基于激光跟踪测量的手术机器人位姿重复性评价

Evaluation on Surgical Robotic Pose Repeatability Based on Laser Tracking Measurement

摘要: 研究医用手术机器人的位姿重复性检测方法，为其产品注册及安全性评价提供准确信息。基于激光跟踪测量系统，结合主从式手术机器人末端执行器械（如高频电刀、超声刀等），设计相适配的激光靶球治具，分别测得10%、50%和100%额定速度下的节点数据，经过数据分析，得到被检样品在不同速度下的姿态重复性性能指标。经验证，该检测方法可有效地对手术机器人末端器械的位姿重复性进行检测，具有较好的适用性和再现性，能满足数据溯源及注册检测需求。

Abstract: To provide accurate information for registration and safety evaluation of surgical robot, the pose repeatability measurement method was proposed. According to the terminal instrument of the master-slave surgical robot (such as high-frequency electric knife, ultrasonic knife), a suitable target ball fixture was designed. The node data at 10%, 50% and 100% rated speed were measured respectively. Through data analysis, the pose repeatability property of the tested samples at different speeds was obtained. It has high applicability and repeatability, and can meet the requirements of data traceability and registration testing.