Mechanical arm positioning optimization method and device, computer equipment and storage medium
An optimization method and technology of a robotic arm, which are applied in the field of computer equipment and storage media, devices, and optimization methods for robotic arm placement, to achieve the effects of avoiding collisions, large motion planning space, and avoiding wound expansion.
Pending Publication Date: 2022-08-05
WUHAN UNITED IMAGING HEALTHCARE SURGICAL TECH CO LTD
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Problems solved by technology
[0004] Obviously, the above-mentioned prior art is still difficult to well avoid the problem of multi-arm collision
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[0047] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further 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 application, but not to limit the present application.
[0048] The manipulator swing optimization method provided in this application can be applied to such as figure 1 in the application environment shown. Among them, the multi-manipulator robot involved in this solution can be, but is not limited to, a multi-manipulator type medical surgical robot of various types and manufacturers. The multi-manipulator robot includes a processor 101 that can control the The manipulator robot controls the manipulator 102 through the processor 101 to perform the manipulator swing optimization operation.
[0049] The technical solution o...
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The invention relates to a mechanical arm positioning optimization method and device, computer equipment and a storage medium. The method comprises the steps that a processor obtains initial placement and attribute information of each mechanical arm of the robot, a configuration cost function corresponding to the initial placement of each mechanical arm is determined according to the initial placement and attribute information of each mechanical arm, and a configuration cost function corresponding to the initial placement of each mechanical arm is determined according to the configuration cost function of the initial placement; and the initial placement of each mechanical arm corresponding to the configuration cost function meeting the preset condition is obtained as the target initial placement of each mechanical arm. Wherein the initial placement of each mechanical arm meets the wound constraint condition of each mechanical arm. According to the scheme, the processor obtains the target initial placement meeting the optimization target and the constraint condition, each mechanical arm has a larger motion planning space during follow-up mechanical arm motion planning based on the target initial placement, the probability of mutual collision between the mechanical arms is reduced, and the stability of the mechanical arms is improved. And the situation that all the mechanical arms collide in the operation process is effectively avoided.
Description
technical field [0001] The present application relates to the technical field of medical equipment, and in particular, to a method, device, computer equipment and storage medium for optimizing the position of a robotic arm. Background technique [0002] With the development of science and technology, intelligent robots and multi-arm medical surgical robots are widely used in the field of medical technology. For example, the multi-arm medical surgical robot is applied in various types of surgical scenarios. During the operation, in order to ensure the normal operation of the operation, the problem of multi-arm collision should be avoided as much as possible. [0003] In the prior art, the collision avoidance of multiple manipulators is generally realized by interference detection, that is, in the case of interference of the manipulators, the position of the manipulators is corrected in time to avoid further interference collisions. [0004] Obviously, the above-mentioned pr...
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IPC IPC(8): B25J9/16B25J11/00A61B34/00A61B34/30
CPCB25J9/1669B25J9/1666B25J11/00A61B34/30A61B34/70
Inventor 虞苏璞张阳谢强
Owner WUHAN UNITED IMAGING HEALTHCARE SURGICAL TECH CO LTD