Robot terminal operating system and method thereof

Abstract

The present invention discloses a robotic end-operation system and method thereof. The robotic end-operation system comprises: an actuator rotatably mounted at the end of a robotic arm, equipped with a tracer and at least two actuation channels for mounting actuators; an optical tracking system for locating the tracer fixedly mounted on the actuator; and an imaging device for collecting image information and using it for channel planning. The robot obtains the target position of the target actuator based on the planned channel and controls the movement of the robotic arm and the rotation of the actuator accordingly to switch the actuation channels. The present invention allows actuator replacement without removing the actuator sleeve, simplifying the operation and reducing the workload during surgery.

Description

Technical Field

[0001] The present invention relates to the field of robot structures, and in particular to a robot arm end operating system and a method thereof. Background Art

[0002] In recent years, robots have been used more and more widely in orthopedic clinical surgery. The use of robotic surgery can increase the accuracy of surgery, reduce the probability of risks caused by operational errors, and reduce the burden on doctors and the damage they suffer in the intraoperative radiation environment.

[0003] Currently, most established surgical robots, both domestically and internationally, utilize a robotic arm to perform the procedure instead of the surgeon. The end of the robotic arm is equipped with an end effector, and during surgery, the surgeon places various actuators within the end effector to complete the procedure. The robot's precise positioning addresses the shortage of medical resources in some regions and reduces the surgeon's workload. However, existing robotic systems still require the surgeon to change actuators within the operating room during surgery. The major issue with this approach is that each actuator must be uniformly manufactured to fit within the end effector's channel, or sleeves adapted for each actuator must be installed within the channel, increasing the complexity of the procedure. Summary of the Invention

[0004] Purpose of the invention: In response to the above-mentioned deficiencies, the present invention proposes a robot arm end operating system and method thereof, which does not require uniformly processing different actuators into sizes that can adapt to the end actuator channel or installing sleeves that adapt to different actuators in the channel.

[0005] Technical solution:

[0006] A robot terminal operating system, comprising:

[0007] An actuator, rotatably mounted on the end of the robotic arm, provided with a tracer and at least two actuator channels for mounting actuators;

[0008] An optical tracking system for locating the tracer fixedly mounted on the actuator;

[0009] Imaging equipment, used to collect image information and plan channels;

[0010] The robot obtains the target position of the target actuator according to the planned channel, and controls the movement of the robotic arm and the rotation of the actuator accordingly to realize the execution channel switching.

[0011] The distances from all execution channels to the rotation center of the execution unit are equal. After the robot arm reaches its target posture, the corresponding execution unit is directly controlled to rotate to reach its target posture to switch the execution unit.

[0012] The distances from all execution channels to the rotation center of the actuator are different. The process of switching the actuator is as follows: the robot obtains the target posture of the corresponding actuator according to the planned channel, and obtains the target posture of the robotic arm based on this. After controlling the robotic arm to move to its target posture, the actuator is controlled to rotate until the corresponding actuator reaches its target posture.

[0013] The execution unit is controlled to rotate by a motor, and an encoder for collecting the rotation angle of the motor is installed in the motor.

[0014] One of the execution channels is a registration channel, on which a registration component for robot registration and alignment is installed.

[0015] There are three execution channels. In addition to the registration channel, one of the execution channels is a guide needle sleeve hole for screwing in the Kirschner wire sleeve; the other execution channel is a nail placement channel.

[0016] The robot is registered and positioned through the imaging device and the optical tracking system; the robot plans a channel in the image captured by the imaging device, and obtains the target position of the robotic arm based on this, and controls the movement of the robotic arm to reach its target position.

[0017] The target posture of the robotic arm is obtained as follows:

[0018] The robot calculates the transformation relationship between the execution channel and the tracer coordinate system and the transformation relationship between the execution center and the tracer coordinate system based on the design parameters of the execution unit, and calculates the transformation relationship between the execution channel and the rotation center of the execution unit based on the calculation, and further calculates the transformation relationship between the target actuator and the rotation center of the execution unit;

[0019] The robot obtains a target pose of the target actuator according to the planned channel, and calculates the target pose of the rotation center of the actuator according to the transformation relationship between the target actuator and the rotation center of the actuator;

[0020] The robot calculates the transformation relationship between the rotation center of the actuator and the robotic arm according to the installation parameters of the actuator, and further calculates the target posture of the robotic arm.

[0021] The execution part includes a body rotatably mounted on the end of the robotic arm and at least two execution brackets spaced apart in the circumferential direction of the body, and each execution bracket is provided with an execution channel.

[0022] There are at least three execution brackets, and a reflective ball is fixedly mounted on each execution bracket.

[0023] The number of the execution channels is the same as the number of the execution components that actually need to be installed.

[0024] A method for operating a robotic arm end, comprising the steps of:

[0025] (1) The robot aligns the image spatial position with the patient's actual position;

[0026] (2) Plan the channel in the image and calculate the target pose of the target actuator based on it;

[0027] (3) calculating the target position of the manipulator according to the target position of the target actuator and controlling the manipulator to move to the target position accordingly;

[0028] (4) calculating the target position of the corresponding channel on the actuator according to the target position of the target actuator, controlling the actuator to rotate to the corresponding channel on it to reach the target position, and performing the corresponding operation through the target actuator installed thereon;

[0029] A method for operating a robotic arm end, comprising the steps of:

[0030] (1) The robot aligns the image spatial position with the patient's actual position;

[0031] (2) Plan the channel in the image and calculate the target pose of the target actuator based on it;

[0032] (3) Calculating the target posture of the robot arm and the target posture of the corresponding channel on the actuator according to the target posture of the target actuator;

[0033] (4) controlling the robot arm to move to its target posture according to step (3), and controlling the actuator to rotate to the corresponding channel on it to reach the target posture, and performing the corresponding operation through the target actuator installed thereon;

[0034] The target pose of the robotic arm is calculated based on the target pose of the target actuator as follows:

[0035] (31) The robot calculates the transformation relationship between the execution channel and the tracer coordinate system and the transformation relationship between the execution center and the tracer coordinate system based on the design parameters of the execution part, and calculates the transformation relationship between the execution channel and the rotation center of the execution part based on the calculation, and then obtains the transformation relationship between the target actuator and the rotation center of the execution part;

[0036] (32) The robot obtains the target position of the actuator according to the planned channel, and calculates the target position of the rotation center of the actuator according to the transformation relationship between the actuator and the rotation center of the actuator;

[0037] (33) The robot calculates the transformation relationship between the rotation center of the actuator and the robotic arm based on the installation parameters of the actuator, and then calculates the target posture of the robotic arm.

[0038] During the control of the actuator's rotation, if the rotation center of the target actuator coincides with the rotation center of the actuator, the actuator can be rotated. However, due to machining, there is a deviation between the rotation center of the target actuator and the rotation center of the actuator, so the error needs to be eliminated. Specifically:

[0039] (41) calculating the target position of the tracer based on the design parameters of the actuator and the target position of the target actuator obtained in step (2);

[0040] (42) The optical tracking system acquires the current position of the tracer, and calculates the angle that the tracer needs to rotate according to step (41), thereby obtaining the angle that the target actuator needs to rotate, and according to the transformation relationship between the target actuator and the rotation center of the actuator, obtains the angle that the actuator needs to rotate, and controls the actuator to rotate the corresponding angle accordingly;

[0041] (43) The optical tracking system re-collects the current position of the tracer and repeats step (42) until the error err between the target position of the tracer and the current position of the tracer is less than 0.1, and the execution ends.

[0042] In the step (4), there are at least three execution channels, and a reflective ball is fixedly installed on each execution channel. All the reflective balls form a tracer, which is specifically as follows:

[0043] (41) The robot calculates the target position of the reflective ball on the execution channel where the target actuator is located based on the design parameters of the actuator and the target position of the target actuator obtained in step (2);

[0044] (42) The optical tracking system acquires the current position of the reflective ball, and calculates the angle at which the target actuator needs to rotate based on the current position, and calculates the angle at which the actuator needs to rotate based on the transformation relationship between the target actuator and the rotation center of the actuator, and controls the actuator to rotate the corresponding angle accordingly;

[0045] The angle that the target actuator needs to rotate is calculated as follows:

[0046] A″ represents the current position of the reflective ball, and A′ represents the target position of the reflective ball. Assuming the length of A″O is l, the length of A′O is m, and the length of A′A″ is n, then according to the cosine theorem, cosθ=(l 2 +m 2 -n′ 2 ) / 2lm, find the value of θ;

[0047] (43) The optical tracking system re-collects the current position of the tracer and repeats step (42) until the error err between the target position of the tracer and the current position of the tracer is less than 0.1, and the execution ends.

[0048] Beneficial effects: The present invention is designed with an execution sleeve structure having multiple execution channels, and the execution channels can be switched by rotating the execution sleeve, thereby realizing the switching of the actuator. The actuator can be replaced without removing the execution sleeve, which is simple to operate and reduces the workload during surgery. There is no need to uniformly process different actuators into sizes that can adapt to the end effector channel or install sleeves that adapt to different actuators in the channel. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a structural diagram of the operating system at the end of the robot arm of the present invention.

[0050] Figure 2 It is a structural schematic diagram of the end of the robot mechanical arm of the present invention.

[0051] Figure 3 It is a top view of the end of the robot arm of the present invention.

[0052] Figure 4 It is a side view of the end of the robot arm of the present invention.

[0053] Figure 5 Schematic diagram of installing the registration board of the present invention.

[0054] Figure 6 Schematic diagram of installing the Kirschner wire sleeve of the present invention.

[0055] Figure 7 This is a schematic diagram of installing the operating sleeve of the present invention.

[0056] Figure 8 Schematic diagram of the sleeve tracer coordinate system established for the present invention.

[0057] Figure 9 A schematic diagram of the operation process.

[0058] Figure 10 Schematic diagram of the execution channel and reflective ball of the present invention.

[0059] Figure 11 This is a schematic diagram of channel rotation control implemented in the present invention.

[0060] Figure 12 Schematic diagram of the execution channel and reflective ball in the present invention with errors.

[0061] Figure 13 Schematic diagram for calculating channel rotation angle.

[0062] Among them, 1 is the robotic arm, 2 is the end effector, and 3 is the connecting screw;

[0063] 21 is a circuit board, 211 is a signal transmission cable, 212 is a motor signal cable, 22 is a motor, 23 is an execution sleeve, 231 is a sleeve body, 232 is an execution channel, 233 is a reflective ball, 24 is a registration plate, 25 is a Kirschner wire sleeve, and 26 is a pedicle screw. DETAILED DESCRIPTION

[0064] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.

[0065] Figure 1 This is a schematic diagram of the structure of the operating system at the end of the robot arm of the present invention. Figure 1 As shown, the robotic arm end-operating system of the present invention includes an end effector 2, an optical tracking system, and a C-arm. The front end of the end effector 2 is fixedly connected to the end of the robotic arm 1 via connecting screws 3. In the present invention, connecting screws 3 are quick-release thumb screws. A circuit board 21 is also provided within the front end of the end effector 2, and a motor 22 is fixedly mounted therein. The circuit board 21 is connected to the motor 22 via a motor signal cable 212 and controls the start and stop of the motor 22 and the rotation angle. The circuit board 21 is connected to the robot control module via a signal transmission cable 211 and receives commands sent by the robot control module to control the start and stop and rotation angle of the motor 22.

[0066] like Figure 1 、 2 As shown in Figures 3 and 4, an execution sleeve 23 is provided at the end of the end effector 2. The execution sleeve 23 is fixedly mounted on the motor shaft of the motor 22 and is driven to rotate by the motor 22. Figure 2 、 3 As shown, the execution sleeve 23 includes a sleeve body 231 fixedly mounted on the motor shaft of the motor 22 and three execution brackets evenly spaced around the sleeve body 231. Each execution bracket is provided with an execution channel 232. At least three coplanar and non-colinear reflective balls 233 are fixedly provided on the execution sleeve 23. The aforementioned reflective balls 233 constitute a reflective ball assembly as an execution sleeve tracer, which is used for intraoperative position tracking of the optical tracking system (NDI).

[0067] In a specific embodiment of the present invention, a reflective ball 233 is fixedly mounted on each execution bracket.

[0068] In one embodiment of the present invention, the distances from the channel centers of all actuating channels 232 to the rotation center of the actuating sleeve 23 are equal, that is, the channel centers of all actuating channels 232 are located on the same circumference with the rotation center of the actuating sleeve body 231 as the center. In another embodiment of the present invention, the distances from the channel centers of all actuating channels 232 to the rotation center of the actuating sleeve 23 are different.

[0069] In a specific embodiment of the present invention, Figure 2 、 3 As shown, there are three groups of execution channels 232, one of which is a registration plate channel, which is used to fix the registration plate 24 for the registration and registration of the robot. Figure 5 As shown; in a specific embodiment of the present invention, the registration plate channel is two navigation positioning holes, and the center point of the center line of the two centers is the channel center of the execution channel 232; one of the execution channels 232 is a guide needle sleeve hole for screwing in the Kirschner wire sleeve 25 to assist in guiding the needle, such as Figure 6 Another execution channel 232 is used for the nail placement operation after the guide needle is inserted, as shown Figure 7 shown.

[0070] In another embodiment of the present invention, the execution sleeve of the present invention may only include a specific execution channel, that is, there is no need to set up a registration plate channel. After the execution sleeve of this embodiment of the present invention is installed at the end of the robotic arm, it can be registered through an external or fixed registration structure, and then the corresponding execution channel can be controlled to perform the execution operation.

[0071] In the present invention, in actual application, the number and specific layout of the execution brackets and execution channels can be designed to adapt to the structure of different execution parts according to actual needs. The working principle of the embodiment of the present invention is as follows:

[0072] In the embodiment of the present invention, for the case where the distances from the center of all the execution channels 232 to the center of the execution sleeve 23 are equal, as shown in FIG. Figure 9 As shown, each actuator is installed in the execution channel 232, and the motor 22 is controlled to rotate by the circuit board 21 to turn the registration plate channel to the front (i.e., the target position). The robotic arm iteratively executes until the registration plate 24 installed on the registration plate channel fits the human body, and registration positioning is performed through the registration plate 24, which is used to unify the coordinates of the patient and the 3D image after scanning the image; then the motor 22 is controlled to rotate by the circuit board 21 to turn the guide needle sleeve channel to the front (i.e., the target position), and the Kirschner wire sleeve 25 installed on the guide needle sleeve hole is used to assist in guide needle insertion; finally, the motor 22 is controlled to rotate by the circuit board 21, and the execution channel 232 that actually needs to be operated is turned to the front (i.e., the target position), and the operation is performed through the actuator installed on the execution channel 232.

[0073] In view of the fact that the distances from the channel centers of all the aforementioned execution channels 232 to the center of the execution sleeve 23 are not equal, in each step, the robot arm executes to the target posture according to the planned channel (that is, the execution channel 232 that actually needs to be operated moves to the target execution posture), and then controls the rotation of the motor 22 through the circuit board 21 to turn the execution channel 232 that actually needs to be operated to the front (that is, the target posture), and operates through the actuator installed on the execution channel 232.

[0074] In the present invention, an encoder is installed in the motor 22 for collecting the rotation angle of the motor 22 to achieve accurate positioning of the rotation angle of the execution sleeve 23 and rotate the execution channel 232 to the target posture. In an ideal state, the rotation center of the execution channel 232 coincides with the rotation center of the execution sleeve 23. In actual operation, due to the influence of machining errors, the error between the rotation center of the execution channel 232 and the rotation center of the execution sleeve 23 will cause an error between the posture of the target execution channel 232 and the posture of the actual execution channel 232. Therefore, it is necessary to eliminate the error and iteratively execute the execution channel 232 to the target posture.

[0075] The working steps of the robot end operation method of the present invention are as follows:

[0076] (1) Establish the tracer coordinate system W and obtain the transformation relationship between the optical tracking system coordinate system and the tracer coordinate system;

[0077] (11) Figure 8 、 10 As shown, in this embodiment, the execution sleeve 23 has three execution channels α, β, γ and three reflective balls A, B, and C. The centers of the reflective balls A, B, and C are a, b, and c respectively. The positions of the centers of the three reflective balls A, B, and C are measured using a three-dimensional measuring instrument. With a as the origin, a, b, and c are fitted to a plane. The normal of the plane is used as the X-axis, and the direction of the line connecting a and c is used as the Y-axis. The Z-axis is obtained by multiplying X by Y to establish the tracer coordinate system W, as shown in FIG. Figure 9 As shown;

[0078] (12) Adjust the manipulator or optical tracking system so that the angle between the line connecting the actuator sleeve tracer and the center of the optical tracking system and the normal of the plane where the actuator sleeve tracer is located is minimized (i.e., the optical tracking system is facing the actuator sleeve tracer). The position of the actuator sleeve tracer is collected by the optical tracking system to obtain the transformation relationship between the optical tracking system coordinate system and the tracer coordinate system W;

[0079] (2) The motor 22 is controlled to rotate by the circuit board 21, and the registration plate channel of the execution sleeve 23 is turned to the front. The robot arm controls the execution until the registration plate is attached to the human body, and the image is scanned by the C-arm machine, and the registration positioning is performed by the registration plate 24 installed on the registration plate channel;

[0080] (21) The position and orientation of each execution channel in the tracer coordinate system W is obtained according to the kinematic parameter calibration (i.e., the design parameters of the execution sleeve 23); specifically, the center positions of the upper and lower surfaces of the cylinder formed by each execution channel in the tracer coordinate system W are calculated according to the design parameters of the execution sleeve 23, so that each execution channel is associated with the tracer coordinate system W, and the position and orientation of each execution channel in the tracer coordinate system W is obtained; similarly, the coordinates of the rotation center o of the execution sleeve in the tracer coordinate system W can be calculated, and the position and orientation relationship between the rotation center o of the execution sleeve and each execution channel can be obtained, such as Figure 11 As shown;

[0081] (22) Each actuator is installed in each execution channel, and the execution sleeve 23 is controlled by the motor 22 to rotate, and the registration plate channel (i.e., the β channel) is turned to the front, and the robotic arm controls the execution until the registration plate installed on the registration plate channel is in contact with the human skin;

[0082] (23) Scanning the 3D image with a C-arm machine and registering and positioning it with the registration plate 24, and combining step (21) to obtain the transformation relationship between the image coordinate system and the tracer coordinate system W;

[0083] (3) The user plans the channel in the reconstructed 3D image and calculates the target pose of the rotation center of the target actuator installed in the target actuator channel according to step (2);

[0084] (31) Figure 3 As shown, the optical tracking system coordinate system is used as the reference coordinate system W b , according to steps (1) and (2), we can get the reference coordinate system W b The transformation relationship between the image coordinate system;

[0085] (32) Planning the channel in the 3D image reconstructed by the C-arm scanning machine, according to step (31), the planned channel can be obtained in the reference coordinate system W b The pose W1 in

[0086] In the present invention, if Kirschner wire placement is required, the α channel needs to be used as the target execution channel;

[0087] (33) By translating the set distance along the axis of the planned channel, the target execution channel can be obtained in the reference coordinate system W b The target pose W2 in the target position is W1*T=W2, where T represents the translation transformation relationship along the axis of the planned channel;

[0088] (34) According to step (33), the target actuator installed in the target execution channel can be obtained in the reference coordinate system W bThe target pose in the equation is obtained, and then W2*T is obtained. m =W o ;W o The rotation center of the target actuator in the reference coordinate system W b The target pose under T m Indicates the transformation relationship between the rotation center of the target actuator and the target execution channel;

[0089] (4) Control the execution of the robotic arm;

[0090] According to the design parameters and installation parameters of the actuator sleeve, the transformation relationship T between the rotation center of the target actuator and the robotic arm is obtained. m2 , we can get the manipulator in the reference coordinate system W b The target pose W under e =W o *T m2 , control the manipulator to execute to the manipulator target posture W e At the point, the robotic arm executes in place;

[0091] (5) Control the rotation of the actuator sleeve;

[0092] The motor 22 is controlled to rotate by the circuit board 21, and the target execution channel of the execution sleeve 23 is rotated to its target posture, that is, the target actuator is rotated into place; if the rotation center of the target actuator coincides with the motor shaft, the target point can be reached by directly rotating the angle, such as Figure 11 As shown; However, in the actual production process, there is a certain deviation between the actual rotation center and the theoretical rotation center, such as Figure 12 As shown, O and O′ are the theoretical rotation center and the actual rotation center, α′ is the theoretical rotation position, and α″ is the position reached during the actual rotation process. According to step (3) and the sleeve design parameters, the target position W3 = W2*T of the reflective ball A is calculated. m3 , where T m3 Represents the transformation relationship between the reflective ball A and the α channel; the current position of the reflective ball A seen by the optical tracking system is W3′, and the amount of rotation required is T m4 =W3 / W3′, which is reflected on the actuator sleeve as the angle θ that the actuator sleeve needs to rotate. Figure 13 As shown, A″ represents the current position of the reflective ball, and A′ represents the target position of the reflective ball. Assuming that the length of A″O is l, the length of A′O is m, and the length of A′A″ is n, we can obtain cosθ=(l 2 +m 2 -n′ 2 ) / 2lm, the value of θ is obtained, and the motor 22 is controlled by the circuit board 21 to rotate θ to the target position.

[0093] (6) Iterative convergence;

[0094] Because there is an error in the rotation center, after rotating by angle θ, the relative relationship between the target position and the current position of the reflective ball A is recalculated, δ=W3 / W 3n , where W 3n It represents the current position of the reflective ball A seen by the optical tracking system after the nth iteration; the position of the new target actuator rotation center is W on =W o *δ, the amount W that the actuator sleeve 23 needs to rotate en =W on *T m2 ;

[0095] (7) Repeat step (6) until the error err between the target pose and the current pose of the reflective ball A is less than 0.1, and then the execution ends;

[0096] (8) Repeat steps (3) to (7) for other execution channels.

[0097] In the present invention, for the case where the distances from the channel centers of all execution channels 232 to the center of the execution sleeve 23 are equal, in step (8) of the aforementioned robot end operation method, it is only necessary to repeat steps (5) to (7) for other execution channels.

[0098] The present invention is designed with an execution sleeve structure having multiple execution channels, and the execution channels can be switched by rotating the execution sleeve, thereby realizing the switching of the actuator. The actuator can be replaced without removing the execution sleeve, which is simple to operate and reduces the workload during surgery. There is no need to uniformly process different actuators into sizes that can adapt to the end effector channel or install sleeves that adapt to different actuators in the channel.

[0099] The preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various equivalent transformations (such as quantity, shape, position, etc.) can be made to the technical solution of the present invention, and these equivalent transformations all fall within the scope of protection of the present invention.

Claims

1. A robot terminal operating system, characterized by: include: An actuator, rotatably mounted on the end of the robotic arm, provided with a tracer and at least two actuator channels for mounting actuators; An optical tracking system for locating the tracer fixedly mounted on the actuator; Imaging equipment, used to collect image information and plan channels; The robot obtains the target position of the target actuator according to the planned channel, and controls the movement of the manipulator and the rotation of the actuator accordingly to achieve execution channel switching; The robot plans a path in the image captured by the imaging device, obtains the target position of the robotic arm based on the path, and controls the movement of the robotic arm to reach the target position; The target posture of the robotic arm is obtained as follows: The robot calculates the transformation relationship between the execution channel and the tracer coordinate system and the transformation relationship between the rotation center of the execution unit and the tracer coordinate system based on the design parameters of the execution unit, and calculates the transformation relationship between the execution channel and the rotation center of the execution unit based on the calculation, and further calculates the transformation relationship between the target actuator and the rotation center of the execution unit; The robot obtains a target pose of the target actuator according to the planned channel, and calculates a target pose of the rotation center of the actuator according to a transformation relationship between the target actuator and the rotation center of the actuator; The robot calculates the transformation relationship between the rotation center of the actuator and the robotic arm according to the installation parameters of the actuator, and then calculates the target posture of the robotic arm; During the control of the actuator's rotation, if the rotation center of the target actuator coincides with the rotation center of the actuator, the actuator can be rotated. However, due to machining, there is a deviation between the rotation center of the target actuator and the rotation center of the actuator, so the error needs to be eliminated. Specifically: a. Calculate the target position of the tracer based on the design parameters of the actuator and the target position of the target actuator; b. The optical tracking system acquires the current position of the tracer and calculates the required rotation angle of the tracer according to step a. This calculation further determines the required rotation angle of the target actuator. The required rotation angle of the actuator is then determined based on the transformation relationship between the rotation center of the target actuator and the actuator. This calculation is then used to control the actuator to rotate the corresponding angle. c. The optical tracking system re-collects the current position of the tracer and repeats step b until the error between the target position of the tracer and the current position of the tracer is less than err <0.1, execution ends.

2. The robot terminal operating system according to claim 1, characterized in that: The distances from all execution channels to the rotation center of the execution unit are equal. After the robot arm reaches its target posture, the corresponding execution unit is directly controlled to rotate to reach its target posture to switch the execution unit.

3. The robot terminal operating system according to claim 1, characterized in that: The distances from all execution channels to the rotation center of the actuator are different. The process of switching the actuator is as follows: the robot obtains the target posture of the corresponding actuator according to the planned channel, and obtains the target posture of the robotic arm based on this. After controlling the robotic arm to move to its target posture, the actuator is controlled to rotate until the corresponding actuator reaches its target posture.

4. The robot terminal operating system according to claim 1, characterized in that: The execution unit is controlled to rotate by a motor, and an encoder for collecting the rotation angle of the motor is installed in the motor.

5. The robot terminal operating system according to claim 1, characterized in that: One of the execution channels is a registration channel, on which a registration component for robot registration and alignment is installed.

6. The robot terminal operating system according to claim 5, characterized in that: There are three execution channels. In addition to the registration channel, one of the execution channels is a guide needle sleeve hole for screwing in the Kirschner wire sleeve; the other execution channel is a nail placement channel.

7. The robot terminal operating system according to claim 5, characterized in that: The robot is registered and positioned through the imaging device and the optical tracking system.

8. The robot terminal operating system according to claim 1, characterized in that: The execution part includes a body rotatably mounted on the end of the robotic arm and at least two execution brackets spaced apart in the circumferential direction of the body, and each execution bracket is provided with an execution channel.

9. The robot terminal operating system according to claim 8, characterized in that: There are at least three execution brackets, and a reflective ball is fixedly mounted on each execution bracket.

10. The robot terminal operating system according to claim 1, characterized in that: The number of the execution channels is the same as the number of the execution components that actually need to be installed.

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