Radian laser tracker provides high-precision positioning guarantee for medical robot

About medical robots

With the great leap forward development of human modernization and civilization, robots have been applied to all fields of our daily life, and there is a higher demand for the manufacture and use of robots. At present, robot operation is developing in the direction of high-precision application. Self-learning, visual control and simulation off-line programming replace teaching programming, which all put forward higher requirements for robot pose accuracy. Medical robots, especially surgical robots (such as needle holders, grippers, surgical scissors, puncture needles, drill bits, etc.), as cutting-edge products in the field of robots, their accuracy requirements can be called strict; Therefore, the detection of eye medical robot becomes very important. At present, YY / T 1712-2021 standard is usually used to detect medical robots.

Detection requirements of medical robots

The medical robot described in this paper is composed of several rigid rod bodies and rotating or moving joints, which is an open-loop joint chain; One end of the open chain is fixedly connected to the base, the other end is free, and the end effector is installed. During robot operation, the end effector at the front end of the robot arm must be in a suitable position and attitude with the workpiece to be processed, which are synthesized by the motion of several arm joints. Because the inertial force and gravity load of the robot manipulator change with the change of motion space, in order to ensure the high precision, high speed and high dynamic quality of the robot, it is necessary to detect the performance of the robot to evaluate various indexes of the robot.

API inspection scheme

According to YY / T 1712-2021 industry standard and iso9283 standard, API has developed a set of effective evaluation and detection scheme for each performance of medical robot, including pose accuracy and repeatability detection, multi-directional pose accuracy change, distance accuracy and repeatability, position stability time and overshoot, pose drift characteristics, interchangeability Track accuracy and repeatability, redirection track accuracy, corner deviation, track speed characteristics, minimum positioning time, static compliance and swing deviation. These 14 performance tests can be realized by using API brand radian Laser Tracker with RMS software.

Accurate measurement from laser tracker

When testing, just deploy the corresponding laser receiving device at the end of the robot according to the needs (as shown in Figure 2), you can start the laser tracker and automatically complete the detection and evaluation of the whole process.

The radian laser tracker will shoot out the laser and lock the laser to the center of the target ball (or target) fixed at the end of the actuator. While the medical robot moves within its motion range, the laser tracker will record the trajectory coordinates in real time and feed back to the RMS software in the PC for data analysis and evaluation.

By comparing the real motion position of the robot with its theoretical position, the motion deviation can be obtained, so as to compensate these deviations.

Radian laser tracker has micron level (1 / 1000mm) measurement accuracy, excellent dynamic and static measurement performance, flexible installation mode and convenient human-computer interaction... The application of radian laser tracker provides a strong guarantee for the accuracy of high-precision medical robot.