CN114952855A - Forming method of robot arm pose deviation index table and control method of robot arm - Google Patents

Abstract

The present application relates to a method for forming a robot arm pose deviation index table and a method for controlling a robot arm, including: determining the boundary of an operation area; controlling the end of the robot arm to move to multiple preset positions within the boundary, and recording the end of the robot arm Multiple first pose data generated at multiple preset positions; multiple second pose data obtained when the end of the robotic arm is in multiple preset positions in the robot vision device, according to each first pose data A deviation index table is formed with the difference of each second pose data, multiple first pose data or multiple second pose data; multiple first pose data and multiple second pose data are in one-to-one correspondence . In the present application, the deviation compensation amount of the motion of the robot arm can be directly obtained by looking up the table during the operation, so as to realize the position deviation compensation of the robot arm according to the deviation compensation amount without relying on the subjective judgment and experience of the operator, and improve the mechanical performance. The accuracy of arm pose control.

Description

Forming method of robot arm pose deviation index table and control method of robot arm

technical field

The invention relates to the technical field of robotics, in particular to a method for forming a position and attitude deviation index table of a robotic arm and a method for controlling the robotic arm.

Background technique

Robots are widely used in industry, medicine, agriculture, service industry, construction industry, military and other fields because of their advantages of short learning curve and short learning time, ability to withstand ray radiation, short delay time of action execution and high accuracy. The user controls the movement of the robotic arm joints to drive the surgical instruments at the end of the robotic arm joints to perform preset surgical actions, thereby accurately implementing complex medical operations.

However, in the traditional surgical robot system, it is necessary to sense the real-time position information of the surgical instrument during the operation of the patient through the sensor, and the doctor combines the images for surgical planning and navigation. Because the doctor cannot take into account the actual situation of the surgical site and the navigation information on the screen, Moreover, intraoperative positioning depends on the operator's subjective judgment and experience, and the uncertainty factors are high, which affects the efficiency and accuracy of the doctor's operation; and, in the case of a narrow operation space, it is easy to cause the positioning information to be blocked and interrupt the operation process.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide a method for forming a robot arm pose deviation index table and a method for controlling the robot arm, which can automatically generate the robot arm pose deviation index table according to the boundary of the operation area, so as to directly check the table during the operation. Obtain the deviation compensation amount of the motion of the robot arm, perform position deviation compensation on the robot arm, and improve the accuracy of the position and attitude control of the robot arm.

In order to achieve the above object and other objects, one aspect of the present application provides a method for forming a robot arm pose deviation index table, including: determining a boundary of an operation area; controlling the end of the robot arm to move to a plurality of preset positions within the boundary , and record multiple first pose data generated when the end of the manipulator is at multiple preset positions; obtain multiple second pose data when the end of the manipulator is at multiple preset positions in the robot vision device, according to each The difference between a first pose data and each second pose data, a plurality of first pose data or a plurality of second pose data form a deviation index table; a plurality of first pose data and a plurality of second pose data One-to-one correspondence of pose data.

In the method for forming the robot arm pose deviation index table in the above-mentioned embodiment, after the boundary of the operation area is determined, the end of the robot arm is controlled to move to a plurality of preset positions within the boundary, and the position of the end of the robot arm in a plurality of preset positions is obtained. A plurality of first pose data generated at a preset position, and second pose data when the end of the manipulator is in the multiple preset positions in the robot vision device, each second pose data and each first pose data One-to-one correspondence, according to the difference between each first pose data and each second pose data and the first pose data or the second pose data, a deviation index table is formed, so as to directly check the table during the operation. The deviation compensation amount of the motion of the manipulator is obtained, and the position deviation compensation of the manipulator is realized according to the deviation compensation amount without relying on the subjective judgment and experience of the operator, so as to improve the accuracy of the pose control of the manipulator.

In some embodiments, the distal end of the robotic arm is controlled to move to a plurality of preset positions within the boundary, including:

An automatic control instruction is generated, and the automatic control instruction is used to instruct the end of the robotic arm to move to a preset position in sequence; or, a reminder instruction is generated, and the reminder instruction is used to prompt the user to drag the end of the robotic arm to the preset position.

In some embodiments, recording multiple first pose data generated when the end of the manipulator is at multiple preset positions includes: acquiring joint angle data of the manipulator when the end of the manipulator is at multiple preset positions; according to the joint angle data, the first pose data of the end of the manipulator in the base coordinate system of the robot is obtained by calculation.

In some embodiments, the end of the robotic arm is provided with an end optical marker; acquiring a plurality of second pose data when the end of the robotic arm is in a plurality of preset positions in the robot vision device includes: acquiring a relationship between the robot vision device and the robotic arm The coordinate transformation relationship between the two; obtain the end optical mark data of the end of the manipulator when the end of the manipulator is in multiple preset positions based on the end optical mark; pose data.

In some embodiments, the end of the robot arm is provided with an end optical mark, and the trolley carrying the robot arm is provided with a trolley optical mark; acquiring a plurality of second optical marks when the end of the robot arm is in a plurality of preset positions in the robot vision device The pose data includes: obtaining the coordinate information of the trolley optical mark in the robot base coordinate system; obtaining the trolley optical mark data based on the trolley optical mark; Optical marking data; according to the optical marking data of the trolley, the optical marking data of the end and the coordinate information of the optical marking of the trolley in the base coordinate system of the robot, the second pose data of the end of the manipulator in the base coordinate system of the robot is obtained.

A second aspect of the present application provides a method for controlling a robotic arm, including: acquiring a motion pose instruction, where the motion pose instruction includes a target pose of the robotic arm; querying any deviation generated by the method in any of the embodiments of the present application The index table is used to obtain the deviation value corresponding to the target pose; obtain the deviation compensation amount of the motion pose command according to the deviation value; correct the motion pose command according to the deviation compensation amount; execute the corrected motion pose command.

In some embodiments, if there is no deviation value corresponding to the target pose in the deviation index table, obtain several deviation values corresponding to several positions adjacent to the target pose; perform interpolation fitting on the several deviation values to obtain Bias value corresponding to the target pose.

A third aspect of the present application provides a robotic arm control system, including a robotic arm, a joint sensor, a robot vision device and a controller, the end of the robotic arm is provided with an end optical mark; the joint sensor is used to obtain the joints of each joint of the robotic arm Angle data; the robot vision device is used to collect the end optical mark data when the end of the robot arm is at a preset position according to the end optical mark; the controller is respectively connected with the robot arm, the joint sensor and the robot vision device, and the controller is used to execute any one of the application The method for forming the robot arm pose deviation index table in the embodiment, or the control method for the robot arm in any of the embodiments of the present application.

In some embodiments, the robotic arm control system further includes a robotic arm cart, the robotic arm cart is used to carry the robotic arm, and the robotic arm cart is provided with an optical mark of the cart; the robot vision device acquires the cart according to the optical mark of the cart Optical mark data, and send the trolley optical mark data to the controller.

In some embodiments, the robotic arm control system further includes a plurality of robotic vision devices, all of which are connected to the controller, for collecting end optical marking data when the robotic arm end is at a preset position according to the end optical marking.

In some embodiments, the robotic arm control system further includes multiple robotic arms and multiple joint sensors, and ends of the multiple robotic arms are provided with end optical markers; multiple joint sensors are respectively provided on the respective robotic arms for acquiring Joint angle data of each manipulator.

A fourth aspect of the present application provides a surgical system, including the robot control system in any of the embodiments of the present application.

Description of drawings

In order to more clearly illustrate the technical solutions in the technology of the embodiments of the present application, the following briefly introduces the accompanying drawings used in the technical description of the embodiments. Obviously, the drawings in the following description are only some implementations of the present application. For example, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

1 is a schematic flowchart of a method for forming a robot arm pose deviation index table according to an embodiment;

2 is a schematic diagram of a coordinate space of a pose deviation index table in an embodiment;

3 is a schematic flowchart of a method for controlling a robotic arm in another embodiment;

4 is a schematic flowchart of a method for controlling a robotic arm in yet another embodiment;

5a is a schematic side view of a robotic arm control system in an embodiment;

Fig. 5b is a schematic top view of the robotic arm control system in the embodiment shown in Fig. 5a;

6a is a schematic side view of a robotic arm control system in another embodiment;

Fig. 6b is a schematic top view of the robotic arm control system in the embodiment shown in Fig. 6a;

Figure 6c is a schematic diagram of the end optical marking in one embodiment;

6d is a schematic diagram of an optical marking of a trolley in an embodiment;

FIG. 7 is a schematic top view of a robotic arm control system in yet another embodiment.

Description of reference numbers:

100, robotic arm control system; 101, robotic arm; 20, end optical marking; 10, robotic vision device; 102, surgical instrument; 103, robotic arm trolley; 30, trolley optical marking.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

In this application, unless otherwise expressly specified and limited, the terms "connected", "connected" and other terms should be understood in a broad sense, for example, it may be directly connected, or indirectly connected through an intermediate medium, and it may be an internal connection between two elements. The connectivity or interaction of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

In oral surgery, the following three technical solutions are generally used to accurately determine the actual situation of the oral surgery area:

(1) A guide plate is made according to the situation of the patient's oral area, and the doctor performs oral surgery along the guide plate;

(2) Sensors are used to sense the medical equipment in the doctor's hand and the position of the patient's mouth, and the doctor can plan and operate in combination with medical images;

(3) Surgical instruments are provided at the end of the robotic arm. The sensor senses the relative positional relationship between the surgical instruments and the patient's oral surgery area. The doctor performs surgery planning based on medical images, and operates the robot to complete the surgery.

In the above technical scheme, the patient's oral surgery position is determined according to the guide plate, the production cycle of the guide plate is long, and the intraoperative plan modification is poor; the sensor senses the position of the surgical instrument and the patient's oral position, and the doctor uses the image to carry out oral surgery planning and navigation. The navigation information on the video screen, and the intraoperative positioning information depends on the operator's subjective judgment and personal experience, and the human uncertainty factor is high; for the common robotic navigation surgery system, due to the narrow oral surgery space, the doctor is very difficult to operate the surgical robot. It is easy to block the optical marker at the end of the robotic arm, so that the robot loses the feedback information of the optical marker position, causing the system to alarm and the operation to be interrupted.

The purpose of the present application is to provide a method for forming a robot arm pose deviation index table and a method for controlling a robot arm. The robot arm pose deviation index table is automatically generated according to the boundary of the operation area before surgery, so that the robot arm pose deviation index table can be directly generated during the operation by checking The deviation compensation amount of the motion of the robotic arm can be obtained from the table, and the position deviation of the robotic arm can be compensated to improve the accuracy of the pose control of the robotic arm. During the operation, the doctor does not need to worry about the system downtime caused by the occlusion of the positioning target, which improves the operation, such as Efficiency, safety and reliability of dental implant surgery.

Referring to FIG. 1 , in an embodiment of the present application, a method for forming a robot arm pose deviation index table is provided, which may include the following steps:

Step S210: determine the boundary of the operation area;

Step S220: controlling the end of the manipulator to move to multiple preset positions within the boundary, and recording multiple first pose data generated when the end of the manipulator is at the multiple preset positions;

Step S230: Acquire a plurality of second pose data when the end of the robotic arm is in a plurality of preset positions in the robot vision device, according to the difference between each first pose data and each second pose data, a plurality of The first pose data or the plurality of second pose data form a deviation index table; the plurality of first pose data and the plurality of second pose data are in one-to-one correspondence.

Specifically, due to the influence of various error factors such as the system error of the robot arm itself, the error of its end positioning information and other error factors in the process of executing the control command, the end of the robot arm actually reaches the position and the target due to the execution of the target control command. There may be deviations in the target position represented by the control command. Therefore, during the actual motion control of the manipulator, it is necessary to control the motion of the manipulator according to the position information between the actual arrival position of the end of the manipulator and the target position represented by the target control command. Dynamic compensation is performed to make the end of the manipulator move to the target position as accurately as possible to improve the accuracy of the pose control of the manipulator. After determining the boundary of the operation area, which is formed by the line connecting the center of the sphere a in Figure 2, the end of the robotic arm can be controlled to move to multiple preset positions within the boundary, as shown in the intersection point b of the grid lines in Figure 2, and acquire multiple first pose data generated when the end of the robotic arm is at multiple preset positions, and second pose data when the end of the robotic arm is at the multiple preset positions in the robot vision device, each second pose The data is in one-to-one correspondence with each first pose data, and a deviation index table is formed according to the difference between each first pose data and each second pose data and the first pose data, or, according to each first pose data The difference between the pose data and each second pose data and the second pose data form a deviation index table, so that the deviation compensation amount of the robot arm movement can be directly or indirectly obtained by querying the deviation index table during the operation, so as to realize the difference between the two positions. In the case of relying on the subjective judgment and experience of the operator, the position deviation compensation of the robot arm is performed according to the deviation compensation amount, so as to improve the accuracy of the pose control of the robot arm.

As an example, please refer to FIG. 3 , in step S220, controlling the end of the manipulator to move to a plurality of preset positions within the boundary may include the following steps:

Step S221: generating an automatic control instruction, which is used to instruct the end of the robotic arm to move to a preset position in sequence;

Step S223: Record multiple first pose data generated when the end of the robotic arm is at multiple preset positions.

Specifically, the user can issue a control command to the robot arm controller for instructing the end of the robot arm to move to the preset position in sequence, so that the controller automatically controls the end of the robot arm to move to the preset position according to the preset path in response to the control command. position, so that the robot arm can automatically construct the deviation index table in response to the automatic control command. After setting the surgical area (for example, a square area), the doctor can issue control commands to the robotic arm to instruct the end of the robotic arm to move to the preset position in sequence, so that the robotic arm can generate the network as shown in Figure 2 according to the set step size. The point information indicated by the intersection point b of the grid line, the manipulator automatically moves to each point along the preset path, and during the motion of the manipulator, the optical sensor and the manipulator joint encoder set near the manipulator record the optical sensor at the end of the manipulator respectively. Mark and joint rotation angle information, calculate the spatial deviation value of the manipulator arm, and directly construct the deviation index table according to this deviation value set and the corresponding first pose data set or second pose data set, so as to quickly calculate the deviation value during the operation. The query realizes the position deviation compensation of the manipulator according to the deviation compensation amount obtained by looking up the table without relying on the subjective judgment and experience of the operator, so as to improve the accuracy of the position and attitude control of the manipulator.

As an example, please continue to refer to FIG. 3, in step S220, controlling the end of the manipulator to move to a plurality of preset positions within the boundary may include the following steps:

Step S222: generating a reminder instruction, where the reminder instruction is used to prompt the user to drag the end of the robotic arm to a preset position;

Step S223: Record multiple first pose data generated when the end of the robotic arm is at multiple preset positions.

Specifically, the user can construct a deviation index table by interacting with the robotic arm. The user, such as a doctor, can drag the robotic arm to confirm the surgical area (for example, a square area), and then drag the robotic arm to move within the surgical area. During the movement of the robotic arm , the optical sensor and the joint encoder of the manipulator set near the manipulator record the optical marks and joint rotation angle information of the manipulator arm respectively, calculate the spatial deviation value of the manipulator arm, and use the data fitting method to construct the deviation index table according to the set of deviation values. , for the quick query of the deviation value during the operation, without relying on the subjective judgment and experience of the operator, according to the deviation compensation amount obtained from the look-up table, the position deviation compensation of the robot arm is realized, and the position and attitude control of the robot arm is improved. precision.

Table 1

Index (robot manipulation space pose) Numerical value (operating space deviation) {x1,y1,z1,qw1,qx1,qy1,qz1} {Δx1,Δy1,Δz1,Δqw1,Δqx1,Δqy1,Δqz1} {x2,y2,z2,qw2,qx2,qy2,qz2} {Δx2,Δy2,Δz2,Δqw2,Δqx2,Δqy2,Δqz2} {x3,y3,z3,qw3,qx3,qy3,qz3} {Δx3,Δy3,Δz3,Δqw3,Δqx3,Δqy3,Δqz3} … …

Specifically, please refer to Table 1. After the robotic arm obtains the surgical area, the end of the robotic arm can be controlled to move to a preset position in sequence based on the control command, or a reminder instruction can be generated to prompt the user to drag the end of the robotic arm to the preset position. For example, after setting the surgical area (for example, a square area), the user can issue a control command to the robotic arm to instruct the end of the robotic arm to move to a preset position in sequence, so that the robotic arm can be generated in a fixed step size as shown in Figure 2 The point information indicated by the intersection point b of the grid lines, the robot arm automatically moves to each point, and during the movement of the robot arm, the optical sensor set near the robot arm and the robot arm joint encoder record the optical marks and joints at the end of the robot arm respectively. Rotation angle information, calculate the deviation value of the manipulator operation space, and directly construct the deviation index table according to this deviation value set, so as to quickly query the deviation value during the operation. The operating space deviation can be represented by quaternion, quaternion q=[qw,qx,qy,qz] ^T , in three-dimensional space, the attitude of the object in space is represented by rotating around a certain axis at a certain angle. in:

qw=cos(a/2);

qx=sin(a/2)*wx;

qy=sin(a/2)*wy;

qz=sin(a/2)*wz.

Where w=[wx,wy,wz]T, is the unit vector of the space rotation axis, and a is the rotation angle.

As an example, in step S223, recording multiple first pose data generated when the end of the robotic arm is at multiple preset positions may include the following steps:

Step S2231: Acquire joint angle data of the robotic arm when the end of the robotic arm is at multiple preset positions;

Step S2232: Calculate and obtain the first pose data of the end of the manipulator in the base coordinate system of the robot according to the joint angle data.

Specifically, the manipulator generally has a robot base coordinate system. In order to obtain real-time position information of the end of the manipulator, an optical sensor can be set near the manipulator, an optical marker can be set at the end of the manipulator, and a joint encoder can be set at the joint of the manipulator. During the movement of the robot arm executing the motion control command, the optical sensor can obtain the position information of the optical mark at the end of the robot arm, and the joint encoder can record the joint angle data of the robot arm; according to the joint angle data, it can be calculated that the end of the robot arm is in the robot base coordinate system The first pose data of .

As an example, the end of the robotic arm is provided with an end optical mark; in step S230, acquiring multiple second pose data of the robotic arm end at multiple preset positions in the robot vision device may include the following steps:

Step S2311: Obtain the coordinate transformation relationship between the robot vision device and the robotic arm;

Step S2312: Acquire the end optical mark data when the end of the manipulator is in multiple preset positions based on the end optical mark;

Step S2313: Acquire second pose data of the end of the robot arm in the robot base coordinate system based on the end optical mark data and the coordinate transformation relationship.

Specifically, in order to obtain the real-time position information of the end optical marker, a robot vision device, such as an optical sensor such as a binocular vision camera or a depth camera, can be installed near the robotic arm. During the movement of the robotic arm executing the motion control command, the end optical mark data when the end optical mark is in a plurality of preset positions may be acquired, and the end optical mark data may include position data of the end optical mark in the coordinate system of the robot vision device. After obtaining the coordinate transformation relationship between the robot vision device and the robotic arm, the second pose data of the robotic arm end in the robot base coordinate system can be obtained based on the end optical marking data and the coordinate transformation relationship.

As an example, the end of the robot arm is provided with an end optical mark, and the trolley carrying the robot arm is provided with a trolley optical mark; in step S230, a plurality of second positions of the end of the robot arm when the robot vision device is in a plurality of preset positions are acquired The pose data can include the following steps:

Step S2321: Obtain the coordinate information of the optical marking of the trolley in the base coordinate system of the robot;

Step S2322: Obtaining the optical marking data of the trolley based on the optical marking of the trolley, and obtaining the optical marking data of the end when the end of the robot arm is in a plurality of preset positions based on the optical marking of the end;

Step S2323: Acquire second pose data of the end of the manipulator in the robot base coordinate system according to the trolley optical marking data, the end optical marking data and the coordinate information of the trolley optical marking in the robot base coordinate system.

Specifically, during the movement of the robotic arm executing the motion control command, the optical marking data of the trolley can be acquired based on the optical marking of the trolley, the optical marking data of the terminal when the terminal end of the robotic arm is at multiple preset positions can be acquired based on the optical marking of the terminal, and the joints can be acquired. The angle data of the manipulator arm joint recorded by the encoder, the end optical mark data may include the position data of the end optical mark in the coordinate system of the robot vision device; according to the manipulator arm joint angle data, the kinematics positive solution algorithm can be used to calculate the manipulator arm end position data, Obtain the first pose data of the end of the manipulator in the robot base coordinate system; according to the optical mark data of the trolley, the end optical mark data and the coordinate information of the optical mark of the trolley in the base coordinate system of the robot, obtain the position of the end of the manipulator in the base coordinate system of the robot. The second pose data in the coordinate system; then calculate the spatial deviation value of the manipulator, and use the data fitting method to construct a deviation index table according to the deviation value set, so as to quickly query the deviation value during the operation, and realize the operation without dependence. In the case of the operator's subjective judgment and experience, the position deviation compensation of the manipulator is performed according to the deviation compensation amount obtained by the look-up table, so as to improve the accuracy of the position and attitude control of the manipulator.

Referring to FIG. 4 , in an embodiment of the present application, a method for controlling a robotic arm is provided, which may include the following steps:

Step S310: obtaining a motion pose instruction, where the motion pose instruction includes the target pose of the robotic arm;

Step S320: query the deviation index table generated by the method in any of the embodiments of the present application, and obtain the deviation value corresponding to the target pose;

Step S330 : obtaining the deviation compensation amount of the motion pose instruction according to the deviation value; correcting the motion pose instruction according to the deviation compensation amount; and executing the corrected motion pose instruction.

As an example, step S320 may include the following steps:

Step S321: query the deviation index table generated by the method in any of the embodiments of the present application;

Step S322: judging whether there is a deviation value corresponding to the target pose in the deviation index table;

Step S323: If yes, obtain the deviation value corresponding to the target pose;

Step S324 : If not, obtain several deviation values corresponding to several positions adjacent to the target pose, and perform interpolation fitting on the several deviation values to obtain deviation values corresponding to the target pose. For example, during the operation, the position deviation and attitude deviation of the current point can be obtained by interpolation according to the deviation value of the index adjacent point. It can be represented by quaternion, quaternion q=[qw,qx,qy,qz] ^T , in three-dimensional space, by rotating around a certain axis at a certain angle to represent the attitude of the object in space. in:

qw=cos(a/2);

qx=sin(a/2)*wx;

qy=sin(a/2)*wy;

qz=sin(a/2)*wz.

Where w=[wx,wy,wz]T, is the unit vector of the space rotation axis, and a is the rotation angle.

Specifically, since the deviation index table only includes the deviation values of a limited number of positions in the surgical area, it is difficult to completely cover any position in the surgical area, and the position of the end of the robotic arm in the surgical area is arbitrary and random. Therefore, First, determine whether there is a deviation value corresponding to the target pose in the deviation index table. If so, directly obtain the deviation value and perform position deviation compensation on the robot arm to improve the efficiency and accuracy of the robot arm pose control; if not, that is , there is no deviation value corresponding to the target pose in the deviation index table, then obtain several deviation values corresponding to several positions adjacent to the target pose, perform interpolation fitting on several deviation values, and obtain the corresponding target pose To avoid the phenomenon of position control interruption or failure due to inability to look up the table.

5a-5b, in an embodiment of the present application, a robotic arm control system 100 is provided, including a robotic arm 101, a joint sensor (not shown), a robot vision device 10, and a controller (not shown in the figure) shown), the end of the robotic arm 101 is provided with an end optical marker 20; the joint sensor is used to obtain the joint angle data of each joint of the robotic arm 101; The controller is connected with the robot arm 101, the joint sensor and the robot vision device 10 respectively, and the controller is used to execute the method for forming the robot arm pose deviation index table in any of the embodiments of the present application, or any one of the present application examples. The control method of the robotic arm in the application embodiment.

As an example, please continue to refer to FIGS. 5a-5b to illustrate the specific implementation principles of the embodiments of the present application by using the embodiments of the present application for oral surgery such as dental implant surgery. The patient 300 is lying on a dental chair, and the end of the robotic arm 101 is provided with a surgical instrument 102. The dentist controls the action of the robotic arm 101 to drive the surgical instrument 102 into the oral cavity of the patient 300, and under the guidance of a preset control program, perform implantation on the patient dental surgery. During the movement of the robotic arm executing the motion control command, the end optical mark data when the end optical mark 10 is in a plurality of preset positions can be obtained, and the end optical mark data can include the position data of the end optical mark in the coordinate system of the robot vision device; The joint encoder can record the joint angle data of the manipulator; according to the joint angle data, the first pose data of the end of the manipulator in the robot base coordinate system can be calculated. After obtaining the coordinate transformation relationship between the robot vision device 10 and the robotic arm 101 , the second pose data of the robotic arm end in the robot base coordinate system can be obtained based on the end optical mark data and the coordinate transformation relationship. Then calculate the spatial deviation value of the robotic arm, and use the data fitting method to construct a deviation index table according to this deviation value set, so as to quickly query the deviation value during the operation, and realize the operation without relying on the subjective judgment and experience of the operator. , according to the deviation compensation amount obtained from the look-up table, the position deviation compensation of the manipulator is performed, and the accuracy of the pose control of the manipulator is improved.

As an example, please refer to FIGS. 6a-6b, the robotic arm control system 100 further includes a robotic arm cart 103, the robotic arm cart 103 is used to carry the robotic arm 101, and the robotic arm cart 103 is provided with a cart optical marker 30; The robot vision device 10 acquires the trolley optical marker data according to the trolley optical marker 30, and sends the trolley optical marker data to the controller. During the movement of the robotic arm executing the motion control command, the optical marking data of the trolley can be acquired based on the optical marking 30 of the trolley, the optical marking data of the terminal when the end of the robotic arm is in a plurality of preset positions can be acquired based on the optical marking 20 of the terminal, and the joint codes can be acquired According to the joint angle data of the manipulator recorded by the robot, the end optical mark data may include the position data of the end optical mark in the coordinate system of the robot vision device; according to the joint angle data of the manipulator, the kinematics positive solution algorithm can be used to calculate the position data of the manipulator end, and obtain The first attitude data of the end of the manipulator in the robot base coordinate system; according to the trolley optical mark data, the end optical mark data and the coordinate information of the trolley optical mark 30 in the robot base coordinate system, obtain the robot arm end at the robot base. The second pose data in the coordinate system; then calculate the spatial deviation value of the manipulator, and use the data fitting method to construct a deviation index table according to the deviation value set, so as to quickly query the deviation value during the operation, and realize the operation without dependence. In the case of the operator's subjective judgment and experience, the position deviation compensation of the manipulator is performed according to the deviation compensation amount obtained by the look-up table, so as to improve the accuracy of the position and attitude control of the manipulator.

As an example, please refer to FIGS. 6 c to 6 d , the graphic of the end optical mark 20 can be set to be a circle, and the graphic of the trolley optical mark 30 can be set to be a rectangle, so that the robot vision device 10 can clearly distinguish the end optical mark 20 from the table Cart Optical Marker 30. Those skilled in the art can determine without any doubt that this embodiment is intended to illustrate the implementation principle, and the graphic shape of the end optical mark 20 or the graphic shape of the trolley optical mark 30 is not specifically limited. The graphic shape of the optical marker 20 and the graphic shape of the trolley optical marker 30 are any one or a combination of rectangle, triangle, polygon, ellipse, circle and ring, and the graphic shape of the optical marker 20 is the same as that of the trolley optical marker. 30 different graphic shapes.

As an example, please refer to FIG. 7 , the robot arm control system 100 further includes a plurality of robot vision devices 10, and the plurality of robot vision devices 10 are all connected to the controller, and are used for collecting the end of the robot arm when the end of the robot is at a preset position according to the end optical mark. End optical labeling data. Multiple robot vision devices 10 simultaneously shoot optical markers in multiple directions, reducing the possibility of markers being occluded, and improving the accuracy and reliability of the pose control of the robotic arm.

As an example, please continue to refer to FIG. 7 , the robotic arm control system 100 further includes multiple robotic arms 101 and multiple joint sensors. The ends of the multiple robotic arms 101 are all provided with end optical markers 20 ; the multiple joint sensors are respectively set at each On the robotic arm, it is used to obtain the joint angle data of each robotic arm. The multiple robotic arms 101 meet the needs of multi-instrument surgery, improve the efficiency of the surgery, and ensure the successful completion of the surgery in the event of a failure of one robotic arm 101 .

As an example, please continue to refer to FIG. 7 , in an embodiment of the present application, a surgical system is provided, including a robot control system in any of the embodiments of the present application, including several robotic arms 101 , and the robotic arms can be used for Mount surgical instruments such as scalpels or endoscopes (eg laparoscopes). The end of the robotic arm 101 is provided with an end optical marker 20; the joint sensor is used to obtain joint angle data of each joint of the robotic arm 101; Marking data; the controller is respectively connected with the robotic arm 101, the joint sensor and the robot vision device 10. During the movement of the robotic arm executing the motion control command, the terminal optical marking data when the terminal optical marking 10 is in multiple preset positions can be obtained. The end optical mark data can include the position data of the end optical mark in the coordinate system of the robot vision device; the joint encoder can record the joint angle data of the robot arm; according to the joint angle data, the first position of the end of the robot arm in the robot base coordinate system can be calculated. pose data. After obtaining the coordinate transformation relationship between the robot vision device 10 and the robotic arm 101 , the second pose data of the robotic arm end in the robot base coordinate system can be obtained based on the end optical mark data and the coordinate transformation relationship. Then calculate the spatial deviation value of the robotic arm, and use the data fitting method to construct a deviation index table according to this deviation value set, so as to quickly query the deviation value during the operation, and realize the operation without relying on the subjective judgment and experience of the operator. , according to the deviation compensation amount obtained from the look-up table, the position deviation compensation of the manipulator is performed, and the accuracy of the pose control of the manipulator is improved.

It should be understood that although the steps in the flowcharts of FIGS. 1 and 3 to 4 are sequentially displayed according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, at least a part of the steps in FIG. 1 and FIG. 3-FIG. 4 may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but may be executed at different times. These steps Alternatively, the order of execution of the stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a portion of the steps or stages in the other steps.

Each module in the above-mentioned robot system can be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

Note that the above-described embodiments are for illustrative purposes only and are not meant to limit the present invention. The embodiments in the context may refer to or refer to each other.

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

The above-mentioned embodiments only represent several embodiments of the present invention, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can also be made, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims (12)

1. A method for forming a pose deviation index table of a mechanical arm is characterized by comprising the following steps:

determining a boundary of the surgical field;

controlling the tail end of the mechanical arm to move to a plurality of preset positions in the boundary, and recording a plurality of first position data generated when the tail end of the mechanical arm is at the plurality of preset positions;

acquiring a plurality of second position data of the tail end of the mechanical arm at a plurality of preset positions in the robot vision device, and forming a deviation index table according to the difference value of each first position data and each second position data, the plurality of first position data or the plurality of second position data; the plurality of first position and orientation data and the plurality of second position and orientation data are in one-to-one correspondence.

2. The method for forming the robot arm pose deviation index table according to claim 1, wherein the controlling the robot arm tip to move to a plurality of preset positions within the boundary comprises:

generating an automatic control instruction, wherein the automatic control instruction is used for indicating the tail end of the mechanical arm to move to the preset position in sequence; or

And generating a reminding instruction, wherein the reminding instruction is used for prompting a user to drag the tail end of the mechanical arm to the preset position.

3. The method for forming a robot arm pose deviation index table according to claim 1, wherein the recording a plurality of first pose data generated by the robot arm tip at the plurality of preset positions comprises:

acquiring joint angle data of the mechanical arm when the tail end of the mechanical arm is at the plurality of preset positions;

and calculating to obtain first position data of the tail end of the mechanical arm under the robot base coordinate system according to the joint angle data.

4. The method for forming the robot arm pose deviation index table according to claim 1, wherein a terminal optical mark is provided at a terminal end of the robot arm; the obtaining a plurality of second position and orientation data of the end of the mechanical arm when the end of the mechanical arm is at the plurality of preset positions in the robot vision device comprises:

acquiring a coordinate conversion relation between the robot vision device and the mechanical arm;

acquiring tail end optical mark data of the tail end of the mechanical arm at the plurality of preset positions based on the tail end optical mark;

and acquiring second position and posture data of the tail end of the mechanical arm under a robot base coordinate system based on the tail end optical mark data and the coordinate conversion relation.

5. The method for forming the pose deviation index table of the mechanical arm according to claim 1, wherein a tail end optical mark is arranged at the tail end of the mechanical arm, and a trolley optical mark is arranged on a trolley for bearing the mechanical arm; the obtaining a plurality of second position and orientation data of the end of the mechanical arm when the end of the mechanical arm is at the plurality of preset positions in the robot vision device comprises:

acquiring coordinate information of the trolley optical mark in a robot base coordinate system;

acquiring trolley optical mark data based on the trolley optical mark, and acquiring tail end optical mark data of the tail end of the mechanical arm at the plurality of preset positions based on the tail end optical mark;

and acquiring second position and posture data of the tail end of the mechanical arm under the robot base coordinate system according to the trolley optical mark data, the tail end optical mark data and the coordinate information of the trolley optical mark in the robot base coordinate system.

6. A method for controlling a robot arm, comprising:

acquiring a motion pose instruction, wherein the motion pose instruction comprises a target pose of a mechanical arm;

inquiring a deviation index table generated by the method of any one of claims 1 to 5 to obtain a deviation value corresponding to the target pose;

acquiring deviation compensation quantity of the motion pose instruction according to the deviation value;

correcting the motion pose instruction according to the deviation compensation quantity;

and executing the corrected motion pose instruction.

7. The control method of a robot arm according to claim 6,

if the deviation index table does not have deviation values corresponding to the target pose, acquiring deviation values corresponding to positions adjacent to the target pose;

and performing interpolation fitting on the deviation values to acquire the deviation values corresponding to the target pose.

8. A robot arm control system, comprising:

the tail end of the mechanical arm is provided with a tail end optical mark;

the joint sensor is used for acquiring joint angle data of each joint of the mechanical arm;

the robot vision device is used for acquiring tail end optical mark data of the tail end of the mechanical arm at a preset position according to the tail end optical mark;

a controller connected to the robot arm, the joint sensor, and the robot vision device, respectively, the controller being configured to execute the method of forming the robot arm posture deviation index table according to any one of claims 1 to 5 or the method of controlling the robot arm according to any one of claims 6 to 7.

9. The robotic arm control system according to claim 8, further comprising:

the mechanical arm trolley is used for bearing the mechanical arm and is provided with a trolley optical mark;

the robot vision device acquires trolley optical mark data according to the trolley optical mark and sends the trolley optical mark data to the controller.

10. The robot control system of claim 8, further comprising:

and the robot vision devices are connected with the controller and used for acquiring tail end optical mark data of the tail end of the mechanical arm at a preset position according to the tail end optical mark.

11. The robot control system of claim 8, further comprising:

the tail ends of the mechanical arms are provided with tail end optical marks;

and the joint sensors are respectively arranged on the mechanical arms and used for acquiring joint angle data of the mechanical arms.

12. A surgical system comprising the robotic control system of any one of claims 8-11.

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