CN112998863B - Robot safety boundary interaction device, electronic apparatus, and storage medium - Google Patents

Robot safety boundary interaction device, electronic apparatus, and storage medium Download PDF

Info

Publication number
CN112998863B
CN112998863B CN202110268137.5A CN202110268137A CN112998863B CN 112998863 B CN112998863 B CN 112998863B CN 202110268137 A CN202110268137 A CN 202110268137A CN 112998863 B CN112998863 B CN 112998863B
Authority
CN
China
Prior art keywords
mechanical arm
boundary
tail end
parameter
determining
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202110268137.5A
Other languages
Chinese (zh)
Other versions
CN112998863A (en
Inventor
黄志俊
陈鹏
刘金勇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Lancet Robotics Co Ltd
Original Assignee
Lancet Robotics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lancet Robotics Co Ltd filed Critical Lancet Robotics Co Ltd
Priority to CN202110268137.5A priority Critical patent/CN112998863B/en
Publication of CN112998863A publication Critical patent/CN112998863A/en
Application granted granted Critical
Publication of CN112998863B publication Critical patent/CN112998863B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1659—Surgical rasps, files, planes, or scrapers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
    • A61B17/1664—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip
    • A61B17/1666—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip for the acetabulum
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/15—Correlation function computation including computation of convolution operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension

Abstract

The disclosure relates to a robot safety boundary interaction device, an electronic apparatus and a storage medium, the method comprising: determining the range of the conical area according to the size parameters of the conical area; determining whether the tail end reaches the boundary or not according to the first position of the tail end of the mechanical arm and a preset size parameter; and under the condition that the tail end reaches the boundary, limiting the motion trail of the tail end of the mechanical arm to the boundary surrounding the conical area according to the first stress parameter detected by the stress sensor of the mechanical arm and the size parameter. According to the robot safety boundary interaction method, a cone area where the mechanical arm moves can be set, when the tail end of the mechanical arm reaches the boundary of the cone area, the motion track of the tail end of the mechanical arm is limited to be around the boundary of the cone area, the tail end of the mechanical arm can be prevented from exceeding the boundary of the cone area, excessive frustration can be prevented from being caused, the frustration can be prevented from failing to be in place, and the prosthesis implantation accuracy is improved.

Description

Robot safety boundary interaction device, electronic apparatus, and storage medium
Technical Field
The present disclosure relates to the field of medical instrument technologies, and in particular, to a robot safety boundary interaction method and apparatus, an electronic device, and a storage medium.
Background
Artificial joint replacement is currently the most effective means of treating late stage osteoarthritis. The operation requires the removal of the diseased femoral head from the patient and the installation of a corresponding acetabular spacer prosthesis. Before the prosthesis is installed, the acetabular fossa of the human body must be ground until the acetabular fossa conforms to the external dimension of the acetabular prosthesis, and then the acetabular cup is placed into the acetabular fossa.
In the related art, in the hip replacement surgery, a surgeon holds a grinding device to grind the acetabulum, the surgery is manual, and the grinding effect is greatly uncertain, such as the force, direction and angle of the surgeon or the professional knowledge and experience of the surgeon. In the grinding process, excessive grinding force, insufficient grinding depth, normal anatomical position missing caused by eccentric grinding, uneven grinding caused by slippage of a grinding and rubbing head and the like are easy to occur. Therefore, the probability of the mismatch between the grinding result and the implanted prosthesis is high, and if the mismatch occurs, the patient may suffer from pain and poor motor function recovery, i.e., poor surgical effect.
Compare in artifical grinding, accomplish more accurate grinding through joint replacement surgery robot's arm to improve the precision that the prosthesis was implanted. The current core difficulty of carrying out the grinding through the robot lies in the feedback and the control of power in the operation, and the arm end is difficult to control at the acetabular bone in-process of filing, leads to excessive filing, punctures the acetabular bone nest, damages ligament, soft tissue nerve isotructure beyond the target anatomy structure, or the filing can not be in place, can not fully reveal true acetabular bone end.
Disclosure of Invention
Based on the factors, the semi-sphere grinding machine can assist a doctor to grind a semi-sphere with a constant position and a single curvature, improves the machining precision of grinding and rubbing processing, improves the matching degree of an acetabulum and a prosthesis, enables the mechanical arm to be controllable in the working process, and improves the safety of the doctor and a patient.
The disclosure provides a robot safety boundary interaction method and device, electronic equipment and a storage medium.
According to an aspect of the present disclosure, there is provided a robot safety boundary interaction method for controlling a robot arm including a tip end and an operation end, and a force sensor provided at a position near the operation end, the method including: determining the range of a conical area according to the size parameter of the preset conical area, wherein the conical area is used for limiting the moving range of the mechanical arm; determining whether the tail end of the mechanical arm reaches the boundary of the conical area or not according to the current first position of the tail end of the mechanical arm and the preset size parameter; and under the condition that the tail end of the mechanical arm reaches the boundary of the conical area, limiting the motion trail of the tail end of the mechanical arm to surround the boundary of the conical area according to a first stress parameter and the size parameter detected by a stress sensor of the mechanical arm.
In a possible implementation manner, determining whether the end of the mechanical arm reaches the boundary of the conical region according to the current first position of the end of the mechanical arm and the preset size parameter includes: determining a first distance between the tail end of the mechanical arm and the boundary of the conical area according to the current first position of the tail end of the mechanical arm and the preset size parameter; determining that the robotic arm tip reaches a boundary of the conical region if the first distance is less than or equal to a distance threshold.
In one possible implementation manner, limiting the motion trajectory of the mechanical arm tip to surround the boundary of the conical area according to the first force-receiving parameter detected by the force-receiving sensor of the mechanical arm and the size parameter includes: determining a tangential force of the tail end of the mechanical arm along the boundary tangential direction of the conical area and a normal force along the boundary normal direction of the conical area according to the first stress parameter and the size parameter; the normal force is set to zero so that the motion trajectory of the end of the mechanical arm is the boundary around the conical region.
In one possible implementation manner, determining, according to the first force-receiving parameter and the size parameter, a tangential force of the mechanical arm tip in a tangential direction of a boundary of a conical region and a normal force in a normal direction of the boundary of the conical region includes: determining a second stress parameter of the tail end of the mechanical arm according to the first stress parameter and the size parameter detected by the stress sensor of the mechanical arm; and determining the tangential force and the normal force according to a second force-bearing parameter of the tail end of the mechanical arm.
In one possible implementation, the method further includes: determining a third force-bearing parameter of the tail end of the mechanical arm after the normal force is set to be zero; and determining a fourth stress parameter at the stress sensor according to the third stress parameter so as to enable the operation end of the mechanical arm to move along the tangential direction.
In one possible implementation, the size parameter of the conical region includes a first circle diameter of the conical region, and the method further includes: determining a second circle diameter of the motion trail of the tail end of the mechanical arm according to the first position; and performing feedback correction processing on the diameter of the second circle according to the diameter of the first circle, so that the motion trail of the tail end of the mechanical arm is limited to a boundary surrounding the conical area.
In a possible implementation manner, the preset size parameters include a vertex angle of a conical region and a perpendicular length of the conical region.
According to an aspect of the present disclosure, there is provided a robot safety boundary interaction device, the device being configured to control a robot arm, the robot arm including a distal end and an operation end, and being provided with a force sensor at a position near the operation end, the device including: the range module is used for determining the range of the conical area according to the preset size parameter of the conical area, wherein the conical area is used for limiting the moving range of the mechanical arm; the judging module is used for determining whether the tail end of the mechanical arm reaches the boundary of the conical area according to the current first position of the tail end of the mechanical arm and the preset size parameter; and the limiting module is used for limiting the motion trail of the tail end of the mechanical arm to surround the boundary of the conical area according to the first stress parameter and the size parameter detected by the stress sensor of the mechanical arm under the condition that the tail end of the mechanical arm reaches the boundary of the conical area.
In a possible implementation manner, the determining module is further configured to: determining a first distance between the tail end of the mechanical arm and the boundary of the conical area according to the current first position of the tail end of the mechanical arm and the preset size parameter; determining that the robotic arm tip reaches a boundary of the conical region if the first distance is less than or equal to a distance threshold.
In one possible implementation, the limiting module is further configured to: determining a tangential force of the tail end of the mechanical arm along the boundary tangential direction of the conical area and a normal force along the boundary normal direction of the conical area according to the first stress parameter and the size parameter; the normal force is set to zero so that the motion trajectory of the end of the mechanical arm is the boundary around the conical region.
In one possible implementation, the limiting module is further configured to: determining a second stress parameter of the tail end of the mechanical arm according to the first stress parameter and the size parameter detected by the stress sensor of the mechanical arm; and determining the tangential force and the normal force according to a second force-bearing parameter of the tail end of the mechanical arm.
In one possible implementation, the apparatus further includes: the third parameter determination module is used for determining a third stress parameter of the tail end of the mechanical arm after the normal force is set to be zero; and the fourth parameter determination module is used for determining a fourth stress parameter at the stress sensor according to the third stress parameter so as to enable the operation end of the mechanical arm to move along the tangential direction.
In one possible implementation, the size parameter of the conical region includes a first circular diameter of the conical region, and the apparatus further includes: the diameter determining module is used for determining a second circle diameter of the motion trail of the tail end of the mechanical arm according to the first position; and the feedback correction module is used for performing feedback correction processing on the second circle diameter according to the first circle diameter, so that the motion trail of the tail end of the mechanical arm is limited to surround the boundary of the conical area.
According to an aspect of the present disclosure, there is provided an electronic device including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the memory-stored instructions to perform the above-described method.
According to an aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described method.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.
FIG. 1 shows a flow diagram of a robot safety boundary interaction method in accordance with an embodiment of the present disclosure;
FIG. 2 shows a schematic diagram of a cone region according to an embodiment of the present disclosure;
FIG. 3 illustrates an application diagram of a robot safety boundary interaction method in accordance with an embodiment of the present disclosure;
FIG. 4 illustrates a block diagram of a robotic safety boundary interaction device, in accordance with an embodiment of the present disclosure;
fig. 5 illustrates a block diagram of an electronic device according to an embodiment of the disclosure.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.
Fig. 1 shows a flowchart of a robot safety boundary interaction method according to an embodiment of the present disclosure, and as shown in fig. 1, the robot safety boundary interaction method includes:
in step S11, determining a range of a cone region according to a preset size parameter of the cone region, wherein the cone region is used for limiting a moving range of the robot arm;
in step S12, determining whether the end of the mechanical arm reaches the boundary of the conical region according to the current first position of the end of the mechanical arm and the preset size parameter;
in step S13, when the end of the mechanical arm reaches the boundary of the conical region, the motion trajectory of the end of the mechanical arm is limited to surround the boundary of the conical region according to the first force-receiving parameter detected by the force-receiving sensor of the mechanical arm and the size parameter.
According to the robot safety boundary interaction method disclosed by the embodiment of the disclosure, a cone area of the mechanical arm can be set, when the tail end of the mechanical arm reaches the boundary of the cone area, the motion track of the tail end of the mechanical arm is limited to the boundary surrounding the cone area, the tail end of the mechanical arm can be prevented from exceeding the boundary of the cone area to cause excessive grinding and contusion, structures such as an acetabular fossa, ligaments and soft tissue nerves can be protected, the grinding and contusion can be prevented from failing to be achieved, the true acetabular base can be fully exposed, and the implantation accuracy of a prosthesis can be improved.
In one possible implementation, the robot safety boundary interaction method may be performed by a terminal device, for example, a processor of a robot arm, a processor of a joint replacement surgery robot, or the like. The present disclosure is not limited as to the type of apparatus performing the method.
In one possible implementation, in step S11, the size parameter of the conical region may be used to determine the extent of the conical region, i.e., the range of motion of the robotic arm of the joint replacement surgical robot, which may include a distal end and an operative end. The tail end can be provided with components such as a rasping rod used for rasping and processing, and the operation end can be provided with a handle and can be used for receiving the operation of an operator. The manipulator can be operated by an operator at the operation end to perform a large range of motion, which results in a small range of motion of the tail end of the manipulator, i.e. the motion range of the operation end of the manipulator is larger than that of the tail end, which can help to finely operate the tail end through the operation end, thereby improving the machining accuracy of the acetabulum.
Fig. 2 is a schematic diagram of a conical region according to an embodiment of the present disclosure, and as shown in fig. 2, a dashed-line region in fig. 2 is the conical region, and a solid-line rod-shaped object is the robot arm, and the robot arm is movable within the range of the conical region, and the movable range of the tip end of the robot arm is smaller than the movable range of the operation end of the robot arm. The tail end is provided with a grinding rod for grinding and processing, and the operating end is provided with a handle for receiving operation, so that the tail end can be finely ground and processed.
In one possible implementation, the preset size parameters of the conical region include a vertex angle of the conical region and a perpendicular length of the conical region. The top angle may be used to define a range of motion of the robotic arm tangential to the vertical, and the vertical length may be used to define a range of reach of the robotic arm.
In an example, the size parameter of the conical region may be set by a host computer of the robotic arm, for example, by a joint replacement surgery robot, so that the robotic arm of the robot moves within the conical region without exceeding the boundary of the conical region. The present disclosure does not limit the manner in which the dimensional parameters are set.
In one possible implementation, the end of the robotic arm is used for abrasive machining and is movable within the confines of the conical region. In an example, to prevent excessive and frustrated, the trajectory of the motion of the tip of the robotic arm may be set to surround the boundaries of the conical region, i.e., such that the tip of the robotic arm moves around the boundaries of the conical region. The process of the movement around the boundary of the conical area is carried out with the grinding and filing processing, so that the acetabulum socket after grinding and filing can conform to the external dimension of the acetabulum prosthesis.
In one possible implementation, in step S12, it may be determined whether the end of the mechanical arm reaches the boundary of the conical region during the movement. The cone area is a set virtual area, the boundary of the area is also a virtual boundary, and a real boundary does not exist to limit the motion of the mechanical arm, so that whether the tail end of the mechanical arm reaches the boundary of the cone area or not can be judged according to the distance between the tail end of the mechanical arm and the boundary of the set cone area, and when the tail end of the mechanical arm reaches the boundary of the cone area, the tail end of the mechanical arm is subjected to stress control.
In one possible implementation, the distance of the end of the robotic arm from the boundary of the conical region may be determined, and if the distance is less than or equal to a distance threshold, the end of the robotic arm may be determined to reach the boundary of the conical region. In an example, it is often difficult to directly determine the position of the end of the robot arm, and therefore, the position of the end of the robot arm can be indirectly determined by the position of the handling end.
In an example, the operation end of the robot arm and the end of the robot arm are hard-connected by the robot arm, so that the position relationship therebetween is determined, and the operation end of the robot arm can receive an operation of an operator, that is, move the operation end of the robot arm, so that the position of the robot arm can be determined according to an operation parameter (for example, a moving distance, a moving angle, and the like) in the operation, and thus the position of the end can be obtained.
In one possible implementation, the positional relationship between the end of the robotic arm and the handling end of the robotic arm may be determined. The positional relationship may be represented by a coordinate transformation matrix. In an example, a joint replacement surgical robot may be connected to a robotic arm via a flange, a coordinate system T may be established at the end of the robotic arm, a coordinate system E may be established at the flange, and a base coordinate system R of the robot may be established. Further, a transformation matrix between the robot arm end coordinate system T and the flange coordinate system E may be determined by dimensions (e.g., parameters of length, angle, etc.) of the robot arm
Figure GDA0003575481260000051
And can determine the distance, angle, etc. between the flange coordinate system E and the base coordinate system R by the structure of the robot (e.g., the distance, angle, etc. between the flange and the origin of the robot coordinate system)Transformation matrix
Figure GDA0003575481260000052
Further, a transformation matrix between the end of arm coordinate system T and the base coordinate system R may be determined
Figure GDA0003575481260000053
In an example, a transformation matrix between the robot arm end coordinate system T and the base coordinate system R
Figure GDA0003575481260000061
Can be determined by the following equation (1):
Figure GDA0003575481260000062
in one possible implementation, the position of the manipulator end of the manipulator in the base coordinate system may be determined by the operating parameters of the manipulator end of the manipulator and transformed by a transformation matrix
Figure GDA0003575481260000063
The position of the manipulation end in the base coordinate system is transformed to determine the position of the robot arm tip in the base coordinate system (i.e., the first position).
In one possible implementation, after determining the first location, a distance of the first location from a boundary of the conical region may be determined to determine whether the tip reaches the conical region boundary. Step S12 may include: determining a first distance between the tail end of the mechanical arm and the boundary of the conical area according to the current first position of the tail end of the mechanical arm and the preset size parameter; determining that the mechanical arm tip reaches the boundary of the conical region if the first distance is less than or equal to a distance threshold.
In one possible implementation, the first distance of the tip from the conical region may be determined according to a size parameter of the conical region and the first position of the tip. Taking the base coordinate as a reference, the coordinate of the vertex of the conical region is p1, the coordinate of the center of the bottom of the conical region is p2, and the coordinate of the first position of the tail end is p, then the distance L2 between the first position and the generatrix of the conical region is:
L2＝(L-L1)*cos(θ) (2)
the distance L3 between the first position and the generatrix on the other side of the conical region is:
L3＝(L+L1)*cos(θ) (3)
the distance L4 between the first position and the bottom surface of the conical region is:
Figure GDA0003575481260000064
wherein L1 is a distance between the first position and a perpendicular line of the conical region, p1.x is a coordinate of a vertex of the conical region in an x-axis direction, p1.y is a coordinate of the vertex of the conical region in a y-axis direction, p1.z is a coordinate of the vertex of the conical region in a z-axis direction, p2.x is a coordinate of a center of a bottom surface of the conical region in the x-axis direction, p2.y is a coordinate of the center of the bottom surface of the conical region in the y-axis direction, p2.z is a coordinate of the center of the bottom surface of the conical region in the z-axis direction, and p.z is a coordinate of the first position in the z-axis direction. L ═ p1.z-p2.z, and θ is the apex angle of the conical region.
In one possible implementation, L2 and L3 may represent the distance of the tip from the side of the cone and L4 may represent the distance of the tip from the bottom of the cone. The first distance may include L2, L3, and L4. The present disclosure does not limit the parameters included in the first distance.
In one possible implementation, the mechanical arm tip may be considered to reach the boundary of the conical region if the first distance (including any of L2, L3, and L4) is less than a preset distance threshold. Because the boundary is a virtual boundary and there is no actual boundary to limit the motion of the mechanical arm, when the end of the mechanical arm is very close to the boundary (when the first distance is less than or equal to the distance threshold), the normal motion of the mechanical arm can be limited by changing the force and motion direction of the mechanical arm, that is, the mechanical arm does not move towards the outside of the boundary any more, and the motion range of the mechanical arm is limited within the boundary. The distance threshold may be any distance set, for example, 1mm, 0.1mm, 0.01mm, etc., and the distance threshold is not limited by the present disclosure.
In one possible implementation, if the end of the robotic arm has reached the boundary of the conical region, the end of the robotic arm may be restricted from moving further outside the boundary, but rather the trajectory of the end of the robotic arm may be restricted to encircle the boundary of the conical region. As described above, since the boundary is a virtual boundary and there is no real boundary to limit the motion of the mechanical arm, the motion of the mechanical arm can be limited by changing the force and the motion direction of the mechanical arm, and the motion trajectory of the mechanical arm is changed to a boundary surrounding the conical region.
In one possible implementation, step S13 may include: determining a tangential force of the tail end of the mechanical arm along the boundary tangential direction of the conical area and a normal force along the boundary normal direction of the conical area according to the first stress parameter and the size parameter; the normal force is set to zero so that the motion trajectory of the end of the mechanical arm is the boundary around the conical region. That is, the force at the end of the robotic arm may be determined first and may be decomposed into a normal force along the boundary of the conical region and a tangential force along the boundary of the conical region. The normal force is a force which causes the tail end to move towards the outside of the boundary of the conical area, the normal force can be limited, only the tangential force is reserved, the tail end of the mechanical arm can not move towards the outside of the boundary any more, namely, the tail end of the mechanical arm can move tangentially along the boundary of the conical area, and the motion track of the tail end of the mechanical arm can be the boundary surrounding the conical area.
In one possible implementation manner, determining, according to the first force-receiving parameter and the size parameter, a tangential force of the mechanical arm tip in a tangential direction of a boundary of a conical region and a normal force in a normal direction of the boundary of the conical region includes: determining a second stress parameter of the tail end of the mechanical arm according to the first stress parameter and the size parameter detected by the stress sensor of the mechanical arm; and determining the tangential force and the normal force according to a second force-bearing parameter of the tail end of the mechanical arm.
In a possible implementation manner, the operation end of the mechanical arm may be provided with a force sensor, which may be used to detect a force (i.e., a first force parameter) applied during operation, in an example, the force sensor may detect a force F applied to the operation end in the x-axis directionxForce F applied to the y-axis of the operating endyZ-axis direction force F of the operating endzAnd the rotational force F of the x-axisrxRotational force F of the y-axisryZ-axis of rotation force Frz。
In one possible implementation manner, the second stress parameter of the mechanical arm tail end can be solved according to the first stress parameter and the size parameter of the conical area. In an example, a second force parameter of the robotic arm tip may be determined according to equation (5) below:
Figure GDA0003575481260000071
wherein, Ftcp_xThe force in the x-axis direction of the tail end of the mechanical arm is Ftcp_yThe force in the y-axis direction of the tail end of the mechanical arm is Ftcp_zThe stress in the direction of the z axis at the tail end of the mechanical arm is obtained. Alpha is the deflection angle of the tail end of the mechanical arm relative to the vertical line of the conical area, and alpha is equal to the vertex angle theta of the conical area when the tail end of the mechanical arm reaches the boundary of the conical area.
In one possible implementation, the tangential force and the normal force of the end of the robot arm can be solved according to the second force-bearing parameter, and in an example, can be determined by the following formula (6):
Figure GDA0003575481260000081
wherein, FqAs a tangential force, FfIs the normal force.
In one possible implementation, after determining the tangential and normal forces, the cutter may be moved so that the end of the arm no longer moves in the normal direction, i.e., outside the conical regionA force FqLimited to 0, only tangential forces, i.e. forces such that the end of the robot arm has no movement normal (i.e. outside) to the conical region, are retained, only tangential movements, i.e. movements around the boundary of the conical region.
In this way, when the tail end of the mechanical arm reaches the boundary of the conical area, the normal force applied to the tail end of the mechanical arm is limited to 0, only the tangential force is reserved, so that the tail end of the mechanical arm has no power moving towards the outside of the conical area, and can move along the tangential direction, namely, around the boundary of the conical area, and the tail end of the mechanical arm can be prevented from excessively abrading and contusing the acetabular fossa.
In one possible implementation, after limiting the normal force to 0, the force parameter of the force sensor at this time, that is, the force parameter of the operation end at this time, may be solved, so that the operator may operate the robot arm in the tangential direction after the normal force is limited.
In one possible implementation, the method further includes: determining a third force-bearing parameter of the tail end of the mechanical arm after the normal force is set to be zero; and determining a fourth stress parameter at the stress sensor according to the third stress parameter so as to enable the operation end of the mechanical arm to move along the tangential direction.
In one possible implementation, after the normal force is set to 0, the third force parameter of the end of the mechanical arm after the normal force is set to zero may be solved according to equations (5) and (6), and in an example, the third force parameter may be determined according to equation (7) below:
Figure GDA0003575481260000082
wherein, F'tcp_xAfter the normal force is set to be 0, the stress F 'in the x-axis direction of the tail end of the mechanical arm'tcp_yAfter the normal force is set to be 0, the tail end of the mechanical arm is stressed in the y-axis direction.
Further, the force receiving parameter of the force receiving sensor at this time, i.e., a fourth force receiving parameter, may be solved according to the third force receiving parameter, and in an example, the fourth force receiving parameter may be determined according to the following formula (8):
Figure GDA0003575481260000083
wherein, F'xAfter the normal force is set to 0, the force F 'in the x-axis direction of the operation end'yForce F 'in the y-axis direction of the operating end after the normal force is set to 0'zAnd after the normal force is set to be 0, the operating end is stressed in the z-axis direction.
In this way, the force parameter at the force sensor after the normal force is limited to 0 may be determined so that the operator may operate the robotic arm in a tangential direction after the normal force is limited.
In one possible implementation, after the end of the robotic arm reaches the boundary of the conical region, the motion trajectory of the end of the robotic arm may be limited to encompass the boundary of the conical region, i.e., not beyond the boundary of the conical region, nor move away from the boundary to the middle region of the conical region. The motion trail of the tail end of the mechanical arm is limited in the mode, so that the tail end of the mechanical arm cannot excessively abrade and contort the acetabulum fossa, and cannot abrade and contort in place.
In a possible implementation manner, when the tail end of the mechanical arm moves around the boundary of the conical area, if the tail end deviates from the boundary of the conical area, the track of the tail end can be corrected through a feedback correction method, so that the movement track is kept on the boundary of the conical area. The method further comprises the following steps: determining a second circle diameter of the motion trail of the tail end of the mechanical arm according to the first position; and performing feedback correction processing on the diameter of the second circle according to the diameter of the first circle, so that the motion trail of the tail end of the mechanical arm is limited to a boundary surrounding the conical area.
In an example, if the end of the arm has not made an reach motion, i.e., no motion in the direction of the perpendicular to the cone region, since the end of the arm surrounds the boundary of the cone, and therefore the trajectory of the end of the arm is circular, the diameter of the trajectory the end of the arm is surrounding (i.e., the second circle diameter) can be determined from the first position of the end of the arm. In an example, the second circle diameter may be determined by the following equation (9):
Figure GDA0003575481260000091
the above equation (9) can determine the radius of motion of the end of the mechanical arm, and the diameter of the second circle can be determined by the radius of motion.
Further, the size parameter of the conical region includes a first circle diameter of the conical region, for example, a diameter at a section of the conical region where the robot arm tip is located, that is, the first circle diameter, may be determined by a height of the first position in a direction of a perpendicular of the conical region and a vertex angle of the conical region.
In another example, if the robot arm tip is in an extension motion, i.e., in the direction of the perpendicular to the conical region, the second circle diameter may be determined by the following equation (10):
Ls＝L3*tan(θ) (10)
in a possible implementation, since the motion trajectory of the end of the mechanical arm is limited to surround the boundary of the conical region, the second circle diameter of the motion trajectory and the first circle diameter of the conical region should be equal, but in actual conditions, there may be a deviation. The deviation of the first circle diameter and the second circle diameter may be used to represent an error of the movement locus, and if the error is 0, the movement locus of the robot arm tip may remain on the boundary of the conical region. Therefore, the error can be made as small as possible by a method of feedback correction. In an example, the error may be made as small as possible by a PID correction (proportional-integral-derivative correction) method, that is, so that the movement locus of the tip of the mechanical arm may be maintained on the boundary of the conical region.
According to the robot safety boundary interaction method, when the tail end of the mechanical arm reaches the boundary of the conical area, the normal force can be limited to be zero, so that the tail end of the mechanical arm moves along the tangential direction, namely, the motion track of the tail end of the mechanical arm is limited to surround the boundary of the conical area. Further, an error between the actual movement trajectory of the robot arm tip and the boundary of the conical region may be made as small as possible by a feedback correction method so that the robot arm tip remains on the boundary of the conical region. The end of the mechanical arm can be prevented from exceeding the boundary of the conical area, excessive abrasion can be prevented, structures such as an acetabulum fossa, ligaments and soft tissue nerves can be protected, the abrasion can be prevented from failing to reach the position, the true acetabulum bottom can be fully exposed, and the implantation accuracy of the prosthesis can be improved.
Fig. 3 is a schematic diagram illustrating an application of the robot safety boundary interaction method according to an embodiment of the present disclosure, and as shown in fig. 3, a distal end of a robot arm is provided with a rasp rod for rasp processing, and an operation end of the robot arm is provided with a handle, which can receive an operation of an operator at the operation end and enable the distal end to perform rasp processing finely.
In one possible implementation, the mechanical arm can move in the range of the conical area, so that the tail end of the mechanical arm can move around the boundary of the conical area, and the tail end of the mechanical arm is subjected to grinding processing in the process of moving around the boundary of the conical area, so that the ground acetabular socket can conform to the external dimension of the acetabular prosthesis.
In one possible implementation, the size parameter of the conical region, i.e., the size of the conical region, may be set by a host computer of the robotic arm (e.g., a processor of a joint replacement surgical robot). When the tip of the robotic arm reaches the boundary of the conical region, its normal force towards the outside of the conical region may be limited to 0, leaving only the tangential force, such that the robotic arm tip moves tangentially along the boundary of the conical region, i.e. around the boundary of the conical region.
In a possible implementation manner, during the movement, a deviation may occur, the diameter (second circle diameter) of the actual movement track of the mechanical arm tip may be determined by the current first position of the tip, the first circle diameter of the conical region may be determined, and further, the deviation of the first circle diameter and the second circle diameter may be PID-corrected to reduce the deviation so that the movement track of the mechanical arm tip may be maintained on the boundary of the conical region.
In one possible implementation manner, the robot safety boundary interaction method can be used for performing grinding and filing processing on the acetabulum socket in the joint replacement surgery, so that the ground acetabulum socket conforms to the external dimension of the acetabulum prosthesis, the implantation accuracy of the prosthesis is improved, and excessive grinding and filing and incomplete grinding can be prevented. The application field of the robot safety boundary interaction method is not limited by the disclosure.
It is understood that the above-mentioned method embodiments of the present disclosure can be combined with each other to form a combined embodiment without departing from the logic of the principle, which is limited by the space, and the detailed description of the present disclosure is omitted. Those skilled in the art will appreciate that in the above methods of the specific embodiments, the specific order of execution of the steps should be determined by their function and possibly their inherent logic.
In addition, the present disclosure also provides a robot safety boundary interaction apparatus, an electronic device, a computer-readable storage medium, and a program, which can all be used to implement any one of the robot safety boundary interaction methods provided by the present disclosure, and the corresponding technical solutions and descriptions and corresponding descriptions in the method section are referred to and are not described again.
Fig. 4 is a block diagram of a robot safety boundary interaction device according to an embodiment of the present disclosure, as shown in fig. 4, the device is used for controlling a robot arm, the robot arm includes a tail end and an operation end, and a force sensor is disposed at a position close to the operation end, the device includes: the range module 11 is configured to determine a range of a conical region according to a preset size parameter of the conical region, where the conical region is used to limit a moving range of the robot arm; the judging module 12 is configured to determine whether the tail end of the mechanical arm reaches the boundary of the conical region according to the current first position of the tail end of the mechanical arm and the preset size parameter; and the limiting module 13 is configured to limit the motion trajectory of the end of the mechanical arm to surround the boundary of the conical area according to the first force parameter and the size parameter detected by the force sensor of the mechanical arm when the end of the mechanical arm reaches the boundary of the conical area.
In a possible implementation manner, the determining module is further configured to: determining a first distance between the tail end of the mechanical arm and the boundary of the conical area according to the current first position of the tail end of the mechanical arm and the preset size parameter; determining that the robotic arm tip reaches a boundary of the conical region if the first distance is less than or equal to a distance threshold.
In one possible implementation, the limiting module is further configured to: determining a tangential force of the tail end of the mechanical arm along the boundary tangential direction of the conical area and a normal force along the boundary normal direction of the conical area according to the first stress parameter and the size parameter; the normal force is set to zero so that the motion trajectory of the end of the mechanical arm is the boundary around the conical region.
In one possible implementation, the restriction module is further configured to: determining a second stress parameter of the tail end of the mechanical arm according to the first stress parameter and the size parameter detected by the stress sensor of the mechanical arm; and determining the tangential force and the normal force according to a second force-bearing parameter of the tail end of the mechanical arm.
In one possible implementation, the apparatus further includes: the third parameter determination module is used for determining a third stress parameter of the tail end of the mechanical arm after the normal force is set to be zero; and the fourth parameter determination module is used for determining a fourth stress parameter at the stress sensor according to the third stress parameter so as to enable the operation end of the mechanical arm to move along the tangential direction.
In one possible implementation, the size parameter of the conical region includes a first circular diameter of the conical region, and the apparatus further includes: the diameter determining module is used for determining a second circle diameter of the motion trail of the tail end of the mechanical arm according to the first position; and the feedback correction module is used for performing feedback correction processing on the second circle diameter according to the first circle diameter, so that the motion trail of the tail end of the mechanical arm is limited to surround the boundary of the conical area.
In some embodiments, functions of or modules included in the apparatus provided in the embodiments of the present disclosure may be used to execute the method described in the above method embodiments, and specific implementation thereof may refer to the description of the above method embodiments, and for brevity, will not be described again here.
Embodiments of the present disclosure also provide a computer-readable storage medium, on which computer program instructions are stored, and when executed by a processor, the computer program instructions implement the above method. The computer readable storage medium may be a non-volatile computer readable storage medium.
An embodiment of the present disclosure further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the memory-stored instructions to perform the above-described method.
The disclosed embodiments also provide a computer program product comprising computer readable code, which when run on a device, a processor in the device executes instructions for implementing the robot safety boundary interaction method provided in any of the above embodiments.
The disclosed embodiments also provide another computer program product for storing computer readable instructions, which when executed, cause a computer to perform the operations of the robot safety boundary interaction method provided in any of the above embodiments.
The electronic device may be provided as a terminal, server, or other form of device.
Fig. 5 illustrates a block diagram of an electronic device 800 in accordance with an embodiment of the disclosure. For example, the electronic device 800 may be a medical device terminal such as a joint replacement surgical robot.
Referring to fig. 5, electronic device 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814, and communication component 816.
The processing component 802 generally controls overall operation of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 802 may include one or more processors 820 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.
The memory 804 is configured to store various types of data to support operations at the electronic device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
The power supply component 806 provides power to the various components of the electronic device 800. The power components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 800.
The multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense an edge of a touch or slide action, but also detect a duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the electronic device 800 is in an operation mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.
The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the electronic device 800. For example, the sensor assembly 814 may detect an open/closed state of the electronic device 800, the relative positioning of components, such as a display and keypad of the electronic device 800, the sensor assembly 814 may also detect a change in the position of the electronic device 800 or a component of the electronic device 800, the presence or absence of user contact with the electronic device 800, orientation or acceleration/deceleration of the electronic device 800, and a change in the temperature of the electronic device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices. The electronic device 800 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the electronic device 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.
In an exemplary embodiment, a non-transitory computer-readable storage medium, such as the memory 804, is also provided that includes computer program instructions executable by the processor 820 of the electronic device 800 to perform the above-described methods.
In an exemplary embodiment, a non-transitory computer readable storage medium, such as a memory 1932, is also provided that includes computer program instructions executable by a processing component 1922 of an electronic device 1900 to perform the above-described methods.
The present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry that can execute the computer-readable program instructions implements aspects of the present disclosure by utilizing the state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).
Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (9)

1. A robot safety boundary interaction device, characterized in that the device is used for controlling a mechanical arm, the mechanical arm comprises a tail end and an operation end, and a stress sensor is arranged at a position close to the operation end, the device comprises:
the range module is used for determining the range of the conical area according to the preset size parameter of the conical area, wherein the conical area is used for limiting the moving range of the mechanical arm;
the judging module is used for determining whether the tail end of the mechanical arm reaches the boundary of the conical area according to the current first position of the tail end of the mechanical arm and the preset size parameter;
and the limiting module is used for limiting the motion trail of the tail end of the mechanical arm to surround the boundary of the conical area according to the first stress parameter and the size parameter detected by the stress sensor of the mechanical arm under the condition that the tail end of the mechanical arm reaches the boundary of the conical area.
2. The apparatus of claim 1, wherein the determining module is further configured to:
determining a first distance between the tail end of the mechanical arm and the boundary of the conical area according to the current first position of the tail end of the mechanical arm and the preset size parameter;
determining that the robotic arm tip reaches a boundary of the conical region if the first distance is less than or equal to a distance threshold.
3. The apparatus of claim 1, wherein the restriction module is further configured to:
determining a tangential force of the tail end of the mechanical arm along the boundary tangential direction of the conical area and a normal force along the boundary normal direction of the conical area according to the first stress parameter and the size parameter;
setting the normal force to zero such that the motion trajectory of the mechanical arm tip is a boundary around the conical region.
4. The apparatus of claim 3, wherein the restriction module is further configured to: determining a second stress parameter of the tail end of the mechanical arm according to the first stress parameter and the size parameter detected by the stress sensor of the mechanical arm;
and determining the tangential force and the normal force according to a second force-bearing parameter of the tail end of the mechanical arm.
5. The apparatus of claim 3, further comprising:
the third parameter determination module is used for determining a third stress parameter of the tail end of the mechanical arm after the normal force is set to be zero;
and the fourth parameter determination module is used for determining a fourth stress parameter at the stress sensor according to the third stress parameter so as to enable the operation end of the mechanical arm to move along the tangential direction.
6. The apparatus of claim 1, wherein the dimensional parameter of the conical region comprises a first circular diameter of the conical region, the apparatus further comprising:
the diameter determining module is used for determining a second circle diameter of the motion trail of the tail end of the mechanical arm according to the first position;
and the feedback correction module is used for performing feedback correction processing on the second circle diameter according to the first circle diameter, so that the motion trail of the tail end of the mechanical arm is limited to surround the boundary of the conical area.
7. The apparatus of claim 1, wherein the predetermined dimensional parameters comprise a vertex angle of a conical region and a perpendicular length of the conical region.
8. An electronic device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to invoke the memory-stored instructions to perform the processing performed by the apparatus of any of claims 1 to 7.
9. A computer readable storage medium having computer program instructions stored thereon, which when executed by a processor implement the processing performed by the apparatus of any of claims 1 to 7.
CN202110268137.5A 2021-03-12 2021-03-12 Robot safety boundary interaction device, electronic apparatus, and storage medium Active CN112998863B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110268137.5A CN112998863B (en) 2021-03-12 2021-03-12 Robot safety boundary interaction device, electronic apparatus, and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110268137.5A CN112998863B (en) 2021-03-12 2021-03-12 Robot safety boundary interaction device, electronic apparatus, and storage medium

Publications (2)

Publication Number Publication Date
CN112998863A CN112998863A (en) 2021-06-22
CN112998863B true CN112998863B (en) 2022-05-06

Family

ID=76405754

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110268137.5A Active CN112998863B (en) 2021-03-12 2021-03-12 Robot safety boundary interaction device, electronic apparatus, and storage medium

Country Status (1)

Country Link
CN (1) CN112998863B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113040915A (en) * 2021-03-12 2021-06-29 杭州柳叶刀机器人有限公司 Robot safety boundary control device and method, electronic device and storage medium
CN113842209B (en) * 2021-08-24 2024-02-09 深圳市德力凯医疗设备股份有限公司 Ultrasonic device control method, ultrasonic device and computer readable storage medium

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018081136A2 (en) * 2016-10-25 2018-05-03 Eugene Gregerson Methods and systems for robot-assisted surgery
CN110653821A (en) * 2019-10-10 2020-01-07 上海电气集团股份有限公司 Control method, system, medium and equipment for mechanical arm
CN111467036A (en) * 2020-04-15 2020-07-31 上海电气集团股份有限公司 Surgical navigation system, surgical robot system for acetabular osteotomy and control method thereof

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2014248758B2 (en) * 2013-03-13 2018-04-12 Stryker Corporation System for establishing virtual constraint boundaries
CN106041941B (en) * 2016-06-20 2018-04-06 广州视源电子科技股份有限公司 The method for planning track and device of a kind of mechanical arm
US10716630B2 (en) * 2016-07-15 2020-07-21 Mako Surgical Corp. Systems and methods for a robotic-assisted revision procedure
CN114795479A (en) * 2016-10-28 2022-07-29 奥尔索夫特Ulc公司 Robotic cutting workflow
CN106965175B (en) * 2017-03-24 2019-07-19 北京理工大学 A kind of cooperation interaction control system of craniotome device people
CN107009363A (en) * 2017-06-09 2017-08-04 微创（上海）医疗机器人有限公司 Medical robot and its control method
US10464209B2 (en) * 2017-10-05 2019-11-05 Auris Health, Inc. Robotic system with indication of boundary for robotic arm
CN109512509B (en) * 2018-12-27 2020-07-03 中国科学院深圳先进技术研究院 Compliance control method, device and equipment for robot
CN109719725B (en) * 2018-12-29 2022-03-11 达闼机器人有限公司 Mechanical arm motion planning method, mechanical arm and robot
CN111870349A (en) * 2020-07-24 2020-11-03 前元运立(北京)机器人智能科技有限公司 Safety boundary and force control method of surgical robot
CN112336461B (en) * 2020-11-05 2022-08-12 苏州微创畅行机器人有限公司 Surgical robot, control method, system and readable storage medium

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018081136A2 (en) * 2016-10-25 2018-05-03 Eugene Gregerson Methods and systems for robot-assisted surgery
CN110653821A (en) * 2019-10-10 2020-01-07 上海电气集团股份有限公司 Control method, system, medium and equipment for mechanical arm
CN111467036A (en) * 2020-04-15 2020-07-31 上海电气集团股份有限公司 Surgical navigation system, surgical robot system for acetabular osteotomy and control method thereof

Also Published As

Publication number Publication date
CN112998863A (en) 2021-06-22

Similar Documents

Publication Publication Date Title
CN112998863B (en) Robot safety boundary interaction device, electronic apparatus, and storage medium
US20190000570A1 (en) Guiding a robotic surgical system to perform a surgical procedure
CN106412415B (en) Mobile terminal and control method thereof
CN109819229B (en) Image processing method and device, electronic equipment and storage medium
CN109284681B (en) Pose detection method and device, electronic equipment and storage medium
JP6904254B2 (en) Surgical controls, surgical controls, and programs
CN105183156A (en) Screen control method and apparatus
WO2017061293A1 (en) Surgical operation system, surgical operation control device, and surgical operation control method
CN111768399A (en) Image processing method and device, electronic equipment and storage medium
JP2016531008A (en) Method and apparatus for determining work area of robot
CN110023043B (en) Enhancing control of a robotic prosthesis through a cognitive system
CN113040915A (en) Robot safety boundary control device and method, electronic device and storage medium
US20230180996A1 (en) Controller, endoscope system, control method, and control program
CN113017941A (en) Mechanical arm acting force interaction control method and device, electronic equipment and storage medium
JP7074888B2 (en) Position / orientation detection method and devices, electronic devices and storage media
CN111860388A (en) Image processing method and device, electronic equipment and storage medium
JP2022518583A (en) Neural network training and image segmentation methods, devices, equipment
Zhong et al. Adaptive 3d pose computation of suturing needle using constraints from static monocular image feedback
CN112308867A (en) Tooth image processing method and device, electronic equipment and storage medium
CN111496782A (en) Measuring system, method, processing device and storage medium for robot tool point
CN111340876A (en) Processing method and device for knee joint replacement, storage medium and electronic equipment
EP3544463A1 (en) Apparatus with imaging functionality
CN113614607A (en) Medical viewing system, method and medical viewing apparatus
CN114029949A (en) Robot action editing method and device, electronic equipment and storage medium
CN114445298A (en) Image processing method and device, electronic equipment and storage medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant