An Automated Pose Accuracy Detection System for Laparoscopic Surgical Robots: Designand Verification
Chen Xiu1, Jin Lukai2, Chen Huiming2, Hong Wei2, Tian Ruixue3, Zhang Mingwei1, Zhang Tianyi1, ZhangPeiming1*
1(School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China) 2(Shanghai Institute of Medical Device Testing, Shanghai 201318, China) 3(Lin-Gang Medical Device Innovation Center, Shanghai 201306, China)
Abstract：The pose accuracy of laparoscopic surgical robots are generally assessed through manual methods characterized by static, discrete, and poorly integrated processes with frequent human intervention, thus rendering them incapable of dynamic master-slave mapping tracking and inadequate for standardized testing demands. To address these shortcomings, this study designed an automated detection system based on an open architecture for evaluating the pose performance indicators of laparoscopic surgical robots. By establishing a central control core, the system deeply integrated the high-precision visual measurement technology with motion control of a six-axis collaborative robotic arm, achieving closed-loop coordination between the precise motion control and synchronous multi-target visual measurement, thereby ensuring synchronized detection of the master and slave ends. Under the management of the testing software, the system enabled fully automated testing of the core performance metrics. Test results indicated that the system achieved a master-slave operation position accuracy and repeatability of no more than ±1.0 mm, an attitude accuracy of no more than 4.0°, and an attitude repeatability of no more than ±1.0°, meeting the precision evaluation standards. Moreover, the detection efficiency was 50% higher than that of manual methods. The methodology employed in the proposed automated detection system was scientifically sound, significantly enhanced detection efficiency, and provided the reliable assurance for the safety and effectiveness of laparoscopic surgical robots.
