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CN-114869471-B - In-vitro test die body, in-vitro test system and in-vitro test method for application precision of robot system

CN114869471BCN 114869471 BCN114869471 BCN 114869471BCN-114869471-B

Abstract

The invention relates to the technical field of medical equipment, in particular to an in-vitro test die body, an in-vitro test system and a method for applying precision to a robot system. The in-vitro test die body with the application precision of the robot system comprises a first die body, a second die body and a second die body, wherein the first die body is provided with a first positioning point and is used for inserting a test piece, the second die body is matched with the first die body and is provided with a second positioning point, after the first die body and the second die body are installed, the relative positions of the first positioning point and the second positioning point are determined, and the projection of the first positioning point and the second positioning point relative to the same plane is at least partially overlapped. The robot system has the advantages that the first positioning point and the second positioning point can be matched with each other to form a channel through which a test piece can pass, so that the application precision of the robot system is tested, the precision requirement on the test piece can be changed only by changing the shape and the size of the second positioning point, and the application range of the test die body is enlarged.

Inventors

  • WANG QUANQUAN
  • JIN PEIXUN

Assignees

  • 武汉联影智融医疗科技有限公司

Dates

Publication Date
20260505
Application Date
20220418

Claims (10)

  1. 1. An in vitro test phantom for robotic system application accuracy, the in vitro test phantom comprising: a first mould body (10) provided with a first positioning point (11) for inserting a test piece (30); the second die body (20) is matched with the first die body (10) and is provided with a second positioning point (21); After the first die body (10) and the second die body (20) are installed, the relative positions of the first positioning point (11) and the second positioning point (21) are determined, and the projections of the first positioning point (11) and the second positioning point (21) relative to the same plane are at least partially overlapped; The in-vitro test die body further comprises a first precision positioning piece (12) detachably mounted in the first positioning point (11), a first precision hole (13) is formed in the first precision positioning piece (12), the in-vitro test die body further comprises a second precision positioning piece (23) detachably mounted in the second positioning point (21), and the test piece (30) can penetrate through the first precision positioning piece (12) to reach the second precision positioning piece (23).
  2. 2. The in vitro test phantom for the application precision of a robotic system according to claim 1, characterized in that the first phantom (10) is a transparent body.
  3. 3. An in vitro test phantom for the application precision of a robotic system according to claim 2, characterized in that the diameter of the first precision hole (13) is at least one of 0.25mm, 0.5mm, 0.75mm, 1.0mm, 1.5mm and 2.0 mm; The section of the second precision positioning piece (23) is circular, and the diameter of the second precision positioning piece (23) is at least one of 0.25mm, 0.5mm, 0.75mm, 1.0mm, 1.5mm and 2.0 mm.
  4. 4. The in vitro test phantom for the application precision of the robotic system according to claim 1, wherein a third precision positioning piece (40) is arranged between the first positioning point (11) and the second positioning point (21), and the third precision positioning piece (40) is a cylindrical metal piece.
  5. 5. The in vitro test phantom for the application precision of the robotic system according to claim 4, wherein the third precision positioning part is provided with a detection unit (50), and the detection unit (50) is used for detecting the insertion state of the test part (30).
  6. 6. The in vitro test phantom for the application precision of the robotic system according to claim 1, wherein the outer surface of the first phantom (10) is provided with marking holes for marking and positioning, or, The outer surface of the first die body (10) is stuck with marking points for marking and positioning, or, The outer surface of the first die body (10) is provided with a threaded hole (14), and the threaded hole (14) is used for assembling the marked bone nail.
  7. 7. The in-vitro test die body for the application precision of the robotic system according to claim 1, wherein a plurality of detection surfaces (22) with different distances from the first die body (10) are arranged on the second die body (20), and the second positioning points (21) are arranged on the detection surfaces (22).
  8. 8. An in vitro test system for application precision of a robotic system, the in vitro test system comprising: the test module comprises a test piece (30), wherein the test piece (30) is installed on the robot system and can run according to a path planned by the robot system; An in vitro test phantom of robotic system application accuracy, said in vitro test phantom comprising an in vitro test phantom according to any one of claims 1 to 7.
  9. 9. The in vitro test system according to claim 8, wherein the test module further comprises a detection unit for detecting an insertion state of the test piece, the test piece (30) being a metal rod; A cylindrical third precision positioning piece (40) is arranged between the first positioning point and the second positioning point, the third precision positioning piece is a metal piece, the detection unit is a multimeter, one end of the multimeter is electrically connected with the test piece (30), the other end of the multimeter is electrically connected with the third precision positioning piece (40), or, The test module further comprises a detection unit (50), wherein the detection unit (50) is used for detecting the insertion state of the test piece, and the test piece (30) is a laser emitter; The first locating point and the second locating point are internally provided with cylindrical third precision locating pieces (40), the third precision locating pieces are metal pieces, the detection unit is a laser receiver, and the laser receiver is connected with the third precision locating pieces.
  10. 10. An in vitro test method for application precision of a robotic system, wherein the in vitro test method is implemented using the in vitro test phantom according to any one of claims 1-7, the in vitro test method comprising: Judging the operation precision of the robot system through the feedback condition that the test piece actually enters the first locating point and/or reaches the second locating point; the running accuracy of the robot system is judged by the feedback condition that the test piece actually enters the first locating point and/or reaches the second locating point, wherein the running accuracy of the robot system is judged by the following three modes: judging the operation precision of the robot system by observing whether the test piece enters the first positioning point and/or reaches the second positioning point; Judging whether the operation precision of the robot system is in a specific range by testing whether the test piece can respectively pass through the first positioning point with the inner diameter of a specific preset value and reach the second positioning point; and obtaining the operation precision of the robot system by measuring the depth of the test piece entering the third precision positioning piece between the first positioning point and/or the second positioning point.

Description

In-vitro test die body, in-vitro test system and in-vitro test method for application precision of robot system Technical Field The invention relates to the technical field of medical equipment, in particular to an in-vitro test die body, a test system and a method for applying precision to a robot system. Background The stereotactic operation robot system is mainly oriented to stereotactic operation in neurosurgery and is used for assisting doctors to finish accurate space orientation and positioning functions. Therefore, the realization of the clinical expected application depends on whether the positioning precision of the robot system can meet the clinical requirements. The positioning accuracy of the operation of the mechanical arm in the current clinical robot system can directly influence the success or failure of the operation or influence whether the further clinical requirements can be met. Disclosure of Invention Based on this, there is a need to provide an in vitro test phantom, a test system and a method thereof that improve the application accuracy of a robotic system. An in vitro test phantom for robotic system application accuracy, the in vitro test phantom comprising: the first die body is provided with a first positioning point for inserting a test piece; the second die body is matched with the first die body and is provided with a second positioning point; after the first die body and the second die body are installed, the relative positions of the first locating point and the second locating point are determined, and the projections of the first locating point and the second locating point relative to the same plane are at least partially overlapped. The first locating point and the second locating point can be matched with each other to form a channel through which a test piece can pass, so that the application precision of the robot system is tested. The test channel is formed by matching the first locating point and the second locating point, and the inner diameter of the test channel can be changed only by changing the size (or shape and position) of the second locating point, so that the test precision requirement of a test piece is changed, the application precision test of the robot system with different locating precision requirements is realized, the application range of the test die body is enlarged, the problem that the die needs to be opened again for different test precision is avoided, and the cost is saved. In one embodiment, the in-vitro test die body further comprises a first precision positioning piece detachably mounted in the first positioning point, and a first precision hole is formed in the first precision positioning piece; The in-vitro test die body further comprises a second precision positioning piece which is detachably arranged in the second positioning point; the test piece can pass through the first precision positioning piece to reach the second precision positioning piece. So set up, first precision setting element and second precision setting element can all dismantle the change to satisfy the test requirement of different precision. When the requirement of the test precision is higher, the first precision locating piece and the second precision locating piece with smaller sizes can be replaced, so that the requirement of the test precision is improved, and the application of the in-vitro test die body is more flexible. In one embodiment, the first precision positioning piece and the second precision positioning piece are cylinders, and the first precision positioning piece and the second precision positioning piece are coaxially arranged. The cylinder is arranged in such a way that the first precision positioning piece and the second precision positioning piece are easy to install at the corresponding first positioning point and second positioning point, and the first precision positioning piece and the second precision positioning piece which are coaxially arranged are suitable for most precision test requirements. In one embodiment, the first mold body is a transparent body. The arrangement is easy to observe the condition that the test piece enters the first positioning point and reaches the second die body or not by naked eyes, and the test condition is convenient to be identified by a tester. In addition, the test and demonstration are convenient. The tester can judge whether the test piece enters the die body or not through naked eyes, and can successfully pass through the middle through hole of the die body to finally reach the target point. In one embodiment, the first precision hole has a diameter of at least one of 0.25mm, 0.5mm, 0.75mm, 1.0mm, 1.5mm, and 2.0 mm; the section of the second precision positioning piece is cylindrical, and the diameter of the second precision positioning piece is at least one of 0.25mm, 0.5mm, 0.75mm, 1.0mm, 1.5mm and 2.0 mm. So set up, reserve the adaptation with the size of a plurality of first precision setting