Medical Abdominal Environment Robot Testing System

1、 System Introduction

Medical Abdominal Environment Robot Testing SystemA performance testing system for an abdominal endoscopic surgical robot is composed of a high-speed binocular space tester as the core, combined with standard spatial positioning fixtures, linear displacement modules, mechanical sensors, photoelectric sensors, test targets, system analysis software, articulated arms, etc. (expandable laser trackers), to measure and calculate the six dimensional pose accuracy and other performance during the motion process.

The core detection technology of medical surgical robot detection system has been fully validated in the complex workpiece detection process of ultra-high progress fields such as aerospace. The system is widely used in national and provincial-level medical device testing institutions, with a leading market share. The system adopts the high-precision optical 3D measurement technology of Guoji Xianjin, and achieves sub-pixel level spatial reconstruction and accuracy detection through a high-speed stereo vision system with binocular cameras. The accuracy of the high-speed binocular space tester reaches 30 μ m+30 μ m/m respectively, with a measurement accuracy of 500Hz frame rate.

Medical Abdominal Environment Robot Testing System

The medical abdominal cavity robot detection system has achieved the measurement of six dimensional pose accuracy during robot movement, and supports the measurement of industrial robot performance indicators specified in GB/T 12642-2013/ISO 9283:1998 Industrial Robot Performance Specification and Test Methods, as well as medical robot performance indicators specified in YY/T 1712-2021 Auxiliary Surgical Equipment and System Using Robot Technology, and YY/T1941-2024 Abdominal Endoscopic Surgical System Using Robot Technology in China.

In addition, it can also be expanded to support the measurement of 14 performance indicators specified in GB/T 12642-2013, including industrial six axis (including wrist offset, shoulder offset models), industrial four axis palletizing, industrial five axis, industrial four axis SCARA, industrial six axis collaboration, industrial seven axis collaboration, parallel Delta, Cartesian coordinate robots and other models. Customized algorithms can calibrate the linkage length, TCP accuracy, zero position, reduction ratio, and coupling ratio of serial joint robots, supporting industrial six axis (including wrist offset and shoulder offset models), industrial four axis palletizing, industrial five axis, industrial four axis SCARA, industrial six axis cooperation, and industrial seven axis cooperation models.

The system has completed comprehensive testing and verification in accordance with the VDI/VDE 2634 international standard for optical 3D measurement systems, ensuring the reliability and traceability of measurement results. The measurement process is non-contact throughout, especially suitable for high-precision surgical robots that cannot be touched by machinery in special environments. Equipped with high speed and flexibility, spatial reconstruction can be completed in just a few minutes, and a multi camera online system can achieve real-time result output. Its modular design and battery powered structure make the device portable and capable of stable operation in narrow spaces or environments with vibrations. With over 30 years of technological accumulation and extensive industry validation, the system can provide reliable, fast, and traceable 3D metrology support in the detection of key parameters such as structural components, kinematic accuracy, spatial pose, and deformation characteristics of surgical robots.

2、 Principle Introduction

High speed stereo vision system with binocular cameras

The binocular vision spatial measurement system consists of a photogrammetric camera, measurement software, and SA data analysis software, and is the core equipment for detecting the spatial position and orientation of surgical robots. The system can perform high-precision fitting analysis on spatial points, lines, and surfaces, achieving comprehensive measurement of multi degree of freedom movements of robots. The system has the following characteristics:

High testing efficiency: Measurement data can be generated in real-time in multi camera mode, reducing data calculation time and improving overall testing efficiency; Multi target simultaneous tracking: Based on the principle of binocular vision, multiple targets can be tracked simultaneously, and the multi axis linkage and master-slave tracking performance of medical surgical robots can be measured at once;

Diversified measurement data: The system not only supports 3D spatial coordinate measurement, but also directly measures 6D pose, ensuring the accuracy and repeatability of pose measurement, while balancing efficiency and accuracy, avoiding secondary processing;

Strong equipment scalability: The photogrammetric camera can move freely, overcoming the problem of measurement interruption caused by obstruction in traditional laser equipment. Even if the measured object is obstructed, the camera position can be adjusted to continue measurement without the need for manual repositioning. This system provides an efficient, flexible, and reliable measurement solution for precision testing, performance evaluation, and safety verification of medical surgical robots. Selected by over 30 clients, with a collection of 200+medical testing cases, providing user training.

National testing institution application demonstration case

The measurement system is easy to set up. Place two cameras facing the calibrated background wall, connect the cameras to the online controller using a camera cable, and connect the online controller to the computer via a wired connection. The online controller is the data acquisition module of the system, which has functions such as data acquisition for multi camera combination testing, external trigger interface control, communication with load sensors, and data reading.

3、 Analysis software

Professional version of medical surgical robot testing and data analysis software

We have jointly developed a professional version of the space attitude power testing software and test data analysis software with the National Ji Laboratory. The software can achieve automated testing and analysis of various testing items, including effective workspace, telecentric fixed point, master-slave operation distance repeatability, master-slave operation distance accuracy, master-slave operation distance repeatability, master-slave operation attitude accuracy, master-slave operation attitude repeatability, master-slave control delay, master-slave distance scaling ratio, braking distance, sliding distance, speed limit, sliding distance, etc.

Professional automated point cloud data output and modeling software

The system can output standard point cloud data, and the coordinate system can support Cartesian coordinate system, Euler coordinate system, pose matrix, etc. Can quickly assist users in building three-dimensional motion models. Through the tracking and positioning algorithm of the software, the function of constructing motion trajectories by measuring the minimum sampling point can be achieved, realizing high-precision and fast measurement in a true sense. Customize advanced spatial measurement and analysis software for users to expand embodied intelligence. And support probes and tooling kits, providing customers with professional testing technology additional services.

Extended version of measurement data analysis software