CN115229806B

CN115229806B - Mechanical arm control method, device, system, equipment and storage medium

Info

Publication number: CN115229806B
Application number: CN202211147679.8A
Authority: CN
Inventors: 李明; 沈丽萍; 杨斌; 高广文
Original assignee: Hangzhou Santan Medical Technology Co Ltd
Current assignee: Hangzhou Santan Medical Technology Co Ltd
Priority date: 2022-09-21
Filing date: 2022-09-21
Publication date: 2023-03-03
Anticipated expiration: 2042-09-21
Also published as: CN115229806A

Abstract

The embodiment of the invention provides a mechanical arm control method, a device, a system, equipment and a storage medium, which relate to the technical field of data processing, and the method comprises the following steps: obtaining a first pose of a probe tracer when a needle point of a probe touches an operation part of an operation object for multiple times; determining the needle point position of the probe needle point when the probe needle point touches the operation part every time according to the relative position relation between the probe tracer and the probe needle point and each obtained first pose; determining the position of the barrier space according to the positions of all the probe tips of the probe; and controlling the mechanical arm to move according to the position of the obstacle space and a preset target pose, so that the tail end of the mechanical arm moves to the position indicated by the target pose. By applying the mechanical arm control scheme provided by the embodiment of the invention, the mechanical arm can be prevented from colliding with the operation part of the operation object in the process of controlling the mechanical arm to move.

Description

Mechanical arm control method, device, system, equipment and storage medium

Technical Field

The present invention relates to the field of data processing technologies, and in particular, to a method, an apparatus, a system, a device, and a storage medium for controlling a robot.

Background

The surgical robot is usually provided with a mechanical arm, and when a doctor uses the surgical robot to perform a surgical operation on a surgical object, the surgical robot needs to control the mechanical arm to move to a pre-planned expected position. In the process of controlling the mechanical arm of the surgical robot to move, the mechanical arm needs to be prevented from colliding with the surgical site of the surgical object.

Disclosure of Invention

The embodiment of the invention aims to provide a mechanical arm control method, a mechanical arm control device, a mechanical arm control system, a mechanical arm control device and a storage medium, so as to avoid collision between a mechanical arm of a surgical robot and a surgical site of a surgical object. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present invention provides a method for controlling a robot arm, where the method includes:

obtaining a first pose of a probe tracer when a needle point of a probe touches an operation part of an operation object for multiple times, wherein the probe tracer is arranged on the probe, and the positions of the operation part touched by the needle point of the probe each time are different;

determining the needle point position of the probe needle point when the probe needle point touches the operation position each time according to the relative position relation between the probe tracer and the probe needle point and each obtained first pose;

determining the position of the barrier space according to the positions of all the probe tips of the probe;

and controlling the mechanical arm to move according to the position of the obstacle space and a preset target pose, so that the tail end of the mechanical arm moves to the position indicated by the target pose.

In an embodiment of the present invention, the controlling the mechanical arm to move according to the position of the obstacle space and a preset target pose includes:

planning a moving path by taking a preset target pose as a final pose of the tail end of the mechanical arm according to the position of the obstacle space, wherein the moving path avoids obstacles aiming at the obstacle space;

and controlling the mechanical arm to move according to the planned moving path.

planning a moving path which takes a preset target pose as a final pose of the tail end of the mechanical arm;

controlling the mechanical arm to move according to the planned moving path;

monitoring the real-time pose of the mechanical arm in the moving process;

judging whether the mechanical arm touches the barrier space or not according to the real-time pose and the position of the barrier space;

if so, controlling the mechanical arm to avoid the obstacle or stop moving according to the position of the obstacle space.

In an embodiment of the present invention, the determining whether the mechanical arm touches the obstacle space according to the real-time pose and the position of the obstacle space includes:

obtaining an object pose of the surgical object when the probe tip touches the surgical site;

determining the operation position of the barrier space in the operation object according to the position of the barrier space and the position and posture of the object;

monitoring the pose of the surgical object in real time, and updating the position of the barrier space according to the monitored pose and the surgical position;

and judging whether the mechanical arm touches the barrier space or not according to the real-time pose and the position of the updated barrier space.

In an embodiment of the present invention, the position of the obstacle space is a position of the obstacle space under a base coordinate system, and the base coordinate system is: and establishing a coordinate system according to the base of the mechanical arm.

In one embodiment of the invention, the method further comprises:

obtaining a second pose of the calibration tracer when the probe tip touches the surgical site, wherein the first pose and the second pose are poses in the same coordinate system;

determining the needle point position of the probe needle point when the probe needle point touches the operation part each time according to the relative position relation between the probe tracer and the probe needle point and the obtained first poses, and the method comprises the following steps:

aiming at each touch moment when the probe tip touches the operation part, determining the tip position of the probe tip under a calibration coordinate system at the touch moment according to the first pose and the second pose at the touch moment and the relative position relationship between the probe tracer and the probe tip, wherein the calibration coordinate system is as follows: according to the coordinate system established by the calibration tracer;

according to each tip position of probe tip, confirm barrier space position, include:

obtaining a current mechanical arm posture, a third posture of the calibration tracer and a fourth posture of the tail end tracer, wherein the tail end tracer is installed at the tail end of the mechanical arm, and the third posture and the fourth posture are postures in the same coordinate system;

determining a first transformation relationship between the base coordinate system and an end coordinate system based on the obtained pose of the robotic arm, wherein the end coordinate system is: establishing a coordinate system according to the tail end of the mechanical arm;

calculating a second conversion relation between the calibration coordinate system and a tracer coordinate system according to the third pose and the fourth pose, wherein the tracer coordinate system is as follows: establishing a coordinate system according to the tail end tracer;

determining the position of an obstacle space under the base coordinate system according to the first conversion relation, the second conversion relation, the third conversion relation and the positions of the probe tips under the calibration coordinate system, wherein the third conversion relation is as follows: a transformation between the tracer coordinate system and the terminal coordinate system.

In a second aspect, an embodiment of the present invention further provides a robot arm control apparatus, where the apparatus includes:

the first obtaining module is used for obtaining a first pose of a probe tracer when a needle point of a probe touches a surgical site of a surgical object for multiple times, wherein the probe tracer is installed on the probe, and the position of the surgical site touched by the needle point of the probe each time is different;

the probe tip determining module is used for determining the position of the probe tip when the probe tip touches the surgical site each time according to the relative position relation between the probe tracer and the probe tip and each obtained first pose;

the barrier determining module is used for determining the position of a barrier space according to the positions of all the probe tips of the probe;

and the mechanical arm control module is used for controlling the mechanical arm to move according to the position of the barrier space and a preset target pose, so that the tail end of the mechanical arm moves to the position indicated by the target pose.

In an embodiment of the present invention, the robot arm control module is specifically configured to:

planning a moving path by taking a preset target pose as a final pose of the tail end of the mechanical arm according to the position of the obstacle space, wherein the moving path is used for avoiding the obstacle aiming at the obstacle space;

In one embodiment of the present invention, the robot arm control module includes:

the path planning submodule is used for planning a moving path which takes a preset target pose as a final pose of the tail end of the mechanical arm;

the mechanical arm control sub-module is used for controlling the mechanical arm to move according to the planned moving path;

the pose detection sub-module is used for monitoring the real-time pose of the mechanical arm in the moving process;

the touch judgment sub-module is used for judging whether the mechanical arm touches the barrier space according to the real-time pose and the position of the barrier space, and if so, the mechanical arm obstacle avoidance sub-module is triggered;

and the mechanical arm obstacle avoidance submodule is used for controlling the mechanical arm to avoid obstacles or stop moving according to the position of the obstacle space.

In an embodiment of the present invention, the touch determining sub-module is specifically configured to:

monitoring the pose of the operation object in real time, and updating the position of the barrier space according to the pose obtained by monitoring and the operation position;

In one embodiment of the invention, the apparatus further comprises:

the second obtaining module is used for obtaining a second pose of the calibration tracer when the probe tip touches the surgical site, wherein the first pose and the second pose are poses in the same coordinate system;

the needle tip determination module is specifically configured to:

the obstacle determination module is specifically configured to:

determining a first transformation relationship between the base coordinate system and an end coordinate system based on the obtained robot arm pose, wherein the end coordinate system is: establishing a coordinate system according to the tail end of the mechanical arm;

according to the third pose and the fourth pose, calculating a second conversion relation between the calibration coordinate system and a tracer coordinate system, wherein the tracer coordinate system is as follows: establishing a coordinate system according to the tail end tracer;

In a third aspect, an embodiment of the present invention further provides a robot arm control system, where the system includes: the system comprises a mechanical arm, a probe provided with a probe tracer, three-dimensional navigation tracking equipment, an upper computer, an object tracer used for showing the pose of an operation object, and a positioner provided with a positioning tracer;

the positioner is arranged at the tail end of the mechanical arm;

the three-dimensional navigation tracking equipment is used for obtaining a first pose of the probe tracer and a second pose of the object tracer when the needle point of the probe touches the operation part of the operation object for multiple times, and sending the first pose and the second pose to the upper computer, wherein the positions of the operation part touched by the needle point of the probe each time are different, and the first pose and the second pose are poses under the same coordinate system;

the upper computer is used for determining the needle point position of the probe needle point under an object coordinate system at each touch moment when the probe needle point touches the operation part according to the first pose and the second pose at the touch moment and the relative position relationship between the probe tracer and the probe needle point, and determining the position of an obstacle space under the object coordinate system according to each needle point position of the probe needle point under the object coordinate system, wherein the object coordinate system is as follows: a coordinate system established according to the object tracer;

the upper computer is further used for obtaining the current mechanical arm posture, the third posture of the object tracer and the fourth posture of the positioning tracer; determining a first conversion relation between the base coordinate system and a terminal coordinate system according to the mechanical arm posture; calculating a second conversion relation between the object coordinate system and the positioning coordinate system according to the third posture and the fourth posture; according to the first conversion relation, the second conversion relation and the third conversion relation, the position of the barrier space in the object coordinate system is converted to the position in the base coordinate system, wherein the third pose and the fourth pose are poses in the same coordinate system, and the positioning coordinate system is as follows: according to a coordinate system established by the positioning tracer, the terminal coordinate system is as follows: according to a coordinate system established by the tail end of the mechanical arm, the base coordinate system is as follows: according to a coordinate system established by the base of the mechanical arm, the third conversion relationship is as follows: a translation relationship between the positioning coordinate system and the terminal coordinate system;

the upper computer is further used for controlling the mechanical arm to move according to the position of the obstacle space under the base coordinate system and a preset target pose, so that the tail end of the mechanical arm moves to the position indicated by the target pose.

In a fourth aspect, an embodiment of the present invention further provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor and the communication interface complete communication between the memory and the processor through the communication bus;

a memory for storing a computer program;

a processor adapted to perform the method steps of any of the above first aspects when executing a program stored in the memory.

In a fifth aspect, the present invention further provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method steps in any one of the above first aspects.

The embodiment of the invention has the following beneficial effects:

therefore, when the mechanical arm is controlled by applying the scheme provided by the embodiment of the invention, the needle point position of the probe tip is determined according to the first pose of the probe tracer arranged on the probe, so that the position of the barrier space is determined according to each needle point position. The needle point position is the position of the probe needle point when the probe needle point touches the operation position of the operation object, so the barrier space can be regarded as the space surrounding the operation position, the mechanical arm is controlled to move according to the position of the barrier space and the target pose, and the mechanical arm can accurately avoid the operation position to move.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other embodiments can be obtained by referring to these drawings.

Fig. 1 is a schematic flowchart of a first robot arm control method according to an embodiment of the present disclosure;

fig. 2 is a schematic flowchart of a second robot control method according to an embodiment of the present invention;

FIG. 3 is a schematic flow chart illustrating a third method for controlling a robot according to an embodiment of the present invention;

FIG. 4 is a schematic flow chart illustrating a fourth method for controlling a robot according to an embodiment of the present invention;

fig. 5 is a schematic flowchart of a fifth robot control method according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a first robot arm control device according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a second robot arm control device according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a third robot control device provided in an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a robot arm control system according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention are within the scope of the present invention.

Referring to fig. 1, fig. 1 is a schematic flowchart of a first robot arm control method according to an embodiment of the present invention, where the method includes the following steps S101 to S104.

Step S101: and obtaining a first pose of the probe tracer when the needle tip of the probe touches the operation part of the operation object for multiple times.

Wherein, the probe tracer is installed on the probe, and the position on the operation position that the probe point touched each time is different.

The probe tracer can be arranged at the tail part of the probe, and can also be arranged at other positions of the probe.

Specifically, when a doctor operates on an operation object, the probe can be used for touching an operation part of the operation object, and when the doctor uses the probe to touch the operation part each time, the first pose of the probe tracer can be obtained at the touch moment, so that when the doctor uses the probe to touch different positions of the operation part for multiple times, multiple first poses of the probe tracer can be obtained.

Obtaining the pose of the tracer can be achieved by the prior art and is not described in detail here.

Step S102: and determining the needle point position of the probe needle point when the probe needle point touches the operation part every time according to the relative position relation between the probe tracer and the probe needle point and each obtained first pose.

Specifically, after the probe tracer is installed on the probe, the relative position relationship between the probe tracer and the probe tip can be calibrated, so that after the first positions are obtained, for each touch moment when the probe tip touches the surgical site, the tip position of the probe tip at the touch moment can be determined according to the relative position relationship and the first position and posture at the touch moment.

Step S103: and determining the position of the barrier space according to the positions of the probe tips.

Specifically, after obtaining each tip position of the probe tip, a polyhedron space with each tip position as an end point may be generated, where the polyhedron space is the barrier space, and the position of the polyhedron space is the position of the barrier space.

Step S104: and controlling the mechanical arm to move according to the position of the obstacle space and a preset target pose, so that the tail end of the mechanical arm moves to the position indicated by the target pose.

Specifically, in the process of controlling the movement of the mechanical arm, the mechanical arm is controlled according to a preset target pose, so that the tail end of the mechanical arm can be finally moved to the position indicated by the target pose, and the position of the barrier space is controlled, so that the mechanical arm is ensured not to touch the barrier space all the time in the process of controlling the movement of the mechanical arm, and the barrier avoidance is realized.

The specific implementation manner of controlling the mechanical arm to move according to the position of the obstacle space and the target pose is described in the following steps S104A to S104B in the embodiment shown in fig. 3 and steps S104C to S104G in the embodiment shown in fig. 4, which will not be described in detail here.

Therefore, when the mechanical arm is controlled by applying the scheme provided by the embodiment of the invention, the tip position of the probe tip of the probe is determined according to the first pose of the probe tracer arranged on the probe, so that the position of the barrier space is determined according to each tip position. The probe tip position is the position when the probe tip touches the operation position of the operation object, so the barrier space can be regarded as the space surrounding the operation position, the mechanical arm is controlled to move according to the position of the barrier space and the position and posture of the target, and the mechanical arm can accurately avoid the operation position to move.

In addition, in the scheme, the doctor can realize mechanical arm control only by touching the operation part of the operation object by using the probe, so that the mechanical arm control scheme provided by the embodiment of the invention is simple in operation required by doctors to execute.

In an embodiment of the present invention, the position of the obstacle space is a position of the obstacle space under a base coordinate system, and the base coordinate system is: based on the coordinate system established by the base of the robot arm.

Specifically, the three-dimensional navigation tracking device can observe the pose of the tracer under a self-navigation coordinate system, so that the first pose can be the pose under the navigation coordinate system, based on the pose, the conversion relation between the navigation coordinate system and a base coordinate system can be calculated, the first pose observed by the three-dimensional navigation tracking device is converted into the base coordinate system, and therefore the positions of the needle points of the probe under the base coordinate system are determined according to the first pose under the base coordinate system, and the position of the barrier space under the base coordinate system is further determined.

In addition, after the first pose under the navigation coordinate system is obtained, the position of the barrier space under the navigation coordinate system can be obtained according to the first pose under the navigation coordinate system, and then the position of the barrier space under the navigation coordinate system is converted to the position under the base coordinate system by utilizing the conversion relation between the navigation coordinate system and the base coordinate system.

The specific implementation of calculating the transformation relationship between the navigation coordinate system and the base coordinate system can be seen in the following embodiment shown in fig. 2, and will not be described in detail here.

In the scheme, the mechanical arm usually moves according to a control command generated by the surgical robot under the base coordinate system, and the position of the obstacle space is the position of the obstacle space under the base coordinate system, so that the control command can be accurately generated according to the position of the obstacle space under the base coordinate system, and the mechanical arm can be accurately controlled to move. Therefore, the control accuracy can be improved by applying the mechanical arm control scheme provided by the embodiment of the invention.

A specific implementation of obtaining the position of the obstacle space in the base coordinate system is described below.

In an embodiment of the present invention, referring to fig. 2, a flowchart of a second robot arm control method is provided, in this embodiment, the method further includes the following step S105, and the step S102 may be implemented by the following step S102A, and the step S103 may be implemented by the following steps S103A to S103D.

Step S105: and obtaining a second pose of the calibration tracer when the needle point of the probe touches the operation part.

The first pose and the second pose are poses in the same coordinate system.

The calibration tracer can be a tracer for showing the pose of the operation object, and can also be other fixed tracers.

The manner of obtaining the second pose may refer to the manner of obtaining the first pose in step S101, and is not described herein again.

After the first and second poses are obtained, the following step S102A may be performed to determine the tip position of the probe tip in the calibration coordinate system.

Step S102A: and determining the needle point position of the probe needle point under a calibration coordinate system at each touch moment when the probe needle point touches the operation part according to the first pose and the second pose at the touch moment and the relative position relationship between the probe tracer and the probe needle point.

Wherein, the calibration coordinate system is as follows: and establishing a coordinate system according to the calibration tracer.

Specifically, the relative position relationship between the probe tracer and the probe tip can reflect the pose of the probe tip under the probe coordinate system of the probe tracer. In addition, according to the first pose and the second pose at the same touch moment, the conversion relation between the probe coordinate system and the calibration coordinate system at the moment can be determined, so that the pose of the probe tip in the probe coordinate system can be converted into the calibration coordinate system.

In addition, the calibration tracer can be fixed, and the probe tracer changes along with the change of the position of the probe, so that the conversion relation between the probe coordinate system and the calibration coordinate system is different at each touch moment, and a new conversion relation between the probe coordinate system and the calibration coordinate system can be calculated when the probe changes the position once, so that the position of the probe tip under the calibration coordinate system can be determined according to the new conversion relation between the probe coordinate system and the calibration coordinate system and the position and posture of the probe tip under the probe coordinate system.

After obtaining the respective tip positions of the probe tips in the calibration coordinate system, the positions of the obstacle space in the base coordinate system may be determined using the obtained tip positions through the following steps S103A to S103D.

Step S103A: and obtaining the current mechanical arm posture, the third posture of the calibration tracer and the fourth posture of the tail end tracer.

Wherein the end tracer is mounted at the end of the robotic arm.

The third pose and the fourth pose are poses in the same coordinate system.

Specifically, in the process of controlling the mechanical arm, the attitude of the mechanical arm can be monitored in real time, so that the current attitude of the mechanical arm can be obtained by monitoring.

The obtaining manner of the third pose and the fourth pose may refer to step S101 in the embodiment shown in fig. 1, and is not described herein again.

Step S103B: a first transformation relationship between the base coordinate system and the tip coordinate system is determined based on the obtained pose of the robotic arm.

Wherein, the terminal coordinate system is as follows: based on the coordinate system established at the end of the robot arm.

Specifically, the mechanical arm base and the tail end of the mechanical arm are usually connected through one or more middle joints, the mechanical arm posture comprises the posture of the tail end of the mechanical arm, the posture of the mechanical arm base and the postures of all the middle joints, and the mechanical arm base, the middle joints and the tail end of the mechanical arm are sequentially connected end to end, so that after the postures of the mechanical arm base, the middle joints and the tail end of the mechanical arm are determined, the relative positions among all the joints are also determined, the relative position between the tail end of the mechanical arm and the mechanical arm base can be determined according to the mechanical arm posture, and the first conversion relation between the base coordinate system and the tail end coordinate system can be determined according to the relative position between the tail end of the mechanical arm and the mechanical arm base.

Step S103C: and calculating a second conversion relation between the calibration coordinate system and the tracer coordinate system according to the third pose and the fourth pose.

Wherein, the tracer coordinate system is: based on the coordinate system established by the end tracer.

Specifically, the relative position between the calibration tracer and the end tracer can be determined according to the third pose and the fourth pose, and thus the second transformation relationship between the calibration coordinate system and the tracer coordinate system can be determined according to the relative position between the calibration tracer and the end tracer.

Step S103D: and determining the position of the obstacle space in the base coordinate system according to the first conversion relation, the second conversion relation, the third conversion relation and the positions of the probe tips in the calibration coordinate system.

Wherein, the third conversion relationship is: a transformation between the tracer coordinate system and the terminal coordinate system.

After the end tracer is mounted to the end of the arm, the relative position between the end tracer and the end of the arm can be calibrated, and a third transformation relationship between the tracer coordinate system and the end coordinate system is also determined.

In one embodiment of the invention, when the position of the obstacle space under the base coordinate system is determined, the position of the probe tip under the calibration coordinate system can be converted into the position under the base coordinate system, and then the position of the obstacle space under the base coordinate system is determined according to the converted position of the probe tip.

The coordinate system conversion of the tip position of the probe tip can be realized by either of the following two implementation manners.

In a first implementation manner, the tip position of the probe tip in the calibration coordinate system may be converted into the tracer coordinate system according to the second conversion relationship, the tip position of the probe tip in the tracer coordinate system may be converted into the terminal coordinate system according to the third conversion relationship, and the tip position of the probe tip in the terminal coordinate system may be converted into the base coordinate system according to the first conversion relationship.

In a second implementation manner, a fourth conversion relationship between the calibration coordinate system and the base coordinate system may be determined according to the first conversion relationship, the second conversion relationship and the third conversion relationship, so that the position of the probe tip in the calibration coordinate system may be converted to the position of the base coordinate system according to the fourth conversion relationship.

In another embodiment of the present invention, when determining the position of the obstacle space in the base coordinate system, the position of the obstacle space in the calibration coordinate system may be determined according to the position of the probe tip in the calibration coordinate system, and then the position of the obstacle space in the calibration coordinate system may be converted into the base coordinate system by using the first conversion relationship, the second conversion relationship, and the third conversion relationship.

As can be seen from the above, when the mechanical arm is controlled by applying the scheme provided by the embodiment of the present invention, the position of the obstacle space in the base coordinate system can be accurately determined according to the first conversion relationship, the second conversion relationship, the third conversion relationship and the positions of the probe tips in the calibration coordinate system, so that the mechanical arm can be controlled to move perfectly according to the position of the obstacle space in the base coordinate system, and the control accuracy of the mechanical arm can be improved.

A specific implementation of controlling the movement of the robot arm is described below.

In an embodiment of the present invention, referring to fig. 3, a flowchart of a third method for controlling a robot arm is provided, and in this embodiment, the step S104 can be implemented by the following steps S104A to S104B.

Step S104A: and planning a moving path by taking a preset target pose as a final pose of the tail end of the mechanical arm according to the position of the barrier space.

The moving path avoids obstacles aiming at the obstacle space.

Specifically, when the moving path of the mechanical arm is planned, the obstacle space can be used as a road block, and the target pose can be used as the final pose of the tail end of the mechanical arm on the path end point for planning.

In an embodiment of the present invention, the moving path may be planned through any one of the following three implementation manners.

In a first implementation manner, a plurality of movement paths can be planned, in which a preset target pose is taken as a final pose of the tail end of the mechanical arm, and a movement path that does not pass through the barrier space is selected from the plurality of planned movement paths according to the position of the barrier space.

Planning the moving path according to the target pose can be realized by the existing path planning technology, and the detailed description is omitted here.

In a second implementation manner, after the movement path of the mechanical arm is planned according to the target pose, if the planned movement path passes through the obstacle space, the path passing through the obstacle space may be re-planned on the premise of not passing through the obstacle space.

In a third implementation mode, the position of the obstacle space is considered during path planning, and the moving path of the mechanical arm is planned on the basis that the mechanical arm avoids the obstacle space.

Step S104B: and controlling the mechanical arm to move according to the planned moving path.

Specifically, after the movement path of the mechanical arm is planned, the movement of the mechanical arm may be controlled by any one of the following two implementation manners.

In a first implementation manner, a plurality of position points may be selected on the moving path, and the position information of each position point is sent to the robot arm, so that the robot arm passes through each position point in sequence, thereby controlling the movement of the robot arm.

In a second implementation manner, the control of the movement of the robot arm may be implemented by generating a speed control command according to the movement path and sending the generated speed control command to the robot arm.

As can be seen from the above, when the mechanical arm is controlled by applying the scheme provided by the embodiment of the present invention, the movement path is planned according to the position of the obstacle space, and the mechanical arm is controlled to move according to the planned movement path.

In another embodiment of the present invention, referring to fig. 4, a flowchart of a fourth robot arm control method is provided, and in this embodiment, the step S104 can be implemented by the following steps S104C to S104G.

Step S104C: and planning a moving path which takes a preset target pose as a final pose of the tail end of the mechanical arm.

This step can be implemented by the existing path planning technology, and is not described in detail here.

Step S104D: and controlling the mechanical arm to move according to the planned moving path.

This step is similar to step S104B described above, and is not described here again.

Step S104E: and in the moving process, monitoring the real-time pose of the mechanical arm.

Specifically, the surgical robot can generally obtain the current pose of the mechanical arm in real time in the process of controlling the mechanical arm to move, so that the current pose of the mechanical arm can also be obtained in real time as the real-time pose of the mechanical arm in the process of controlling the mechanical arm to move according to the planned moving path.

In addition, a tracer can be arranged on the mechanical arm, the relative position relation between the tracer and the mechanical arm can be obtained, the pose of the tracer is monitored in real time, and the real-time pose of the mechanical arm is calculated according to the monitored pose of the tracer and the obtained relative position relation between the tracer and the mechanical arm.

Step S104F: and judging whether the mechanical arm touches the obstacle space or not according to the real-time pose and the position of the obstacle space, and if so, executing the step S104G.

Specifically, the position of the mechanical arm can be determined according to the real-time pose of the mechanical arm, so that whether the position of the mechanical arm is coincident with the position of the barrier space or whether the distance difference between the position of the mechanical arm and the position of the barrier space is small can be judged, and whether the mechanical arm touches the barrier space or not is judged. If the position of the mechanical arm is coincident with the position of the obstacle space or the distance difference between the position of the mechanical arm and the position of the obstacle space is small, the mechanical arm touches the obstacle space, and at this time, step S104G is executed.

Step S104G: and controlling the mechanical arm to avoid the obstacle or stop moving according to the position of the obstacle space.

Specifically, when the mechanical arm is judged to touch the obstacle space, the mechanical arm can be controlled to avoid the obstacle or stop moving, so that the mechanical arm can be prevented from touching the operation part in time, and the safety of the operation is ensured.

In one embodiment of the invention, the mechanical arm can be controlled to avoid the obstacle through any one of the following two implementation modes.

In the first implementation manner, the mechanical arm may be controlled to bypass the obstacle space according to the position of the obstacle space and the position of the road section in the planned movement path that does not pass through the obstacle space, and the mechanical arm may be controlled to return to the movement path again, so that the mechanical arm is controlled to continue to move according to the movement path, and thus the mechanical arm is controlled to avoid the obstacle.

In a second implementation manner, when it is determined that the mechanical arm touches the obstacle space, the mechanical arm may be controlled to move in the reverse direction according to the passed path, so as to achieve the purpose of avoiding the obstacle by the mechanical arm.

Therefore, when the mechanical arm is controlled by applying the scheme provided by the embodiment of the invention, the real-time pose of the mechanical arm in the moving process is monitored, and whether the mechanical arm touches the obstacle space can be accurately judged according to the real-time pose and the pose of the obstacle space, so that after the mechanical arm is judged to touch, the mechanical arm can be accurately controlled to avoid obstacles according to the position of the obstacle space.

In the moving process of the mechanical arm, the pose of the surgical object may change, so that the position of the obstacle space may also change.

In view of the above situation, in an embodiment of the present invention, referring to fig. 5, a flowchart of a fifth robot arm control method is provided, and in this embodiment, the step S104F may be implemented by the following steps S104F1 to S104F 4.

Step S104F1: and obtaining the object pose of the operation object when the probe tip touches the operation part.

Specifically, when an operation is performed on the surgical object, an object tracer for showing the pose of the surgical object may be deployed, so that when the probe tip touches the surgical site, the pose of the object tracer may be obtained as the object pose of the surgical object.

Step S104F2: and determining the operation position of the obstacle space in the operation object according to the position of the obstacle space and the pose of the object.

Specifically, the position of the surgical object can be determined according to the pose of the object, so that the relative position between the obstacle space and the surgical object can be obtained according to the position of the obstacle space and the position of the surgical object, and the surgical position of the obstacle space in the surgical object is obtained.

Step S104F3: and monitoring the pose of the operation object in real time, and updating the position of the barrier space according to the monitored pose and the operation position.

Specifically, the surgical position of the obstacle space in the surgical object may be understood as the relative position between the obstacle space and the surgical object, so that after the real-time monitored pose of the surgical object is obtained, the position reflected by the pose of the surgical object may be determined, and the latest position of the current obstacle space may be determined according to the relative position between the obstacle space and the surgical object, so as to update the position of the obstacle space to the latest position.

Step S104F4: and judging whether the mechanical arm touches the obstacle space or not according to the real-time pose and the position of the updated obstacle space, and if so, executing the step S104G.

This step is similar to step S104F described above and will not be described here.

Therefore, when the mechanical arm is controlled by applying the scheme provided by the embodiment of the invention, the position of the barrier space is updated according to two information, namely the pose of the surgical object and the surgical position of the barrier space in the surgical object, which are monitored in real time, so that the judgment accuracy can be improved when judging whether the mechanical arm touches the barrier space, the mechanical arm is controlled according to a more accurate judgment result, and the control accuracy of the mechanical arm can be improved. Therefore, the accuracy of the mechanical arm control can be improved by applying the mechanical arm control scheme provided by the embodiment of the invention.

Corresponding to the mechanical arm control method, the embodiment of the invention also provides a mechanical arm control device.

In one embodiment of the present invention, referring to fig. 6, a schematic structural diagram of a first robot arm control device is provided, the device including:

a first obtaining module 601, configured to obtain a first pose of a probe tracer when a needle tip of a probe touches a surgical site of a surgical object multiple times, where the probe tracer is installed on the probe, and positions of the surgical site touched by the needle tip of the probe each time are different;

a tip determining module 602, configured to determine, according to the relative position relationship between the probe tracer and the probe tip and the obtained first poses, a tip position of the probe tip when the probe tip touches the surgical site each time;

the obstacle determining module 603 is configured to determine a position of an obstacle space according to each tip position of the probe tips;

and the mechanical arm control module 604 is configured to control the mechanical arm to move according to the position of the obstacle space and a preset target pose, so that the end of the mechanical arm moves to the position indicated by the target pose.

In an embodiment of the present invention, the robot arm control module 604 is specifically configured to:

In an embodiment of the present invention, referring to fig. 7, a schematic structural diagram of a second robot arm control device is provided, in this embodiment, the robot arm control module 604 includes:

the path planning submodule 604A is configured to plan a moving path with a preset target pose as a final pose of the end of the mechanical arm;

the mechanical arm control sub-module 604B is configured to control the mechanical arm to move according to the planned movement path;

the pose detection sub-module 604C is used for monitoring the real-time pose of the mechanical arm in the moving process;

the touch judgment submodule 604D is configured to judge whether the mechanical arm touches the obstacle space according to the real-time pose and the position of the obstacle space, and if so, trigger the mechanical arm obstacle avoidance submodule 604E;

and the mechanical arm obstacle avoidance submodule 604E is configured to control the mechanical arm to avoid an obstacle or stop moving according to the position of the obstacle space.

Therefore, when the mechanical arm is controlled by applying the scheme provided by the embodiment of the invention, the real-time pose of the mechanical arm in the moving process is monitored, and whether the mechanical arm touches the obstacle space can be accurately judged according to the real-time pose and the pose of the obstacle space, so that after the mechanical arm is judged to touch, the mechanical arm is accurately controlled to avoid the obstacle according to the position of the obstacle space.

In an embodiment of the present invention, the touch determining sub-module 604D is specifically configured to:

determining the operation position of the obstacle space in the operation object according to the position of the obstacle space and the pose of the object;

In the scheme, the mechanical arm usually moves according to the control command generated by the surgical robot under the base coordinate system, and the position of the obstacle space is the position of the obstacle space under the base coordinate system, so that the control command can be accurately generated according to the position of the obstacle space under the base coordinate system, and the mechanical arm can be accurately controlled to move. Therefore, the control accuracy can be improved by applying the mechanical arm control scheme provided by the embodiment of the invention.

In one embodiment of the present invention, referring to fig. 8, a schematic structural diagram of a third robot arm control device is provided, the device further comprising:

a second obtaining module 605, configured to obtain a second pose of the calibration tracer when the probe tip touches the surgical site, where the first pose and the second pose are poses in the same coordinate system;

the tip determination module 602 is specifically configured to:

the obstacle determining module 603 is specifically configured to:

Corresponding to the mechanical arm control method, the embodiment of the invention also provides a mechanical arm control system.

In an embodiment of the present invention, referring to fig. 9, there is provided a schematic structural diagram of a robot arm control system, the system including: a mechanical arm 901, a probe 903 provided with a probe tracer 902, a three-dimensional navigation tracking device 904, an upper computer 905, an object tracer 906 for showing the pose of the surgical object, and a locator 908 provided with a locating tracer 907;

the positioner 908 is mounted to the end of the robot 901;

the three-dimensional navigation tracking device 904 is configured to obtain a first pose of the probe tracer 902 and a second pose of the object tracer 906 when the needle tip of the probe 903 touches the surgical site of the surgical object for multiple times, and send the first pose and the second pose to the upper computer 905, where positions on the surgical site touched by the needle tip of the probe each time are different, and the first pose and the second pose are poses in the same coordinate system;

the upper computer 905 is used for determining the needle point position of the probe needle point under the object coordinate system at each touch moment of the surgical site according to the first pose and the second pose at the touch moment and the relative position relationship between the probe tracer 902 and the probe needle point, and determining the position of an obstacle space under the object coordinate system according to each needle point position of the probe needle point under the object coordinate system, wherein the object coordinate system is as follows: a coordinate system established from the object tracer 906;

the upper computer 905 is further configured to obtain a current pose of the mechanical arm, a fifth pose of the object tracer 906, and a sixth pose of the positioning tracer 907; determining a first conversion relation between a base coordinate system and a terminal coordinate system according to the mechanical arm posture; calculating a second conversion relation between the object coordinate system and a positioning coordinate system according to the fifth pose and the sixth pose; converting the position of the obstacle space in the object coordinate system to the position of the obstacle space in the base coordinate system according to the first conversion relationship, the second conversion relationship and the third conversion relationship, wherein the fifth pose and the sixth pose are poses in the same coordinate system, and the positioning coordinate system is as follows: according to the coordinate system established by the positioning tracer 907, the terminal coordinate system is: according to the coordinate system established at the end of the robot 901, the base coordinate system is: according to the coordinate system established by the base of the robot 901, the third transformation relationship is: a translation relationship between the positioning coordinate system and the terminal coordinate system;

the upper computer 905 is further configured to control the mechanical arm 901 to move according to the position of the obstacle space in the base coordinate system and a preset target pose, so that the tail end of the mechanical arm moves to the position indicated by the target pose.

In an embodiment of the present invention, the three-dimensional navigation tracking device 904 may be any one of an infrared optical navigation device, a visible light optical navigation device, a magnetic navigation device, and an electric navigation device.

In an embodiment of the present invention, the robot arm may be a 4-axis, 5-axis, and 6-axis cooperative robot arm in a serial or parallel configuration.

The embodiment of the present invention further provides an electronic device, as shown in fig. 10, which includes a processor 1001, a communication interface 1002, a memory 1003 and a communication bus 1004, wherein the processor 1001, the communication interface 1002 and the memory 1003 complete mutual communication through the communication bus 1004,

a memory 1003 for storing a computer program;

the processor 1001 is configured to implement the following steps when executing the program stored in the memory 1003:

obtaining a first pose of a probe tracer when a needle point of a probe touches an operation part of an operation object for multiple times, wherein the probe tracer is installed on the probe, and the position of the operation part touched by the needle point of the probe each time is different;

The processor 1001 executes the program stored in the memory 1003 to implement other schemes for controlling the robot arm, which are the same as those mentioned in the foregoing method embodiments and are not described herein again.

The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the electronic equipment and other equipment.

The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.

In yet another embodiment of the present invention, a computer-readable storage medium is further provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of any of the above-mentioned robot arm control methods.

In yet another embodiment provided by the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform any of the robot arm control methods of the above embodiments.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus, the electronic device, the computer-readable storage medium, and the computer program product embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiments.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims

1. A method of controlling a robot arm, the method comprising:

determining the position of an obstacle space according to the positions of all the needle points of the probe needle points, wherein the obstacle space is a polyhedral space taking the positions of all the needle points as end points;

2. The method according to claim 1, wherein the controlling the mechanical arm to move according to the position of the obstacle space and a preset target pose comprises:

3. The method according to claim 1, wherein the controlling the mechanical arm to move according to the position of the obstacle space and the preset target pose comprises:

controlling the mechanical arm to move according to the planned moving path;

monitoring the real-time pose of the mechanical arm in the moving process;

4. The method according to claim 3, wherein the determining whether the mechanical arm touches the obstacle space according to the real-time pose and the position of the obstacle space comprises:

5. The method according to any one of claims 1-4, wherein the obstacle space is located at a position of the obstacle space under a base coordinate system, the base coordinate system being: and establishing a coordinate system according to the base of the mechanical arm.

6. The method of claim 5, further comprising:

determining the position of an obstacle space under the base coordinate system according to the first conversion relation, the second conversion relation, the third conversion relation and the positions of the probe tips under the calibration coordinate system, wherein the third conversion relation is as follows: a translation relationship between the tracer coordinate system and the terminal coordinate system.

7. An apparatus for controlling a robot arm, comprising:

the needle tip determining module is used for determining the needle tip position of the probe needle tip when the probe needle tip touches the operation part each time according to the relative position relation between the probe tracer and the probe needle tip and the obtained first poses;

the barrier determining module is used for determining the position of a barrier space according to the positions of the needle points of the probe, wherein the barrier space is a polyhedral space taking the positions of the needle points as end points;

8. The apparatus of claim 7, wherein the robotic arm control module is specifically configured to:

9. The apparatus of claim 7, wherein the robot arm control module comprises:

10. The apparatus of claim 9, wherein the touch determination sub-module is specifically configured to:

11. The apparatus according to any one of claims 7-10, wherein the obstacle space is located at a position of the obstacle space under a base coordinate system, the base coordinate system being: and establishing a coordinate system according to the base of the mechanical arm.

12. The apparatus of claim 11, further comprising:

the needle tip determination module is specifically configured to:

aiming at each touch moment when the probe tip touches the operation part, determining the tip position of the probe tip under a calibration coordinate system at the touch moment according to the first pose and the second pose at the touch moment and the relative position relationship between the probe tracer and the probe tip, wherein the calibration coordinate system is as follows: according to a coordinate system established by the calibration tracer;

the obstacle determination module is specifically configured to:

13. A robot arm control system, the system comprising: the system comprises a mechanical arm, a probe provided with a probe tracer, three-dimensional navigation tracking equipment, an upper computer, an object tracer used for showing the pose of an operation object, and a positioner provided with a positioning tracer;

the positioner is arranged at the tail end of the mechanical arm;

the upper computer is used for determining the needle point position of the probe needle point under an object coordinate system at each touch moment of the surgical site according to the first pose and the second pose at the touch moment and the relative position relationship between the probe tracer and the probe needle point, and determining the position of an obstacle space under the object coordinate system according to the needle point positions of the probe needle point under the object coordinate system, wherein the object coordinate system is as follows: according to a coordinate system established by the object tracer, the obstacle space is a polyhedral space taking the positions of all needle points as end points;

the upper computer is further used for obtaining the current mechanical arm posture, the fifth posture of the object tracer and the sixth posture of the positioning tracer; determining a first conversion relation between a base coordinate system and a terminal coordinate system according to the mechanical arm posture; calculating a second conversion relation between the object coordinate system and a positioning coordinate system according to the fifth pose and the sixth pose; according to the first conversion relation, the second conversion relation and the third conversion relation, the position of the barrier space in the object coordinate system is converted to the position in the base coordinate system, wherein the fifth pose and the sixth pose are poses in the same coordinate system, and the positioning coordinate system is as follows: according to a coordinate system established by the positioning tracer, the terminal coordinate system is as follows: according to a coordinate system established by the tail end of the mechanical arm, the base coordinate system is as follows: according to the coordinate system established by the base of the mechanical arm, the third conversion relationship is as follows: a transformation relationship between the positioning coordinate system and the terminal coordinate system;

14. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of any of claims 1-6 when executing a program stored in the memory.

15. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of the claims 1-6.