by 3 D measuring instrument.
In the present embodiment, using the spatial position of same test device test test point and test probe, to protectThe data that card is transferred to host computer 400 are to guarantee the precision of test under the same coordinate system.
Specifically, the axis information for probe being tested at above-mentioned 300 actuating station of measurement operating robot can be with are as follows: obtained surveySound out the coordinate of at least two match points of center of pin axis；And it is obtained according to the coordinate fitting of at least two match pointsTest the position of probe core axis.
Wherein, the step of obtaining the coordinate of at least two match points of test probe core axis is with detection probe twoFor the centre bore at end as the first match point, the second match point, the coordinate for obtaining first match point is P1 (x1,y1,z1), it obtainsThe coordinate of second match point is P2 (x2,y2,z2).In other implementations, other axis of test probe are also not precluded withinLine position test obtains central axis information.
In step S300, calculates first test point and the second test point reaches the first distance of the spatial axisLa and second distance Lb.First distance La, second distance Lb are operating robot 300 at the first test point, the second test pointSystem accuracy.
In the present embodiment, it calculates the first test point and the second test point reaches the first distance La and second of spatial axisThe step of distance Lb includes being calculated by the following formula first distance La and second distance Lb:
Wherein in above-mentioned formula,
I is a or b, brings a or b into i in formula, available La or La, La are first distance, and Lb is second distance.
In addition, in some embodiments, operating robot Locating System Accuracy detection method further includes from multiple test pointsTwo test points except the first test point of middle selection and the second test point repeat accuracy detection.
It, can when picking third test point, the 4th test point and the 5th test point, the 6th test point etc. as test pointThe first test point, the second test point in the above method are replaced with third test point, the 4th test point, repeat the above stepsSystem accuracy of the operating robot positioning system at third test point, the 4th test point is obtained, by first in the above methodTest point, the second test point replace with the 5th test point, the 6th test point, repeat the above steps to obtain operating robot positioning systemThe system accuracy united at the 5th test point, the 6th test point.Operating robot positioning system is in above-mentioned any pair of test pointSystem accuracy when being all satisfied the requirement stated in advance, illustrate that system accuracy of the operating robot positioning system at this is qualified.
According to the operating robot Locating System Accuracy detection method of the utility model embodiment, with the first test point,Two test points plan predefined paths, introduce detection probe setting on the path, by obtaining the first test point to test probeSurgical engine can be obtained to the second distance Lb of test probe core axis in the first distance La of central axis, the second test pointSystem accuracy of the device people positioning system at the first test point, the second test point realizes operating robot Locating System AccuracyAccurate detection.The accuracy detection of multiple test points can be completed in a position scanning, calibration registration and path planning, mentionThe detection efficiency of height operation robot positioning system's precision.Moreover, when the utility model overcomes accuracy detection in the prior artThe distance of dotted line is difficult to the problem of detecting, and improves the precision of Locating System Accuracy detection.
The utility model embodiment also provides a kind of accuracy detecting device 100 of operating robot 300, can be applied toIt is at predetermined detection point to operating robot 300 in 300 positioning system detection method of operating robot in above-described embodimentThe detection for precision of uniting.The accuracy detecting device 100 of operating robot 300 includes pedestal 110, more than two pillars 120 and twoA above X-ray opaque test point 130.Wherein each pillar 120 includes opposite first end and second end, each pillar 120First end is connected to pedestal 110, and more than two test points 130 are arranged in a one-to-one correspondence in the second end of pillar 120.
Pedestal 110 can be the polymethyl methacrylate (polymethyl of X-ray better performancesMethacrylate, PMMA) material is made, and pillar 120 can be open column shape, can use carbon fiber and engineering plasticsIt is made.
According to the accuracy detecting device 100 of the operating robot 300 of the utility model embodiment, completion can be cooperated to realizeThe accurate detection of 300 system accuracy of operating robot.Multiple test points 130, Duo Gejian can be set on accuracy detecting device 100The accuracy detection of measuring point 130 can be completed in a position scanning, calibration registration and path planning, improve operating robotThe detection efficiency of 300 system accuracies.
In some embodiments, the test point 130 of X-ray opaque can be the first metal ball, e.g. stainless steel ball, cureIt learns to be imaged in image and be more clear.The diameter of first metal ball is 2.5 to 3.5 millimeters.E.g. 3 millimeters, the error of diameterWithin 0.02 millimeter.
In the present embodiment, accuracy detecting device 100 further includes multiple X-ray opaque registration reference points 140, multiple registrationReference point 140 is arranged in the predetermined plane of pedestal 110 with pre-defined rule, for completing registration.In the present embodiment, registration referencePoint 140 can be the second metal ball, e.g. stainless steel ball, be imaged and be more clear in medical image.Second metal ball it is straightDiameter is 1.5 millimeters, the error of diameter is within 0.02 millimeter.By the way that multiple registration reference points 140 are arranged, registration scale is integratedFast Calibration registration when on accuracy detecting device 100, facilitating progress 300 accuracy detection of operating robot.
Accuracy detecting device 100 can also include tracer 150, and tracer 150 and pedestal 110 are fixed, for showing bottomThe spatial position of seat 110.The tracer 150 of the present embodiment includes bracket 152 and three points 151 identified above.
Bracket 152 includes central part and three or more interconnecting pieces from central part to external radiation that be arranged from, in bracket 152Center portion is connect with pedestal 110.Three points 151 identified above are correspondingly arranged in the interconnecting piece of bracket 152, wherein at least one markPoint 151 is not conllinear with other identification points 151.The bracket 152 of the present embodiment includes four interconnecting pieces in right-angled intersection, correspondingGround, the end of four interconnecting pieces are arranged altogether there are four identification point 151.In other embodiments, guaranteeing that tracer is identifiedUnder the premise of, bracket can do any change design.
Fig. 5 shows the pedestal 110 of the accuracy detecting device 100 of the operating robot 300 according to the utility model embodimentTop view, Fig. 6 show MM in Fig. 5 to schematic cross-section.Pedestal 110 has mounting surface 111, and mounting surface 111 is equipped with twoIt is a with upper installing hole 112, first end and the mounting hole 112 of pillar 120 are detachably connected.
Mounting surface 111 can be the top surface of pedestal 110, the mounting surface 111 of the present embodiment be it is rectangular-shaped, including adjacent theOn one side and the second side, the length L2 on the first side is 80 to 100 millimeters, e.g. 90 millimeters, the length L3 on the second side be 100 to120 millimeters, e.g. 110 millimeters, the height H1 of pedestal 110 are 70 to 90 millimeters, e.g. 80 millimeters.The pedestal of the present embodiment110 inside have space, and wherein the height H2 in space is 60 to 80 millimeters, e.g. 72 millimeters.
In the present embodiment, more than two 112 array arrangements of mounting hole, two of them are with the line space D1 of upper installing hole 112It is 50 to 70 millimeters, e.g. 60 millimeters, column pitch D2 is 20 to 40 millimeters, e.g. 30 millimeters.
Fig. 7 shows the pillar 120 of the accuracy detecting device 100 of the operating robot 300 according to the utility model embodimentSchematic cross-section, wherein L4 be pillar 120 length.In the present embodiment, pillar 120 is more than two perpendicular to mounting surface 111Pillar 120 includes first group of pillar, 120, the second groups of pillars 120 and third group pillar 120 being arranged in pairs, i.e., every group includesTwo pillars 120.Wherein, the length L4 of first group of pillar is respectively 80 to 90 millimeters, 20 to 30 millimeters, the length of second group of pillarDegree L4 is respectively 45 to 55 millimeters, 20 to 30 millimeters, and the length L4 of first group of pillar is respectively 20 to 30 millimeters, 20 to 30 millisRice.For example, the length L4 of first group of pillar 120 is respectively 85 millimeters, 25 millimeters, the length L4 of second group of pillar 120 is respectively50 millimeters, 25 millimeters, the length L4 of first group of pillar 120 are respectively 25 millimeters, 25 millimeters.In other embodiments, Duo GezhiThe length of column 120 is also possible to other values.
In the present embodiment, the aperture of mounting hole 112 is 5 to 8 millimeters, and e.g. 6 millimeters, hole depth is 4 to 6 millimeters, example5 millimeters in this way.Pillar 120 is open tubular column, and one end of pillar 120 is equipped with and the matched connector 121 of mounting hole 112, pillar 120Outer diameter D 3 be 5 to 8 millimeters, e.g. 6 millimeters, internal diameter D4 be 4 to 7 millimeters, e.g. 5 millimeters, the outer diameter D 5 of connector 121It is 5 to 8 millimeters, e.g. 6 millimeters, the length L5 of connector 121 from one end extension L5 of pillar 120 are 5 to 8 millimeters, such asIt is 5 millimeters, connector 121 can be with partial embedding in pillar 120, and wherein the length L6 of built-in part is 5 to 8 millimeters, such asIt is 5 millimeters.
According to the utility model embodiment as described above, these embodiments details all there is no detailed descriptionthe,Also not limiting the utility model is only the specific embodiment.Obviously, as described above, many modification and change can be madeChange.These embodiments are chosen and specifically described to this specification, is in order to preferably explain the principles of the present invention and actually to answerWith so that skilled artisan be enable to utilize the utility model and repairing on the basis of the utility model wellChange use.The utility model is limited only by the claims and their full scope and equivalents.