WO2020220441A1 - 探针装置、精度检测方法、精度检测系统及定位系统 - Google Patents

探针装置、精度检测方法、精度检测系统及定位系统 Download PDF

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Publication number
WO2020220441A1
WO2020220441A1 PCT/CN2019/090971 CN2019090971W WO2020220441A1 WO 2020220441 A1 WO2020220441 A1 WO 2020220441A1 CN 2019090971 W CN2019090971 W CN 2019090971W WO 2020220441 A1 WO2020220441 A1 WO 2020220441A1
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WIPO (PCT)
Prior art keywords
guide
data
detection
contact tip
positioning
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Ceased
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PCT/CN2019/090971
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English (en)
French (fr)
Inventor
李寅岩
陈波
魏玉彪
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Tinavi Medical Technologies Co Ltd
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Tinavi Medical Technologies Co Ltd
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Publication date
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Priority to EP19927095.0A priority Critical patent/EP3964157B1/en
Publication of WO2020220441A1 publication Critical patent/WO2020220441A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1653—Program controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00725—Calibration or performance testing
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Definitions

  • the invention relates to the technical field of medical equipment, in particular to a probe device, an accuracy detection method, an accuracy detection system and a positioning system.
  • surgical robots can be used to assist intraoperative guidance, so the accuracy of the guide is an important part of the path planning accuracy. If the guide is deformed and worn during transportation, storage, disinfection or use, it will affect the accuracy or precision of path planning. In addition, the deformation and wear of the guide are not easy to find, so the guide cannot accurately move to the predetermined position of the patient's affected part during the operation, which will affect the control accuracy of the entire surgical robot.
  • the embodiments of the present invention provide a probe device, an accuracy detection method, an accuracy detection system, and a positioning system, aiming at detecting the accuracy of a guide.
  • an embodiment of the present invention provides a probe device for detecting the accuracy of a positioning system of a surgical robot.
  • the probe device includes a positioning part with a carrier, and the carrier carries three or more positioning parts that are not collinear;
  • the guide detection part is connected to the carrier and has a first preset positional relationship with the positioning member.
  • the guide detection part has a cylindrical outer contour structure that matches with the guide member of the positioning system.
  • the embodiments of the present invention also provide an accuracy detection system for detecting the accuracy of a surgical robot positioning system.
  • the positioning system includes a guide and a calibrator, and the accuracy detection system includes:
  • An obtaining device for obtaining the first set position of the guide An obtaining device for obtaining the first set position of the guide
  • Position measuring instrument used to obtain the position parameter of the guiding detecting part when the guiding detecting part and the guiding part cooperate with each other;
  • the calculation device is used to determine the accuracy of the guide according to the first set position of the guide and the position parameter of the guide detection part.
  • a surgical robot positioning system including a surgical robot, an upper computer, a position measuring instrument, a guide, a calibrator, and the above-mentioned probe device.
  • the probe device has a positioning part and a guide detection part.
  • the carrier of the positioning part is provided with three or more non-collinear positioning parts.
  • the guide detection part and the positioning part have a first preset positional relationship. Determine the spatial position of the guide detection part according to the positioning part.
  • the guide detection part can cooperate with the guide part through its cylindrical outer contour structure, so that the actual position of the guide part can be determined according to the position relationship of the guide detection part. By comparing the actual position of the guide part The position and the first set position can determine the accuracy of the guide. Therefore, the embodiment of the present invention can accurately detect the accuracy of the guide, thereby effectively improving the control accuracy of the surgical robot.
  • Fig. 1 is a schematic structural diagram of a probe device according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of the matching structure of a probe device and a guide according to an embodiment of the present invention
  • Fig. 3 is a schematic diagram of a matching structure of a probe device and a calibrator according to an embodiment of the present invention
  • Figure 4 is a partial enlarged view of I in Figure 3;
  • FIG. 5 is a schematic flowchart of an accuracy detection method according to an embodiment of the present invention.
  • FIG. 6 is a schematic flowchart of an accuracy detection method according to another embodiment of the present invention.
  • FIG. 7 is a schematic flowchart of a precision detection method according to another embodiment of the present invention.
  • Fig. 8 is a schematic flowchart of a precision detection method according to still another embodiment of the present invention.
  • the probe device the accuracy detection method, the accuracy detection system, and the positioning system according to the embodiments of the present invention will be described in detail below with reference to FIGS. 1 to 8.
  • FIG. 1 is a schematic structural diagram of a probe device 100 according to a first embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of the probe device 100 and the guide 200 in cooperation with each other.
  • the probe device 100 is used in a positioning system of a surgical robot.
  • the positioning system of the surgical robot generally includes a guide 200, a position measuring instrument, a calibrator 300, and the like.
  • the probe device 100 includes: a positioning part 110 with a carrier, and the carrier carries three or more positioning members 111 that are not collinear; a guiding detection part 120, connected to the carrier, and having a first preset positional relationship with the positioning member 111
  • the guide detection part 120 has a cylindrical outer contour structure that matches with the guide 200 of the positioning system.
  • the number of positioning members 111 on the carrier is not limited here.
  • the positioning members 111 can be three, four or more. Taking FIG. 1 as an example, there are four positioning members 111 and four positioning members 111. At least three positioning members 111 are not arranged collinearly, so that the position measuring instrument can determine the spatial position of the guiding detection portion 120 according to more than three positioning members 111.
  • the positioning member 111 may be an infrared reflective ball to reflect infrared rays and be recognized by the position measuring instrument.
  • the positioning member 111 is an infrared transmitter, which can emit infrared rays, and the position measuring instrument can recognize the infrared rays, thereby identifying the positioning member 111.
  • the arrangement of the positioning member 111 is not limited to this, as long as the positioning member 111 can be recognized by the positioning instrument.
  • the probe device 100 has a positioning part 110 and a guide detection part 120.
  • the carrier of the positioning part 110 is provided with three or more non-collinear positioning parts 111.
  • the preset positional relationship can then determine the spatial position of the guide detection portion 120 according to the positioning member 111.
  • the guide detection portion 120 can cooperate with the guide member 200 through its cylindrical outer contour structure, so that the guide member 200 and the guide detection portion 120 can be matched
  • the position relationship determines the actual position of the guide 200, and the accuracy of the guide 200 can be determined by comparing the actual position of the guide 200 with the set position. Therefore, the embodiment of the present invention can accurately detect the accuracy of the guide 200, thereby effectively improving the control accuracy of the surgical robot.
  • the positioning system can control the guide 200 to move to a preset position.
  • the spatial position of the guide detection part 120 can be The actual position of the guide 200 is determined, and the accuracy of the guide 200 can be determined by comparing the actual position of the guide 200 with the set position. Therefore, in the present invention, the accuracy of the guide 200 can be detected by the probe device 100 to prevent the control accuracy of the surgical robot from being affected by the insufficient accuracy of the guide 200.
  • the guide detection part 120 and the guide 200 are many ways.
  • the guide detection part 120 and the guide 200 are attached to each other.
  • the guide The detection part 120 and the guide 200 have a mutually nested matching relationship.
  • One of the guide detecting portion 120 and the guide 200 is a cylindrical body, and the other is a sleeve matching the cylindrical body.
  • the guide 200 is generally a guide cylinder, and the guide detection portion 120 may be cylindrical and have an outer peripheral surface that cooperates with the guide cylinder, so that the guide detection portion 120 can cooperate with the guide 200 through the outer peripheral surface.
  • the surgical positioning system generally also includes a calibrator 300 to assist the surgical robot in positioning.
  • the accuracy of the calibrator 300 is an important part of the accuracy of surgical path planning. If the calibrator 300 is deformed and worn during transportation, storage, disinfection or use, the accuracy or precision of the path planning will be affected.
  • the calibrator 300 is provided with a marking point 310.
  • the position of the marking point 310 is known or acquired through measurement. For example, through a tracer, there is a positional relationship between the tracer and the marking point 310, and the positioning system can be used by the positioning instrument The position of the tracer is obtained to obtain the spatial position of the mark point 310 and the set position of the mark point 310 is obtained.
  • the probe device 100 further includes a contact tip 130, the contact tip 130 is connected to the positioning portion 110 and has a second preset positional relationship with the positioning member 111, the contact tip 130 is used Contact with the mark point 310 of the calibrator 300 in the positioning system to obtain the position information of the mark point 310.
  • the spatial position of the contact tip 130 can be determined according to the spatial position of the positioning member 111, the contact tip 130 and the marking point 310 is contacted and connected, and the actual position of the marking point 310 can be determined according to the spatial position of the contact tip 130.
  • the accuracy of the mark point 310 that is, the accuracy of the calibrator 300, can be determined. Therefore, in these alternative embodiments, the accuracy of the calibrator 300 can be detected by touching the tip 130.
  • the top of the contact tip 130 has a contact sphere 131, and the contact tip 130 passes through the contact sphere 131. And the mark point 310 are in contact with each other.
  • the radius of the contact ball 131 is greater than or equal to 0.2 mm and less than or equal to 0.5 mm.
  • the relative positions of the contact tip 130 and the guide detection portion 120 are not limited here, and the contact tip 130 and the guide detection portion 120 may be separately provided on both sides of the positioning portion 110, or contact as shown in FIG.
  • the tip 130 and the guide detection portion 120 are located on one side of the positioning portion 110, and the contact tip 130 is connected to each other through the guide detection portion 120 and the positioning portion 110.
  • the probe device 100 further includes a handle 140 to facilitate manual operation of the handheld probe device 100.
  • the position of the handle 140 is not limited here.
  • the handle 140 is connected between two adjacent positioning members 111, thereby effectively reducing the volume of the probe device 100 and simplifying The structure of the probe device 100.
  • the second embodiment of the present invention also provides a method for detecting the accuracy of a surgical robot positioning system.
  • the positioning system includes a guide 200 and a calibrator 300.
  • the guide 200 is used to guide the surgical needle.
  • the method is based on In the probe device 100 of any one of the first embodiments described above, the method includes:
  • Step S01 Obtain the first set position of the guide 200.
  • the positioning system generally includes an upper computer, which can control the mechanical arm to move according to a planned path, thereby driving the guide 200 to move.
  • the position of the guide 200 can be pre-stored in the host computer or obtained by measurement. For example, by setting a tracer, the tracer and the guide 200 have a predetermined positional relationship, and the position of the tracer can be obtained by a position finder to obtain the guide. The location of the piece 200.
  • Step S02 Obtain the position parameter of the guiding detecting part 120 when the guiding detecting part 120 and the guiding member 200 cooperate with each other.
  • the guide detection part 120 and the guide 200 are matched with each other, and the position parameter of the guide detection part 120 can be determined according to the positioning part 111 and the first preset position relationship.
  • Step S03 Determine the accuracy of the guide 200 according to the first set position of the guide 200 and the position parameter of the guide detection part 120.
  • the mutual cooperation between the guide 200 and the guide detection part 120 can determine the actual position of the guide 200 according to the position parameters of the guide detection part 120, and the actual position of the guide 200 can be compared with the first set position (theoretical position).
  • the accuracy of the guide 200 is determined. Therefore, the accuracy of the guide 200 can be determined according to the position parameter of the guide detection part 120 and the first set position.
  • the first set position of the guide member 200 can be obtained through step S01.
  • step S02 after the guide detection portion 120 and the guide member 200 cooperate with each other, more than three positioning members 111 and The first preset positional relationship determines the position parameter of the guiding detection unit 120.
  • step S03 the accuracy of the guide 200 can be determined by comparing the first set position of the guide 200 with the position parameter of the guide detection unit 120, thereby determining the accuracy of the positioning system.
  • the first set position of the guide 200 may be a set position of any position on the guide 200 that can derive the spatial position of the guide 200.
  • the guide member 200 is cylindrical.
  • the first setting position includes the center position of the opposite end faces of the guide member 200 in the axial direction, which is convenient for accurately finding and positioning the first setting of the guide member 200. Set location. Among them, the line connecting the centers of the two ends is defined as the mark axis.
  • the position parameter of the guide detection part 120 may be the spatial position of the designated axis on the guide detection part 120. Since there is a matching position relationship when the guide 200 and the guide detection portion 120 cooperate with each other, there is also a matching position relationship between the positions of the index axis and the designated axis.
  • the usual matching relationship between the guide detection part 120 and the guide 200 is a mutual nested matching relationship.
  • the central axis of the guide detection part 120 and the central axis of the guide 200 should theoretically coincide with each other.
  • the upper designated axis is set as the central axis of the guide detection portion 120.
  • the position of the central axis is the actual position of the index axis, which can simplify the comparison process and make it easier to determine the accuracy of the guide 200 based on the positional relationship between the two axes.
  • the relative positional relationship between the carrier and the guiding detection portion 120 is not limited, as long as there is a first preset positional relationship between the positioning member 111 and the guiding detection portion 120.
  • the designated axis on the guide detection portion 120 for example, the central axis of the guide detection portion 120
  • the carrier can be coplanar, which facilitates determining the relative positional relationship between the carrier and the designated axis on the guide detection portion 120.
  • step S02 further includes:
  • Step S021 When the guide detection portion 120 and the guide 200 are nested and attached to each other, when the guide detection portion 120 rotates on the guide 200 to form multiple rotation positions, the designated axis on the guide detection portion 120 corresponds to the multiple rotation positions N axis data, where n is greater than or equal to 4.
  • Step S022 Select 4 or more axis data from n axis data as fitting data.
  • Step S023 Fit more than four fitting data to form fitting axis data and use it as a position parameter of the guiding detection unit 120.
  • the least squares method is used to fit more than four fitting data to form fitted axis data.
  • n axis data can be obtained.
  • the fitting axis data is formed by fitting more than 4 fitting data in the n axis data, which can reduce the detection error and make the detection result more accurate.
  • step S021 further includes:
  • the guide detection part 120 and the guide 200 are sleeved and attached to each other, when the guide detection part 120 rotates on the guide 200 to form multiple rotation positions, the designated axis of the guide detection part 120 satisfies the first Detect the n axis data of the deviation value.
  • satisfying the detection deviation means that the distance from the actual position of the designated axis of the guide detection unit 120 at the multiple rotation positions determined by the positioning member 110 to the two ends of the first set position of the guide member is less than or equal to the first detection deviation value.
  • the setting of the first detection bias value is not limited here.
  • the first detection bias value may be 3 mm, 2 mm, 1 mm, and so on.
  • the guide member 200 is generally cylindrical and has a predetermined length along its axial direction. Its function is to provide a space path for the guide needle. Therefore, the position of the axis of the guide member 200 is the most direct indicator of the accuracy of the guide member 200. Since the first set position is the theoretical measurement position of the guide 200, the first set position is generally the axis of the guide 200. When the first set position includes the center positions of the opposite ends of the guide 200, the first set position The two ends of a set position are the centers of the opposite ends of the guide member 200.
  • step S02 further includes:
  • S025 Determine the number m of axis data whose distance from the fitted axis data in the detection data meets the first preset distance threshold and the included angle meets the predetermined included angle threshold.
  • the m corresponding to the standard axis data is the largest, which means that the distance between the multiple detected data and the standard axis data meets the first preset distance threshold.
  • the distance and the included angle meet the predetermined included angle threshold, and the standard axis data is closest to the guide 200 The actual location.
  • the error determined according to the standard axis data is small, which can further improve the accuracy of the detection result.
  • Step 1 Obtain the first set position of the guide 200.
  • the guide detection part 120 and the guide 200 are nested together, and the guide detection part 120 is rotated to form a plurality of rotation positions, and n of the designated axis of the guide detection part 120 at the plurality of rotation positions are obtained to meet the detection deviation value.
  • the designated axis is the central axis of the guide detection portion 120.
  • the first set position includes the center positions of the opposite ends of the guide 200.
  • the connection line between the designated axis and the center of the two ends of the guide 200, that is, the axis of the guide 200 theoretically coincides .
  • the n axis data of the designated axis correspond to the n actual axis data of the guide 200.
  • the third step is to start timing and record the start time.
  • the finiteness of calculation is controlled by timing, so as to reasonably control the cycle of accuracy detection.
  • the fourth step is to select more than 4 axis data from the n axis data as the fitting data, and determine the data other than the fitting data among the n axis data as the detection data.
  • the fifth step is to fit more than 4 fitting data to form fitting axis data.
  • the sixth step is to determine the number m of axis data whose included angles and distances between the detected data and the fitted axis data satisfy the first preset distance threshold and the predetermined included angle threshold.
  • the seventh step is to determine the current time and determine whether the time interval from the current time to the start time meets the first preset time period.
  • the fourth step, the fifth step, and the sixth step are repeated.
  • the time interval is greater than or equal to the preset time period, multiple m values have been obtained, and the eighth step is performed.
  • the eighth step is to select the maximum value m max among the multiple m values, and determine that the fitting axis data corresponding to the maximum value m max is the standard axis data, and the position parameter of the guiding detection unit 120 is the standard axis data.
  • the accuracy of the guide 200 is determined according to the first set position of the guide 200 and the position parameter of the guide detection unit 120. For example, the distance from the centerline point of the guide 200 to the standard axis can be calculated to measure the accuracy of the positioning system.
  • the probe device 100 further includes a contact tip 130 connected to the calibrator 300, and there is a second preset positional relationship between the contact tip 130 and the positioning member 111. It further includes:
  • Step S01' Obtain the second set position of the mark point 310 on the calibrator 300.
  • the second set position is the theoretical measurement position of the mark point 310, which can be pre-stored in the host computer, or obtained by a tracer having a predetermined positional relationship with the calibrator 300, specifically the tracer is obtained by a position finder The spatial position of the calibrator 300 is obtained.
  • Step S02' Obtain the spatial position of the contact tip 130 when the contact tip 130 is in contact with the marking point 310.
  • the spatial position of the contact tip 130 can be determined according to the positioning member 111 and the second preset position relationship.
  • Step S03' The accuracy of the calibrator 300 is determined according to the second set position of the marking point 310 and the spatial position of the contact tip 130.
  • step S03' the accuracy of the calibrator 300 can be accurately determined by comparing the second set position and the actual position of the mark point 310.
  • step S02' further includes:
  • S021' Acquire p spatial position data of the contact tip 130 and the mark point 310 at multiple contact positions, where p is greater than or equal to 4.
  • S022' Select 4 or more spatial position data from p spatial position data as fitting point data.
  • S023' Fit the data of more than 4 fitting points to form a virtual ball and use it as the spatial position of the contact tip 130.
  • step 021' further includes:
  • the second preset distance value can be 1mm, 2mm, 4mm, 5mm, 6mm, etc.
  • step S02' also includes:
  • S024' Determine the spatial position data other than the fitting point data among the p spatial position data as the detection point data.
  • S025' Determine the number q of the detection point data whose distances between the multiple detection point data and the virtual ball meet the second preset distance threshold.
  • S027' Select the maximum value q max among the multiple q values, and determine that the virtual ball corresponding to the maximum value q max is a standard ball and used as the spatial position of the contact tip 130.
  • the virtual ball corresponding to the maximum value q max is regarded as the standard ball, and the spatial position of the contact tip 130 is set to the spatial position of the standard ball. Further improve the test results.
  • Step 1 Obtain the second set position of the mark point 310 on the calibrator 300.
  • the second step is to obtain p spatial position data of the contact tip 130 and the mark point 310 at multiple contact positions that satisfy the detection deviation value, and p is greater than or equal to 4.
  • the third step is to start timing and record the start time.
  • the finiteness of calculation is controlled by timing, so as to reasonably control the cycle of accuracy detection.
  • the fourth step is to select more than 4 spatial position data from the p spatial position data as the fitting point data, and determine the spatial position data except the fitting point data among the p spatial position data as the detection point data.
  • the fifth step is to fit the data of more than four fitting points to form a virtual ball.
  • the sixth step is to determine the number q of the detection point data whose distances between the multiple detection point data and the virtual ball meet the second preset distance threshold.
  • the seventh step is to determine the current time and determine whether the time interval from the current time to the start time meets the second preset time period.
  • the fourth step, the fifth step, and the sixth step are repeated.
  • the time interval is greater than or equal to the second preset time period, multiple q values have been obtained, and the eighth step is performed.
  • the eighth step is to select the maximum value q max among multiple q values, and determine that the virtual ball corresponding to the maximum value q max is a standard ball.
  • the accuracy of the calibrator 300 is determined according to the second set position of the mark point 310 and the spatial position of the standard ball.
  • the third embodiment of the present invention also provides an accuracy detection system for a positioning system of a surgical robot.
  • the positioning system includes a guide 200 and a calibrator 300.
  • the accuracy detection system includes: the probe device 100 of any of the first embodiments described above;
  • An obtaining device for obtaining the first set position of the guide 200 An obtaining device for obtaining the first set position of the guide 200
  • a position measuring instrument for acquiring the position parameters of the guiding detecting portion 120 when the guiding detecting portion 120 and the guiding member 200 cooperate with each other;
  • the calculation device is used to determine the accuracy of the guide 200 according to the first set position of the guide 200 and the position parameter of the guide detection unit 120.
  • the probe device 100 of any of the first embodiments described above is used.
  • the probe device 100 has a positioning portion 110 and a guide detection portion 120.
  • the positioning portion 110 is provided with three
  • the above non-collinear positioning members 111 can determine the spatial position of the carrier according to more than three positioning members 111.
  • the first setting position of the guide 200 can be acquired by the acquisition device; the position measuring instrument can acquire the position parameters of the guide detection part 120; the guide detection part 120 can be guided by its cylindrical outer contour structure
  • the components 200 cooperate with each other, so that the actual position of the guide 200 can be determined according to the positional relationship of the guide detection portion 120; the calculation device compares the first set position of the guide 200 with the position parameter of the guide detection portion 120, that is, the position of the guide 200
  • the preset position and the actual position can determine the accuracy of the guide 200. Therefore, the embodiment of the present invention can automatically and accurately detect the accuracy of the guide 200, thereby effectively improving the control accuracy of the surgical robot.
  • the probe device 100 further includes a contact tip 130.
  • the contact tip 130 is connected to the positioning portion 110 and has a second preset positional relationship with the positioning member 111; the acquiring device is also used to acquire the mark on the calibrator 300 The second set position of the point 310; the position measuring instrument is also used to obtain the spatial position of the contact tip 130 when the contact tip 130 is in contact with the mark point 310; the calculation device is also used to determine the spatial position of the contact tip 130 according to the second set position and Determine the accuracy of the calibrator 300. Therefore, in these alternative embodiments, the accuracy of the calibrator 300 can also be detected by setting the probe device 100.
  • the acquisition device further includes a tracer, which is used to obtain the set positions of the guide 200 and the calibrator 300 in cooperation with the position measuring instrument.
  • the position finder can obtain the guide by acquiring the position of the tracer. 200 and the set position of the calibrator 300.
  • the accuracy detection system there is a preset positional relationship between the tracer and the guide 200 and/or the calibrator 300.
  • the preset position with the guide 200 and/or the calibrator 300 will change.
  • the position finder can obtain the set position of the guide 200 and/or the calibrator 300 through the tracer, and can also obtain the guide detection part 120.
  • the computing device compares the guide 200 and/or the calibrator 300 The set position and the actual position of, can accurately determine the accuracy of the guide 200 and/or the calibrator 300.
  • the fourth embodiment of the present invention also provides a positioning system, which includes a surgical robot, a host computer, a position measuring instrument, a guide 200, a calibrator 300, and the probe device 100 of any of the foregoing embodiments.
  • the guide 200 and the calibrator 300 are used to assist the surgical robot in the guidance and positioning during the operation, the upper computer is used to control the surgical robot to drive the guide 200 and the calibrator 300 to move, and the position finder is used to obtain For the setting positions of the guide 200 and the calibrator 300, the locator is also used to identify more than three positioning members 111 and determine the spatial position of the carrier according to the three or more positioning members 111; thereby further determining the orientation of the detection unit 120 Spatial location.
  • the position finder can be an infrared receiver to receive the infrared signal emitted by the tracer that has a preset positional relationship with the positioning member 111, or the position finder includes an infrared receiver and an infrared transmitter
  • the tracer is an infrared reflector, the infrared transmitter emits an infrared signal, the tracer reflects the infrared signal, and the infrared receiver is used to receive the infrared signal reflected by the positioning member 111.
  • the calibrator 300 is provided with a marking point 310, the main body of the calibrator 300 is made of X-ray transparent material, and the marking point 310 is made of X-ray opaque material. Therefore, the position of the mark point 310 can be determined on the image when the image is registered.
  • the calibrator 300 is also provided with a position calibrator (such as a tracer), and there is a predetermined position relationship between the position calibrator and the marking point 310, and the position finder can obtain the spatial position coordinates of the position calibrator, so as to determine
  • the target position of the mark point 310 is the spatial coordinate of the mark point 310.

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Abstract

本发明提供一种探针装置、精度检测方法、精度检测系统及定位系统，探针装置包括：定位部，具有承载体，承载体承载有不共线的三个以上定位件；导向检测部，连接承载体，并与定位件具有第一预设位置关系，导向检测部具有与定位系统的导向件相互匹配的圆柱外轮廓结构。本发明的实施例能够精确检测导向件的精度，从而有效提高手术机器人的控制精度，提高系统安全性。

Description

探针装置、精度检测方法、精度检测系统及定位系统 技术领域
本发明涉及医疗设备技术领域，尤其涉及一种探针装置、精度检测方法、精度检测系统及定位系统。
背景技术
在骨科医疗手术过程中，可利用手术机器人辅助术中的导向，因此导向件的精度是路径规划精度重要的一环。若导向件在运输、储存、消毒或使用过程中发生变形和磨损，会影响路径规划的准确性或精度。此外，导向件的变形和磨损也不容易发现，那么在术中导向件就不能准确移动至患者患处的预定方位处，会影响整个手术机器人的控制精度。
因此，亟需一种新的探针装置、精度检测方法、精度检测系统及定位系统。
发明内容
本发明实施例提供一种探针装置、精度检测方法、精度检测系统及定位系统，旨在检测导向件的精度。
本发明实施例一方面提供了一种探针装置，用于检测手术机器人定位系统的精度，探针装置包括：定位部，具有承载体，承载体承载有不共线的三个以上定位件；导向检测部，连接承载体，并与定位件具有第一预设位置关系，导向检测部具有与定位系统的导向件相互匹配的圆柱外轮廓结构。
本发明实施例另一方面还提供一种精度检测系统，用于检测手术机器人定位系统的精度，定位系统包括导向件和标定器，精度检测系统包括：
上述的探针装置；
获取装置，用于获取导向件的第一设定位置；
测位仪，用于获取导向检测部和导向件相互配合时导向检测部的位置参数；
计算装置，用于根据导向件的第一设定位置和导向检测部的位置参数确定导向件的精度。
本发明实施例再一方面还提供一种手术机器人定位系统，包括手术机器人、上位机、测位仪、导向件、标定器和上述的探针装置。
在本发明中探针装置具有定位部和导向检测部，定位部的承载体上设置有三个以上不共线的定位件，导向检测部和定位件之间具有第一预设位置关系，进而可以根据定位件确定导向检测部的空间位置，导向检测部通过其圆柱外轮廓结构能够与导向件相互配合，从而可以根据导向检测部的位置关系可以确定导向件的实际位置，通过对比导向件的实际位置和第一设定位置可以确定导向件的精度。因此，本发明的实施例能够精确检测导向件的精度，从而有效提高手术机器人的控制精度。
附图说明
通过阅读以下参照附图对非限制性实施例所作的详细描述，本发明的其它特征、目的和优点将会变得更明显，其中，相同或相似的附图标记表示相同或相似的特征。
图1是本发明实施例的一种探针装置的结构示意图；
图2是本发明实施例的一种探针装置和导向件的配合结构示意图；
图3是本发明实施例的一种探针装置和标定器的配合结构示意图；
图4是图3中I处的局部放大图；
图5是本发明实施例的一种精度检测方法的流程示意图；
图6是本发明另一实施例的一种精度检测方法的流程示意图；
图7是本发明又一实施例的一种精度检测方法的流程示意图；
图8是本发明再一实施例的一种精度检测方法的流程示意图。
附图标记说明：
100、探针装置；
110、定位部；111、定位件；
120、导向检测部；
130、接触尖端；131、接触球体；
140、握柄；
200、导向件；
300、标定器；310、标志点。
具体实施方式
下面将详细描述本发明的各个方面的特征和示例性实施例。在下面的详细描述中，提出了许多具体细节，以便提供对本发明的全面理解。但是，对于本领域技术人员来说很明显的是，本发明可以在不需要这些具体细节中的一些细节的情况下实施。下面对实施例的描述仅仅是为了通过示出本发明的示例来提供对本发明的更好的理 解。在附图和下面的描述中，至少部分的公知结构和技术没有被示出，以便避免对本发明造成不必要的模糊；并且，为了清晰，可能夸大了部分结构的尺寸。此外，下文中所描述的特征、结构或特性可以以任何合适的方式结合在一个或更多实施例中。
在本发明的描述中，需要说明的是，除非另有说明，“多个”的含义是两个以上；术语“上”、“下”、“左”、“右”、“内”、“外”等指示的方位或位置关系仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
下述描述中出现的方位词均为图中示出的方向，并不是对本发明的实施例的具体结构进行限定。在本发明的描述中，还需要说明的是，除非另有明确的规定和限定，术语“安装”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以间接相连。对于本领域的普通技术人员而言，可视具体情况理解上述术语在本发明中的具体含义。
为了更好地理解本发明，下面结合图1至图8根据本发明实施例的探针装置、精度检测方法、精度检测系统及定位系统进行详细描述。
请一并参阅图1和图2，图1为本发明第一实施例提供的一种探针装置100的结构示意图，图2为探针装置100和导向件200相互配合的结构示意图。探针装置100用于手术机器人的定位系统，手术机器人的定位系统一般包括导向件200、测位仪和标定器300等。探针装置100包括：定位部110，具有承载体，承载体承载有不共线的三个以上定位件111；导向检测部120，连接承载体，并与定位件111具有第一预设位置关系，导向检测部120具有与定位系统的导向件200相互匹配的圆柱外轮廓结构。
其中，承载体上定位件111的个数在此不做限定，定位件111可以为三个、四个或更多个，以图1为例，定位件111为四个，四个定位件111中至少三个定位件111不共线设置，令测位仪根据三个以上的定位件111能够确定导向检测部120的空间位置。
定位件111的具体设置方式在此不做限定，例如，定位件111可以为红外反光球，以反射红外线并被测位仪识别。或者定位件111为红外发射器，能够发射红外线，测位仪能够识别该红外线，从而识别定位件111。定位件111的设置方式不仅限于此，只要定位件111能够被测位仪识别即可。
在本发明中探针装置100具有定位部110和导向检测部120，定位部110的承载体上设置有三个以上不共线的定位件111，导向检测部120和定位件111之间具有第一预设位置关系，进而可以根据定位件111确定导向检测部120的空间位置，导向检测部 120通过其圆柱外轮廓结构能够与导向件200相互配合，从而可以根据导向件200与导向检测部120的位置关系确定导向件200的实际位置，通过对比导向件200的实际位置和设定位置可以确定导向件200的精度。因此，本发明的实施例能够精确检测导向件200的精度，从而有效提高手术机器人的控制精度。
在探针装置100和手术机器人定位系统的使用过程中，定位系统能够控制导向件200移动至预设位置，当导向检测部120和导向件200相互配合时，根据导向检测部120的空间位置可以确定导向件200的实际位置，通过对比导向件200的实际位置和设定位置，从而能够确定导向件200的精度。因此在本发明中，通过探针装置100可以检测导向件200的精度，防止由于导向件200精度不足影响手术机器人的控制精度。
导向检测部120和导向件200相互配合的方式有多种，例如导向检测部120和导向件200相互贴合，此处为了保证导向检测部120和导向件200之间相互配合的更加紧密，导向检测部120与导向件200具有相互套设的配合关系。导向检测部120与导向件200中的一者为圆柱状体，另一者为与圆柱状体相匹配的套筒。
导向件200一般为导向筒，则导向检测部120可以呈圆柱状，并具有与导向筒相互配合的外周面，使得导向检测部120通过外周面能够和导向件200相互配合。
手术定位系统一般还包括标定器300，用于辅助手术机器人进行定位。标定器300的精度是手术路径规划精度的重要一环，如果标定器300在运输、储存、消毒或使用过程中发生变形和磨损，会影响路径规划的准确性或精度。而标定器300上设置有标志点310，标志点310的位置已知或者通过测量获取，例如，通过示踪器，示踪器和标志点310之间存在位置关系，定位系统可以通过测位仪获取示踪器的位置从而获取标志点310的空间位置，从而获取标志点310的设定位置。
请一并参阅图3，在一些可选的实施例中，探针装置100还包括接触尖端130，接触尖端130连接定位部110并与定位件111具有第二预设位置关系，接触尖端130用于与定位系统中标定器300的标志点310接触以获取标志点310的位置信息。
在这些可选的实施例中，由于接触尖端130和定位件111之间存在第二预设位置关系，因此根据定位件111的空间位置可以确定接触尖端130的空间位置，接触尖端130和标志点310接触连接，根据接触尖端130的空间位置可以确定标志点310的实际位置。根据标志点310的实际位置和设定位置之间的对比，可以确定标志点310的精度，即标定器300的精度。因此在这些可选的实施例中，通过接触尖端130可以检测标定器300的精度。
请一并参阅图4，接触尖端130和标志点310相互接触连接的实施方式有多种，在一些可选的实施例中，接触尖端130的顶部具有接触球体131，接触尖端130通过接触 球体131和标志点310相互接触连接。为了减小检测误差，接触球体131的半径大于或等于0.2mm，并小于或等于0.5mm。
在上述任一实施例中，接触尖端130和导向检测部120的相对位置在此不做限定，接触尖端130和导向检测部120可以分设于定位部110的两侧，或者如图1所示接触尖端130和导向检测部120位于定位部110的一侧，接触尖端130通过导向检测部120和定位部110相互连接。
在有一些可选的实施例中，探针装置100还包括握柄140，便于人工操作手持探针装置100。握柄140的设置位置在此不做限定，在一些可选的实施例中，握柄140连接于相邻的两个定位件111之间，从而能够有效减小探针装置100的体积，简化探针装置100的结构。
请一并参阅图5，本发明第二实施例还提供一种手术机器人定位系统的精度检测方法，定位系统包括导向件200和标定器300，导向件200用于为手术针导向，该方法基于上述任一第一实施例的探针装置100，方法包括：
步骤S01：获取导向件200的第一设定位置。
定位系统中一般包括上位机，上位机可以控制机械臂按照规划路径移动，从而带动导向件200移动。导向件200的位置可以预存于上位机中或者通过测量而获取，例如，通过设置示踪器，示踪器与导向件200具有预定位置关系，通过测位仪获取示踪器的位置从而获取导向件200的位置。
步骤S02：获取导向检测部120和导向件200相互配合时导向检测部120的位置参数。
令导向检测部120和导向件200相互配合，根据定位件111及第一预设位置关系可以确定导向检测部120的位置参数。
步骤S03：根据导向件200的第一设定位置和导向检测部120的位置参数确定导向件200的精度。
其中，导向件200与导向检测部120之间的相互配合，根据导向检测部120位置参数可以确定导向件200的实际位置，对比导向件200的实际位置和第一设定位置(理论位置)可以确定导向件200的精度，因此根据导向检测部120的位置参数和第一设定位置可以确定导向件200的精度。
在本发明实施例中，可以通过步骤S01获取导向件200的第一设定位置，在步骤S02中，当导向检测部120和导向件200相互配合以后，可以通过三个以上的定位件111和第一预设位置关系确定导向检测部120的位置参数。在步骤S03中，通过比较导向件200第一设定位置和导向检测部120的位置参数可以确定导向件200的精度，从 而确定定位系统的精度。
导向件200的第一设定位置可以为能够导出导向件200空间位置的导向件200上任意位置的设定位置。通常的导向件200呈圆筒状，在一些可选的实施例中，第一设定位置包括导向件200轴向上相对两端面的圆心位置，便于准确查找和定位导向件200的第一设定位置。其中，两端面圆心的连线定义为标志轴线。
导向检测部120的位置参数可以为导向检测部120上指定轴线的空间位置。由于导向件200和导向检测部120相互配合时存在配合位置关系，所以标志轴线和指定轴线的位置之间也存在配合位置关系。
通常的导向检测部120和导向件200的配合关系为相互套设的配合关系，此时导向检测部120的中心轴线和导向件200的中心轴线理论上应该相互重合，因此通过将导向检测部120上指定轴线设置为导向检测部120的中心轴线，此时中心轴线的位置即为标志轴线的实际位置，能够简化对比过程，根据两条轴线之间的位置关系更加容易确定导向件200的精度。
承载体和导向检测部120的相对位置关系不做限定，只要定位件111和导向检测部120之间存在第一预设位置关系即可。优选的，导向检测部120上的指定轴线(例如导向检测部120的中心轴线)和承载体可以共面，便于确定承载体和导向检测部120上指定轴线的相对位置关系。
获取导向检测部120和导向件200相互配合时导向检测部120位置参数的方式有多种，在一些可选的实施例中，步骤S02还包括：
步骤S021：导向检测部120和导向件200相互套设并贴合时，获取导向检测部120在导向件200上旋转形成多个旋转位置时，导向检测部120上指定轴线在多个旋转位置对应的n个轴线数据，其中，n大于或等于4。
步骤S022：从n个轴线数据中选取4个以上的轴线数据作为拟合数据。
步骤S023：将4个以上的拟合数据拟合形成拟合轴数据并作为导向检测部120的位置参数。
其中，将四个以上拟合数据拟合形成拟合轴数据方式有多种，例如四个以上的拟合数据选用最小二乘法拟合形成拟合轴数据。
在这些可选的实施例中，如果导向件200出现磨损或者变形，导向检测部120和导向件200无法完全贴合，即当导向检测部120在导向件200内旋转时，获取的导向检测部120的多个位置参数会不同，由此获取n个轴线数据。通过n个轴线数据中4个以上的拟合数据拟合形成拟合轴数据，能够减小检测误差，令检测结果更加精准。
导向检测部120的指定轴线和导向件200两端之间的距离应该满足检测偏差值。 因此，为了进一步提高检测结果的精度，步骤S021还包括：
在导向检测部120和导向件200相互套设并贴合时，获取导向检测部120在导向件200上旋转形成多个旋转位置时，导向检测部120的指定轴线在多个旋转位置满足第一检测偏差值的n个轴线数据。
其中，满足检测偏差是指根据定位件110确定的导向检测部120指定轴线在多个旋转位置的实际位置到导向件第一设定位置两端点之间的距离小于或等于第一检测偏值。第一检测偏值的设定在此不做限定，例如第一检测偏值可以为3mm、2mm、1mm等。
导向件200一般为筒状、沿其轴向具有预设长度，其作用是为导针提供空间路径，因此最直接体现导向件200精度的是其轴线的位置。其中由于第一设定位置为导向件200的理论测量位置，因此第一设定位置一般为导向件200的轴线，当第一设定位置包括导向件200上相对两端面的圆心位置时，第一设定位置的两端点即导向件200上相对两端面的圆心。
指定轴线在多个旋转位置对应的所有轴线数据中，可能存在检测失误产生的无效数据，当这些轴线中到导向件200相对两端面的圆心距离过大时，这些数据可能为无效数据，本实施例仅获取这些轴线数据中到第一设定位置两端点的距离小于第一检测偏值的n个轴线数据，能够剔除这些无效数据，进一步提高导向件200的检测精度。
在另一些可选的实施例中，为了进一步提高检测结果的准确性，步骤S02还包括：
S024：确定n个轴线数据中除拟合数据以外的数据为检测数据。
S025：确定检测数据中与拟合轴数据的距离满足第一预设距离阈值和夹角满足预定夹角阈值的轴线数据数量m。
S026：在第一预设时间段内从n个轴线数据中分别选取不同的拟合数据拟合形成多个拟合轴数据，并根据多个拟合轴数据和与其对应的检测数据确定多个m的值。
S027：选取多个m值中的最大值m max，并确定最大值m max对应的拟合轴数据为标准轴数据并作为导向检测部120的位置参数。
标准轴数据对应的m最大，表示多个检测数据到标准轴数据之间的距离满足第一预设距离阈值距离和夹角满足预定夹角阈值的最多，则该标准轴数据最接近导向件200的实际位置。根据该标准轴数据确定的误差较小，能够进一步提高检测结果的准确性。
以图6所示的流程图为例，简述使用该方法检测导向件200的具体步骤，包括：
第一步：获取导向件200的第一设定位置。
第二步，导向检测部120和导向件200相互套设，并旋转导向检测部120形成多个旋转位置，获取导向检测部120的指定轴线在多个旋转位置的n个满足检测偏差值的轴线数据，其中，n大于或等于4。
指定轴线为导向检测部120的中心轴线，第一设定位置包括导向件200相对两端面的圆心位置，指定轴线和导向件200两端面的圆心的连线，即导向件200的轴线理论上重合。此时指定轴线的n个轴线数据对应导向件200的n个实际轴线数据。
第三步，开始计时，并记录开始时间。通过计时控制计算的有穷性，从而合理控制精度检测的周期。
第四步，从n个轴线数据中选取4个以上的轴线数据作为拟合数据，并确定n个轴线数据中除拟合数据以外的数据为检测数据。
第五步，将4个以上的拟合数据拟合形成拟合轴数据。
第六步，确定检测数据中与拟合轴数据的夹角和距离满足第一预设距离阈值和预定夹角阈值的轴线数据数量m。
第七步，确定当前时间，并确定当前时间到开始时间的时间间隔是否满足第一预设时间段。
当时间间隔小于第一预设时间段时，重复步骤第四步、第五步、第六步。当时间间隔大于或等于预设时间段时，已经获取多个m值，进行第八步。
第八步，选取多个m值中的最大值m max，并确定最大值m max对应的拟合轴数据为标准轴数据，导向检测部120的位置参数为标准轴数据。
第九步，根据导向件200的第一设定位置和导向检测部120的位置参数确定导向件200的精度。例如，可以计算导向件200的中线点到标准轴的距离，从而衡量定位系统的精度。
请一并参阅图7，在一些可选的实施例中，探针装置100还包括和标定器300连接的接触尖端130，接触尖端130和定位件111之间存在第二预设位置关系，方法进一步还包括：
步骤S01’：获取标定器300上标志点310的第二设定位置。
其中，第二设定位置为标志点310的理论测量位置，可以预存于上位机中，或者通过与标定器300具有预定位置关系的示踪器而获取，具体为通过测位仪获取示踪器的空间位置，从而获取标定器300的空间位置。
步骤S02’：获取接触尖端130和标志点310接触时接触尖端130的空间位置。
根据定位件111和第二预设位置关系可以确定接触尖端130的空间位置。
步骤S03’：根据标志点310的第二设定位置和接触尖端130的空间位置确定标定 器300的精度。
由于接触尖端130和标志点310直接接触连接，可以认为接触尖端130的空间位置即为标志点310的实际位置。因此在步骤S03’中通过比较标志点310的第二设定位置和实际位置能够精确确定标定器300的精度。
在一些可选的实施例中，为了提高检测结果的准确性，步骤S02’还包括：
S021’：获取接触尖端130和标志点310在多个接触位置的p个空间位置数据，其中，p大于或等于4。
S022’：从p个空间位置数据中选取4个以上的空间位置数据作为拟合点数据。
S023’：将4个以上的拟合点数据进行拟合形成虚拟球并作为接触尖端130的空间位置。
其中根据多个接触位置获取的多个空间位置中，有的空间位置到标志点310中心即第二设定位置的距离大于或等于第二检测偏差值，为了进一步提高检测结果的准确性，当根据多个接触位置确定多个接触尖端130的空间位置后，剔除不满足第二检测偏差值的空间位置，从而保留满足第二检测偏差值的p个空间位置数据。因此，在一些可选的实施例中，步骤021’还包括:
获取接触尖端130和标志点310在多个接触位置的所有空间位置数据中，到第二设定位置的距离小于第二检测偏差值的p个空间位置数据。
第二检测偏差值的设置方式有多种，例如第二预设距离值可以为1mm、2mm、4mm、5mm、6mm等。
进一步的为了提高检测结果，步骤S02’还包括：
S024’：确定p个空间位置数据中除拟合点数据以外的空间位置数据为检测点数据。
S025’：确定多个检测点数据与虚拟球之间的距离满足第二预设距离阈值的检测点数据的个数q。
S026’：在第二预设时间段内由p个空间位置数据中分别选取不同的拟合点数据拟合形成多个虚拟球，并根据多个虚拟球和与其对应的检测点数据确定多个q的值。
S027’：选取多个q值中的最大值q max，并确定最大值q max对应的虚拟球为标准球并作为接触尖端130的空间位置。
当虚拟球对应的检测点较多时，表示虚拟球越接近标志点310的实际位置，将最大值q max对应的虚拟球作为标准球，且接触尖端130的空间位置设置为标准球的空间位置能够进一步提高检测结果。
其中，拟合形成虚拟球的方式有多种，例如利用最小二乘法将四个以上的拟合点 数据拟合形成虚拟球。
下面以图8为例，简述该方法检测标定器300时的检测步骤：
第一步：获取标定器300上标志点310的第二设定位置。
第二步，获取所述接触尖端130和所述标志点310在多个接触位置的满足检测偏差值的p个空间位置数据，p大于或等于4。
第三步，开始计时，并记录开始时间。通过计时控制计算的有穷性，从而合理控制精度检测的周期。
第四步，从p个空间位置数据中选取4个以上的空间位置数据作为拟合点数据，确定p个空间位置数据中除拟合点数据以外的空间位置数据为检测点数据。
第五步，将四个以上的拟合点数据拟合形成虚拟球。
第六步，确定多个检测点数据与虚拟球之间的距离满足第二预设距离阈值的检测点数据的个数q。
第七步，确定当前时间，并确定当前时间到开始时间的时间间隔是否满足第二预设时间段。
当时间间隔小于第二预设时间段时，重复步骤第四步、第五步、第六步。当时间间隔大于或等于第二预设时间段时，已经获取多个q值，进行第八步。
第八步，选取多个q值中的最大值q max，并确定最大值q max对应的虚拟球为标准球。
第九步，根据标志点310的第二设定位置和标准球的空间位置确定标定器300的精度。
本发明第三实施例还提供一种术机器人定位系统的精度检测系统，定位系统包括导向件200和标定器300，精度检测系统包括：上述任一第一实施例的探针装置100；
获取装置，用于获取导向件200的第一设定位置；
测位仪，用于获取导向检测部120和导向件200相互配合时导向检测部120的位置参数；
计算装置，用于根据导向件200的第一设定位置和导向检测部120的位置参数确定导向件200的精度。
在本发明实施例的精度检测系统中，采用了上述任一第一实施例的探针装置100，探针装置100具有定位部110和导向检测部120，定位部110的承载体上设置有三个以上不共线的定位件111，根据三个以上的定位件111可以确定承载体的空间位置。通过获取装置能够获取导向件200的第一设定位置，即导向件200的预设位置；测位仪能够获取导向检测部120的位置参数；导向检测部120通过其圆柱外轮廓结构能够于导 向件200相互配合，从而可以根据导向检测部120的位置关系确定导向件200的实际位置；计算装置通过对比导向件200的第一设定位置和导向检测部120的位置参数，即导向件200的预设位置和实际位置可以确定导向件200的精度。因此，本发明的实施例能够自动精确检测导向件200的精度，从而有效提高手术机器人的控制精度。
在一些可选的实施例中，探针装置100还包括接触尖端130，接触尖端130连接定位部110并与定位件111具有第二预设位置关系；获取装置还用于获取标定器300上标志点310的第二设定位置；测位仪还用于获取接触尖端130和标志点310接触时接触尖端130的空间位置；计算装置还用于根据第二设定位置和接触尖端130的空间位置确定标定器300的精度。因此在这些可选的实施例中，通过设置探针装置100还能够检测标定器300的精度。
在一些可选的实施例中，为了能够实现全自动的精度检测，获取装置还包括示踪器，示踪器用于和测位仪配合获取导向件200和标定器300的设定位置。
在这些可选的实施例中，通过设置示踪器，示踪器和导向件200或者标定器300之间存在预设的位置关系，测位仪通过获取示踪器的位置进而可以获取导向件200和标定器300的设定位置。
在精度检测系统使用的过程中，示踪器和导向件200和/或标定器300之间存在预设的位置关系，当导向件200和/或标定器300发生磨损或变形以后，示踪器和导向件200和/或标定器300之间的预设位置会改变，测位仪能够通过示踪器获取导向件200和/或标定器300的设定位置，同时还能够获取导向检测部120和/或接触尖端130的空间位置，导向检测部120和/或接触尖端130的空间位置即导向件200和/或标定器300的实际位置，计算装置通过对比导向件200和/或标定器300的设定位置与实际位置能够准确测定导向件200和/或标定器300的精度。
本发明第四实施例还提供一种定位系统，包括手术机器人、上位机、测位仪、导向件200、标定器300和上述任一实施例的探针装置100。
在骨科医疗手术过程中，导向件200和标定器300用于辅助手术机器人进行术中的导向和定位，上位机用于控制手术机器人带动导向件200和标定器300移动，测位仪用于获取导向件200和标定器300的设定位置，测位仪还用于识别三个以上的定位件111并根据三个以上的定位件111确定承载体的空间位置；从而进一步确定导向检测部120的空间位置。
测位仪的设置方式有多种，测位仪可以为红外接收器，以接收与定位件111具有预设位置关系的示踪器发射的红外信号，或者测位仪包括红外接收器和红外发射器，示踪器为红外反射器，红外发射器发射红外信号，示踪器反射红外信号，红外接收器 用于接收定位件111反射的红外信号等。
标定器300的设置方式有多种，在一些可选的实施例中，标定器300上设置有标志点310，标定器300主体为透X光材料，标志点310为不透X光的材料，从而在图像注册时能够在图像上确定标志点310的位置。
此外，标定器300上还设置有位置标定器(如示踪器)，位置标定器和标志点310之间具有预定的位置关系，测位仪可以获取位置标定器的空间位置坐标，从而可以确定标志点310的目标位置，即标志点310的空间坐标。
本发明可以以其他的具体形式实现，而不脱离其精神和本质特征。例如，特定实施例中所描述的算法可以被修改，而系统体系结构并不脱离本发明的基本精神。因此，当前的实施例在所有方面都被看作是示例性的而非限定性的，本发明的范围由所附权利要求而非上述描述定义，并且，落入权利要求的含义和等同物的范围内的全部改变从而都被包括在本发明的范围之中。

Claims (17)

  1. 一种探针装置，用于检测手术机器人定位系统的精度，其特征在于，所述探针装置包括：
    定位部，具有承载体，所述承载体承载有不共线的三个以上定位件；
    导向检测部，连接所述承载体，并与所述定位件具有第一预设位置关系，所述导向检测部具有与所述定位系统的导向件相互匹配的圆柱外轮廓结构。
  2. 根据权利要求1所述的探针装置，其特征在于，所述探针装置还包括接触尖端，所述接触尖端连接所述定位部并与所述定位件具有第二预设位置关系，所述接触尖端用于与所述定位系统中标定器的标志点接触以获取所述标志点的位置信息。
  3. 根据权利要求2所述的探针装置，其特征在于，所述接触尖端连接于所述导向检测部远离所述定位部的一侧，或者所述定位部连接于所述导向检测部和所述接触尖端之间。
  4. 根据权利要求2所述的探针装置，其特征在于，所述接触尖端远离所述定位部的一端设置有接触球体，所述接触球体的半径大于或等于0.2mm，并小于或等于0.5mm。
  5. 一种手术机器人定位系统的精度检测方法，所述定位系统包括导向件和标定器，所述方法基于权利要求1-4任一项所述的探针装置，其特征在于，所述方法包括：
    获取所述导向件的第一设定位置；
    获取所述导向检测部和所述导向件相互配合时所述导向检测部的位置参数；
    根据所述导向件的第一设定位置和所述导向检测部的位置参数确定所述导向件的精度。
  6. 根据权利要求5所述的方法，其特征在于，所述导向件的第一设定位置包括所述导向件轴向上相对两端面的圆心位置。
  7. 根据权利要求5所述的方法，其特征在于，所述获取所述导向检测部和所述导向件相互配合时所述导向检测部的位置参数的步骤包括：
    所述导向检测部和所述导向件相互套设并贴合时，获取所述导向检测部在所述导向件上旋转形成多个旋转位置时，所述导向检测部上指定轴线在所述多个旋转位置对应的n个轴线数据，其中，n大于或等于4；
    从所述n个轴线数据中选取4个以上的轴线数据作为拟合数据；
    将4个以上的所述拟合数据拟合形成拟合轴数据并作为所述导向检测部的位置参数。
  8. 根据权利要求7所述的方法，其特征在于，所述导向检测部和所述导向件相互套设并贴合时，获取所述导向检测部在所述导向件上旋转形成多个旋转位置时，所述导向检测部上指定轴线在所述多个旋转位置对应的n个轴线数据的步骤包括：
    所述导向检测部和所述导向件相互套设并贴合，获取所述导向检测部在所述导向件上旋转形成多个旋转位置时，所述导向检测部上指定轴线在所述多个旋转位置的满足第一检测偏差值的n个轴线数据。
  9. 根据权利要求7所述的方法，其特征在于，所述获取所述导向检测部和所述导向件相互配合时所述导向检测部的位置参数的步骤还包括：
    确定所述n个轴线数据中除所述拟合数据以外的数据为检测数据；
    确定所述检测数据中与所述拟合轴数据的距离满足第一预设距离阈值和夹角满足预定夹角阈值的轴线数据数量m；
    在第一预设时间段内从所述n个轴线数据中分别选取不同的所述拟合数据拟合形成多个所述拟合轴数据，并根据多个所述拟合轴数据和与其对应的所述检测数据确定多个m的值；
    选取多个m值中的最大值m max，并确定所述最大值m max对应的拟合轴数据为标准轴数据并作为所述导向检测部的位置参数。
  10. 根据权利要求5所述的方法，其特征在于，所述方法进一步包括：
    获取所述标定器上标志点的第二设定位置；
    获取所述接触尖端和所述标志点接触时所述接触尖端的空间位置；
    根据所述标志点的第二设定位置和所述接触尖端的空间位置确定所述标定器的精度。
  11. 根据权利要求10所述的方法，其特征在于，所述获取所述接触尖端和所述标志点接触时所述接触尖端的空间位置的步骤包括：
    获取所述接触尖端和所述标志点在多个接触位置的p个空间位置数据，其中，p大于或等于4；
    从所述p个空间位置数据中选取4个以上的空间位置数据作为拟合点数据；
    将4个以上的所述拟合点数据进行拟合形成虚拟球并作为所述接触尖端的空间位置。
  12. 根据权利要求11所述的方法，其特征在于，所述获取所述接触尖端和所述标志点在多个接触位置的p个空间位置数据的步骤包括：
    获取所述接触尖端和所述标志点在多个接触位置的满足第二检测偏差值的p个空间位置数据。
  13. 根据权利要求11所述的方法，其特征在于，获取所述接触尖端和所述标志点接触时所述接触尖端的空间位置的步骤还包括：
    确定所述p个空间位置数据中除所述拟合点数据以外的空间位置数据为检测点数据；
    确定多个所述检测点数据与所述虚拟球之间的距离满足第二预设距离阈值的检测点数据的个数q；
    在第二预设时间段内由所述p个空间位置数据中分别选取不同的拟合点数据拟合形成多个所述虚拟球，并根据多个所述虚拟球和与其对应的所述检测点数据确定多个q的值；
    选取多个q值中的最大值q max，并确定所述最大值q max对应的虚拟球为标准球并作为所述接触尖端的空间位置。
  14. 一种精度检测系统，用于检测手术机器人定位系统的精度，所述定位系统包括导向件和标定器，其特征在于，所述精度检测系统包括：
    权利要求1-4任一项所述的探针装置；
    获取装置，用于获取所述导向件的第一设定位置；
    测位仪，用于获取所述导向检测部和所述导向件相互配合时所述导向检测部的位置参数；
    计算装置，用于根据所述导向件的第一设定位置和所述导向检测部的位置参数确定所述导向件的精度。
  15. 根据权利要求14所述的精度检测系统，其特征在于，
    所述探针装置还包括接触尖端，所述接触尖端连接所述定位部并与所述定位件具有第二预设位置关系；
    所述获取装置还用于获取所述标定器上标志点的第二设定位置；
    所述测位仪还用于获取所述接触尖端和所述标志点接触时所述接触尖端的空间位置；
    所述计算装置还用于根据所述第二设定位置和所述接触尖端的空间位置确定所述标定器的精度。
  16. 根据权利要求14所述的精度检测系统，其特征在于，所述获取装置包括示踪器，所述示踪器用于与所述测位仪配合获取所述导向件、所述标定器的设定位置。
  17. 一种定位精度自检的手术机器人的定位系统，其特征在于，包括手术机器人、上位机、测位仪、导向件、标定器和权利要求1-4任一项所述的探针装置。
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