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Mechanical arm pose active adjusting method and device, mechanical arm and readable storage medium

An adjustment method and technology of a robotic arm, applied in the direction of manipulator, program control manipulator, claw arm, etc., can solve the problems of delayed operation progress, actual situation error, operation accident, etc., to avoid medical accidents, improve the accuracy of reset, The effect of shortening the reset time

Active Publication Date: 2021-10-22
LANCET ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, it takes a certain amount of time for the doctor to reset manually, which may delay the operation progress and cause surgical accidents; and the manual reset by the doctor often requires the doctor to have rich experience in manipulator operation. It takes a lot of time to reset and adjust, and it may not be able to accurately restore the pose of the robotic arm to the original pose during the reset, resulting in errors in the actual intervention angle and position of the performing instrument and the actual situation, which greatly affects the accuracy of the operation. Impact

Method used

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  • Mechanical arm pose active adjusting method and device, mechanical arm and readable storage medium
  • Mechanical arm pose active adjusting method and device, mechanical arm and readable storage medium
  • Mechanical arm pose active adjusting method and device, mechanical arm and readable storage medium

Examples

Experimental program
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Embodiment 1

[0070] For an example of this application, please refer to figure 2 , proposes a method for active adjustment of the pose of a robotic arm, including the following steps S100, S200 and S300:

[0071] In step S100, based on the first attitude relationship between the coordinate system of the executing instrument and the coordinate system of the positioning camera, the positioning camera is used to obtain the first attitude of the predetermined position of the executing instrument under the coordinate system of the positioning camera.

[0072] Exemplary, see image 3 , which shows an active adjustment system for the position and attitude of a manipulator, wherein a positioning target 5 used in conjunction with a positioning camera 4 is installed at a predetermined position of the base of the manipulator 1, and an executive instrument 2 is installed at the end of the manipulator 1, { B} is the base coordinate system, {F} is the executing instrument coordinate system, {P} is the ...

Embodiment 2

[0097] For another embodiment of this application, please refer to Figure 4 , proposes an active adjustment device 10 for the pose of a robotic arm, comprising: an acquisition module 11 , a determination module 12 and an adjustment module 13 .

[0098] The obtaining module 11 is configured to use the positioning camera to obtain the first pose of the predetermined position of the executing instrument under the positioning camera coordinate system based on the first attitude relationship between the executing instrument coordinate system and the positioning camera coordinate system; determine The module 12 is used to determine the changed pose between the first pose and the second pose of the actual surgical site under the positioning camera coordinate system; the adjustment module 13 is used to control the change based on the changed pose The robotic arm actively adjusts the posture of the robotic arm so that the predetermined position of the executing instrument is automatic...

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Abstract

The invention discloses a mechanical arm pose active adjusting method and device, a mechanical arm and a readable storage medium. The mechanical arm pose active adjusting method comprises the following steps of acquiring a first pose of a preset position of an executive instrument in a positioning camera coordinate system by utilizing a positioning camera based on a first pose relationship between an executive instrument coordinate system and the positioning camera coordinate system; under the positioning camera coordinate system, determining a change pose between the first pose and a second pose of an actual surgical site; and controlling a mechanical arm to actively adjust the pose of the mechanical arm based on the change pose so as to enable a preset position of the executive instrument to be automatically converted from the first pose to the second pose. The pose of the mechanical arm is actively adjusted, the pose adjusting efficiency of the mechanical arm is improved, the resetting time is greatly shortened, the resetting accuracy is improved, and medical accidents are effectively avoided.

Description

technical field [0001] The present invention relates to the technical field of medical devices, and in particular, to a method, a device, a mechanical arm and a readable storage medium for actively adjusting the posture and posture of a robotic arm. Background technique [0002] In recent years, with the development of information and industrial technology, the field of medical surgery is constantly realizing refinement and informatization. In the field of surgery, robotic arms are increasingly assisting or even replacing human hands. Compared with the human hand, the robotic arm has the advantages of high precision and good stability. During the operation, the doctor uses the robotic arm to perform the operation. According to the needs of the doctor, the pose of the robotic arm often changes, which leads to deviations from the planned value. When reset is required, the doctor needs to manually adjust the robotic arm to restore the pose of the robotic arm to planning value...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J18/00B25J19/02
CPCB25J9/1664B25J19/021B25J18/00
Inventor 黄志俊刘金勇钱坤陈鹏李焕宇
Owner LANCET ROBOTICS CO LTD