Method and device for active adjustment of mechanical arm pose, mechanical arm and readable storage medium

Abstract

The present application discloses a method, a device, a mechanical arm and a readable storage medium for actively adjusting the position and posture of a mechanical arm. Based on the first pose relationship between the coordinate system of the implementing instrument and the coordinate system of the positioning camera, the present application utilizes the positioning camera to acquire the first pose of the predetermined position of the implementing instrument under the coordinate system of the positioning camera; In the coordinate system, determine the change pose between the first pose and the second pose of the actual surgical site; control the robotic arm to actively adjust the pose of the robotic arm based on the change pose so that the performing instrument The predetermined position of is automatically converted from the first pose to the second pose. Realize the active adjustment of the pose of the manipulator, improve the efficiency of the pose adjustment of the manipulator, greatly shorten the reset time, and improve the accuracy of the reset, thereby effectively avoiding medical accidents.

Description

technical field [0001] The present invention relates to the technical field of medical devices, in particular to a method and device for actively adjusting the position and posture of a mechanical arm, a mechanical arm and a readable storage medium. 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 human hands, robotic arms have the advantages of high precision and good stability. During the operation, the doctor uses the robotic arm to perform surgery. According to the doctor's needs, the pose of the robotic arm often changes, resulting in a deviation from the planned value. When a reset is required, the doctor needs to manually adjust the robotic arm to restore the pose of the robotic arm to planning value. [0003] How...

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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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