A laser coordinate positioning method, device, system, equipment, medium and product

Abstract

The application discloses a kind of laser coordinate positioning method, device, system, equipment, medium and product, it is related to laser coordinate positioning technical field.The method is when the initial pose of the mechanical arm of target robot satisfies preset safety condition, first obtain the multiple sampling points obtained by sequentially and continuously taking points by dragging mechanical arm end under the dynamic constraint on freedom, and after these sampling points are detected by effectiveness, sequentially and successively connect to obtain ring closure figure, then the closed figure is projected to the set plane to obtain two-dimensional projection figure, then find out the figure center and automatically output the projection graph of DXF format when the projection area is sufficient, finally, the DXF format file is recognized by Ezcad2 laser control software and laser calibration is carried out, the laser coordinate positioning is completed, so that the operation process is more convenient, the efficiency of operation is greatly improved, and the precision, efficiency and safety of laser coordinate positioning are significantly improved, especially suitable for laser surgery scene.

Description

Technical Field

[0001] This invention belongs to the field of laser coordinate positioning technology, specifically relating to a laser coordinate positioning method, device, system, equipment, medium, and product. Background Technology

[0002] Laser coordinate positioning technology is a core technology in fields such as precision medicine (e.g., orthopedic navigation) and industrial manufacturing (e.g., laser cutting). However, existing laser coordinate positioning technologies suffer from the following key problems:

[0003] (1) Insufficient accuracy and stability of coordinate acquisition, that is, the traditional teaching pendant operation relies on human experience for positioning, which makes it easy to introduce random errors on complex three-dimensional curved surfaces (such as bone surfaces). Furthermore, if the laser coordinate positioning system does not integrate kinematic constraint mechanisms, it will cause slight deviations when the robotic arm is dragged freely due to the lack of locking of the rotation axis, which is difficult to meet the needs of minimally invasive surgery.

[0004] (2) Fragmentation of data processing flow. In the existing solution, 3D coordinate acquisition, projection transformation and file generation rely on multiple independent software (such as CAD modeling and Matlab calculation are separated), which leads to poor data compatibility and low efficiency. If the coordinates are manually exported and the format is converted, the average time will be long and data loss is easy due to operational errors.

[0005] (3) Projection distortion and centroid offset: existing three-dimensional projection algorithms mostly map directly to a two-dimensional plane, ignoring the correction of the midpoint of the circumscribed rectangle and rotation compensation, and lacking the function of adjustable projection plane, and have not yet considered the translation of the coordinate system, resulting in the deviation between the laser focus and the target centroid, affecting the cutting accuracy.

[0006] (4) There are safety defects, namely, the robot motion trajectory planning lacks a prediction mechanism, which may cause the robot to enter a singular point state when dragging freely, leading to the risk of the robotic arm locking up or colliding. In addition, although the industry standard ISO 10218-1 specifies safe operation specifications, it does not provide a dynamic constraint scheme for laser positioning scenarios.

[0007] (5) Weak visualization support, namely, the existing solution does not provide a display of the spatial relationship between the projection plane and the original graphic in three-dimensional space, making it difficult for operators to intuitively verify the validity of the data.

[0008] In summary, how to provide a new laser coordinate positioning scheme that integrates dynamic constrained control, adaptive 3D projection correction, and tilted plane mapping to significantly improve the accuracy, efficiency, and safety of laser coordinate positioning is a topic that urgently needs to be studied by those skilled in the art. Summary of the Invention

[0009] The purpose of this invention is to provide a laser coordinate positioning method, device, coordinate positioning laser surgical system, computer equipment, computer-readable storage medium, and computer program product to solve the problems of insufficient coordinate acquisition accuracy and stability, fragmented data processing, projection distortion and centroid offset, and / or safety defects in existing laser coordinate positioning technologies.

[0010] To achieve the above objectives, the present invention adopts the following technical solution:

[0011] Firstly, a laser coordinate positioning method is provided, including:

[0012] Determine whether the initial pose of the target robot's robotic arm meets the preset safety conditions;

[0013] If the initial pose is determined to meet the preset safety conditions, then multiple sampling points on the target surface are obtained, wherein the target surface is a plane or a curved surface, and the multiple sampling points are obtained by dragging the end of the robotic arm under dynamic constraints of the degrees of freedom to continuously take points on the target surface in a clockwise or counterclockwise order. The dynamic constraints of the degrees of freedom refer to locking all rotational degrees of freedom and retaining only translational degrees of freedom.

[0014] The validity of the multiple sampling points is tested to obtain the validity test results.

[0015] If the validity test result indicates that all of the multiple sampling points are valid, then the multiple sampling points are connected sequentially in clockwise or counterclockwise order to obtain a circumferential closed pattern;

[0016] The circumferential closed shape is projected onto a set plane to obtain a two-dimensional projected shape on the set plane.

[0017] Calculate the area of ​​the two-dimensional projected graphic and determine whether the area reaches a preset area threshold;

[0018] If the area reaches the preset area threshold, then the center of the minimum bounding rectangle of the two-dimensional projection graphic is determined, and this center is taken as the centroid of the two-dimensional projection graphic;

[0019] Translate the two-dimensional rectangular coordinate system on the set plane until the origin of the two-dimensional rectangular coordinate system coincides with the centroid;

[0020] Based on the two-dimensional projection graphic and the origin, a DXF format file is generated;

[0021] The Ezcad2 laser control software identifies the DXF format file and performs laser calibration to complete laser coordinate positioning.

[0022] Based on the above-mentioned invention, a novel laser coordinate positioning scheme integrating dynamic constrained control and adaptive 3D projection correction is provided. When the initial pose of the target robot's robotic arm meets preset safety conditions, multiple sampling points are first acquired on the target surface by dragging the end of the robotic arm under dynamic constraints to sequentially collect points. After these sampling points pass validity checks, they are sequentially connected to obtain a circumferential closed shape. This closed shape is then projected onto a set plane to obtain a 2D projected shape. When the projection area is sufficient, the center of the shape is located, and a DXF format projection image is automatically output. Finally, the Ezcad2 laser control software recognizes the DXF file and performs laser calibration to complete the laser coordinate positioning. This makes the operation process more convenient, greatly improves operational efficiency, and significantly enhances the accuracy, efficiency, and safety of laser coordinate positioning. It is particularly suitable for laser surgery scenarios and is easy to apply and promote.

[0023] In one possible design, determining whether the initial pose of the target robot's robotic arm meets preset safety conditions includes:

[0024] Based on the determinant of the Jacobian matrix and the threshold determination method, it is determined whether the initial pose of the target robot's robotic arm is any predefined pose configuration in the safe pose library. The safe pose library contains a variety of predefined pose configurations for avoiding singularities. The singularity refers to the position or posture in the robot's kinematics that causes abnormalities in the robot's motion control.

[0025] If the initial pose is determined to be any predefined pose configuration in the safe pose library, then the initial pose is determined to meet the preset safety conditions; otherwise, the initial pose is determined not to meet the preset safety conditions.

[0026] In one possible design, validity testing is performed on the multiple sampling points to obtain validity testing results, including:

[0027] Determine whether the number of the plurality of sampling points is within a preset number range and whether the coordinate dimension of each of the plurality of sampling points is three-dimensional;

[0028] If it is determined that the number of the multiple sampling points is within the preset number of points and the coordinate dimension of each sampling point is three-dimensional, a first validity detection result is obtained to indicate that the multiple sampling points are valid; otherwise, a second validity detection result is obtained to indicate that the multiple sampling points are invalid.

[0029] In one possible design, the setting plane is a tilt-adjustable projection plane constructed by rotating around the X, Y, and Z axes with an angle adjustable from 0° to 90°.

[0030] In one possible design, a DXF format file is generated based on the two-dimensional projected graphic and the origin, including:

[0031] A counterclockwise 90° rotation matrix is ​​applied to correct the orientation deviation of the two-dimensional projected graphic and the origin, and a DXF format file is generated based on the correction result.

[0032] In a second aspect, a laser coordinate positioning device is provided, comprising an initial posture safety judgment unit, a sampling point acquisition unit, an effective detection and processing unit, a closed shape connection unit, a closed shape projection unit, a projection area judgment unit, a shape centroid determination unit, a coordinate system translation unit, a DXF file generation unit, and a laser calibration processing unit that are sequentially connected in communication.

[0033] The initial posture safety judgment unit is used to determine whether the initial posture of the target robot's robotic arm meets the preset safety conditions.

[0034] The sampling point acquisition unit is used to acquire multiple sampling points on the target surface if it is determined that the initial pose meets the preset safety conditions. The target surface is a plane or a curved surface. The multiple sampling points are obtained by dragging the end of the robotic arm under dynamic constraints of degrees of freedom to continuously take points on the target surface in a clockwise or counterclockwise order. The dynamic constraints of degrees of freedom refer to locking all rotational degrees of freedom and retaining only translational degrees of freedom.

[0035] The effective detection processing unit is used to perform effective detection processing on the multiple sampling points to obtain an effective detection result.

[0036] The closed-loop pattern connection unit is used to connect the multiple sampling points in a clockwise or counterclockwise order to obtain a circumferential closed-loop pattern if the validity detection result indicates that all of the multiple sampling points are valid.

[0037] The closed graphic projection unit is used to project the circumferential closed graphic onto a set plane to obtain a two-dimensional projected graphic on the set plane.

[0038] The projection area determination unit is used to calculate the area of ​​the two-dimensional projection graphic and determine whether the area reaches a preset area threshold.

[0039] The centroid determination unit is used to determine the center of the minimum bounding rectangle of the two-dimensional projection graphic if the area reaches the preset area threshold, and to use the center as the centroid of the two-dimensional projection graphic.

[0040] The coordinate system translation unit is used to translate the two-dimensional rectangular coordinate system on the set plane until the origin of the two-dimensional rectangular coordinate system coincides with the centroid.

[0041] The DXF file generation unit is used to generate a DXF format file based on the two-dimensional projection graphic and the origin.

[0042] The laser calibration processing unit is used to identify the DXF format file and perform laser calibration using Ezcad2 laser control software to complete laser coordinate positioning.

[0043] Thirdly, the present invention provides a coordinate positioning laser surgery system, including a human-computer interaction device with communication interconnection, a target robot, a laser device, and a laser coordinate positioning device;

[0044] The target robot is used to drag the laser output port of the laser device with a robotic arm to perform laser surgery.

[0045] The laser device is used to generate the laser required for the surgery and export it through the laser output port.

[0046] The laser coordinate positioning device is used to perform the laser coordinate positioning method as described in the first aspect or any possible design in the first aspect.

[0047] Fourthly, the present invention provides a computer device comprising a storage module, a processing module, and a transceiver module connected in sequence for communication, wherein the storage module is used to store a computer program, the transceiver module is used to send and receive messages, and the processing module is used to read the computer program and execute the laser coordinate positioning method as described in the first aspect or any possible design in the first aspect.

[0048] Fifthly, the present invention provides a computer-readable storage medium storing instructions that, when executed on a computer, perform the laser coordinate positioning method as described in the first aspect or any possible design of the first aspect.

[0049] In a sixth aspect, the present invention provides a computer program product, including a computer program or instructions, which, when executed by a computer, implement the laser coordinate positioning method as described in the first aspect or any possible design in the first aspect.

[0050] The beneficial effects of the above scheme are:

[0051] (1) This invention creatively provides a new laser coordinate positioning scheme that integrates dynamic constrained control and adaptive three-dimensional projection correction. When the initial pose of the target robot's robotic arm meets the preset safety conditions, multiple sampling points are first obtained on the target surface by dragging the end of the robotic arm under dynamic constraints of the degrees of freedom to continuously take points in sequence. After these sampling points pass the validity test, they are connected in sequence to obtain a circumferential closed shape. Then, the closed shape is projected onto a set plane to obtain a two-dimensional projection shape. Then, when the projection area is sufficient, the center of the shape is found and the projection image in DXF format is automatically output. Finally, the DXF format file is identified and laser calibration is performed by Ezcad2 laser control software to complete the laser coordinate positioning. This makes the operation process more convenient and greatly improves the efficiency of operation, thereby significantly improving the accuracy, efficiency and safety of laser coordinate positioning. It is particularly suitable for laser surgery scenarios.

[0052] (2) The new laser coordinate positioning scheme also has the characteristics of sub-millimeter positioning accuracy, full-process automation, enhanced robustness, cross-platform compatibility, user-friendly visualization operation, guaranteed document generation accuracy, and adjustable projection angle, which facilitates practical application and promotion. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is a flowchart illustrating the laser coordinate positioning method provided in an embodiment of this application.

[0055] Figure 2 This application provides example diagrams of a circumferential closed shape, a two-dimensional projected shape, and the spatial relationship of the projection plane, in which... Figure 2 (a) shows a three-dimensional example of a circumferential closed figure. Figure 2 (b) shows a two-dimensional example of a two-dimensional projected graphic. Figure 2 (c) in the figure shows an example diagram of the spatial relationship of the projection plane.

[0056] Figure 3 This is a schematic diagram of the structure of the laser coordinate positioning device provided in the embodiments of this application.

[0057] Figure 4 This is a schematic diagram of the coordinate positioning laser surgery system provided in the embodiments of this application.

[0058] Figure 5 A schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0059] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the accompanying drawings is only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these embodiments without creative effort. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0060] It should be understood that although the terms "first" and "second", etc., may be used herein to describe various objects, these objects should not be limited by these terms. These terms are only used to distinguish one object from another. For example, the first object may be referred to as the second object, and similarly, the second object may be referred to as the first object, without departing from the scope of the exemplary embodiments of the invention.

[0061] It should be understood that the term "and / or" that may appear in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, or A and B exist simultaneously. Another example is A, B and / or C, which can mean that any one of A, B, and C or any combination thereof exists. The term " / and" that may appear in this document describes another relationship between related objects, indicating that two relationships can exist. For example, A / and B can mean: A exists alone or A and B exist simultaneously. In addition, the character " / " that may appear in this document generally indicates that the related objects before and after it are in an "or" relationship.

[0062] Example

[0063] like Figures 1-2 As shown, the laser coordinate positioning method provided in the first aspect of this embodiment can be, but is not limited to, executed by a computer device with certain computing resources, such as... Figure 4 As shown, the laser coordinate positioning device in the coordinate positioning laser surgery system performs the procedure. This coordinate positioning laser surgery system also includes, but is not limited to, a human-computer interaction device 1, a target robot 2, and a laser device 3. The human-computer interaction device 1, the target robot 2, the laser device 3, and the laser coordinate positioning device are interconnected. The target robot 2 is used to drag the laser output port 31 of the laser device 3 via a robotic arm 21 to perform laser surgery. The laser device 3 is used to generate the laser required for the surgery and export it through the laser output port 31. Figure 1 As shown, the laser coordinate positioning method includes, but is not limited to, the following steps S1 to S10.

[0064] S1. Determine whether the initial pose of the target robot's robotic arm meets the preset safety conditions.

[0065] In step S1, the target robot may be, but is not limited to, a robot that can assist in laser surgery or cutting in fields such as precision medicine or industrial manufacturing, such as... Figure 4 As shown. The preset safety conditions are used as the basis for determining whether the robotic arm is initially in a stable configuration; specifically, determining whether the initial pose of the target robot's robotic arm meets the preset safety conditions includes, but is not limited to, the following steps S11 to S12.

[0066] S11. Based on the determinant of the Jacobian matrix and the threshold determination method, determine whether the initial pose of the target robot's robotic arm is any predefined pose configuration in the safe pose library, wherein the safe pose library pre-stores a variety of predefined pose configurations for avoiding singular points, and the singular point refers to the position or posture in the robot's kinematics that causes abnormalities in the robot's motion control.

[0067] In step S11, the determinant of the Jacobian matrix and the threshold determination method are based on existing technologies and will not be elaborated here. The predefined pose configuration can be pre-designed based on existing robot kinematics models; generally, the safe pose library needs to contain at least 10 of the predefined pose configurations. The robot kinematics includes forward kinematics and inverse kinematics. Forward kinematics calculates the position and orientation of the robot's end effector given the joint variables of the robot, while inverse kinematics calculates all joint variables of the robot's end effector given the position and orientation of the robot's end effector. Specifically, the singularity is caused by the robot's inverse kinematics. When a robot joint is commanded to move in an impossible way, there may be an infinite number of ways to reach the same position. When the robotic arm encounters a singularity, the motion trajectory will be abnormal, and it may even lead to uncontrollable joint speed, causing significant damage to the hardware. Common singularities include, but are not limited to, shoulder joint singularities, elbow joint singularities, and wrist joint singularities.

[0068] S12. If the initial pose is determined to be any predefined pose configuration in the safe pose library, then the initial pose is determined to meet the preset safety conditions; otherwise, the initial pose is determined not to meet the preset safety conditions.

[0069] S2. If it is determined that the initial pose meets the preset safety conditions, then multiple sampling points on the target surface are obtained, wherein the target surface is a plane or a curved surface, and the multiple sampling points are obtained by dragging the end of the robotic arm under dynamic constraints of degrees of freedom to continuously take points on the target surface in a clockwise or counterclockwise order. The dynamic constraints of degrees of freedom refer to locking all rotational degrees of freedom and retaining only translational degrees of freedom.

[0070] In step S2, the target surface can be, for example but not limited to, the bone surface in a laser surgery scenario. The multiple sampling points can be flexibly selected on the target surface according to expert needs. The dynamic constraints on the degrees of freedom can be implemented, but are not limited to, by selecting the "Free Drive → Restricted Control" mode on the teaching pendant interface via the human-computer interaction device 1, and then turning off the "RX", "RY", and "RZ" options to lock the rotational degrees of freedom of the X, Y, and Z axes, retaining only the translational degrees of freedom (i.e., the dynamic constraints on the degrees of freedom are specifically six-degree-of-freedom dynamic constraints), so that subsequent dragging operations meet expectations and improve motion stability. Thus, based on the judgment of the preset safety conditions and the dynamic constraints on the degrees of freedom, it can be ensured that the robotic arm will not generate singularities before dragging, and that the laser output port remains stable during the dragging process. Furthermore, if it is determined that the initial pose does not meet the preset safety conditions, the initial pose of the robotic arm needs to be adjusted until the preset safety conditions are met.

[0071] S3. Perform validity detection processing on the multiple sampling points to obtain validity detection results.

[0072] In step S3, the purpose of the validity detection process is to ensure the compliance of the sampled data. Specifically, validity detection is performed on the multiple sampling points to obtain validity detection results, including but not limited to the following steps S31 to S32.

[0073] S31. Determine whether the number of the multiple sampling points is within a preset number range and whether the coordinate dimension of each sampling point in the multiple sampling points is three-dimensional.

[0074] In step S31, the preset number of points can be, for example, but not limited to, [4, 15]. Furthermore, since the coordinates of the sampling points are generally three-dimensional coordinates in a three-axis Cartesian coordinate system (XYZ), it is necessary to determine whether the coordinate dimensions of each sampling point are all three-dimensional, that is, to determine whether the coordinate format of each sampling point is (x, y, z).

[0075] S32. If it is determined that the number of the multiple sampling points is within the preset number of points and the coordinate dimension of each sampling point is three-dimensional, then a first validity detection result is obtained to indicate that the multiple sampling points are valid; otherwise, a second validity detection result is obtained to indicate that the multiple sampling points are invalid.

[0076] S4. If the validity test result indicates that all of the multiple sampling points are valid, then the multiple sampling points are connected sequentially in clockwise or counterclockwise order to obtain a circumferential closed pattern.

[0077] In step S4, the circumferential closed graph is a three-dimensional path with closed beginning and end points, in order to eliminate the error of open paths, such as... Figure 2 As shown in (a) above; specifically, the coordinates of the multiple sampling points can be identified using Matlab code and connected sequentially to obtain the circumferential closed shape. Furthermore, if the validity detection result indicates that not all of the multiple sampling points are valid, an abnormal termination action can be triggered, for example, ending the laser coordinate positioning by displaying an error message indicating verification failure.

[0078] S5. Project the circumferential closed shape onto a set plane to obtain a two-dimensional projection shape on the set plane.

[0079] In step S5, the set plane can be, but is not limited to, the target surgical area surface in a laser surgery scenario. To achieve dynamic tilt projection, preferably, the set plane is a tilt-adjustable projection plane constructed by rotating around the X, Y, and Z axes with an adjustable angle of 0° to 90°. Furthermore, the two-dimensional projection graphic can be, for example... Figure 2 As shown in (b) of the diagram.

[0080] S6. Calculate the area of ​​the two-dimensional projected graphic and determine whether the area reaches a preset area threshold.

[0081] In step S6, the area of ​​the two-dimensional projected graphic can be calculated using the existing vector cross product method. Furthermore, the preset area threshold can be determined according to the application scenario; for example, in a laser surgery scenario, the preset area threshold could be 10. -10 Square millimeters.

[0082] S7. If the area reaches the preset area threshold, the center of the minimum bounding rectangle of the two-dimensional projection graphic is determined, and this center is taken as the centroid of the two-dimensional projection graphic.

[0083] In step S7, the minimum bounding rectangle, also known as the minimum enclosing rectangle, can be conventionally drawn and its center determined. Furthermore, if the area does not reach the preset area threshold, an abnormal termination action can also be triggered, for example, by ending the laser coordinate positioning process using an error message indicating insufficient area, in order to prevent invalid data from flowing into downstream processes.

[0084] S8. Translate the two-dimensional rectangular coordinate system on the set plane until the origin of the two-dimensional rectangular coordinate system coincides with the centroid.

[0085] S9. Generate a DXF format file based on the two-dimensional projection graphic and the origin.

[0086] In step S9, the aforementioned DXF format is a CAD data file format developed by Autodesk for exchanging CAD (Computer-Aided Design) data between AutoCAD and other software. Therefore, the DXF format file can be recognized by the subsequent Ezcad2 laser control software. Considering that the position of the robot's arm deviates by 90 degrees from the coordinates in the software during the experiment, it needs to be corrected before file generation. That is, to ensure that the error in the coincidence between the laser focus and the projection centroid is ≤0.05mm, preferably, the DXF format file is generated based on the two-dimensional projection graphic and the origin, including but not limited to: applying a counterclockwise 90° rotation matrix to correct the directional deviation of the two-dimensional projection graphic and the origin, and generating the DXF format file based on the correction result. Based on the aforementioned steps S5 to S9, the projection plane graphic can be automatically generated, the center of the graphic can be found, and the DXF format projection image can be automatically output, thereby making the operation process more convenient and greatly improving the efficiency of operation. Furthermore, to achieve simultaneous 3D / 2D visualization, an interactive interface can be built using MatlabGUI to render 3D closed graphs (specifically based on the Plot3 function) and their XY projections (specifically based on the Polyarea function) in real time, and dynamically label the midpoints of the circumscribed rectangles (e.g., Figure 2 (The red markers shown).

[0087] S10. The DXF format file is identified and laser calibration is performed using Ezcad2 laser control software to complete laser coordinate positioning.

[0088] In step S10, the Ezcad2 laser control software is a professional laser marking control software widely used in various laser marking equipment. Therefore, it can routinely recognize the DXF format file and perform laser calibration, enabling the laser equipment in laser surgery scenarios to assist doctors in performing surgery on the target area according to the set laser parameters. Furthermore, it can specifically generate project files based on the EZD 2.0 standard from the DXF format file, and adapt the Ezcad2 laser control software through the header declaration of the DXF format file, thereby achieving a "one-click import" operation.

[0089] Therefore, based on the laser coordinate positioning method described in steps S1 to S10 above, a new laser coordinate positioning scheme integrating dynamic constrained control and adaptive 3D projection correction is provided. Specifically, when the initial pose of the target robot's robotic arm meets preset safety conditions, multiple sampling points are first acquired on the target surface by dragging the end of the robotic arm under dynamic constraints to sequentially and continuously take points. After these sampling points pass validity checks, they are sequentially connected to obtain a circumferential closed shape. This closed shape is then projected onto a set plane to obtain a 2D projected shape. When the projection area is sufficient, the center of the shape is found, and a DXF format projection image is automatically output. Finally, the Ezcad2 laser control software recognizes the DXF format file and performs laser calibration to complete the laser coordinate positioning. This makes the operation process more convenient, greatly improves operational efficiency, and significantly enhances the accuracy, efficiency, and safety of laser coordinate positioning. It is particularly suitable for laser surgery scenarios and is easy to apply and promote.

[0090] like Figure 3 As shown, the second aspect of this embodiment provides a virtual device for implementing the laser coordinate positioning method described in the first aspect, including an initial posture safety judgment unit, a sampling point acquisition unit, an effective detection processing unit, a closed shape connection unit, a closed shape projection unit, a projection area judgment unit, a shape centroid determination unit, a coordinate system translation unit, a DXF file generation unit, and a laser calibration processing unit that are sequentially connected in communication.

[0091] The initial posture safety judgment unit is used to determine whether the initial posture of the target robot's robotic arm meets the preset safety conditions.

[0092] The sampling point acquisition unit is used to acquire multiple sampling points on the target surface if it is determined that the initial pose meets the preset safety conditions. The target surface is a plane or a curved surface. The multiple sampling points are obtained by dragging the end of the robotic arm under dynamic constraints of degrees of freedom to continuously take points on the target surface in a clockwise or counterclockwise order. The dynamic constraints of degrees of freedom refer to locking all rotational degrees of freedom and retaining only translational degrees of freedom.

[0093] The effective detection processing unit is used to perform effective detection processing on the multiple sampling points to obtain an effective detection result.

[0094] The closed-loop pattern connection unit is used to connect the multiple sampling points in a clockwise or counterclockwise order to obtain a circumferential closed-loop pattern if the validity detection result indicates that all of the multiple sampling points are valid.

[0095] The closed graphic projection unit is used to project the circumferential closed graphic onto a set plane to obtain a two-dimensional projected graphic on the set plane.

[0096] The projection area determination unit is used to calculate the area of ​​the two-dimensional projection graphic and determine whether the area reaches a preset area threshold.

[0097] The centroid determination unit is used to determine the center of the minimum bounding rectangle of the two-dimensional projection graphic if the area reaches the preset area threshold, and to use the center as the centroid of the two-dimensional projection graphic.

[0098] The coordinate system translation unit is used to translate the two-dimensional rectangular coordinate system on the set plane until the origin of the two-dimensional rectangular coordinate system coincides with the centroid.

[0099] The DXF file generation unit is used to generate a DXF format file based on the two-dimensional projection graphic and the origin.

[0100] The laser calibration processing unit is used to identify the DXF format file and perform laser calibration using Ezcad2 laser control software to complete laser coordinate positioning.

[0101] The working process, working details and technical effects of the aforementioned device provided in the second aspect of this embodiment can be found in the laser coordinate positioning method described in the first aspect, and will not be repeated here.

[0102] like Figure 4 As shown, the third aspect of this embodiment provides a coordinate positioning laser surgery system that applies the laser coordinate positioning method described in the first aspect, including a human-computer interaction device 1 with communication interconnection, a target robot 2, a laser device 3, and a laser coordinate positioning device;

[0103] The target robot 2 is used to drag the laser output port 31 of the laser device 3 via the robotic arm 21 to perform laser surgery;

[0104] The laser device 3 is used to generate the laser required for the surgery and output it through the laser output port 31.

[0105] The laser coordinate positioning device is used to perform the laser coordinate positioning method as described in the first aspect.

[0106] The working process, working details and technical effects of the aforementioned system provided in the third aspect of this embodiment can be found in the laser coordinate positioning method described in the first aspect, and will not be repeated here.

[0107] like Figure 5 As shown, the fourth aspect of this embodiment provides a computer device for executing the laser coordinate positioning method as described in the first aspect, including a storage module, a processing module, and a transceiver module connected in sequence. The storage module stores a computer program, the transceiver module sends and receives messages, and the processing module reads the computer program and executes the laser coordinate positioning method as described in the first aspect. Specifically, the storage module may include, but is not limited to, random-access memory (RAM), read-only memory (ROM), flash memory, first-in-first-out (FIFO) memory, and / or first-in-last-out (FILO) memory, etc.; the processing module may, but is not limited to, use a microprocessor of the STM32F105 series. Furthermore, the computer device may also include, but is not limited to, a power supply module, a display screen, and other necessary components.

[0108] The working process, working details and technical effects of the aforementioned computer device provided in the fourth aspect of this embodiment can be found in the laser coordinate positioning method described in the first aspect, and will not be repeated here.

[0109] This fifth aspect of the embodiment provides a computer-readable storage medium storing instructions comprising the laser coordinate positioning method as described in the first aspect. Specifically, the computer-readable storage medium stores instructions that, when executed on a computer, perform the laser coordinate positioning method as described in the first aspect. The computer-readable storage medium refers to a data storage medium, and may include, but is not limited to, floppy disks, optical disks, hard disks, flash memory, USB flash drives, and / or Memory Sticks. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0110] The working process, working details and technical effects of the aforementioned computer-readable storage medium provided in the fifth aspect of this embodiment can be found in the laser coordinate positioning method as described in the first aspect, and will not be repeated here.

[0111] The sixth aspect of this embodiment provides a computer program product, including a computer program or instructions, which, when executed by a computer, implement the laser coordinate positioning method as described in the first aspect. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.

[0112] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A laser coordinate positioning method, characterized in that, include: Determine whether the initial pose of the target robot's robotic arm meets the preset safety conditions; If the initial pose is determined to meet the preset safety conditions, then multiple sampling points on the target surface are obtained, wherein the target surface is a plane or a curved surface, and the multiple sampling points are obtained by dragging the end of the robotic arm under dynamic constraints of the degrees of freedom to continuously take points on the target surface in a clockwise or counterclockwise order. The dynamic constraints of the degrees of freedom refer to locking all rotational degrees of freedom and retaining only translational degrees of freedom. The validity detection process is performed on the multiple sampling points to obtain a validity detection result. Specifically, it includes: determining whether the number of points of the multiple sampling points is within a preset number range and whether the coordinate dimension of each sampling point in the multiple sampling points is three-dimensional; if it is determined that the number of points of the multiple sampling points is within the preset number range and the coordinate dimension of each sampling point is three-dimensional, a first validity detection result indicating that the multiple sampling points are valid is obtained; otherwise, a second validity detection result indicating that the multiple sampling points are invalid is obtained. If the validity test result indicates that all of the multiple sampling points are valid, then the multiple sampling points are connected sequentially in clockwise or counterclockwise order to obtain a circumferential closed pattern; The circumferential closed shape is projected onto a set plane to obtain a two-dimensional projected shape on the set plane. Calculate the area of ​​the two-dimensional projected graphic and determine whether the area reaches a preset area threshold; If the area reaches the preset area threshold, then the center of the minimum bounding rectangle of the two-dimensional projection graphic is determined, and this center is taken as the centroid of the two-dimensional projection graphic; Translate the two-dimensional rectangular coordinate system on the set plane until the origin of the two-dimensional rectangular coordinate system coincides with the centroid; Based on the two-dimensional projection graphic and the origin, a DXF format file is generated; The Ezcad2 laser control software identifies the DXF format file and performs laser calibration to complete laser coordinate positioning.

2. The laser coordinate positioning method according to claim 1, characterized in that, Determine whether the initial pose of the target robot's robotic arm meets preset safety conditions, including: Based on the determinant of the Jacobian matrix and the threshold determination method, it is determined whether the initial pose of the target robot's robotic arm is any predefined pose configuration in the safe pose library. The safe pose library contains a variety of predefined pose configurations for avoiding singularities. The singularity refers to the position or posture in the robot's kinematics that causes abnormalities in the robot's motion control. If the initial pose is determined to be any predefined pose configuration in the safe pose library, then the initial pose is determined to meet the preset safety conditions; otherwise, the initial pose is determined not to meet the preset safety conditions.

3. The laser coordinate positioning method according to claim 1, characterized in that, The set plane is a tilt-adjustable projection plane constructed by rotating around the X-axis, Y-axis and Z-axis with an adjustable angle of 0° to 90°.

4. The laser coordinate positioning method according to claim 1, characterized in that, Based on the two-dimensional projection graphic and the origin, a DXF format file is generated, including: A counterclockwise 90° rotation matrix is ​​applied to correct the orientation deviation of the two-dimensional projected graphic and the origin, and a DXF format file is generated based on the correction result.

5. A laser coordinate positioning device, characterized in that, It includes a sequentially connected initial pose safety judgment unit, sampling point acquisition unit, effective detection processing unit, closed shape connection unit, closed shape projection unit, projection area judgment unit, shape centroid determination unit, coordinate system translation unit, DXF file generation unit, and laser calibration processing unit; The initial posture safety judgment unit is used to determine whether the initial posture of the target robot's robotic arm meets the preset safety conditions. The sampling point acquisition unit is used to acquire multiple sampling points on the target surface if it is determined that the initial pose meets the preset safety conditions. The target surface is a plane or a curved surface. The multiple sampling points are obtained by dragging the end of the robotic arm under dynamic constraints of degrees of freedom to continuously take points on the target surface in a clockwise or counterclockwise order. The dynamic constraints of degrees of freedom refer to locking all rotational degrees of freedom and retaining only translational degrees of freedom. The validity detection processing unit is used to perform validity detection processing on the plurality of sampling points to obtain a validity detection result. Specifically, it includes: determining whether the number of the plurality of sampling points is within a preset number range and whether the coordinate dimension of each of the plurality of sampling points is three-dimensional; if it is determined that the number of the plurality of sampling points is within the preset number range and the coordinate dimension of each of the sampling points is three-dimensional, a first validity detection result indicating that the plurality of sampling points are valid is obtained; otherwise, a second validity detection result indicating that the plurality of sampling points are invalid is obtained. The closed-loop pattern connection unit is used to connect the multiple sampling points in a clockwise or counterclockwise order to obtain a circumferential closed-loop pattern if the validity detection result indicates that all of the multiple sampling points are valid. The closed graphic projection unit is used to project the circumferential closed graphic onto a set plane to obtain a two-dimensional projected graphic on the set plane. The projection area determination unit is used to calculate the area of ​​the two-dimensional projection graphic and determine whether the area reaches a preset area threshold. The centroid determination unit is used to determine the center of the minimum bounding rectangle of the two-dimensional projection graphic if the area reaches the preset area threshold, and to use the center as the centroid of the two-dimensional projection graphic. The coordinate system translation unit is used to translate the two-dimensional rectangular coordinate system on the set plane until the origin of the two-dimensional rectangular coordinate system coincides with the centroid. The DXF file generation unit is used to generate a DXF format file based on the two-dimensional projection graphic and the origin. The laser calibration processing unit is used to identify the DXF format file and perform laser calibration using Ezcad2 laser control software to complete laser coordinate positioning.

6. A coordinate-positioning laser surgical system, characterized in that, It includes a human-computer interaction device with communication interconnection (1), a target robot (2), a laser device (3), and a laser coordinate positioning device; The target robot (2) is used to drag the laser output port (31) of the laser device (3) via the robotic arm (21) to perform laser surgery; The laser device (3) is used to generate the laser required for the surgery and output it through the laser output port (31); The laser coordinate positioning device is used to perform the laser coordinate positioning method as described in any one of claims 1 to 4.

7. A computer device, characterized in that, It includes a storage module, a processing module, and a transceiver module that are sequentially connected in communication. The storage module is used to store a computer program, the transceiver module is used to send and receive messages, and the processing module is used to read the computer program and execute the laser coordinate positioning method as described in any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that... The computer-readable storage medium stores instructions that, when executed on a computer, perform the laser coordinate positioning method as described in any one of claims 1 to 4.

9. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or the instructions are executed by the computer, they implement the laser coordinate positioning method as described in any one of claims 1 to 4.

Images