Kingpo Technology Development Limited has launched a professional and comprehensive precision testing system for positioning accuracy and control performance, the core performance indicators of surgical robots (RA). Designed in strict accordance with the national pharmaceutical industry standard YY/T 1712-2021, the system offers two core testing solutions: navigation-guided positioning accuracy testing and master-slave control performance testing, ensuring that the equipment meets stringent clinical safety and reliability requirements.
System hardware solution
1. Overview of the core testing solution
1) RA equipment accuracy testing solution under navigation guidance
Objective: To evaluate the static and dynamic positioning accuracy of a surgical robot guided by an optical navigation system.
Core indicators: position accuracy and position repeatability.
2) Master-slave control RA device accuracy detection solution
Purpose: To evaluate the motion tracking performance and latency between a master manipulator (doctor side) and a slave robotic arm (surgery side).
Core indicator: Master-slave control delay time.
System schematic diagram
2. Detailed explanation of the navigation guidance positioning accuracy detection scheme
This solution uses a high-precision laser interferometer as the core measurement equipment to achieve real-time and accurate tracking of the spatial position of the end of the robotic arm.
1) System hardware core components:
Laser interferometer:
|
Name |
Parameter |
|
Brand and model |
CHOTEST GTS3300 |
|
Spatial measurement accuracy |
15μm+6μm/m |
|
Interference ranging accuracy |
0.5μm/m |
|
Absolute ranging accuracy |
10μm (full range) |
|
Measuring radius |
30 meters |
|
Dynamic Speed |
3 m/s, 1000 points/s output |
|
Target Recognition |
Target ball diameter supports 0.5~1.5 inches |
|
Working environment temperature |
Temperature 0~40℃ Relative humidity 35~80% |
|
Protection level |
IP54, dust and splash proof, suitable for industrial field environments |
|
Dimensions |
Tracking head dimensions: 220×280×495mm, weight: 21.0kg |
Laser Tracker Target (SMR):
|
Name |
Parameter |
|
Target ball model |
ES0509 AG |
|
Ball diameter |
0.5 inches |
|
Center accuracy |
12.7um |
|
Retroreflective mirror material |
Aluminum/G Glass |
|
Tracking distance |
≥40 |
|
Name |
Parameter |
|
Target ball model |
ES1509 AG |
|
Ball diameter |
1.5 inches |
|
Center accuracy |
12.7um |
|
Retroreflective mirror material |
Aluminum/G Glass |
|
Tracking distance |
≥50 |
Positioning robot arm end adapter, control software, and data analysis platform
2) Key test items and methods (based on YY/T 1712-2021 5.3):
Position accuracy detection:
(1) Securely mount the target (SMR) on the end of the positioning robot arm.
(2) Control the robotic arm so that the end-calibration finger measurement point is within the effective workspace.
(3) Define and select a cube with a side length of 300 mm in the workspace as the measurement space.
(4) Use the control software to drive the calibration finger measurement point to move along the preset path (starting from point A, moving along B-H and the intermediate point J in sequence).
(5) The laser interferometer measures and records the actual spatial coordinates of each point in real time.
(6) Calculate the deviation between the actual distance of each measurement point to the starting point A and the theoretical value to evaluate the spatial position accuracy.
Position repeatability detection:
(7) Install the target and start the device as above.
(8) Control the end of the robotic arm to reach any two points in the effective workspace: point M and point N.
(9) The laser interferometer accurately measures and records the initial position coordinates: M0 (Xm0, Ym0, Zm0), N0 (Xn0, Yn0, Zn0).
(10) In automatic mode, the control device returns the laser target measuring point to point M and records the position M1 (Xm1, Ym1, Zm1).
(11) Continue to control the device to move the measuring point to point N and record position N1 (Xn1, Yn1, Zn1).
(12) Repeat steps 4-5 multiple times (typically 5 times) to obtain the coordinate sequences Mi( Xmi , Ymi , Zmi) and Ni(Xni , Yni , Zni) (i =1,2,3,4,5).
(13) Calculate the dispersion (standard deviation or maximum deviation) of the multiple return positions of point M and point N to evaluate the position repeatability.
3. Detailed explanation of the master-slave control performance test solution
This solution focuses on evaluating the real-time and synchronization performance of master-slave operations of surgical robots.
1) System hardware core components:
Master-slave signal acquisition and analyzer:
Linear motion generating device, rigid connecting rod, high-precision displacement sensor (monitoring the displacement of the master end handle and the slave end reference point).
2) Key test items and methods (based on YY/T 1712-2021 5.6):
Master-slave control delay time test:
(1) Test setup: Connect the master handle to the linear motion generator via a rigid link. Install high-precision displacement sensors at the reference points of the master handle and slave arm.
(2) Motion protocol: Set the master-slave mapping ratio to 1:1.
(3) Master end reference point motion requirements:
Accelerate to 80% rated speed within 200ms.
Maintain a constant speed for a distance.
Decelerate to a complete stop within 200ms.
(4) Data acquisition: Use a master-slave signal acquisition analyzer to synchronously record the displacement-time curves of the master and slave displacement sensors with high precision and high density.
(5) Delay calculation: Analyze the displacement-time curve and calculate the time difference from when the master starts moving to when the slave starts responding (motion delay) and from when the master stops moving to when the slave stops responding (stop delay).
(6) Repeatability: The X/Y/Z axis of the device is tested three times independently, and the final results are averaged.
4. Product Core Advantages and Value
Authoritative compliance: Testing is carried out in strict accordance with the requirements of the YY/T 1712-2021 "Assisted Surgical Equipment and Assisted Surgical Systems Using Robotic Technology" standard.
High-precision measurement: The core adopts the Zhongtu GTS3300 laser interferometer (spatial accuracy 15μm+6μm/m) and ultra-high precision target sphere (center accuracy 12.7μm) to ensure reliable measurement results.
Professional solution coverage: One-stop solution to the two most critical core performance testing needs of surgical robots : navigation and positioning accuracy (position accuracy, repeatability) and master-slave control performance (delay time).
Industrial-grade reliability: Key equipment has an IP54 protection level, suitable for industrial and medical R&D environments.
High-performance data acquisition: Master-slave delay testing uses a 24-bit resolution, 204.8kHz synchronous sampling analyzer to accurately capture millisecond-level delay signals.
Operational standardization: Provide clear and standardized testing procedures and data processing methods to ensure the consistency and comparability of tests.
Summary
The surgical robot positioning accuracy test system of Kingpo Technology Development Limited is an ideal professional tool for medical device manufacturers, quality inspection agencies and hospitals to conduct surgical robot performance verification, factory inspection, type inspection and daily quality control, providing solid testing guarantees for the safe, accurate and reliable operation of surgical robots.
Kingpo Technology Development Limited has launched a professional and comprehensive precision testing system for positioning accuracy and control performance, the core performance indicators of surgical robots (RA). Designed in strict accordance with the national pharmaceutical industry standard YY/T 1712-2021, the system offers two core testing solutions: navigation-guided positioning accuracy testing and master-slave control performance testing, ensuring that the equipment meets stringent clinical safety and reliability requirements.
System hardware solution
1. Overview of the core testing solution
1) RA equipment accuracy testing solution under navigation guidance
Objective: To evaluate the static and dynamic positioning accuracy of a surgical robot guided by an optical navigation system.
Core indicators: position accuracy and position repeatability.
2) Master-slave control RA device accuracy detection solution
Purpose: To evaluate the motion tracking performance and latency between a master manipulator (doctor side) and a slave robotic arm (surgery side).
Core indicator: Master-slave control delay time.
System schematic diagram
2. Detailed explanation of the navigation guidance positioning accuracy detection scheme
This solution uses a high-precision laser interferometer as the core measurement equipment to achieve real-time and accurate tracking of the spatial position of the end of the robotic arm.
1) System hardware core components:
Laser interferometer:
|
Name |
Parameter |
|
Brand and model |
CHOTEST GTS3300 |
|
Spatial measurement accuracy |
15μm+6μm/m |
|
Interference ranging accuracy |
0.5μm/m |
|
Absolute ranging accuracy |
10μm (full range) |
|
Measuring radius |
30 meters |
|
Dynamic Speed |
3 m/s, 1000 points/s output |
|
Target Recognition |
Target ball diameter supports 0.5~1.5 inches |
|
Working environment temperature |
Temperature 0~40℃ Relative humidity 35~80% |
|
Protection level |
IP54, dust and splash proof, suitable for industrial field environments |
|
Dimensions |
Tracking head dimensions: 220×280×495mm, weight: 21.0kg |
Laser Tracker Target (SMR):
|
Name |
Parameter |
|
Target ball model |
ES0509 AG |
|
Ball diameter |
0.5 inches |
|
Center accuracy |
12.7um |
|
Retroreflective mirror material |
Aluminum/G Glass |
|
Tracking distance |
≥40 |
|
Name |
Parameter |
|
Target ball model |
ES1509 AG |
|
Ball diameter |
1.5 inches |
|
Center accuracy |
12.7um |
|
Retroreflective mirror material |
Aluminum/G Glass |
|
Tracking distance |
≥50 |
Positioning robot arm end adapter, control software, and data analysis platform
2) Key test items and methods (based on YY/T 1712-2021 5.3):
Position accuracy detection:
(1) Securely mount the target (SMR) on the end of the positioning robot arm.
(2) Control the robotic arm so that the end-calibration finger measurement point is within the effective workspace.
(3) Define and select a cube with a side length of 300 mm in the workspace as the measurement space.
(4) Use the control software to drive the calibration finger measurement point to move along the preset path (starting from point A, moving along B-H and the intermediate point J in sequence).
(5) The laser interferometer measures and records the actual spatial coordinates of each point in real time.
(6) Calculate the deviation between the actual distance of each measurement point to the starting point A and the theoretical value to evaluate the spatial position accuracy.
Position repeatability detection:
(7) Install the target and start the device as above.
(8) Control the end of the robotic arm to reach any two points in the effective workspace: point M and point N.
(9) The laser interferometer accurately measures and records the initial position coordinates: M0 (Xm0, Ym0, Zm0), N0 (Xn0, Yn0, Zn0).
(10) In automatic mode, the control device returns the laser target measuring point to point M and records the position M1 (Xm1, Ym1, Zm1).
(11) Continue to control the device to move the measuring point to point N and record position N1 (Xn1, Yn1, Zn1).
(12) Repeat steps 4-5 multiple times (typically 5 times) to obtain the coordinate sequences Mi( Xmi , Ymi , Zmi) and Ni(Xni , Yni , Zni) (i =1,2,3,4,5).
(13) Calculate the dispersion (standard deviation or maximum deviation) of the multiple return positions of point M and point N to evaluate the position repeatability.
3. Detailed explanation of the master-slave control performance test solution
This solution focuses on evaluating the real-time and synchronization performance of master-slave operations of surgical robots.
1) System hardware core components:
Master-slave signal acquisition and analyzer:
Linear motion generating device, rigid connecting rod, high-precision displacement sensor (monitoring the displacement of the master end handle and the slave end reference point).
2) Key test items and methods (based on YY/T 1712-2021 5.6):
Master-slave control delay time test:
(1) Test setup: Connect the master handle to the linear motion generator via a rigid link. Install high-precision displacement sensors at the reference points of the master handle and slave arm.
(2) Motion protocol: Set the master-slave mapping ratio to 1:1.
(3) Master end reference point motion requirements:
Accelerate to 80% rated speed within 200ms.
Maintain a constant speed for a distance.
Decelerate to a complete stop within 200ms.
(4) Data acquisition: Use a master-slave signal acquisition analyzer to synchronously record the displacement-time curves of the master and slave displacement sensors with high precision and high density.
(5) Delay calculation: Analyze the displacement-time curve and calculate the time difference from when the master starts moving to when the slave starts responding (motion delay) and from when the master stops moving to when the slave stops responding (stop delay).
(6) Repeatability: The X/Y/Z axis of the device is tested three times independently, and the final results are averaged.
4. Product Core Advantages and Value
Authoritative compliance: Testing is carried out in strict accordance with the requirements of the YY/T 1712-2021 "Assisted Surgical Equipment and Assisted Surgical Systems Using Robotic Technology" standard.
High-precision measurement: The core adopts the Zhongtu GTS3300 laser interferometer (spatial accuracy 15μm+6μm/m) and ultra-high precision target sphere (center accuracy 12.7μm) to ensure reliable measurement results.
Professional solution coverage: One-stop solution to the two most critical core performance testing needs of surgical robots : navigation and positioning accuracy (position accuracy, repeatability) and master-slave control performance (delay time).
Industrial-grade reliability: Key equipment has an IP54 protection level, suitable for industrial and medical R&D environments.
High-performance data acquisition: Master-slave delay testing uses a 24-bit resolution, 204.8kHz synchronous sampling analyzer to accurately capture millisecond-level delay signals.
Operational standardization: Provide clear and standardized testing procedures and data processing methods to ensure the consistency and comparability of tests.
Summary
The surgical robot positioning accuracy test system of Kingpo Technology Development Limited is an ideal professional tool for medical device manufacturers, quality inspection agencies and hospitals to conduct surgical robot performance verification, factory inspection, type inspection and daily quality control, providing solid testing guarantees for the safe, accurate and reliable operation of surgical robots.
