Navigation surgical instrument body robot testing system

1、 System Introduction

Navigation surgical instrument body robot testing systemThe measurement of six dimensional pose accuracy during the movement of medical surgical robots has been achieved with laser trackers, 6D pose measurement fixtures, and customized fixtures as the core. The system complies with YY/T 1712-2021 "Assistive surgical equipment and systems using robot technology" and YY/T 1901-2023 "Requirements and test methods for orthopedic surgical aviation equipment using robot technology" standards.

Including pose accuracy and repeatability detection, multi-directional pose accuracy variation, distance accuracy and repeatability, position stabilization time and overshoot, pose drift characteristics, interchangeability, trajectory accuracy and repeatability, redirected trajectory accuracy, corner deviation, trajectory velocity characteristics, minimum positioning time, and other items.

Navigation surgical instrument body robot testing systemLaser non-contact measurement was used as a measurement method to achieve the measurement and calculation of parameters such as position during the movement of orthopedic surgical robots. The system mainly includes a laser tracker and analysis software. Laser trackers are used for collecting static and dynamic data, and have the characteristics of high accuracy, fast speed, large measurement range, and good portability. When combined with attitude measurement modules, they can perform 3D and 6D measurements. The accuracy of this testing system can reach 15 μ m+6 μ m/m. Jue's interferometer distance: 0.2 μ/m; Dynamic locking accuracy: 10 μ m.

The testing system emits laser and locks onto the center of the target ball (or target) fixed on the end effector of the robot. When the robot moves within its range of motion, the tracker records the spatial coordinates of the target ball in real time, continuously collects trajectory data at a super high sampling rate of 1000 points/second, and feeds it back to the PC software for analysis and evaluation. By comparing the actual motion position of the robot with the theoretical position, the motion deviation can be obtained, and then precision compensation can be carried out. Implement instruments for robot pose parameters, trajectories, errors, and accuracy. The system is also used to calibrate and improve the performance of robots during the development process without changing the hardware of the robots. It can also serve as a universal on-site coordinate measuring device for detecting dimensional and behavioral tolerances of various large, high-precision, and ultra high precision mechanical parts.

The system is essentially a spherical coordinate measurement system. The laser emitted by the He Ne laser is reflected by a biaxial tracking mirror that can rotate along the horizontal and vertical axes to the target, and the incident light at the center of the mirror returns along the original path. Two motors drive the dual axis tracking mirror to rotate along the horizontal and vertical axes, ensuring that the laser is always incident on the reflector. The motor drive signal is provided by the position detector PSD, which converts the phase shift between the incident light and the emitted light into a driving electrical signal to achieve automatic tracking of the tracker. The basic principle is to measure the distance and horizontal and vertical deflection angles of the target point. The distance component is measured by a laser, and the angle component is measured by a high-precision angle encoder. It forms a spherical coordinate measurement system by tracking the measurement target with the alpha and beta angles of the tracker and the laser beam d, thus completing the acquisition of spatial geometric element measurement point information, and completing the analysis and calculation of spatial geometric element dimensions, dimensional tolerances, geometric tolerances, and spatial surface curves through measurement software.

2、 Introduction to Key Technologies
1. The ROBO-1300 testing system, the first laser tracker in Jin, is the only verified "outdoor" tracker in the world! IP54 (IEC60529) independent verification, dustproof and waterproof;
2. The most intelligent target locking: Power Lock technology (10 ° FOV), quickly completes the disconnection and reconnection of light, has the function of crossing obstacles and automatic light connection in different places, and the host can automatically search, identify, and lock the moving target position;
3. The most high-precision measuring mirror in the world: Optical center:<± 0.003 mm (<± 0.00012 in), Roundness (ball): ≤ 0.003 mm (≤ 0.00012 in);
4. High precision measurement: With strong ADM function, the loss of accuracy in cutting and connecting light within a diameter range of 20 meters does not exceed 10 microns. It is one tenth of other trackers on the market;
5. Measurement range: The measurement range is up to 20 meters, with unlimited horizontal measurement angles and a vertical measurement angle of ± 145 °. There is no need to worry about tracking and measurement failures caused by angles;
6. Suitable for on-site operation and wireless control: With built-in WiFi connection, the laser tracker can easily connect wirelessly with a PC for remote control through laptops, desktops, and smartphones;
7. Robot Six Dimensional Attitude Measurement System: T-MAC has high measurement speed and achieves 6D spatial measurement; Wireless measurement range of up to 20 meters (diameter), with an efficiency improvement of over 50% compared to 3D measurement. The measurement reception angle is larger, with a tilt angle of ± 45 °, pitch angle of ± 45 °, and rotation angle of 360 °; It can achieve real-time dynamic high-speed measurement of robot six dimensional posture; It can be connected to the robot controller and automatically measured through external triggering signals;

Laser tracker configuration

3、 Analysis software and customized tooling

Various customized tooling

1. Knee replacement surgery navigation positioning accuracy detection fixture: Function overview: Used to simulate the femoral condyle in knee replacement surgery with the assistance of the joint replacement surgery navigation positioning system, in order to detect the comprehensive navigation positioning accuracy of the system. Support point registration, face registration, and plane alignment. (The basic version does not include free-form surfaces and supports alignment of 2 different planes); Auxiliary testing items: comprehensive accuracy of navigation and positioning for knee replacement surgery; Scope of application: Navigation and positioning system for joint replacement surgery (including total knee replacement and unicompartmental knee replacement functions);
2. Hip replacement surgery navigation positioning accuracy detection fixture: Overview: Used to simulate the hip socket in hip replacement surgery with the assistance of the joint replacement surgery navigation positioning system, in order to detect the comprehensive navigation positioning accuracy of the system. Support point registration, face registration, and acetabular alignment; Auxiliary testing items: comprehensive accuracy of navigation and positioning for hip replacement surgery; Scope of application: Navigation and positioning system for joint replacement surgery (hip replacement function);
3. Knee replacement surgery navigation positioning accuracy detection auxiliary tool: Function overview: Used to simulate the femoral condyle in knee replacement surgery with the assistance of the joint replacement surgery navigation positioning system, to detect the comprehensive navigation positioning accuracy of the system. Support point registration, face registration, and plane alignment. (The advanced version includes free-form surfaces and supports alignment of 5 prosthetic planes); Auxiliary testing item: Comprehensive accuracy of navigation and positioning for knee replacement surgery. Scope of application: Navigation and positioning system for joint replacement surgery (including total knee replacement and unicompartmental knee replacement functions).
4. Mechanical arm end flange expansion tool+motor overload detection auxiliary tool+electric push rod overload detection auxiliary tool;
5. Navigation based testing software: guides customers to build integrated testing and analysis according to the steps and fixtures, with rich application tools and testing configurations that meet the standards of the medical device industry, providing customers with professional technical support services.

Navigation surgical tool body robot testing software