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

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...

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

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