CN116459018A

CN116459018A - Operation arm anti-collision control method based on composite identification and operation robot system

Info

Publication number: CN116459018A
Application number: CN202210031851.7A
Authority: CN
Inventors: 徐凯; 吴百波; 王龙飞; 姬利永; 李茂林
Original assignee: Beijing Surgerii Robot Co Ltd
Current assignee: Beijing Surgerii Robot Co Ltd
Priority date: 2022-01-12
Filing date: 2022-01-12
Publication date: 2023-07-21

Abstract

The disclosure relates to the technical field of control, and discloses an anti-collision control method for an operation arm of a robot system, computer equipment, a computer readable storage medium and a surgical robot system. The anti-collision control method comprises the following steps: acquiring a positioning image; in the positioning image, identifying a plurality of first operation arm identifiers on the first operation arm end of a first operation arm in at least two operation arms, wherein the plurality of first operation arm identifiers comprise a plurality of first operation arm pose identifiers for identifying poses and at least one first operation arm compound identifier for identifying poses and angles; determining a first pose of the end of the first operating arm relative to a reference coordinate system based on the at least one first operating arm composite identifier and the plurality of first operating arm pose identifiers; and determining a first anti-collision operation for the first operation arm based on the first pose.

Description

Operation arm anti-collision control method based on composite identification and operation robot system

Technical Field

The disclosure relates to the technical field of control, in particular to an anti-collision control method for an operation arm based on a composite identifier and a surgical robot system.

Background

As technology advances, it is becoming increasingly popular to manually or computer control robotic systems to perform desired actions to assist or replace operators. A co-operating robotic system typically includes at least two manipulator arms.

In the above application, it is necessary to prevent the operation arm from colliding when working.

Disclosure of Invention

In some embodiments, the present disclosure provides a control method of an operation arm of a robot system, the robot system including at least two operation arms, the control method including: acquiring a positioning image; in the positioning image, identifying a plurality of first operation arm identifiers on the first operation arm end of a first operation arm in at least two operation arms, wherein the plurality of first operation arm identifiers comprise a plurality of first operation arm pose identifiers for identifying poses and at least one first operation arm compound identifier for identifying poses and angles; determining a first pose of the end of the first operating arm relative to a reference coordinate system based on the at least one first operating arm composite identifier and the plurality of first operating arm pose identifiers; and determining a first anti-collision operation for the first operation arm based on the first pose.

In some embodiments, the present disclosure provides a computer device comprising: a memory for storing at least one instruction; and a processor coupled with the memory for executing at least one instruction to perform the method of any of the embodiments of the present disclosure.

In some embodiments, the present disclosure provides a computer-readable storage medium having stored therein at least one instruction that is executed by a processor to cause a computer to perform the method of any of some embodiments of the present disclosure.

In some embodiments, the present disclosure provides a surgical robotic system comprising: the surgical tool comprises at least two surgical tools, wherein a first surgical tool in the at least two surgical tools comprises a first operating arm, an actuator arranged at the far end of the first operating arm tail end of the first operating arm and a plurality of first operating arm identifiers arranged on the first operating arm tail end, and the plurality of first operating arm identifiers comprise a plurality of first operating arm pose identifiers for identifying pose and at least one first operating arm compound identifier for identifying pose and angle; the image collector is used for collecting positioning images; and a control device, coupled to the image collector, for performing the method of any of the embodiments of the present disclosure.

Drawings

FIG. 1 illustrates a schematic diagram of an operator arm control system according to some embodiments of the present disclosure;

FIG. 2 illustrates a schematic view of a knuckle of an operating arm in accordance with some embodiments of the present disclosure;

FIG. 3 illustrates a schematic structural view of an operating arm according to some embodiments of the present disclosure;

FIG. 4 illustrates a schematic diagram of a tag including a plurality of identifications according to some embodiments of the present disclosure;

FIG. 5 illustrates a schematic view of a label disposed on the circumference of the distal end of an operating arm and formed in a cylindrical shape according to some embodiments of the present disclosure;

FIG. 6 illustrates a schematic diagram of an implementation scenario according to some embodiments of the present disclosure;

FIG. 7 illustrates a flowchart of a method for controlling an operating arm according to some embodiments of the present disclosure;

FIG. 8 illustrates a flowchart of a method for determining a first anti-collision operation or a second anti-collision operation, in accordance with some embodiments of the present disclosure;

FIG. 9 illustrates a bounding box schematic diagram in some embodiments of the present disclosure;

FIG. 10 illustrates a schematic diagram of bounding box updating in some embodiments of the present disclosure;

FIG. 11 illustrates a flowchart of a method for determining a first anti-collision operation or a second anti-collision operation in accordance with further embodiments of the present disclosure;

FIG. 12 illustrates an envelope diagram in some embodiments of the present disclosure;

FIG. 13 illustrates a schematic diagram of envelope updating in some embodiments of the present disclosure;

FIG. 14 illustrates a flowchart of a method of determining the pose of an operating arm relative to a reference frame, according to some embodiments of the present disclosure;

FIG. 15 illustrates a flowchart of a method of determining the pose of an operating arm relative to a reference frame according to further embodiments of the present disclosure;

FIG. 16 illustrates a flowchart of a method for identifying an identity, according to some embodiments of the present disclosure;

FIG. 17 illustrates a schematic diagram of a pose identification pattern according to some embodiments of the present disclosure;

FIG. 18 illustrates a flowchart of a method for searching for identification, according to some embodiments of the present disclosure;

FIG. 19 illustrates a schematic diagram of search identifications according to some embodiments of the present disclosure;

FIG. 20 illustrates a schematic block diagram of a computer device in accordance with some embodiments of the present disclosure;

FIG. 21 illustrates a schematic view of a surgical robotic system according to some embodiments of the present disclosure;

FIG. 22 illustrates a schematic view of a surgical robotic system according to some embodiments of the present disclosure;

FIG. 23 illustrates a schematic view of a surgical tool of some embodiments of the present disclosure;

FIG. 24 illustrates a schematic diagram of a master trolley of some embodiments of the present disclosure;

fig. 25 illustrates a schematic diagram of an operating trolley of some embodiments of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, and those skilled in the art will appreciate that the scope of the present disclosure is not limited to only these embodiments. Various modifications and variations of the present disclosure can be made on the basis of the following embodiments. Such modifications and variations are intended to be included within the scope of the present disclosure. Like reference numerals designate like parts among the various embodiments shown in the drawings of the present disclosure.

In this disclosure, the term "position" refers to the positioning of an object or a portion of an object in three dimensions (e.g., three translational degrees of freedom may be described using Cartesian X, Y and changes in Z coordinates, such as along the Cartesian X, Y and Z axes, respectively). In this disclosure, the term "pose" refers to a rotational setting of an object or a portion of an object (e.g., three rotational degrees of freedom may be described using roll, pitch, and yaw). In the present disclosure, the term "pose" refers to a combination of position and pose of an object or portion of an object, such as may be described using six parameters in the six degrees of freedom mentioned above.

In the present disclosure, the reference coordinate system may be understood as a coordinate system describing the pose of the object. According to the actual positioning requirement, the reference coordinate system can select the origin of the virtual reference object or the origin of the physical reference object as the origin of the coordinate system. In some embodiments, the reference coordinate system may be a world coordinate system or a camera coordinate system or the operator's own perception coordinate system, or the like. In the present disclosure, an object may be understood as an object or target that needs to be positioned, such as an operating arm or an end of an operating arm or an actuator disposed at a distal end of an operating arm. Wherein the operating arm may be a rigid arm or a deformable arm. In this disclosure, the pose of the manipulation arm or a part thereof refers to the pose of the manipulation arm coordinate system defined by the manipulation arm or a part thereof with respect to the reference coordinate system.

Fig. 1 illustrates a schematic diagram of an operating arm control system 100 according to some embodiments of the present disclosure. The operation arm control system 100 may be applied to a robot system. In some embodiments, the robotic system may be a surgical robotic system, such as surgical robotic system 2100 shown in fig. 21 and surgical robotic system 2200 shown in fig. 22. It should be appreciated that the robotic system may also be a dedicated or general purpose robotic system in other areas (e.g., manufacturing, machinery, etc.). In some embodiments, the robotic system includes at least two manipulator arms, such as a first manipulator arm 140-1 and a second manipulator arm 140-2. As shown in fig. 1, the manipulation arm control system 100 may include an image capturing apparatus 110 and a control device 120. The image acquisition device 110 is communicatively connected to the control means 120. In some embodiments, the first operating arm 140-1 may include a first operating arm tip 130-1 at the tip or distal end. In some embodiments, a first actuator 160-1 may be disposed at the distal end of the first operating arm end 130-1. Similar to the first operating arm 140-1, in some embodiments, the second operating arm 140-2 may include a second operating arm end 130-2 at the distal or distal end. A second actuator 160-2 may be disposed at the distal end of the second operating arm end 130-2.

In some embodiments, as shown in FIG. 1, the control device 120 may be used to control the movement of the first and/or second operating arms 140-1, 140-2 to adjust the pose of the first or second operating arms 140-1, 140-2, coordinate each other, etc. In some embodiments, the control device 120 may control the first operating arm 140-1 to move to the first operating arm tip 130-1 or the first actuator 160-1 to a desired position and attitude. The control device 120 may also control the movement of the second operating arm 140-2 to move the second operating arm tip 130-2 or the second actuator 160-2 to a desired position and posture. In some embodiments, the control device 120 may determine an anti-collision operation for the first or second operating arm 140-1, 140-2 based on the position and/or posture of the first or second operating arm 140-1, 140-2. For example, the control device 120 may determine the anti-collision operation for the first operation arm 140-1 based on the pose of the first operation arm end 130-1. In some embodiments, the collision of the first operating arm 140-1 with the second operating arm 140-2 may be avoided by performing an anti-collision operation. For example, collision of the first operating arm end 130-1 or the first actuator 160-1 with the second operating arm end 140-2 or the second actuator 160-2 is avoided by performing an anti-collision operation.

In the present disclosure, the control device 120 may be communicatively connected with the driving unit 150 (e.g., a motor) and transmit a driving signal to the driving unit 150, thereby causing the driving unit 150 to control the first or second operation arm 140-1 or 140-2 to move to a corresponding target pose based on the driving signal. For example, the driving unit 150 may be a servo motor, and may receive an instruction of the control device 120 to control the first operation arm 140-1 or the second operation arm 140-2 to move. The control device 120 may also be communicatively connected to a sensor coupled to the drive unit 150, for example, via a communication interface, to receive movement data of the first or second operating arm 140-1, 140-2, to enable movement status monitoring of the first or second operating arm 140-1, 140-2. In one example of the present disclosure, the communication interface may be a CAN (Controller Area Network) bus communication interface that enables the control device 120 to communicate with the drive unit 150 and the sensor connection via a CAN bus. In some embodiments, the first and second operating arms 140-1 and 140-2 may be driven by different driving units, respectively.

In some embodiments, the first operating arm 140-1 or the second operating arm 140-2 may comprise a continuum deformable arm. The continuum deformable arm is, for example, an operating arm 300 as shown in fig. 3. In some embodiments, the first operating arm 140-1 or the second operating arm 140-2 may include an operating arm having multiple degrees of freedom composed of a plurality of joints. Such as an operating arm that can achieve 4 to 7 degrees of freedom motion. For example, an operating arm that can be moved in 6 degrees of freedom can be realized.

In some embodiments, image capture device 110 may include, but is not limited to, a dual lens image capture device or a single lens image capture device, such as a binocular or monocular camera. In some embodiments, the image acquisition device 110 may be used to acquire a positioning image. The positioning image may include a part or all of the image of the first operation arm 140-1. In some embodiments, the image acquisition device 110 may be configured to acquire images of the first manipulator arm end 130-1, and the first manipulator arm end 130-1 may have a plurality of markers disposed thereon. In some embodiments, the plurality of identifications may include a plurality of pose identifications for identifying the poses and one or more composite identifications for identifying the poses and angles (e.g., pivot angles or roll angles). For example, the first arm end 130-1 may have a first arm positioning tab 170-1 disposed thereon (the first arm positioning tab 170-1 may be, for example, the tab 400 shown in fig. 4). The first operating arm positioning tab 170-1 may include a plurality of indicia including an identification pattern (as described in more detail below). In some embodiments, part or all of the image of the second operation arm 140-2 may also be included in the positioning image. For example, the positioning image also includes an image of the second arm end 130-2. Similarly, a plurality of indicia may be provided on the second arm end 130-2. For example, a second arm positioning tab 170-2 may be provided on the second arm end 130-2. Similarly, the second operator arm positioning tag 170-2 may include a plurality of identifiers including a plurality of pose identifiers and at least one composite identifier, which may include different patterns of identifiers (as described in more detail below). In some embodiments, the identification pattern provided on the second operating arm 140-2 may be the same as or different from the identification pattern provided on the first operating arm 140-1.

As shown in FIG. 1, the first manipulator arm tip 130-1 is within the field of view of the image acquisition device 110, and an image of the first manipulator arm tip 130-1 may be included in the acquired positioning image. In some embodiments, image capture device 110 may include, but is not limited to, a dual lens image capture device or a single lens image capture device, such as a binocular or monocular camera. Depending on the application scenario, the image capture device 110 may be an industrial camera, an underwater camera, a miniature electronic camera, an endoscopic camera, etc. In some embodiments, the image acquisition device 110 may be fixed in position or variable in position, for example, an industrial camera fixed in a monitored location or an endoscopic camera adjustable in position or pose. In some embodiments, the image acquisition device 110 may implement at least one of visible light band imaging, infrared band imaging, CT (Computed Tomography, electronic computed tomography) imaging, acoustic wave imaging, and the like. Depending on the kind of the acquired image, a person skilled in the art may select a different image acquisition apparatus as the image acquisition apparatus 110.

In some embodiments, the control 120 may receive the positioning image from the image acquisition device 110 and process the positioning image. For example, the control device 120 may identify a plurality of markers located on the first operating arm 140-1 in the positioning image and determine the pose of the first operating arm 140-1 or the first actuator 160-1 relative to a reference coordinate system (e.g., a world coordinate system).

Fig. 2 illustrates a schematic diagram of a knuckle 200 of an operating arm according to some embodiments of the present disclosure. The operating arm (e.g., the first operating arm 140-1 or the second operating arm 140-2) may include at least one deformable structure section 200. As shown in fig. 2, the deformable structure 200 includes a fixed disk 210 and a plurality of structural bones 220. The plurality of structural bones 220 have a first end fixedly coupled to the fixed disk 210 and a second end coupled to a driving unit (not shown). In some embodiments, retaining disk 210 may be of various shapes including, but not limited to, annular structures, disk-like structures, etc., and may be circular, rectangular, polygonal, etc. in cross-section. The driving unit deforms the construct 200 by driving the structural bone 220. For example, the drive unit places the construct 200 in a curved state as shown in FIG. 2 by driving the structural bone 220. In some embodiments, a second end of the plurality of structural bones 220 is coupled to a drive unit through the base plate 230. In some embodiments, similar to the fixed disk 210, the base disk 230 may be of various shapes including, but not limited to, a ring-like structure, a disk-like structure, etc., and may be circular, rectangular, polygonal, etc. in cross-section. The drive unit may comprise a linear motion mechanism, a drive mechanism, or a combination of both. A linear motion mechanism may be coupled to structural bone 220 to push or pull structural bone 220 and thereby drive bending of construct 200. The drive mechanism may include a fixed disk and a plurality of structural bones, wherein one end of the plurality of structural bones is fixedly connected to the fixed disk. The other ends of the plurality of structural bones of the driving construct are connected or integrally formed with the plurality of structural bones 220 to drive bending of the construct 200 by bending of the driving construct.

In some embodiments, a spacer disc 240 is also included between the fixation disc 210 and the base disc 230, with the plurality of structural bones 220 passing through the spacer disc 240. Similarly, the drive mechanism may also include a spacer disc.

Fig. 3 illustrates a schematic structural view of an operating arm 300 according to some embodiments of the present disclosure. In some embodiments, the first operating arm 140-1 or the second operating arm 140-2 may be the operating arm 300 as shown in fig. 3. As shown in fig. 3, the operation arm 300 is a deformable operation arm, and the operation arm 300 may include an operation arm tip 310 and an operation arm body 320. The operating arm body 320 may include one or more construction segments, such as a first construction segment 3201 and a second construction segment 3202. In some embodiments, the first and second construction pieces 3201, 3202 may be similar in structure to the construction piece 200 shown in fig. 2. In some implementations, as shown in fig. 3, the lever body 320 further includes a first straight segment 3203 between the first and second formations 3201, 3202. The first straight shaft section 3203 is connected at a first end to a base plate of the second structural section 3202 and at a second end to a fixed plate of the first structural section 3201. In some implementations, as shown in fig. 3, the manipulator arm body 320 further includes a second straight rod segment 3204, the first end of the second straight rod segment 3204 being connected with the base plate of the first construct segment 3201. As shown in fig. 3, each of the structural members (first structural member 3201 and second structural member 3202) may include a base plate, a fixed plate, and a plurality of structural bones extending through the base plate and the fixed plate, and the plurality of structural bones may be fixedly connected with the fixed plate and slidably connected with the base plate. The continuum deformable arms and the constituent segments they contain can be described by a kinematic model (as described in more detail below).

In some embodiments, each of the segments of the operating arm 300 may be configured as a segment 200 as shown in fig. 2. As shown in FIG. 2, the base plate coordinate systemAttached to the base plate of section t (t=1, 2,3 …) continuum with origin at the center of the base plate, XY plane coincident with the base plate plane,/->From the center of the base plate, a first structural bone (a first structural bone is understood to be a structural bone that is arbitrarily designated one of a plurality of structural bones as a reference). Curved plane coordinate system->The origin of the X-Y plane coincides with the origin of the base plate coordinate system, the XY plane coincides with the bending plane, and the X-Y plane coincides with the bending plane>And->And (5) overlapping. Fixed disk coordinate System->Attached to the fixed disk of the section t continuous body, the origin of which is positioned at the center of the fixed disk and the XY planeCoincides with the plane of the fixed disk, is->From the center of the fixation disc, to the first structural bone. Curved plane coordinate system->The origin is positioned at the center of the fixed disk, the XY plane is coincided with the bending plane, and the X-Y plane is +.>And->And (5) overlapping.

The individual segments 200 as shown in fig. 2 may be represented by a kinematic model. Position of the t-th knot end (fixed disk coordinate system { te }) relative to the base disk coordinate system { tb }) ^tb P _te Posture and attitude ^tb R _te Can be determined based on the following formulas (1), (2):

^tb R _te ＝ ^tb R _t1 ^t1 R _t2 ^t2 R _te (2)

wherein L is _t Length, θ, of a virtual structural bone (e.g., virtual structural bone 221 shown in fig. 2) that is the t-th node _t In order to make the structure in the t-th section,about->Or->Rotate to +.>The required rotation angle is set to be equal to the required rotation angle, ^tb R _t1 is the attitude of a curved plane coordinate system 1{ t1} of a t-th node relative to a base plate coordinate system { tb', ^t1 R _t2 is the pose of the curved plane coordinate system 2{ t2} of the t-th node relative to the curved plane coordinate system 1{ t1', ^t2 R _te the posture of the fixed disk coordinate system { te } of the t-th node with respect to the curved plane coordinate system 2{ t2 }.

^tb R _t1 、 ^t1 R _t2 And ^t2 R _te can be based on the following formulas (3), (4) and (5):

wherein delta _t In the t-th section, a bending plane andis included in the bearing.

The joint parameter ψ of a single construct 200 as shown in fig. 2 _t Can be determined based on the following equation (6):

ψ _t ＝[θ _t ,δ _t ] ^T (6)

in some embodiments, the driving amount of the plurality of structural bones has a known mapping relationship with the joint parameters. Based on the target joint parameters and the mapping relationship of the constituent nodes, the driving amounts of the plurality of structural bones can be determined. The driving amount of the multiple structural bones can be understood as a single construct from an initial state (e.g., θ _t =0) bending to a target bending angleThe length of the structural bone that is pushed or pulled. In some embodiments, the mapping relationship of the driving amount of the plurality of structural bones and the joint parameters may be determined based on the following formula (7):

q _i ≡-r _ti θ _t cos(δ _t +β _ti ) (7)

Wherein r is _ti Is the distance between the ith structural bone in the t-th section and the virtual structural bone, beta _ti Is the included angle between the ith structural bone and the first structural bone in the t-th section, q _i For the driving amount of the i-th structural bone, a driving signal of the driving unit may be determined based on the driving amount of the i-th structural bone.

In some embodiments, the entire deformable arm may be described by a kinematic model. As shown in fig. 3, a transformation may be performed between a plurality of coordinate systems located at a plurality of positions of the deformable arm. For example, the actuator of the continuum deformable arm in world coordinate system { w } may be determined based on the following equation (8):

^W T _tip ＝ ^W T _1b ^1b T _1e ^1e T _2b ^2b T _2e ^2e T _tip (8)

wherein,, ^W T _tip a homogeneous transformation matrix representing the actuators of the continuum deformable arms relative to the world coordinate system; WT (WT) _1b A homogeneous transformation matrix representing the base plate of the first continuum segment relative to the world coordinate system; ^1b T _1e a homogeneous transformation matrix representing a fixed disk of the first continuum segment relative to a base disk of the first continuum segment; ^1e T _2b a homogeneous transformation matrix representing the base disk of the second continuum segment relative to the fixed disk of the first continuum segment; ^2b T _2e a homogeneous transformation matrix representing a fixed disk of the second continuum segment relative to a base disk of the second continuum segment; ^2e T _tip representing a homogeneous transformation matrix of the actuators of the continuum deformable arms relative to the fixed disk of the second continuum segment. In some embodiments, the actuator is fixedly disposed on the fixed disk, and therefore ^2e T _tip Is known or predetermined.

It will be appreciated that the deformable arms have different joint parameters in different operating states. For example, the operating arm 300 shown in fig. 3 includes at least four operating states. The four operating states of the operating arm 300 are as follows:

the first working state: only the second construct 3202 participates in pose control of the actuator (e.g., only the second construct 3202 enters the workspace), at which point joint parameters of the manipulator 300 may be determined based on the following equation (9):

wherein, psi is _c1 Is a joint parameter of the operation arm 300 in the first operation state,to operate the pivot angle L of the arm 300 ₂ 、θ ₂ 、δ ₂ And L in the structural section 200 shown in FIG. 2 _t 、θ _t And delta _t Is the same as the physical meaning of (a).

And a second working state: the second structure section 3202 and the first straight line section 3203 participate in pose control of the actuator (e.g., the second structure section 3202 is fully entered into the working space, the first straight line section 3203 is partially entered into the working space), at which time joint parameters of the manipulator 300 may be determined based on the following equation (10):

wherein, psi is _c2 Is the joint parameter L of the operating arm 300 in the second working state _r Is the feed of the first straight segment 3203.

Third working state: the second structure section 3202, the first straight line section 3203 and the first structure section 3201 participate in pose control of the actuator (for example, the second structure section 3202 is fully entered into the working space, the first straight line section 3203 is fully entered into the working space, and the first structure section 3201 is partially entered into the working space), at this time, joint parameters of the operation arm 300 may be determined based on the following formula (11):

Wherein, psi is _c3 Is the joint parameter L of the operating arm 300 in the third working state ₁ 、θ ₁ And delta ₁ And L in the structural section 200 shown in FIG. 2 _t 、θ _t And delta _t Is the same as the physical meaning of (a).

Fourth operating state: the second structure section 3202, the first straight line section 3203, the first structure section 3201 and the second straight line section 3204 participate in pose control of the actuator (for example, the second structure section 3202 fully enters the working space, the first straight line section 3203 fully enters the working space, the first structure section 3201 fully enters the working space, and the second straight line section 3204 partially enters the working space), at this time, joint parameters of the operation arm 300 can be determined based on the following formula (12):

wherein, psi is _c4 For the joint parameters, L, of the operating arm 300 in the fourth operating state _s Is the feed of the second straight segment 3204.

In some embodiments, a plurality of identifiers are distributed on an operating arm (e.g., the first operating arm 140-1 or the second operating arm 140-2 shown in fig. 1, the operating arm body 320 shown in fig. 3). In some embodiments, a plurality of indicia are disposed on an outer surface of the cylindrical portion of the operating arm. For example, a plurality of markers are circumferentially distributed on the lever arm end 310. For example, a plurality of markers are provided on the outer surface of the columnar portion of the arm tip 310. In some embodiments, the plurality of identifications may include a plurality of pose identifications for identifying the poses and one or more composite identifications for identifying the poses and angles (e.g., pivot angles or roll angles). In some embodiments, the outer surface of the columnar portion of the operation arm is provided with a positioning label (e.g., label 400 shown in fig. 4), and the plurality of marks may include a plurality of mark patterns distributed on the positioning label along the circumferential direction of the columnar portion and a plurality of mark pattern corner points in the mark patterns. The plurality of identification patterns includes a plurality of different composite identification patterns and a plurality of pose identification patterns, which may be identical. The composite identification pattern and pattern corner points therein can be used for identifying the pose and the angle, and the pose identification pattern and pattern corner points therein can be used for identifying the pose. In some embodiments, the plurality of different composite identification patterns and the plurality of pose identification patterns are located on the same pattern distribution strip. In some embodiments, at least one composite identification pattern is included in N consecutive identification patterns of the plurality of identification patterns, wherein N is greater than or equal to 2 and less than or equal to 4, and the composite identification pattern of the N consecutive identification patterns is different from the pose identification pattern. For example, a plurality of identification patterns may be uniformly distributed on the outer surface of the columnar portion, and a plurality of composite identification patterns may be uniformly spaced among a plurality of pose identification patterns, such as one composite identification pattern inserted every three pose identification patterns, as shown in fig. 4.

In some embodiments, the identification pattern may be provided on a label on the distal end of the operating arm, or may be printed on the distal end of the operating arm, or may be a pattern formed by the physical configuration of the distal end of the operating arm itself, for example, may include depressions or protrusions, and combinations thereof. In some embodiments, the identification pattern may include a pattern formed in brightness, gray scale, color, and the like. In some embodiments, the identification pattern may include a pattern that provides information detected by the image acquisition device, either actively (e.g., self-light emitting) or passively (e.g., reflected light). Those skilled in the art will appreciate that in some embodiments, the identified pose or pose of the identification pattern may be represented by the pose of the identification pattern corner coordinate system. In some embodiments, the identification pattern is provided on the distal end of the operating arm in an area adapted to be imaged by the image acquisition device, e.g. an area which may be covered by the field of view of the image acquisition device during operation or an area which is not easily disturbed or blocked during operation.

Fig. 4 illustrates a schematic diagram of a tag 400 including multiple identifications according to some embodiments of the present disclosure. Fig. 5 shows a schematic view of a label 500 provided on the peripheral side of the distal end of the operation arm and formed in a cylindrical shape. It will be appreciated that for simplicity, the tag 400 may include the same identification pattern as the tag 500.

Referring to fig. 4, the plurality of identifications includes a plurality of pose identification patterns 410 and a plurality of pose identification pattern corner points P therein ₄₁₀ And composite identification pattern 420 and composite identification pattern corner point R therein ₄₂₀ . In some embodiments, as shown in fig. 4, the plurality of pose identification patterns 410 and the composite identification pattern 420 are disposed on the same pattern distribution belt. In the present disclosure, the pose identification pattern corner points are represented by the "good" symbols, and the compound identification pattern corner points are represented by the "delta" symbols. In some embodiments, the pattern corner P may be identified by identifying the pose identification pattern 410 or the pose identification pattern ₄₁₀ Determining pose identification by identifying composite identification pattern 420 or composite identification pattern corner R ₄₂₀ And determining the composite identifier.

Referring to fig. 5, in the circumferentially disposed state, the tag 400 becomes a tag 500 spatially configured in a cylindrical shape. In some embodiments, the pivot angle or roll angle of each logo may be represented by a logo pattern or a pivot angle of a logo pattern corner, wherein the logo pattern comprises a pose logo pattern 510 and a composite logo pattern 520. The pivot angle of each logo pattern or logo pattern corner logo is known or predetermined. In some embodiments, based on the distribution of multiple markers (marker patterns or marker pattern corner points), the pivot angle identified by each marker may be determined. In some embodiments, the plurality of logos may be uniformly distributed (e.g., the logo pattern corner points in the label 400 are equally spaced apart, the logo pattern corner points in the label 500 are equally distributed). In some embodiments, each marker may be used to identify a particular pivot angle based on a distribution of multiple markers, each marker having a one-to-one correspondence with the identified pivot angle. In this disclosure, an axis-around angle or roll angle refers to an angle around a Z-axis (e.g., the Z-axis of the operating arm coordinate system or the identification coordinate system). In some embodiments, the manipulator is a deformable manipulator, and the Z-axis is tangential to the manipulator central axis.

As shown in fig. 5, a plurality of identification patterns in the label 500 are alongThe cylindrical structures are uniformly circumferentially distributed and the plurality of identification pattern corner points are uniformly distributed on the cross-sectional circle 530, then the distribution angle (e.g., angle α ₀ ) Equal. Setting an identification pattern corner point P pointed by X axis ₅₀₁ ，P ₅₀₁ As a reference corner (a pattern corner P is identified) for identifying 0 ° pivot angle ₅₀₁ The identification pattern where the identification pattern is located is used as a reference pattern), the corner points of the arbitrary identification pattern and the corner point P of the identification pattern can be obtained ₅₀₁ And determining the pivot angle of the corner mark of the mark pattern.

In some embodiments, the identification pattern corner points are in a set coordinate system (e.g., the identification coordinate system { wm0} ≡x shown in fig. 5 _wm0 Y _wm0 Z _wm0 ] ^T ) The identified pivot angle may be determined based on the following equation (13):

α _m ＝α ₀ (m-1) (13)

wherein alpha is _m To identify pattern corner points (e.g. identification pattern corner point P) ₅₀₁ ) As the first identification pattern corner point, the m-th identification pattern corner point has an around-axis angle according to the clockwise direction of the cross-sectional circle 530.

In some embodiments, the plurality of pose identification patterns may be the same pattern or different patterns. In some embodiments, the plurality of composite identification patterns are different patterns, each composite identification pattern may be used to identify a particular pivot angle, each composite identification pattern having a one-to-one correspondence with the identified pivot angle.

Fig. 6 illustrates a schematic diagram of an implementation scenario 600 according to some embodiments of the present disclosure. Taking a single manipulator as an example, as shown in fig. 6, the manipulator 640 includes a manipulator end 630 and a distal actuator 660, and a plurality of markers (e.g., a pose marker pattern 610 and a composite marker pattern 620) may be circumferentially disposed on the manipulator end 630. For example, the tag 400 shown in fig. 4 is circumferentially disposed on the operating arm end 630. A plurality of identification pattern corner points are distributed on the cross-sectional circle 631 of the distal end 630 of the operating arm. In some embodiments, an identification coordinate system { wm0} ≡X is established based on the identified identifications _wm0 Y _wm0 Z _wm0 ] ^T The origin of the identification coordinate system { wm0} is the center of the cross-section circle 631, and the X-axis direction is the origin pointing to one of the identification pattern corner points (e.g., the pattern corner point P corresponding to one of the identified pose identifications ₆₀₁ ) The direction of the Z axis is parallel to the axial direction of the operation arm 640, and the Y axis is perpendicular to the XZ plane.

In some embodiments, an operating arm coordinate system { wm } ≡X is established based on a plurality of composite identifications _wm Y _wm Z _wm ] ^T The origin of the coordinate system { wm } of the operation arm is the center of the cross-section circle 631, and the X axis points to the corner R of the composite identification pattern ₆₀₁ The Z axis is parallel to or coincident with the axial direction of the operating arm 640 and the Y axis is perpendicular to the XZ plane. In some embodiments, the distribution of the multiple composite identification patterns, such as the remaining composite identification patterns and the composite identification pattern corner points R, can be based on ₆₀₁ And determining the pivot angle of the corner marks of the composite identification patterns contained in the composite identification patterns according to the position relation of the corresponding composite identification patterns.

Some embodiments of the present disclosure provide a control method for an operating arm of a robotic system. In some embodiments, the robotic system includes at least two manipulator arms. Fig. 7 illustrates a flowchart of a method 700 for controlling an operating arm according to some embodiments of the present disclosure. Some or all of the steps in method 700 may be performed by a control device (e.g., control device 120) of the manipulator control system 100 or by a controller of the master trolley 2202, the surgical trolley 2203 shown in fig. 22. The control means 120 may be configured on a computing device. Method 700 may be implemented by software, firmware, and/or hardware. In some embodiments, method 700 may be implemented as computer-readable instructions. These instructions may be read and executed by a general purpose processor or a special purpose processor. In some embodiments, these instructions may be stored on a computer readable medium.

Referring to fig. 7, in step 701, a positioning image is acquired. In some embodiments, the positioning image includes a plurality of identifiers on the first operating arm. In some embodiments, the positioning image may be received from an image acquisition device 110 as shown in fig. 1. For example, the control 120 may receive a positioning image actively transmitted by the image acquisition device 110. Alternatively, the control device 120 may send an image request instruction to the image pickup apparatus 110, and the image pickup apparatus 110 sends the positioning image to the control device 120 in response to the image request instruction.

With continued reference to fig. 7, in step 703, in the positional image, a plurality of first operation arm identifiers located on a first operation arm end of a first operation arm of the at least two operation arms are identified, the plurality of first operation arm identifiers including a plurality of first operation arm pose identifiers for identifying poses and at least one first operation arm composite identifier for identifying poses and angles. For example, exemplary methods of identifying a plurality of markers located on a first operating arm may include the methods shown in fig. 16 and 18. In some embodiments, the control device 120 may identify the identification of some or all of the positioning images by an image processing algorithm. In some embodiments, the image processing algorithm may include a feature recognition algorithm, which may extract or recognize the identified features. For example, the image processing algorithm may comprise a corner detection algorithm for detecting identified pattern corners. The corner detection algorithm may be one of, but not limited to, gray-graph based corner detection, binary image based corner detection, contour curve based corner detection. For example, the image processing algorithm may be a color feature extraction algorithm for detecting color features in the identification pattern. As another example, the image processing algorithm may be a contour detection algorithm for detecting contour features of the identification pattern. In some embodiments, the control device may identify the first operation arm identification of part or all of the positioning image by an identification model.

With continued reference to fig. 7, at step 705, a first pose of the first manipulator end relative to a reference coordinate system is determined based on the at least one first manipulator composite identifier and the plurality of first manipulator pose identifiers. In some embodiments, the first pose of the first manipulator coordinate system relative to the reference coordinate system may be determined based on the two-dimensional coordinates of the at least one first manipulator composite identifier and the plurality of first manipulator pose identifiers in the positioning image and the three-dimensional coordinates in the first manipulator coordinate system.

With continued reference to fig. 7, at step 707, a first anti-collision operation for the first operating arm is determined based on the first pose. In some embodiments, the method 700 may further include determining a drive signal for the first operating arm based on the first pose to drive the first operating arm to perform the first anti-collision operation. In some embodiments, the first anti-collision operation may include stopping movement of the first operating arm or generating collision warning information. In some embodiments, the first anti-collision operation may further include reducing a movement speed of the first operation arm or controlling the first operation arm to move in a reverse direction of the current movement direction. In some embodiments, the collision alert information for the first anti-collision operation includes collision alert information for a plurality of different alert levels. Different levels of alarm information may correspond to different levels of collision risk, may be represented by different sounds or different colored lights.

In some embodiments, the method 700 may further comprise: in response to the first operation arm identification not being identified in the positioning image, a first kinematic pose of the tip of the first operation arm is determined as a first pose based on the driving information of the first operation arm and the kinematic model of the first operation arm. In some embodiments, the driving information of the first operation arm may be, for example, a driving value of a driving unit of the first operation arm. The drive value of the drive unit of the first operation arm may be obtained based on the encoder value of the drive motor. It should be appreciated that the kinematic model may represent a mathematical model of the kinematic relationship of the joint space and task space of the manipulator arm. For example, the kinematic model may be established by a D-H (Denavit-Hartenberg) parametric method, an exponential product representation method, and the like.

In some embodiments, the robotic system may be teleoperated by a master manipulator. Those skilled in the art will appreciate that the pose of the main manipulator has a mapping relationship with the pose of the manipulator in the teleoperational state. The map is, for example, a master-slave map determined based on the configuration of the master manipulator and the configuration of the operation arm. In some embodiments, the pose of the primary manipulator may be determined, for example, based on the drive values of the joint drive motors of the primary manipulator or the values of displacement sensors on some or all of the joints of the primary manipulator. The method 700 may further include: in response to the first manipulator identification not being identified in the positioning image, a first kinematic pose of the first manipulator tip is determined as a first pose based on the pose of the main manipulator. For example, a first kinematic pose of the first manipulator end is determined as a first pose based on a master-slave mapping relationship of the pose of the master manipulator and the first manipulator. In some embodiments, the primary operator may be, for example, the primary operator 2401 shown in fig. 24.

In some embodiments, the at least two operating arms of the robotic system include a second operating arm. The method 700 may further include: determining a second pose of a second manipulator end of a second manipulator relative to a reference frame; and determining a first anti-collision operation and/or a second anti-collision operation for the second operation arm based on the first pose and the second pose.

In some embodiments, the second anti-collision operation may include stopping movement of the second operating arm or generating collision warning information. In some embodiments, the second anti-collision operation may further include reducing a movement speed of the second operation arm or controlling the second operation arm to move in a reverse direction of the current movement direction. In some embodiments, the collision alert information for the second anti-collision operation includes collision alert information for a plurality of different alert levels.

In some embodiments, a method of determining a second pose of a second manipulator arm tip relative to a reference frame is provided. The method 700 may further include determining a second kinematic pose of the second manipulator arm tip as the second pose based on the drive information of the second manipulator arm and the kinematic model of the second manipulator arm. Similar to the first operating arm, in some embodiments, the drive information of the second operating arm may be, for example, a drive value of a drive unit of the second operating arm. The drive value of the drive unit of the second operation arm may be obtained based on the encoder value of the drive motor.

In some embodiments, another method of determining a second pose of a second manipulator arm tip relative to a reference frame is provided. The method 700 may further include determining a second kinematic pose of the second manipulator arm tip as a second pose based on the pose of the main manipulator. For example, a second kinematic pose of the second manipulator end is determined as a second pose based on a master-slave mapping relationship of the pose of the master manipulator and the second manipulator. In some embodiments, the primary operator may be, for example, the primary operator 2401 shown in fig. 24.

In some embodiments, another method of determining a second pose of a second manipulator arm tip relative to a reference frame is provided. In some embodiments, referring to FIG. 1, a plurality of different second operating arm identifiers may be disposed on the second operating arm end 130-2, the second operating arm identifiers including a different second operating arm identifier pattern. The method 700 may further include: identifying, in the positioning image, a plurality of second operation arm identifications located on the second operation arm ends, the plurality of second operation arm identifications including different second operation arm identification patterns; and determining a second pose based on the plurality of second operation arm identifications. In some embodiments, the method of determining the second pose is similar to the method of determining the first pose. For example, the second pose may be determined by the methods shown in step 703, step 705, fig. 16 and fig. 18.

In some embodiments, the method 700 may further comprise: and determining a second kinematic pose of the end of the second operating arm as a second pose based on the driving information of the second operating arm and the kinematic model of the second operating arm in response to the second operating arm identifier not being identified in the positioning image.

In some embodiments, the positioning image includes a plurality of first operation arm identifiers and a plurality of second operation arm identifiers. It should be appreciated that two poses may be determined based on the plurality of first and second manipulator identifiers in the positioning image, corresponding to the poses of the first and second manipulator ends, respectively, relative to the reference coordinate system, i.e., the first pose and the second pose. The present disclosure also provides a method of determining a first pose or a second pose from two poses. In some embodiments, the method 700 may further comprise: the method includes determining a first kinematic pose of a tip of a first operating arm based on driving information of the first operating arm and a kinematic model, and determining the first pose from the first pose and the second pose based on the first kinematic pose. Those skilled in the art will appreciate that the first kinematic pose is similar to the first pose, and the pose that is similar to the first kinematic pose is the first pose, while the other pose is the second pose. In some embodiments, the method 700 may further comprise: the second kinematic position of the second operating arm tip is determined based on the driving information of the second operating arm and the kinematic model, and the second position is determined from the first position and the second position based on the second kinematic position. The second kinematic pose is similar to the second pose, the pose similar to the second kinematic pose is the second pose, and the other pose is the first pose. In some embodiments, the first kinematic pose or the second kinematic pose may also be determined based on the pose of the main manipulator. For example, a first kinematic pose is determined based on a master-slave mapping relationship of the pose of the master manipulator and the first manipulator arm. In some embodiments, the first pose and the second pose may be distinguished by the spatial positions of the first and second operating arms. For example, the first and second operation arms protrude from the left and right arranged channels, respectively, and operate on the left and right sides of the image, respectively. In this way, it can be determined that the mark located on the left side of the image is the first operation arm mark, and the mark located on the right side of the image is the second operation arm mark.

In some embodiments, collision detection of the first or second manipulator may be achieved by a bounding box approach. Fig. 8 illustrates a flowchart of a method 800 for determining a first anti-collision operation or a second anti-collision operation, according to some embodiments of the present disclosure. As shown in fig. 8, some or all of the steps in the method 800 may be performed, for example, by a control device (e.g., control device 120) of the manipulator control system 100 shown in fig. 1 or by a controller of the master trolley 2202, the surgical trolley 2203 shown in fig. 22. The control means 120 may be configured on a computing device. Method 800 may be implemented by software, firmware, and/or hardware. In some embodiments, method 800 may be implemented as computer-readable instructions. These instructions may be read and executed by a general purpose processor or a special purpose processor. In some embodiments, these instructions may be stored on a computer readable medium.

Referring to fig. 8, at step 801, a first bounding box of a first actuator disposed on a first manipulator arm tip is determined based on a first pose, the first bounding box including one or more first sub-bounding boxes.

In step 803, a second enclosure for a second actuator disposed on a distal end of the second manipulator arm is determined based on the second pose, the second enclosure comprising one or more second sub-enclosures.

In step 805, a first anti-collision operation and/or a second anti-collision operation is determined based on the first bounding box and the second bounding box.

Fig. 9 illustrates a bounding box schematic diagram in some embodiments of the present disclosure. As shown in fig. 9, includes: a first operating arm 940-1, a first operating arm end 930-1, a first actuator 960-1, a second operating arm 940-2, a second operating arm end 930-2, and a second actuator 960-2. Wherein the first actuator 960-1 is characterized by a first bounding box 980-1 and the second actuator 960-2 is characterized by a second bounding box 980-2. The bounding box in fig. 9 is illustrated in a two-dimensional view, and those skilled in the art will appreciate that the bounding boxes illustrated in fig. 9 (e.g., first 980-1, second 980-2 bounding boxes), first 930-1, first 960-1, second 930-2, and second 960-2 operating arm ends may also be illustrated in a three-dimensional structure.

In some embodiments, the first bounding box or the second bounding box may be generated based on any one of a sphere (sphere) bounding box detection method, an axial bounding box (Aligned Axis Bounding Box, AABB) detection method, a direction bounding box (Oriented Bounding Box, OBB) detection method, a discrete direction polyhedron (Discrete Orientation Polytope, k-DOPs) detection method, and a fixed direction convex hull (Fixed Direction Hull, FDH) detection method.

In some embodiments, the method 800 may further include controlling the first or second operating arm to perform a corresponding collision avoidance operation in response to the first bounding box intersecting the second bounding box.

In some embodiments, the method 800 may further include determining a virtual model corresponding to the first operation arm based on the first pose, and constructing, by the bounding box detection method described above, a first bounding box including one or more first sub-bounding boxes for the virtual model of the first operation arm in the first pose state. And determining a corresponding virtual model of the second operation arm based on the second pose, and constructing a second bounding box comprising one or more second sub-bounding boxes for the virtual model of the second operation arm in the second pose state through the bounding box detection method.

In some embodiments, the method 800 may further comprise: updating the first sub bounding box of the first bounding box and/or the second sub bounding box of the second bounding box in response to the first bounding box intersecting the second bounding box; and determining a first anti-collision operation and/or a second anti-collision operation based on the updated first bounding box and the second bounding box.

In some embodiments, updating the first sub-bounding box of the first bounding box and/or the second sub-bounding box of the second bounding box may be, for example, building a smaller-sized bounding box to characterize the structure of the first bounding box or the second bounding box parcel. In some embodiments, building a bounding box of smaller size may be, for example, partitioning the first bounding box or the second bounding box. In some embodiments, the hierarchy-based first bounding box or second bounding box may be constructed by updating a first sub-bounding box of the first bounding box or a second sub-bounding box of the second bounding box. In some embodiments, the first anti-collision operation or the second anti-collision operation may be determined based on the hierarchy or hierarchy of intersecting first bounding boxes or second bounding boxes, e.g., determining a level of collision risk and generating an alarm signal of the corresponding level. The bounding box size after each update is smaller, and thus the collision detection accuracy based on the bounding box after the update is also higher.

Fig. 10 illustrates a schematic diagram of bounding box updating in some embodiments of the present disclosure. As shown in fig. 10, the actuator 1060 (e.g., the first actuator or the second actuator) may be, for example, a clamp. Fig. 10 shows a process of updating the bounding box three times, in which the bounding box 1080a is updated to the bounding box 1080b, updated to the bounding box 1080c, and updated to the bounding box 1080d again, and the bounding box gradually decreases in size, so that the structure of the actuator 1060 can be represented more finely.

In other embodiments, the multi-level bounding box may be constructed directly by a bounding box algorithm. For example, a hierarchical bounding box (in some embodiments, the hierarchical bounding box may also be referred to as a bounding box tree) of the first manipulator end or actuator is constructed by AABB detection.

In some embodiments, the present disclosure provides a method of determining a first anti-collision operation and/or a second anti-collision operation based on a collision evaluation index. The collision assessment index may be used to characterize the proximity of the first and second operator arm ends or to characterize the proximity of the first and second actuators. In some embodiments, the method 800 may further comprise: a hierarchy or hierarchy of intersecting first bounding boxes or second bounding boxes is determined. Based on the determined hierarchy or hierarchy of bounding boxes, a collision assessment index is determined. Based on the collision evaluation index, a first anti-collision operation and/or a second anti-collision operation is determined. Those skilled in the art will appreciate that bounding boxes of different levels correspond to different sizes, with the impact assessment index, determined based on the level of the small-sized bounding box, being characterized by a higher degree of closeness. In some embodiments, a particular first anti-collision operation or second anti-collision operation may be determined based on the collision evaluation index. For example, it may be determined to stop the movement of the operation arm or reduce the movement speed of the operation arm or generate collision warning information based on the collision evaluation index. For example, collision alert information triggering different alert levels may be determined based on the collision assessment index.

Fig. 11 illustrates a flowchart of a method 1100 for determining a first anti-collision operation or a second anti-collision operation according to further embodiments of the present disclosure. As shown in fig. 11, some or all of the steps in the method 1100 may be performed, for example, by a control device (e.g., control device 120) of the manipulator control system 100 shown in fig. 1 or by a controller of the master trolley 2202, the surgical trolley 2203 shown in fig. 22. The control means 120 may be configured on a computing device. Method 1100 may be implemented by software, firmware, and/or hardware. In some embodiments, method 1100 may be implemented as computer-readable instructions. These instructions may be read and executed by a general purpose processor or a special purpose processor. In some embodiments, these instructions may be stored on a computer readable medium.

Referring to fig. 11, at step 1101, a first envelope of a first actuator disposed on a distal end of a first operating arm is determined based on a first pose.

At step 1103, a second envelope of a second actuator disposed on a distal end of the second operating arm is determined based on the second pose.

In step 1105, a first anti-collision operation and/or a second anti-collision operation is determined based on the first envelope and the second envelope.

Fig. 12 illustrates an envelope diagram in some embodiments of the present disclosure. As shown in fig. 12, includes: first operator arm 1240-1, first operator arm end 1230-1, first actuator 1260-1, second operator arm 1240-2, second operator arm end 1230-2, and second actuator 1260-2. Wherein the first actuator 1260-1 is characterized by a first envelope 1280-1 and the second actuator 1260-2 is characterized by a second envelope 1280-2.

In some embodiments, an edge of the virtual model of the first actuator is determined as a first envelope based on the first pose or an edge of the virtual model of the second actuator is determined as a second envelope based on the second pose. In other embodiments, the corresponding envelope (e.g., the first envelope or the second envelope) may also be obtained by expanding the edges of the virtual model by a certain distance.

In some embodiments, the method 1100 may further include updating a first envelope of the first actuator in response to first control information of the primary operator, wherein the first control information is used to adjust an operating state of the first actuator. The method 1100 may further include updating a second envelope of the second actuator in response to second control information of the primary operator, wherein the second control information is used to adjust an operating state of the second actuator.

In some embodiments, the first actuator or the second actuator may be, for example, an actuator having a clamping or cutting function. The first control information or the second control information may be, for example, control information of opening or closing of the first actuator or the second actuator (for example, opening/closing angle information of the clamp 24012 shown in fig. 24). In some embodiments, taking the first actuator as an example, the method 1100 may further include updating a virtual model of the first actuator in response to the first control information of the primary operator; and determining a new first envelope based on the updated virtual model of the first actuator. For example, the first actuator is a clamp, the main operator issues first control information that controls the opening of the clamp, updates the virtual model in the open state of the clamp in response to the first control information, and determines a new first envelope based on the virtual model in the open state of the clamp.

Fig. 13 illustrates a schematic diagram of envelope updating in some embodiments of the present disclosure. As shown in fig. 13, the actuator 1360 (e.g., the first actuator or the second actuator) may be, for example, a clamp. Fig. 13 shows that actuator 1360 is updated from a closed state to an open state, and the envelope of actuator 1360 is also updated from envelope 1380a to a new envelope 1380b. The updated envelope 1380b may be more accurate in characterizing the actuator 1360 in the open operating state.

In some embodiments, the present disclosure also provides another method of determining a first anti-collision operation and/or a second anti-collision operation based on a collision evaluation index. In some embodiments, the method 1100 may further comprise: an overlap range of the first envelope and the second envelope is determined. Based on the overlapping range, a collision evaluation index is determined. Based on the collision evaluation index, a first anti-collision operation and/or a second anti-collision operation is determined. In some embodiments, the overlapping extent of the first envelope and the second envelope may be represented by the overlapping area/volume of the first envelope and the second envelope, or the maximum width/depth of the overlapping portion.

In some embodiments, the method 700 may further include determining two-dimensional coordinates of a plurality of markers (e.g., a first operation arm marker or a second operation arm marker) in the positioning image. In some embodiments, the identified coordinates may be represented by coordinates identifying corner points of the pattern. For example, two-dimensional coordinates identified in the positioning image and three-dimensional coordinates in the manipulator coordinate system (e.g., the first manipulator coordinate system or the second manipulator coordinate system) may be represented by coordinates identifying the pattern corner. In some embodiments, determining the two-dimensional coordinates of the plurality of markers in the positioning image may include determining the two-dimensional coordinates of the at least one composite marker and the plurality of pose markers in the positioning image. In some embodiments, the method 700 may further include determining three-dimensional coordinates of the at least one composite identifier and the plurality of pose identifiers in the manipulator arm coordinate system based on the at least one composite identifier. For example, based on the at least one first manipulator composite identifier, three-dimensional coordinates of the at least one first manipulator composite identifier and the plurality of first manipulator pose identifiers in a first manipulator coordinate system are determined.

In some embodiments, the method 700 may further include determining a pose of the manipulator coordinate system relative to the reference coordinate system based on the two-dimensional coordinates of the at least one composite identification pattern corner and the plurality of pose identification pattern corners in the positioning image and the three-dimensional coordinates in the manipulator coordinate system and the transformation relationship of the camera coordinate system relative to the reference coordinate system. In some embodiments, the transformation of the camera coordinate system with respect to the reference coordinate system may be known. For example, the reference coordinate system is a world coordinate system, and the transformation relationship between the camera coordinate system and the world coordinate system can be determined according to the pose of the camera. In other embodiments, the reference coordinate system may be the camera coordinate system itself, according to actual requirements. In some embodiments, based on the camera imaging principle and the projection model, the pose of the manipulator coordinate system relative to the camera coordinate system is determined based on the two-dimensional coordinates of the at least one composite identification pattern corner and the plurality of pose identification pattern corners in the positioning image and the three-dimensional coordinates in the manipulator coordinate system. Based on the transformation relation between the pose of the operating arm coordinate system relative to the camera coordinate system and the transformation relation between the camera coordinate system relative to the reference coordinate system, the pose of the operating arm coordinate system relative to the reference coordinate system can be obtained. In some embodiments, camera intrinsic parameters may also be considered. For example, the camera intrinsic may be the camera intrinsic of the image capturing device 110 as shown in fig. 1 or the imaging module 2560b as shown in fig. 25. The internal parameters of the camera may be known or calibrated. In some embodiments, the camera coordinate system may be understood as a coordinate system established with the camera origin. For example, a coordinate system established with the optical center of the camera as the origin or a coordinate system established with the lens center of the camera as the origin. When the camera is a binocular camera, the origin of the camera coordinate system may be the center of the left lens of the camera, or the center of the right lens, or any point on the left and right lens center line (e.g., the midpoint of the line).

In some embodiments, the pose of the manipulator arm coordinate system relative to a reference coordinate system (e.g., world coordinate system) may be determined based on the following equation (14):

^w R _wm ＝ ^w R _lens ^lens R _wm

^w P _wm ＝ ^w R _lens ( ^lens R _wm + ^lens P _wm )+ ^w P _lens (14)

wherein,, ^w R _wm to manipulate the pose of the arm coordinate system relative to the world coordinate system, ^w P _wm to manipulate the position of the arm coordinate system relative to the world coordinate system, ^w R _lens for the pose of the camera coordinate system relative to the world coordinate system, ^w P _lens for the position of the camera coordinate system relative to the world coordinate system, ^lens R _wm to manipulate the pose of the arm coordinate system relative to the camera coordinate system, ^lens P _wm is the position of the manipulator arm coordinate system relative to the camera coordinate system.

Fig. 14 illustrates a flowchart of a method 1400 of determining a pose of an operating arm relative to a reference frame, according to some embodiments of the present disclosure. In some embodiments, the method 1400 may be used to determine a first pose of a first manipulator arm tip relative to a reference frame or a second pose of a second manipulator arm tip relative to the reference frame. Some or all of the steps in method 1400 may be performed by a control device (e.g., control device 120) of the manipulator control system 100 or by a controller of the master cart 2202, the surgical cart 2203 shown in fig. 22. The control means 120 may be configured on a computing device. Method 1400 may be implemented by software, firmware, and/or hardware. In some embodiments, method 1400 may be implemented as computer-readable instructions. These instructions may be read and executed by a general purpose processor or a special purpose processor. In some embodiments, these instructions may be stored on a computer readable medium.

Referring to fig. 14, at step 1401, three-dimensional coordinates of at least one composite identifier and a plurality of pose identifiers in an identifier coordinate system are determined. In some embodiments, as shown in fig. 6, the three-dimensional coordinates of each identification pattern corner in the identification coordinate system { wm0} may be determined based on the following equation (15):

C _m ＝[r·cosα _m r·sinα _m 0] ^T (15)

wherein C is _m To take the selected identification pattern corner as the first identification pattern corner (e.g. pose identification pattern corner P ₆₀₁ ) According to the clockwise direction of the cross-section circle 631, the three-dimensional coordinates of the mth identification pattern corner point in the identification coordinate system are shown, and r is the radius.

In some embodiments, the pivot angle α identified by the mth identification pattern corner is determined based on equation (13) _m The pivot angle α then determined based on equation (13) _m And equation (15) determining the three-dimensional coordinate C of the mth identification pattern corner in the identification coordinate system { wm0} _m 。

Referring to fig. 14, at step 1403, a roll angle of the identification coordinate system relative to the operating arm coordinate system is determined based on the at least one composite identification. In some embodiments, a first pivot angle of one of the at least one composite identifier in the operating arm coordinate system may be determined, and a second pivot angle of the composite identifier in the identifier coordinate system may be determined. Based on the first pivot angle and the second pivot angle, a roll angle of the identification coordinate system relative to the operating arm coordinate system may be determined. In some embodiments, referring to FIG. 6, the roll angle Δα may be the angle of rotation about the Z axis of the identification coordinate system { wm0} relative to the manipulator arm coordinate system { wm }. In some embodiments, the roll angle Δα may be determined based on the following equation (16):

Δα＝α ₁ -α ₂ (16)

Wherein alpha is ₁ For a first pivot angle alpha ₂ Is a second pivot angle. The first pivot angle is the corner point of the composite identification pattern (for example, the corner point R of the composite identification pattern ₆₀₂ ) An axis-around angle identified in the operating arm coordinate system, a second axis-around angleFor corner points of the composite identification pattern (e.g. corner point R of the composite identification pattern ₆₀₂ ) The pivot angle identified in the identification coordinate system.

In some embodiments, the X-axis of the identification coordinate system { wm0} points to the composite identification pattern corner (e.g., composite identification pattern corner R ₆₀₂ ) The method 1400 may also include determining a first pivot angle of the composite signature identified in the manipulator arm coordinate system as a roll angle of the signature coordinate system relative to the manipulator arm coordinate system. In some embodiments, the first pivot angle may be determined based on a pattern included in the composite identifier.

Referring to fig. 14, at step 1405, three-dimensional coordinates of at least one composite identity and a plurality of pose identities in an operating arm coordinate system are determined based on a roll angle of the identity coordinate system relative to the operating arm coordinate system and the three-dimensional coordinates of at least one composite identity and a plurality of pose identities in the identity coordinate system. It will be appreciated that knowing the roll angle of the identification coordinate system relative to the manipulator arm coordinate system, three-dimensional coordinates of a plurality of identification pattern corner points (e.g., composite identification pattern corner points and pose identification pattern corner points) in the identification coordinate system may be transformed into three-dimensional coordinates in the manipulator arm coordinate system according to a coordinate transformation.

Referring to fig. 14, in step 1407, a pose of the manipulator coordinate system relative to the reference coordinate system is determined as a pose of the manipulator end relative to the reference coordinate system based on the two-dimensional coordinates of the at least one composite identifier and the plurality of pose identifiers in the positioning image and the three-dimensional coordinates in the manipulator coordinate system. In some embodiments, step 1407 in method 1400 may be implemented similarly to determining the pose of the first operating arm coordinate system relative to the reference coordinate system in method 700.

Fig. 15 illustrates a flowchart of a method 1500 of determining a pose of an operating arm relative to a reference frame according to further embodiments of the present disclosure. Method 1500 may be an alternative embodiment of method 1400 of fig. 14. Some or all of the steps in the method 1500 may be performed by a control device (e.g., the control device 120) of the manipulator control system 100 or a controller of the master trolley 2202, the surgical trolley 2203 shown in fig. 22. The control means 120 may be configured on a computing device. The method 1500 may be implemented by software, firmware, and/or hardware. In some embodiments, method 1500 may be implemented as computer-readable instructions. These instructions may be read and executed by a general purpose processor or a special purpose processor. In some embodiments, these instructions may be stored on a computer readable medium.

Referring to fig. 15, in step 1501, a pose of an identification coordinate system relative to a reference coordinate system is determined based on two-dimensional coordinates in a positioning image and three-dimensional coordinates in the identification coordinate system of at least one composite identification and a plurality of pose identifications. In some embodiments, the three-dimensional coordinates of the at least one composite identifier and the plurality of pose identifiers in the identification coordinate system may be implemented similar to step 1401 in method 1400.

Referring to fig. 15, at step 1503, a roll angle of the identification coordinate system relative to the operating arm coordinate system is determined based on the at least one composite identification. Determining the roll angle of the identification coordinate system relative to the operating arm coordinate system may be accomplished in some embodiments similar to step 1403 in method 1400.

Referring to fig. 15, in step 1505, the pose of the operating arm coordinate system with respect to the reference coordinate system is determined as the pose of the end of the operating arm with respect to the reference coordinate system based on the roll angle of the identification coordinate system with respect to the operating arm coordinate system and the pose of the identification coordinate system with respect to the reference coordinate system.

For example, taking the reference coordinate system as the world coordinate system as an example, the pose of the operation arm coordinate system with respect to the world coordinate system may be determined based on the following formula (17):

^w R _wm ＝ ^w R _wm0 ·rot _z (Δα)

^w P _wm ＝ ^w P _wm0 (17)

wherein,, ^w R _wm To manipulate the pose of the arm coordinate system relative to the world coordinate system, ^w P _wm to manipulate the position of the arm coordinate system relative to the world coordinate system, ^w R _wm0 to identify the pose of the coordinate system relative to the world coordinate system, ^w P _wm0 to identify the location of the coordinate system relative to the world coordinate system, rot _z (Δα) representsThe roll angle delta alpha is rotated around the Z axis of the operating arm coordinate system.

In some embodiments, the method 700 further comprises: based on the pose of the manipulator relative to the reference frame, the pose of the end instrument of the manipulator relative to the reference frame is determined. For example, a pose of the first actuator relative to the reference frame is determined based on a first pose of the first manipulator end relative to the reference frame. In some embodiments, an end instrument (e.g., first actuator 160-1 or second actuator 160-2 shown in fig. 1) is disposed at the end of the corresponding manipulator arm, and thus the position of the end instrument is known or determinable. The pose transformation relationship of the end instrument relative to the manipulator arm coordinate system is also known or predetermined. In some embodiments, taking the reference coordinate system as an example of a world coordinate system, the pose of the distal instrument of the manipulator arm relative to the reference coordinate system may be determined based on the following equation (18):

^w R _tip ＝ ^w R _wm ^wm R _tip

^w P _tip ＝ ^w R _wm ^wm P _tip + ^w P _wm (18)

Wherein,, ^w R _tip for the pose of the end instrument relative to the world coordinate system, ^w P _tip for the position of the end instrument relative to the world coordinate system, ^wm R _tip for the pose of the end instrument relative to the manipulator arm coordinate system, ^wm P _tip is the position of the end instrument relative to the operating arm coordinate system.

In some embodiments, the pose of the manipulator arm coordinate system relative to the world coordinate system is determined based on equation (17) ^w R _wm And position ^w P _wm The pose then determined based on equation (17) ^w R _wm And position ^w P _wm And equation (18) determining the pose of the end instrument relative to the world coordinate system ^w R _tip And position ^w P _tip 。

Some embodiments of the present disclosure provide methods of identifying an identity. Fig. 16 illustrates a flowchart of a method 1600 for identifying an identity, according to some embodiments of the present disclosure. In some embodiments, method 1600 may be used to identify an identification on the first or second operating arm. As shown in fig. 16, some or all of the steps in the method 1600 may be performed by a data processing device (e.g., the control device 120 shown in fig. 1, the processor 1620 shown in fig. 16) or the controller of the master cart 2202, the surgical cart 2203 shown in fig. 22. The control means 120 may be configured on a computing device. Method 1600 may be implemented by software, firmware, and/or hardware. In some embodiments, method 1600 may be implemented as computer readable instructions. These instructions may be read and executed by a general purpose processor or a special purpose processor. In some embodiments, these instructions may be stored on a computer readable medium.

Referring to FIG. 16, in step 1601, a plurality of candidate identities are determined from a localization image. In some embodiments, the logo may include logo pattern corner points in the logo pattern. The coordinates of the candidate logo or the origin of the coordinate system may be represented by the candidate logo pattern corner points. In some embodiments, the candidate identification pattern corner points may refer to possible identification pattern corner points obtained through preliminary processing or preliminary recognition of the positioning image.

In some embodiments, the method 1600 may include determining a region of interest (Region of Interest, ROI) in the localization image. For example, the ROI may be first truncated from the localization image and a plurality of candidate identifications determined from the ROI. The ROI may be a whole image of the positioning image or a partial region. For example, the ROI of the current frame may be truncated based on a plurality of regions within a range of identified pattern corner points determined from the previous frame image (e.g., the positioning image of the previous image processing cycle). For the positioning image of the non-first frame, the ROI may be a region within a certain distance range centered on a virtual point formed by coordinates of a plurality of identified pattern corner points of the previous image processing cycle. The certain distance range may be a fixed multiple, e.g. twice, of the average separation distance of the corner points of the identification pattern. It should be appreciated that the predetermined multiple may also be a variable multiple of the average separation distance of the plurality of candidate identification pattern corner points in the previous image processing cycle.

In some embodiments, method 1600 may include determining corner likelihood values (Corner Likelihood, CL) for each pixel point in the positioning image. In some embodiments, the corner likelihood values for the pixel points may be numerical values that characterize the likelihood of the pixel points as feature points (e.g., corner points). In some embodiments, the positioning image may be preprocessed before computing the corner likelihood values for each pixel, after which the corner likelihood values for each pixel in the preprocessed image are determined. The preprocessing of the image may include, for example: at least one of image graying, image denoising and image enhancement. For example, image preprocessing may include: and cutting the ROI from the positioning image, and converting the ROI into a corresponding gray image.

In some embodiments, determining the corner likelihood value of each pixel in the ROI may include, for example, convolving each pixel in the ROI to obtain a first and/or second derivative of each pixel. And (3) obtaining the corner likelihood value of each pixel point by using the first-order derivative and/or the second-order derivative of each pixel point in the ROI range. Illustratively, the corner likelihood values for each pixel may be determined based on the following equation (19):

CL＝max(c _xy ,c ₄₅ )

c _xy ＝τ ² ·|I _xy |-1.5·τ·(|I ₄₅ |+|I _n45 |) (19)

c ₄₅ ＝τ ² ·|I _{45_45} |-1.5·τ·(|I _x |+|I _y |)

Where τ is a set constant, for example, set to 2; i _x 、I ₄₅ 、I _y 、I _n45 The first derivatives of the pixel points in the directions of 0, pi/4, pi/2 and pi/4 are respectively shown; i _xy And I _{45_45} The second derivatives of the pixel points in the 0, pi/2 and pi/4, -pi/4 directions, respectively.

In some embodiments, method 1600 may include dividing the ROI into a plurality of sub-regions. For example, a non-maximal suppression method may be used to equally divide multiple sub-images in a ROI range. In some embodiments, the ROI may be divided equally into multiple sub-images of 5×5 pixels. The above-described embodiments are exemplary and not limiting, and it should be appreciated that the positioning image or ROI may also be segmented into multiple sub-images of other sizes, for example, into multiple sub-images of 9 x 9 pixels.

In some embodiments, method 1600 may include determining a pixel in each sub-region for which the corner likelihood value is greatest to form a set of pixels. For example, a pixel point with the largest CL value in each sub-image may be determined, and the pixel point with the largest CL value in each sub-image may be compared with a first threshold value to determine a set of pixels with CL values greater than the first threshold value. In some embodiments, the first threshold may be set to 0.06. It should be appreciated that the first threshold value may also be set to other values.

Referring to FIG. 16, in step 1603, a first one of a plurality of identifications is identified from a plurality of candidate identifications. In some embodiments, the first identifier is identified based on the identifier pattern matching template. In some embodiments, the identification pattern matching templates include at least one pose identification pattern matching template and a composite identification pattern matching template that is different from the plurality of patterns. In some embodiments, the composite identifier is identified based on a plurality of composite identifier pattern matching templates that differ in pattern. For example, when the identification patterns of the pose identification are the same, the pose identification pattern matching template and the candidate identification may be first matched, and if the matching fails, a plurality of different composite identification pattern matching templates are then matched with the candidate identification one by one until the matching is successful.

In some embodiments, the first identity is identified using an identity pattern matching template to match the pattern at the candidate identity pattern corner. For example, candidate identification pattern corner points reaching a preset pose pattern matching degree standard are determined as first identification pattern corner points. In some embodiments, the identification pattern matching template has the same or similar features as the pattern identifying the areas near the corner points of the pattern. If the matching degree of the identification pattern matching template and the pattern of the area near the candidate identification pattern corner reaches the preset pattern matching degree standard (for example, the matching degree is higher than the threshold value), the pattern near the candidate identification pattern corner can be considered to have the same or similar characteristics as the identification pattern matching template, and then the current candidate identification pattern corner can be considered to be the identification pattern corner.

In some embodiments, a pixel point with the largest CL value in the pixel set is determined as a candidate identification pattern corner. For example, all pixels in the pixel set may be ordered in order of CL values from high to low, and the pixel with the highest CL value may be used as the candidate identification pattern corner. In some embodiments, after determining the candidate identification pattern corner, matching the pattern at the candidate identification pattern corner using an identification pattern matching template, and if a preset pattern matching degree criterion is reached, determining the candidate identification pattern corner as the identified first identification pattern corner.

In some embodiments, method 1600 may further include, in response to a match failure, determining, as a candidate identification pattern corner, a pixel having a greatest corner likelihood value for a remaining pixel in the set of pixels. For example, if the candidate identification pattern corner does not reach the preset matching degree standard, selecting a pixel point with a secondary CL value (a pixel point with a second largest CL value) as the candidate identification pattern corner, matching the candidate identification pattern corner with a pattern at the candidate identification pattern corner by using an identification pattern matching template, and so on until the first identification pattern corner is identified.

In some embodiments, the identification pattern may be a checkerboard pattern with alternating black and white, so the identification pattern matching templates may be the same checkerboard pattern, utilizing the gray distribution G of the identification pattern matching templates _M Pixel neighborhood gray scale distribution G of pixel points corresponding to candidate identification pattern corner points _image The correlation coefficients (Correlation Coefficient, CC) between the two are matched. Pixel neighborhood gray scale distribution G of pixel point _image The gradation distribution of pixels is a constant range (for example, 10×10 pixels) of pixels centered on the pixel point. The correlation coefficient may be determined based on the following equation (20):

where Var () is a variance function and Cov () is a covariance function. In some embodiments, when the correlation coefficient is smaller than 0.8, the correlation between the gray distribution in the pixel domain and the identification pattern matching template is lower, and then the candidate identification pattern corner with the largest likelihood value of the corner is judged to be not the identification pattern corner, otherwise, the candidate identification pattern corner with the largest likelihood value of the corner is considered to be the identification pattern corner.

In some embodiments, method 1600 may further include determining an edge direction of the candidate identification pattern corner. For example, as shown in fig. 17, the candidate pose identification pattern corner is corner P in pose identification pattern 1700 ₁₇₀₁ Then the corner point P ₁₇₀₁ The edge direction of (a) may refer to forming the corner point P ₁₇₀₁ As indicated by the dashed arrow in fig. 17.

In some embodiments, the edge direction may be determined by applying a first derivative value (I) in the X-direction and Y-direction of the planar coordinate system to each pixel of a range of neighborhoods (e.g., 10X 10 pixels) centered on the candidate identification pattern corner point _x And I _y ) And (5) determining. For example, the edge direction may be determined based on the following formula (21):

wherein the first derivative (I _x And I _y ) Can be obtained by carrying out convolution operation on each pixel point in a certain range neighborhood range. In some embodiments, the edge direction I of the pixel points in each range neighborhood is determined by _angle And corresponding weight I _weight Clustering calculation is carried out to obtain the edge direction of the pixel point, and the weight I is selected _weight Class-corresponding I with maximum duty cycle _angle As the edge direction. If there are a plurality of edge directions, the weight I is selected _weight I corresponding to multiple classes with maximum duty ratio _angle As the edge direction.

In some embodiments, the method used for the cluster computation may be any one of a K-means method, a BIRCH (Balanced Iterative Reducing and Clustering using Hierarchies, hierarchical structure based balanced iterative clustering method) method, a DBSCAN (Density-Based Spatial Clustering of Applications with Noise, density based clustering method with noise) method, a GMM (Gaussian Mixed Model, gaussian mixture model) method.

In some embodiments, method 1600 may include identifying a pattern matching template based on the edge direction rotation. The identification pattern matching template may be aligned with the image at the candidate identification pattern corner based on the edge direction rotation identification pattern matching template. The edge direction of the candidate identification pattern corner may be used to determine the arrangement direction of the image at the candidate identification pattern corner in the positioning image. In some embodiments, the identification pattern matching template may be adjusted to be the same or nearly the same as the image direction at the candidate identification pattern corner points based on the edge direction rotation identification pattern matching template to facilitate image matching.

Referring to fig. 16, at step 1605, other identifications are searched starting with the first identification. In some embodiments, in response to identifying the composite identifier, other identifiers are identified based on the pose identifier pattern matching template. In some embodiments, the other identifications include pose identifications or composite identifications.

Fig. 18 illustrates a flow chart of a method 1800 for searching for identification according to some embodiments of the disclosure. As shown in fig. 18, some or all of the steps in the method 1800 may be performed by a data processing device (e.g., the control device 120 shown in fig. 1 or the master cart 2202, controller of the surgical cart 2203 shown in fig. 22). The control means 120 may be configured on a computing device. The method 1800 may be implemented by software, firmware, and/or hardware. In some embodiments, method 1800 may be implemented as computer-readable instructions. These instructions may be read and executed by a general purpose processor or a special purpose processor. In some embodiments, these instructions may be stored on a computer readable medium.

Referring to fig. 18, in step 1801, a second identifier is determined starting from the first identifier. In some embodiments, the first identification pattern corner is used as a starting point, and the second identification pattern corner is searched in a set searching direction. In some embodiments, the set search direction may include at least one direction of a right front (corresponding to an angular direction of 0 °), a right rear (corresponding to an angular direction of 120 °), a right upper (angular direction of 90 °), a right lower (-angular direction of 90 °) and an oblique direction (e.g., an angular direction of ±45°) of the first logo pattern corner point.

In some embodiments, the set search direction is n, e.g., searching in 8 directions, each search direction v _sn Can be determined based on the following equation (22):

v _sn ＝[cos(n·π/4)sin(n·π/4)],(n＝1,2,…,8) (22)

in some embodiments, the search direction set in the current step may be determined according to a deviation angle between adjacent identification pattern corner points among the plurality of identification pattern corner points determined in the previous frame. Illustratively, the predetermined search direction may be determined based on the following equation (23):

wherein, (x) _j ,y _j ) A plurality of two-dimensional coordinates identifying pattern corner points determined for a previous frame (or a previous image processing period); n is n _last The number of the plurality of the corner points of the identification pattern determined for the previous frame; v _s1 A search direction set for the first one; v _s2 A search direction set for the second.

In some embodiments, as shown in FIG. 19, the corner points P are identified with a first logo ₁₉₀₁ Is used as a search starting point, and a second identification pattern corner point P is searched in a set search direction ₁₉₀₂ Is defined by a coordinate location of (a). For example, the corner point P is marked with a first identification pattern ₁₉₀₁ Is used as a search start point in a set search direction V with a certain search step by a search box (for example, a broken line box in fig. 19) ₁₉₀₁ Searching the identified pattern corner points.

In some embodiments, if at least one candidate identifier exists in the search box, the candidate identifier pattern corner point with the largest likelihood value in the search box is preferentially selected as the second identifier pattern corner point P ₁₉₀₂ . Limiting at search boxIn the case of a suitable size, the corner points P are identified by a first identification pattern ₁₉₀₁ Is used as a search starting point to perform a second identification pattern corner point P ₁₉₀₂ When searching, the candidate identification pattern corner points with the maximum likelihood values of the corner points in the candidate identifications appearing in the search box are more likely to be identification pattern corner points. Therefore, the candidate mark having the largest likelihood value in the search box can be regarded as the second mark pattern corner point P ₁₉₀₂ In order to increase the data processing speed. In other embodiments, in order to improve accuracy of identifying the corner points of the identification pattern, in the case that at least one candidate identification exists in the search box, a candidate identification pattern corner point with the largest likelihood value of the corner points in the candidate identifications appearing in the search box is selected to identify the corner points, so as to determine whether the candidate identification pattern corner point with the largest likelihood value of the corner points is the identification pattern corner point. For example, a pose identification pattern matching template or a composite identification pattern matching template may be used to match an image within a certain range at the candidate identification pattern corner with the maximum likelihood value of the corner, and the candidate identification pattern corner meeting the preset pattern matching degree standard may be regarded as the searched second identification pattern corner P ₁₉₀₂ 。

In some embodiments, with continued reference to fig. 19, the size of the search box may be increased in steps, such that the search range is increased in steps. The search step size may be varied in synchronization with the side length of the search box. In other embodiments, the size of the search box may be a fixed size.

In some embodiments, the identification pattern may be a black-and-white alternate pattern, and pattern matching may be performed based on the correlation coefficient in equation (20). If the correlation coefficient is larger than the threshold value, the candidate identification pattern corner with the maximum likelihood value of the corner is considered to be the identification pattern corner, and the identification pattern corner is marked as a second identification pattern corner.

Referring to fig. 18, in step 1803, a search direction is determined based on the first and second identifications. In some embodiments, the search direction includes: a first search direction and a second search direction. The first search direction may be a direction starting from the coordinate position of the first identification pattern corner point and being away from the second identification pattern corner point. The second search direction mayThe coordinate position of the corner point of the second identification pattern is taken as a starting point, and the direction away from the corner point of the first identification pattern is taken as a direction away from the corner point of the first identification pattern. For example, the search direction V shown in fig. 19 ₁₉₀₂ 。

In step 1805, the first identifier or the second identifier is used as a starting point to search for the identifier in the search direction. In some embodiments, if the first identification pattern corner point is taken as a new starting point, the search of the identification pattern corner point may be performed with the first search direction in the above embodiments as the search direction. If the second identification pattern corner point is taken as a new searching start point, the second searching direction in the above embodiment may be taken as a searching direction to search the identification pattern corner point. In some embodiments, a new identification pattern corner (e.g., the third identification pattern corner P in fig. 19) is searched for ₁₉₀₃ ) May be performed similarly to step 1801. In some embodiments, the search step may be the first identification pattern corner P ₁₉₀₁ And a second identification pattern corner point P ₁₉₀₂ Distance L between ₁ 。

In some embodiments, in response to the search distance being greater than the search distance threshold, determining a pixel of the set of pixels having a maximum likelihood value for a corner of the remaining pixels as a candidate identification pattern corner; and matching the identification pattern matching template with the identification pattern at the candidate identification pattern corner position to identify the first identification. In some embodiments, after determining the pixel with the largest likelihood value for the corner of the remaining pixels in the set of pixels as the new candidate identification pattern corner, a new first identification may be identified based on a method similar to step 1603. In some embodiments, the search distance being greater than the search distance threshold may be understood as the search distance in some or all of the search directions being greater than the search distance threshold. In some embodiments, the search distance threshold may include a set multiple of the distance of the Mth-1 pose identification pattern corner and the Mth-2 pose identification pattern corner, where M+.3. For example, the first two identified pattern corner points with a distance threshold of twice are searched for. In this way, the maximum searching distance for searching the third identification pattern corner is twice the distance between the first identification pattern corner and the second identification pattern corner, if the searching distance is reached in the searching direction and the identification pattern corner is not searched, determining the pixel with the maximum corner likelihood value of the rest pixels in the pixel set as the new candidate pose identification pattern corner, identifying the new first identification, and stopping the current searching process correspondingly. In some embodiments, similar to method 1600, a new first identified pattern corner may be redetermined, and similar to method 1800, the remaining identified pattern corners may be searched using the new identified pattern corner as a search starting point.

In some embodiments, in response to the number of identified markers being greater than or equal to the number of markers threshold, a pose of the operating arm relative to the reference coordinate system may be determined based on the identified markers, and searching for the markers may be stopped accordingly. For example, responsive to the number of identified pattern corner points being greater than or equal to the identification number threshold, searching for the identified pattern corner points is stopped. For example, when four identification pattern corner points are identified, searching for the identification pattern corner points is stopped.

In some embodiments, in response to the identified number of identities being less than the identity number threshold, determining a pixel in the set of pixels having a maximum likelihood value for a corner of the remaining pixels as a candidate identity pattern corner; and matching the identification pattern matching template with the identification pattern at the candidate identification pattern corner position to identify the first identification. In some embodiments, if the total number of identified pattern corner points is less than the identification number threshold, the search based on the first identification pattern in the above step is considered to fail. In some embodiments, if the composite identifier is not included in all the identified identifiers, for example, the identified identifier pattern corner does not include the composite identifier pattern corner, the search based on the first identifier pattern in the above step is considered to fail. In some embodiments, in the event of a search failure, the pixel with the largest likelihood value for the corner of the remaining pixels in the set of pixels is determined as the new candidate identification pattern corner, after which the new first identification may be identified based on a method similar to step 1603. In some embodiments, similar to method 1600, a new first identified pattern corner may be redetermined, and similar to method 1800, the remaining identified pattern corners may be searched using the new identified pattern corner as a search starting point.

In some embodiments, if the identified identity comprises a composite identity, the remaining identities searched may be uncertain of the identity type (it should be understood that the identity type comprises a pose identity and a composite identity). For example, if the first identifier is a composite identifier, it may be uncertain whether the second identifier is specifically a pose identifier or a composite identifier.

In some embodiments, if the identified identity does not include a composite identity, the type of new identity searched for is determined. For example, if the first identifier is not a composite identifier, then it is necessary to determine whether the second identifier is specifically a pose identifier or a composite identifier. If neither the first identifier nor the second identifier is a composite identifier, then it is necessary to determine whether the third identifier is specifically a pose identifier or a composite identifier, and so on.

In some embodiments, after searching or identifying the corner points of the identification pattern, the determined corner points of the identification pattern may be subjected to sub-pixel positioning, so as to improve the position accuracy of the corner points of the identification pattern.

In some embodiments, CL values for pixel points may be fitted based on a model to determine coordinates of identified pattern corner points after sub-pixel positioning. For example, the fitting function of CL values for each pixel point in the ROI may be a quadric function, whose extreme points are sub-pixel points. The fitting function may be determined based on the following formulas (24) and (25):

S(x,y)＝ax ² +by ² +cx+dy+exy+f (24)

Wherein S (x, y) is a CL value fitting function of all pixel points in each ROI, a, b, c, d, e, f is a coefficient; x is x _c The x-coordinate, y, identified for pose _c The y-coordinate identified for the pose.

In some embodiments of the present disclosure, the present disclosure also provides a computer device including a memory and a processor. The memory may be used to store at least one instruction and the processor coupled to the memory for executing the at least one instruction to perform some or all of the steps in the methods of the present disclosure, such as some or all of the steps in the methods disclosed in fig. 7, 8, 11, 14, 15, 16, and 18.

Fig. 20 illustrates a schematic block diagram of a computer device 2000, according to some embodiments of the present disclosure. Referring to fig. 20, the computer device 2000 may include a Central Processing Unit (CPU) 2001, a system Memory 2004 including a random access Memory (Random Access Memory, RAM) 2002 and a Read-Only Memory (ROM) 2003, and a system bus 2005 connecting the respective components. The computer device 2000 may also include input/output devices 2006, and a mass storage device 2007 for storing an operating system 2013, application programs 2014, and other program modules 2015. The input/output device 2006 includes an input/output controller 2010 composed mainly of a display 2008 and an input device 2009.

The mass storage device 2007 is connected to the central processing unit 2001 through a mass storage controller (not shown) connected to the system bus 2005. Mass storage device 2007 or a computer-readable medium provides non-volatile storage for the computer device. The mass storage device 2007 may include a computer-readable medium (not shown) such as a hard disk or a compact disk-read Only Memory (CD-ROM) drive.

Computer readable media may include computer storage media and communication media without loss of generality. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes read-only memory, random-access memory, flash memory, or other solid state memory technology, optical read-only disks, or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. Of course, those skilled in the art will recognize that computer storage media are not limited to the ones described above. The above-described system memory and mass storage devices may be collectively referred to as memory.

The computer device 2000 may be connected to a network 2012 through a network interface unit 2011 coupled to the system bus 2005.

The system memory 2004 or mass storage device 2007 is also used to store one or more instructions. The central processing unit 2001 implements all or part of the steps of the methods in some embodiments of the present disclosure by executing the one or more instructions.

In some embodiments of the present disclosure, the present disclosure also provides a computer-readable storage medium having stored therein at least one instruction that is executable by a processor to cause a computer to perform some or all of the steps in the methods of some embodiments of the present disclosure, such as some or all of the steps in the methods disclosed in fig. 7, 8, 11, 14, 15, 16, and 18. Examples of computer readable storage media include memory of computer programs (instructions), such as read-only memory, random-access memory, compact discs read-only, magnetic tapes, floppy discs, optical data storage devices, and the like.

Fig. 21 illustrates a schematic diagram of a surgical robotic system 2100, according to some embodiments of the present disclosure. In some embodiments of the present disclosure, referring to fig. 21, a surgical robotic system 2100 may include: the surgical tool comprises at least two surgical tools 2101, an image collector 2110 and a control device 2120, wherein a first surgical tool in the at least two surgical tools 2101 comprises a first operating arm, an actuator arranged at the tail end of the first operating arm and a plurality of first operating arm identifiers arranged on the tail end of the first operating arm, and the plurality of first operating arm identifiers comprise a plurality of first operating arm pose identifiers for identifying pose and at least one first operating arm compound identifier for identifying pose and angle. The image collector 2110 may be used to collect a positioning image of the first operation arm. The control device 2120 is connected to the image collector 2110 for performing some or all of the steps in the methods of some embodiments of the present disclosure, such as some or all of the steps in the methods disclosed in fig. 7, 8, 11, 14, 15, 16, and 18. In some embodiments, the surgical tool 2101 may be, for example, the surgical tool 2300 shown in fig. 23.

Fig. 22 illustrates a schematic diagram of a surgical robotic system 2200 according to some embodiments of the present disclosure. In some embodiments of the present disclosure, referring to fig. 22, a surgical robotic system 2200 may include a surgical tool 2201, a master cart 2202, and a surgical cart 2203. The surgical trolley 2203 is provided with a driving module for driving the surgical tool 2201, and the surgical tool 2201 is mounted on the surgical trolley 2203 and connected with the driving module. The master trolley 2202 is communicatively coupled to a surgical trolley 2203 for controlling surgical tools 2201 to perform surgical procedures. In some embodiments, the master trolley 2202 may be used to perform some or all of the steps in the methods of some embodiments of the present disclosure, such as some or all of the steps in the methods disclosed in fig. 7, 8, 11, 14, 15, 16, and 18. In some embodiments the master trolley 2202 is connected to the surgical trolley 2203 by wired or wireless transmission. For example, the master cart 2202 and the surgical cart 2203 may be connected by cables.

In some embodiments, surgical robotic system 2200 includes at least two surgical tools 2201, surgical tools 2201 including an operating arm and an actuator disposed at an end of the operating arm. In some embodiments, surgical robotic system 2200 may include a surgical trolley 2203, where a surgical trolley 2203 is capable of mounting at least two surgical tools 2201. In some embodiments, surgical robotic system 2200 may include at least two surgical dollies 2203, each surgical dolly 2203 mounting one surgical tool 2201. In some embodiments, surgical robotic system 2200 may also include imaging tool 2204. The imaging tool 2204 may include an operating arm and an imaging module disposed at an end of the operating arm. Imaging tools 2204 may be disposed on surgical trolley 2203 and driven by a corresponding drive module. The image of the manipulator arm and its actuator of the surgical tool 2201 acquired by the imaging module may be transmitted to the master trolley 2202. In some embodiments, surgical tool 2201 is, for example, surgical tool 2300 shown in fig. 23. In some embodiments, the master trolley 2202 is, for example, the master trolley 2400 shown in fig. 24. In some embodiments, the surgical trolley 2203 is, for example, the surgical trolley 2500 shown in fig. 25.

Fig. 23 illustrates a schematic diagram of a surgical tool 2300 of some embodiments of the disclosure. In some embodiments of the present disclosure, referring to fig. 23, a surgical tool 2300 includes a drive transmission 2390, an operating arm 2340, and an actuator 2360 disposed at an end of the operating arm. In some embodiments, the drive transmission 2390 may cooperate with the drive module to drive the movement of the operating arm 2340. The driving transmission device 2390 is used for being connected with a driving module, and driving force of the driving module is transmitted to the operation arm 2340 through the driving transmission device 2390, so that the operation arm 2340 is driven to realize multi-degree-of-freedom motion. The drive module may also control the actuator 2360 to perform surgical operations. In some embodiments of the present disclosure, the actuator 2360 may include, but is not limited to, a bipolar curved split-jaw actuator, a bipolar elbow grasper actuator, a monopolar curved scissors actuator, a monopolar electric hook actuator, a bipolar grasper actuator, a needle holder actuator, and a tissue grasper actuator. In some embodiments, surgical tool 2300 may be mounted, for example, on surgical trolley 2203 shown in fig. 22 or surgical trolley 2500 shown in fig. 25.

Fig. 24 illustrates a schematic diagram of a master trolley 2400 of some embodiments of the present disclosure. In some embodiments of the present disclosure, referring to fig. 24, a master cart 2400 includes: a controller (which may be configured on a computer device, disposed within the master trolley 2400), a master manipulator 2401, a master trolley display (e.g., displays 2402-2404), and pedals (e.g., pedals 2405-2407). The controller is respectively in communication connection with the main operator 2401, the main control trolley display and the pedal, and is used for performing signal interaction with the main operator 2401, the main control trolley display and the pedal, and generating corresponding control instructions based on the collected control information. In some embodiments, the controller is also communicatively coupled to a surgical trolley, such as surgical trolley 2203 shown in fig. 22, for controlling surgical tool 2201 to perform a surgical operation or for controlling imaging tool 2204 to operate. In some embodiments, the controller of master cart 2400 may also be used to perform some or all of the steps in the methods of some embodiments of the present disclosure, such as some or all of the steps in the methods disclosed in fig. 7, 8, 11, 14, 15, 16, and 18.

In some embodiments, the primary manipulator 2401 generally includes a left primary manipulator (e.g., for controlling a first manipulator arm) and a right primary manipulator (e.g., for controlling a second manipulator arm) that correspond to left-handed operation of a medical staff member, respectively. In a practical scenario, the main operator 2401 is used to collect operation inputs of a medical staff, which controls movement of a surgical tool or an imaging tool in an operation area by teleoperation of the main operator 2401 to achieve a medical operation. In some embodiments, the primary manipulator 2401 includes a multiple degree of freedom robotic arm 24011 with a primary manipulator sensor disposed at each joint on the multiple degree of freedom robotic arm 24011, with joint information (e.g., joint angle data) generated by the primary manipulator sensor of each joint. In some embodiments, the primary operator sensor employs a potentiometer and/or encoder. In some embodiments, the multiple degree of freedom robotic arm 24011 has six degrees of freedom. In some embodiments, the pose of the primary manipulator 2401 may be represented by a set of joint information for the primary manipulator joints (e.g., a one-dimensional matrix of such joint information). In some embodiments, the main operator 2401 also includes clamps 24012, which clamps 24012 can be used to control the opening and closing angle of the actuator. In some embodiments, the master trolley display includes a stereoscopic display 2402, a master external display 2403, a master touch display 2404. The stereoscopic display 2402 displays the surgical image and the system status prompt, the main control external display 2403 displays the surgical image and the system status prompt, and the touch display 2404 displays the software user interface of the main control dolly 2400. In some embodiments, the image displayed by the stereoscopic display 2402 or the master external display 2403 may be determined based on the image acquired by the imaging module, such as the imaging module 2560b shown in fig. 25. In some embodiments, the master trolley pedal is used for collecting the input of both feet of medical staff, and comprises an electrotome pedal 2405, an electrocoagulation pedal 2406, a clutch pedal 2407 and the like.

Fig. 25 illustrates a schematic diagram of an operating trolley 2500 in accordance with some embodiments of the present disclosure. In some embodiments of the present disclosure, referring to fig. 25, a surgical trolley 2500 includes: a controller (the controller may be disposed in a computer device and provided inside the surgical trolley 2500), a surgical trolley chassis 2502, a surgical trolley case 2503, a system status display 2505, a main column 2506, a main beam 2507, a positioning arm 2508, a driving module 2509, and the like. The surgical trolley chassis 2502 is used to perform the movement and fixation functions of the surgical trolley 2500. The surgical cart housing 2503 is used to integrate surgical cart electrical components therein. System status display 2505 is used to display surgical cart system user interfaces and receive user inputs. Main upright 2506 is liftable and fixed at its top end to main cross member 2507. The end of the main beam 2507 is provided with a beam holder, and the lower end of the beam holder is fixedly provided with a plurality of positioning arms 2508. The positioning arm 2508 carries a drive module 2509, and the drive module 2509 is used for loading a surgical tool 2501 or an imaging tool 2504 (the imaging tool 2504 may be a 3D electronic endoscope, for example). In some embodiments, the surgical trolley 2500 integrates multiple positioning arms 2508, each positioning arm 2508 having multiple motion joints. In some embodiments, surgical trolley 2500 is integrated with a plurality of surgical tools 2501 and imaging tools 2504, with portions of operating arms 2540a and actuators 2560a of the plurality of surgical tools 2501 and portions of operating arms 2540b and imaging modules 2560b of the imaging tools 2504 entering the workspace through sheath 2510. In some embodiments, the controller of the surgical trolley 2500 may also be used to perform some or all of the steps in the methods of some embodiments of the present disclosure, such as some or all of the steps in the methods disclosed in fig. 7, 8, 11, 14, 15, 16, and 18.

During operation of the robotic system, especially during surgical robotic surgery, collisions of the operating arms may carry an unexpected risk of operation failure and even irrecoverable losses. In embodiments of the present disclosure, the pose of the operating arm may be detected to find a collision risk. For example, the pose of a plurality of operation arms may be detected, if a collision risk is found, collision warning may be performed, such as an alarm, or avoidance operation may be performed, such as halting movement or moving in the opposite direction. The embodiment of the disclosure can reduce or even avoid collision risks in the operation process of the robot system, so that the safety of the robot system is obviously improved.

While particular embodiments of the present disclosure have been illustrated and described, it would be obvious to those skilled in the art that various other changes and modifications can be made without departing from the spirit and scope of the disclosure. Accordingly, it is intended to include in the appended claims all such changes and modifications that are within the scope of this disclosure.

Claims

1. A control method of an operation arm of a robot system, the robot system including at least two operation arms, the control method comprising:

Acquiring a positioning image;

identifying, in the positioning image, a plurality of first operation arm identifiers located on a first operation arm end of a first operation arm of the at least two operation arms, the plurality of first operation arm identifiers including a plurality of first operation arm pose identifiers for identifying poses and at least one first operation arm composite identifier for identifying poses and angles;

determining a first pose of the tail end of the first operation arm relative to a reference coordinate system based on at least one first operation arm compound identifier and a plurality of first operation arm pose identifiers; and

based on the first pose, a first anti-collision operation for the first operation arm is determined.

2. The control method according to claim 1, the at least two operation arms including a second operation arm, the control method further comprising:

determining a second pose of a second manipulator end of the second manipulator relative to the reference coordinate system; and

based on the first pose and the second pose, the first anti-collision operation and/or a second anti-collision operation for the second operation arm is determined.

3. The control method according to claim 2, further comprising:

Determining, based on the first pose, a first bounding box of a first actuator disposed on the first operating arm end, the first bounding box comprising one or more first sub-bounding boxes;

determining, based on the second pose, a second bounding box of a second actuator disposed on a distal end of the second operating arm, the second bounding box comprising one or more second sub-bounding boxes; and

the first collision avoidance operation and/or the second collision avoidance operation is determined based on the first bounding box and the second bounding box.

4. The control method according to claim 3, further comprising:

updating a first sub-bounding box of the first bounding box and/or a second sub-bounding box of the second bounding box in response to the first bounding box intersecting the second bounding box;

the first anti-collision operation and/or the second anti-collision operation is determined based on the updated first bounding box and the second bounding box.

5. The control method according to claim 2, further comprising:

determining a first envelope of a first actuator disposed on the first operating arm tip based on the first pose;

determining a second envelope of a second actuator disposed on the second operating arm end based on the second pose; and

The first anti-collision operation and/or the second anti-collision operation is determined based on the first envelope and the second envelope.

6. The control method according to claim 5, further comprising:

updating a first envelope of the first actuator in response to first control information of a main operator, wherein the first control information is used for adjusting the working state of the first actuator; and/or

And updating a second envelope of the second actuator in response to second control information of the main operator, wherein the second control information is used for adjusting the working state of the second actuator.

7. The control method according to claim 5, further comprising:

determining an overlap range of the first envelope and the second envelope; and

determining a collision evaluation index of the first and second operation arm ends based on the overlapping range; and

and determining the first anti-collision operation and/or the second anti-collision operation based on the collision evaluation index.

8. The control method according to claim 2, further comprising:

and determining the kinematic pose of the tail end of the second operation arm as the second pose based on the driving information of the second operation arm and a kinematic model.

9. The control method according to claim 2, further comprising:

identifying a plurality of second operation arm identifiers positioned on the tail end of the second operation arm in the positioning image, wherein the plurality of second operation arm identifiers comprise a plurality of second operation arm pose identifiers for identifying poses and at least one second operation arm compound identifier for identifying poses and angles; and

and determining the second pose based on the plurality of second operation arm identifiers.

10. The control method according to claim 9, further comprising:

in response to the first operation arm identification not being identified in the positioning image, determining a first kinematic pose of the first operation arm end as the first pose based on driving information of the first operation arm and a kinematic model or based on a pose of a main operator; and/or

And determining a second kinematic pose of the tail end of the second operation arm as the second pose based on the driving information and the kinematic model of the second operation arm or based on the pose of the main operator in response to the second operation arm identification not being recognized in the positioning image.

11. The control method according to claim 9, further comprising:

Determining a first kinematic pose of the end of the first operating arm based on the driving information of the first operating arm and a kinematic model or based on the pose of a main operator; and

determining the first pose from the first pose and the second pose based on the first kinematic pose, and/or

Determining a second kinematic pose of the second manipulator end based on the driving information of the second manipulator and a kinematic model or based on the pose of the main manipulator; and

the second pose is determined from the first pose and the second pose based on the second kinematic pose.

12. The control method according to any one of claims 1-11, the first collision avoidance operation comprising at least one of:

stopping the movement of the first operating arm; or (b)

Collision warning information is generated.

13. The control method of claim 12, the collision warning information comprising a plurality of different warning levels of collision warning information.

14. The control method according to claim 1, further comprising:

and determining three-dimensional coordinates of at least one first operation arm compound identifier and a plurality of first operation arm pose identifiers in a first operation arm coordinate system based on at least one first operation arm compound identifier.

15. The control method according to claim 14, further comprising:

determining two-dimensional coordinates of at least one first operation arm compound mark and a plurality of first operation arm pose marks in the positioning image; and

and determining the pose of the first operation arm coordinate system relative to the reference coordinate system based on the two-dimensional coordinates of at least one first operation arm compound identifier and the plurality of first operation arm pose identifiers in the positioning image and the three-dimensional coordinates in the first operation arm coordinate system, and taking the pose of the first operation arm coordinate system relative to the reference coordinate system as the first pose of the first operation arm tail end relative to the reference coordinate system.

16. The control method according to claim 1, further comprising:

determining three-dimensional coordinates of the at least one first operation arm compound identifier and the plurality of first operation arm pose identifiers in a first operation arm identifier coordinate system;

determining a roll angle of the first operation arm identification coordinate system relative to a first operation arm coordinate system based on the at least one first operation arm compound identification;

determining three-dimensional coordinates of the at least one first operating arm composite identifier and the plurality of first operating arm pose identifiers in the first operating arm coordinate system based on the roll angle of the first operating arm identifier coordinate system relative to the first operating arm coordinate system and the three-dimensional coordinates of the at least one first operating arm composite identifier and the plurality of first operating arm pose identifiers in the first operating arm identifier coordinate system; and

And determining the pose of the first operating arm coordinate system relative to the reference coordinate system based on the two-dimensional coordinates of the at least one first operating arm compound identifier and the plurality of first operating arm pose identifiers in the positioning image and the three-dimensional coordinates in the first operating arm coordinate system, and taking the pose of the first operating arm coordinate system relative to the reference coordinate system as the first pose of the first operating arm tail end relative to the reference coordinate system.

17. The control method according to claim 1, further comprising:

determining a plurality of candidate identifications from the positioning image;

identifying a first one of the plurality of identifiers from the plurality of candidate identifiers; and

and searching other identifiers by taking the first identifier as a starting point.

18. The control method according to claim 17, further comprising:

and identifying other identifiers based on the first operation arm pose identifier pattern matching template in response to identifying the first operation arm composite identifier.

19. The control method of claim 17, the first operation arm identification comprising a first operation arm identification pattern and identification pattern corner points in the first operation arm identification pattern, the method further comprising:

determining a region of interest in the localization image;

Dividing the region of interest into a plurality of sub-regions;

determining the pixel with the maximum likelihood value of the corner in each sub-region to form a pixel set;

determining the pixel with the maximum likelihood value of the corner point in the plurality of candidate marks as the candidate mark pattern corner point; and

and matching the first operation arm identification pattern matching template with the identification pattern at the candidate identification pattern corner position so as to identify the first identification.

20. The control method according to claim 19, further comprising:

and responding to the matching failure, and determining the pixel with the maximum likelihood value of the corner point in the rest pixels in the pixel set as the candidate identification pattern corner point.

21. The control method according to claim 17, further comprising:

searching a second identifier by taking the first identifier as a starting point;

determining a search direction based on the first identifier and the second identifier; and

and searching for the mark in the searching direction by taking the first pose mark or the second mark as a starting point.

22. The control method according to claim 21, further comprising:

determining the pixel with the maximum likelihood value of the corner points of the rest pixels in the pixel set as the candidate identification pattern corner point in response to the search distance being greater than the search distance threshold; and

And matching the first operation arm identification pattern matching template with the identification pattern at the candidate identification pattern corner position so as to identify a first identification.

23. The control method according to any one of claims 1 to 22, wherein a first operation arm positioning label is provided on an outer surface of the columnar portion of the first operation arm, the first operation arm positioning label including a plurality of first operation arm identification patterns including a plurality of different first operation arm composite identification patterns and a plurality of first operation arm pose identification patterns, the plurality of different first operation arm composite identification patterns and the plurality of first operation arm pose identification patterns being located in the same pattern distribution band.

24. The control method according to claim 23, wherein at least one first operation arm composite identification pattern is included in N consecutive first operation arm identification patterns among the plurality of first operation arm identification patterns, wherein the first operation arm composite identification pattern is different from the first operation arm pose identification pattern, and N is 2-4.

25. A computer device, comprising:

a memory for storing at least one instruction; and

A processor, coupled to the memory, for executing the at least one instruction to perform the control method of any of claims 1-24.

26. A computer-readable storage medium having stored therein at least one instruction that is executed by a processor to cause a computer to perform the control method of any of claims 1-24.

27. A surgical robotic system, comprising:

at least two surgical tools, a first surgical tool of the at least two surgical tools comprising a first operating arm, an actuator disposed distally of a first operating arm tip of the first operating arm, and a plurality of first operating arm identifiers disposed on the first operating arm tip, the plurality of first operating arm identifiers comprising a plurality of first operating arm pose identifiers for identifying pose and at least one first operating arm composite identifier for identifying pose and angle;

the image collector is used for collecting positioning images; and

control means, connected to the image collector, for performing the control method according to any one of claims 1-24.