Robot system and control method

Abstract

The present disclosure relates to the field of robotics and discloses a control method for a robotic system comprising multiple motion arms. The control method comprises: determining a motion mode of one or more target motion arms among the multiple motion arms based on an operation command; determining an initial position of the one or more target motion arms; executing one or more motion control cycles based on the initial position of the one or more target motion arms and a motion step length corresponding to the motion mode, wherein for each motion control cycle, a target position of the one or more target motion arms is determined; and controlling the one or more target motion arms to move toward the target position. This method enables the target motion arms to accurately, quickly, and safely reach the target position, thereby achieving efficient and safe preoperative preparation for surgery.

Description

Technical Field

[0001] The present disclosure relates to the field of robots, and in particular to a robot system and a control method. Background Art

[0002] Laparoscopic surgery is a widely used surgical procedure, offering advantages such as minimal invasiveness. In recent years, surgical robots have used motion arms to achieve greater stability and precision in surgical procedures. During surgery, these arms deliver surgical instruments through a probing mechanism into the surgical site within the body (e.g., of a human or animal) to perform the procedure.

[0003] At present, the surgical process performed using surgical robots mainly includes preoperative positioning, intraoperative operation and postoperative preparation. Before the operation, a surgical assistant (such as an assistant doctor or nurse) is usually required to adjust the motion arm to a suitable position according to the type of surgery and the surgical posture, fix the motion arm to the punch card, and then set the surgical instrument at the end of the motion arm so that the surgical instrument can enter the body through the punch card. The movement of the motion arm can be manually adjusted by the surgical assistant from its distal end (i.e., close to the patient end), or it can be controlled by the surgical assistant or the doctor by operating the control device at the proximal end of the motion arm (i.e., close to the doctor's control end). However, since the motion arm may be large in size and weight, there are stability issues and collision risks, especially in single-port surgery. Therefore, the adjustment of the motion arm is complicated and time-consuming. Similarly, the adjustment of the motion arm during and after the operation has the above problems. Summary of the Invention

[0004] In some embodiments, a control method for a robotic system is provided, wherein the robotic system includes multiple motion arms, and the control method includes: determining the motion mode of one or more target motion arms among the multiple motion arms based on an operation command; determining the initial posture of the one or more target motion arms; executing one or more motion control cycles based on the initial posture of the one or more target motion arms and the motion step corresponding to the motion mode, wherein, for each motion control cycle, the target posture of the one or more target motion arms is determined; and controlling the one or more target motion arms to move toward the target posture.

[0005] In some embodiments, a robot system includes: a plurality of motion arms; and a control device, wherein the control device is configured to execute the control method described in any embodiment of the present disclosure.

[0006] In some embodiments, a computer-readable storage medium includes one or more instructions, where the instructions are executed by a processor to perform the control method described in any embodiment of the present disclosure.

[0007] In some embodiments, a computer system includes: a memory for storing at least one instruction; and a processor configured to execute the at least one instruction to perform the control method described in any embodiment of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly describes the drawings required for describing the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. Those skilled in the art can, without inventive effort, derive other embodiments based on the contents of the embodiments of the present disclosure and these drawings.

[0009] Figure 1 shows a structural block diagram of a robot system according to some embodiments of the present disclosure;

[0010] Figure 2 shows a schematic diagram of the three-dimensional structure of a robot system according to some embodiments of the present disclosure;

[0011] Figure 3 A schematic structural diagram of a motion arm of a robot system according to some embodiments of the present disclosure is shown;

[0012] Figure 4 shows a partial cross-sectional view of an auxiliary connection device according to some embodiments of the present disclosure;

[0013] FIG5( a ) shows a flow chart of a control method for a robotic system according to some embodiments of the present disclosure;

[0014] FIG5( b ) shows a flow chart of a control method for each motion control cycle according to some embodiments of the present disclosure;

[0015] Figure 6 shows another structural block diagram of a robot system according to some embodiments of the present disclosure;

[0016] Figure 7 A flowchart of a method for determining a target posture of a motion arm according to some embodiments of the present disclosure is shown;

[0017] Figure 8 A schematic diagram of the architecture of a control device according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0018] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0019] In the description of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" and "coupled" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a communication between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. In this disclosure, the end closest to the operator (e.g., doctor) is defined as the proximal end, near portion, or rear end, and the end closest to the patient being operated on is defined as the distal end, far end, or front end. Those skilled in the art will appreciate that the embodiments of this disclosure can be used in medical devices or surgical robots, as well as other non-medical devices.

[0020] Figure 1 FIG. 1 shows a block diagram of a robot system 10 according to some embodiments of the present disclosure. Figure 1 As shown, the robot system 10 may include a control device 11 and a plurality of motion arms connected to the control device 11. In some embodiments, as shown in FIG. Figure 1 As shown, the multiple motion arms may include a first motion arm 12a and a second motion arm 12b. The control device 11 may be used to control the first motion arm 12a and the second motion arm 12b. For example, the control device 11 may adjust the movement, posture, and mutual coordination of the first motion arm 12a and the second motion arm 12b. In some embodiments, the first motion arm 12a and the second motion arm 12b may include a first end arm 128a and a second end arm 128b at their distal ends. The control device 11 may control the movement of the first motion arm 12a or the second motion arm 12b so that the first end arm 128a or the second end arm 128b moves to a desired position and posture.

[0021] For the sake of simplicity, this disclosure Figure 1The exemplary robotic system 10 is shown in the following figures as including two motion arms. However, those skilled in the art will appreciate that the robotic system 10 may also include three, four, or more motion arms. The robotic system 10 may include a surgical robotic system, such as a laparoscopic surgical robotic system. It should be understood that the robotic system 10 may also include specialized or general-purpose robotic systems used in other fields (e.g., manufacturing, machinery, etc.).

[0022] Figure 2 FIG. 1 shows a schematic diagram of a three-dimensional structure of a robot system 10 according to some embodiments of the present disclosure. Figure 2 As shown, the robot system 10 is a surgical robot system, which may include an operating trolley 13 and a first motion arm 12a and a second motion arm 12b disposed on the operating trolley 13. In some embodiments, the operating trolley 13 may include a base 131 and a crossbeam 132. In some embodiments, the first motion arm 12a and the second motion arm 12b may be movably disposed on the crossbeam 132. It should be understood that the multiple motion arms of the robot system 10 may also be disposed on multiple operating trolleys, for example, each motion arm is correspondingly disposed on one operating trolley. Alternatively, one motion arm is disposed on one operating trolley, and the remaining multiple motion arms are disposed on another operating trolley. These embodiments still fall within the scope of protection of the present disclosure.

[0023] In some embodiments, each motion arm of the robotic system 10 (e.g., the first motion arm 12a and the second motion arm 12b) may include multiple connecting rods and multiple joints. In some embodiments, each joint of each motion arm may include a motor to drive the corresponding joint to move, thereby driving the corresponding connecting rod to rotate.

[0024] Figure 3 FIG. 1 shows a schematic diagram of the structure of the motion arm of the robot system 10 according to some embodiments of the present disclosure. Figure 3As shown, the second motion arm 12b (or the first motion arm 12a) may include joints 1201b-1208b and links 121b-128b. The proximal end of the link 121b (the end close to the crossbeam 132 in this disclosure is defined as the proximal end of the motion arm) is connected to the crossbeam 132, and the links 121b-127b are connected in series. The joint 1201b may be located at the proximal connection between the crossbeam 132 and the connecting rod 121b, the joint 1202b may be located at the connection between the connecting rod 121b and the second connecting rod 122b, the joint 1203b may be located at the connection between the connecting rod 122b and the connecting rod 123b, the joint 1204b may be located at the connection between the connecting rod 123b and the connecting rod 124b, the joint 1205b may be located at the connection between the connecting rod 124b and the connecting rod 125b, the joint 1206b may be located at the connection between the connecting rod 125b and the connecting rod 126b, the joint 1207b may be located at the connection between the connecting rod 126b and the connecting rod 127b, and the joint 1208b may be located at the connection between the connecting rod 127b and the connecting rod 128b. The connecting rod 128b serves as the distalmost connecting rod of the second motion arm 12b, forming the second terminal arm 128b of the second motion arm 12b. The determination and expression of the position and posture of the end arm requires the joint decision of each of the above-mentioned joints. It should be understood that the links 126b, 127b and 128b together constitute the distal center of motion mechanism (RCM mechanism) of the second motion arm 12b.

[0025] In some embodiments, the robotic system 10 may include one or more surgical instruments. Figure 3 As shown, surgical instrument 14a can be mounted on first end arm 128a of first motion arm 12a, and surgical instrument 14b can be mounted on second end arm 128b of second motion arm 12b. It should be understood that surgical instruments 14a and 14b can include, but are not limited to, clamps for performing surgery, electrocautery, or image capture devices for performing illuminated imaging (e.g., endoscopic tools), etc. A portion of surgical instruments 14a and 14b (e.g., the arm body and the end instrument disposed at the distal end of the arm body) can be inserted into a body part of a human or animal to perform a medical procedure, such as surgery.

[0026] In some embodiments, as Figure 2 As shown, the robotic system 10 may further include an auxiliary connecting device 15, such as a sheath. The auxiliary connecting device 15 may be installed on a human or animal body (e.g., in an incision or opening), with one portion being positioned at a body part of the human or animal requiring surgery, and the other portion being detachably connected to a motion arm (e.g., to the first and second end arms 128a, 128b of the first and second motion arms 12a, 12b) to better facilitate surgery.

[0027] Figure 4FIG. 1 shows a partial cross-sectional view of the auxiliary connection device 15 according to some embodiments of the present disclosure. Figure 4 As shown, the auxiliary connecting device 15 may include a sheath 151 and a sheath 152. In some embodiments, the auxiliary connecting device 15 may also include at least two connecting parts (e.g., connecting parts 153 and 154). The connecting parts may include, but are not limited to, clamps, snap-fit ​​structures, adhesive structures, plug-in structures, and suction structures. Connecting parts 153 and 154 may be fixedly disposed on sheaths 151 and 152, respectively.

[0028] In some embodiments, each movement arm (eg, the first and second movement arms 12a, 12b) may include a connection piece (eg, a connection piece) that cooperates with the connection portion (eg, the connection portions 153 and 154). Figure 2 The auxiliary connecting device 15 can be detachably fixedly connected to the connecting members 1281a and 1281b of the first and second moving arms 12a and 12b respectively through the connecting parts 153 and 154. In some embodiments, as Figure 2 As shown, the connecting members 1281a and 1281b can be fixedly disposed on the first end arm 128a and the second end arm 128b, respectively. The connecting members 1281a and 1281b are connected to the connecting portion 153 and the connecting portion 154, respectively, so that the auxiliary connecting device 15 is detachably fixedly connected to the first and second moving arms 12a and 12b.

[0029] It should be understood that the spatial positions of the first end arm 128a, the second end arm 128b, and the connectors 1281a and 1281b in Cartesian coordinates and the orientation of the rotational coordinates can be represented by the posture of the coordinate system of these components. In some embodiments, the configuration of the auxiliary connecting device can be determined based on the current type of surgery or the configuration of the auxiliary connecting device. For example, the configuration of the auxiliary connecting device can be determined based on the current type of surgery. Based on the configuration of the auxiliary connecting device, the shapes and relative posture relationships between the multiple sheaths of the auxiliary connecting device are determined to determine the relative postures of the ends of the multiple moving arms. It should be understood that the end of the moving arm may include the end arm of the moving arm, the distal center of motion mechanism (RCM mechanism) of the moving arm, or the portion on the moving arm for connection to the auxiliary connecting device. The posture of the end of the moving arm may include the posture of the end arm of the moving arm, the posture of the distal center of motion mechanism (RCM mechanism) of the moving arm, or the posture of the portion on the moving arm for connection to the auxiliary connecting device.

[0030] For example, the relative posture relationship of the ends of the first and second moving arms 12a, 12b can be determined based on the shapes and relative posture relationship of the sheaths 151 and 152. The relative posture relationship of the ends between the first and second moving arms 12a, 12b can indicate the positional relationship and posture relationship of the end of the first moving arm 12a relative to the end of the second moving arm 12b in the world space coordinate system. It should be understood that the relative posture relationship of the ends may include, for example, the relative posture relationship formed between the first end arm 128a of the first moving arm 12a and the second end arm 128b of the second moving arm 12b. Alternatively, the relative posture relationship of the ends may also include the relative posture relationship formed between the surgical instruments 14a and 14b mounted on the first and second end arms 128a, 128b. Alternatively, the relative posture relationship of the ends may also include the relative posture relationship formed between the connectors 1281a and 1281b fixedly mounted on the first and second end arms 128a, 128b. In some embodiments, the terminal relative pose relationship can be stored in an associated relative pose model and can be used to calculate the target pose of the terminal end of the first motion arm 12a or the second motion arm 12b. Since the connecting members 1281a and 1281b are respectively fixed to the first terminal arm 128a and the second terminal arm 128b, when the first terminal arm 128a and the second terminal arm 128b meet the terminal relative pose relationship, the connecting members 1281a and 1281b can be connected to the connecting parts 153 and 154 respectively.

[0031] It should be understood that when the first moving arm 12a moves to the target position, the target position of the surgical instrument 14a installed at the end of the first moving arm 12a in the world coordinates can be determined, and when the second moving arm 12b moves to the target position, the target position of the surgical instrument 14b installed at the end of the second moving arm 12b in the world coordinates can be determined. The posture of the moving arm or a portion thereof can be achieved by a joint. For example, in some embodiments, the target spatial position of the fixed part on each moving arm (such as the first and second end arms 128a, 128b, and the connecting parts 1281a, 1281b fixedly arranged on the first and second moving arms 12a, 12b, and the surgical instruments 14a, 14b installed on the first and second moving arms 12a, 12b) can be achieved by some of the multiple joints included in the corresponding moving arm. The target spatial posture of the fixed part on each moving arm can be achieved by other joints among the multiple joints included in the corresponding moving arm. In some embodiments, the multiple joints at the distal end of the motion arm (e.g., first and second distal end arms 128a and 128b) used to achieve the target spatial posture are located closer to the distal end of the motion arm than the multiple joints at the distal end of the motion arm used to achieve the target spatial position. It should be understood that the multiple joints used to achieve the target spatial posture and target spatial position at the distal end of the motion arm may also include other configurations, which may be specifically configured based on usage requirements.

[0032] In some embodiments, after the surgical instruments are mounted on the end arms, the surgical instruments 14a and 14b can pass through the sheaths 151 and 152 of the auxiliary connecting device 15, smoothly pass through the sheaths 151 and 152 at predetermined angles, and move along the sheaths 151 and 152 into the corresponding position in the human body where surgery is required. In some embodiments, the sheaths 151 and 152 of the auxiliary connecting device 15 can be flexible, and the portion of the surgical instruments 14a and 14b extending through the auxiliary connecting device 15 is also flexible. This allows the connecting portions 153 and 154 on the auxiliary connecting device 15 to connect to the connecting members 1281a and 1281b on each movable arm when the first end arm 128a and the second end arm 128b are roughly in the end relative posture relationship. The flexible portion of the auxiliary connecting device 15 can ensure that each surgical instrument can still pass through the sheath and enter the surgical area even if there is a certain error in the posture of the end arms.

[0033] It should be understood that Figure 4 The auxiliary connection device 15 shown is merely exemplary. In some embodiments, the robotic system 10 may include three, four, or more motion arms, and the auxiliary connection device 15 may include three, four, or more sheaths, each of which includes a corresponding connection portion for connecting each sheath to each motion arm and constraining the relative positional relationships between the multiple end arms.

[0034] The present disclosure provides a control method that can be used for a robotic system. Figure 5(a) shows a flow chart of a control method 500 for a robotic system (eg, the robotic system 10) according to some embodiments of the present disclosure. Figure 6 Another simplified block diagram of the robot system 10 according to some embodiments of the present disclosure is shown. Figure 6 As shown, the method 500 may be executed by a control device (e.g., the control device 11) of the robot system 10. The control device 11 may be configured on a computing device. The method 500 may be implemented by software, firmware, and / or hardware.

[0035] As shown in FIG5(a), in step 501, based on the operation command, the movement mode of one or more target motion arms among the multiple motion arms is determined. In some embodiments, the movement mode may include a movement direction and a movement mode. It should be understood that the movement mode may include, but is not limited to, movement, rotation, or pitching of one or more target motion arms, or movement, rotation, or pitching of multiple target motion arms as a whole (e.g., a combination of overall translation and overall rotation). For example, the target motion arms may include a first motion arm 12a and a second motion arm 12b. The movement mode may include the end of the first motion arm 12a (e.g., the first end arm 128a) and the end of the second motion arm 12b (e.g., the second end arm 128b) moving toward or away from each other. Alternatively, the movement mode may include the overall movement of the end of the first motion arm 12a (e.g., the first end arm 128a) and the end of the second motion arm 12b (e.g., the second end arm 128b). It should be understood that the overall rotation of the end may include a pitch rotation or a horizontal rotation around a predetermined point. In some embodiments, the predetermined point may be the connection point between the auxiliary connection device 15 and the abdominal access port, or the predetermined point may include a point along the extension line of the distal end of the motion arm, such as an RCM (remote center of motion) point.

[0036] In some embodiments, the operation command is input by a user through a user interface. It should be understood that the user interface may include, but is not limited to, an input device. In some embodiments, the control device 11 may include an input device 113. The input device 113 is configured to receive an operation command from the user, or receive an operation instruction from the user, so that the control device 11 can obtain a specific operation command based on the operation instruction. In some embodiments, the control device 11 may determine the movement mode of the distal end of the first moving arm 12a and the distal end of the second moving arm 12b based on the operation command. For example, if the movement mode is overall translation, the operation command may be a command to translate the first distal end arm 128a of the first moving arm 12a and the second distal end arm 128b of the second moving arm 12b together as a whole. If the movement mode is overall rotation, the operation command may be a command to rotate the first distal end arm 128a of the first moving arm 12a and the second distal end arm 128b of the second moving arm 12b together as a whole about a predetermined point or a straight line. For example, the first end arm 128a of the first moving arm 12a and the second end arm 128b of the second moving arm 12b may pitch and rotate together around a predetermined point or rotate together around the longitudinal axis as a whole. In the case where the movement mode is a combination of overall translation and overall rotation, the operation command may be a command for the first end arm 128a of the first moving arm 12a and the second end arm 128b of the second moving arm 12b to translate and rotate together as a whole.

[0037] In some embodiments, method 500 may optionally further include the following steps: in response to no longer receiving an operation command or receiving a stop command, controlling one or more target motion arms to stop moving. For example, if an operator long-presses a button to control the motion of a motion arm in real time, and the operator releases the button and no longer receives an operation command, the one or more motion arms may be controlled to stop moving. Alternatively, if the operator presses a start button to initiate the motion of one or more motion arms, and then presses a stop button to issue a stop command, the one or more target motion arms may be controlled to stop moving.

[0038] In step 503, the initial positions of the one or more target motion arms are determined. For example, the initial joint values ​​of the one or more target motion arms may be detected by sensors to determine the initial positions of the one or more target motion arms.

[0039] In some embodiments, as Figure 6 As shown, the control device 11 can be connected to each target motion arm (for example, the first motion arm and the second motion arm 12a, 12b) for communication. Figure 6 As shown, the first motion arm 12a may further include one or more sensors 129a. The motors of the joints 1201-1208a may be coupled to the multiple sensors 129a. The second motion arm 12b may further include one or more sensors 129b. The motors of the joints 1201-1208b may be coupled to the multiple sensors 129b. Figure 6 While one sensor is shown as an example, it should be understood that the illustrated sensors 129a and 129b may represent multiple sensors. Sensors 129a and 129b may include, but are not limited to, encoders or potentiometers. The sensors may be used to acquire data from multiple joints of the corresponding motion arm to measure joint values ​​of the corresponding joints. In some embodiments, the sensors may include fiber optic sensors extending from the motion arm to obtain the position and posture of the motion arm.

[0040] In some embodiments, as Figure 6 As shown, the control device 11 may include one or more processors 111 and a memory 112. The processor 111 may be communicatively connected to the plurality of sensors 129a of the first motion arm 12a to obtain the current joint values ​​of the joints 1201-1208a of the first motion arm 12a through the plurality of sensors 129a. The processor 111 may be communicatively connected to the plurality of sensors 129b of the second motion arm 12b to obtain the current joint values ​​of the joints 1201-1208b of the second motion arm 12b through the plurality of sensors 129b.

[0041] In some embodiments, the processor 111 can solve the current joint values ​​of each joint based on the forward kinematics model of the first and second motion arms 12a and 12b to obtain the current posture of the first motion arm 12a and the second motion arm 12b (for example, the end of the first motion arm and the end of the second motion arm). It should be understood that the current posture may include the current posture and the current position, and the current posture may be the position and posture at any moment. The forward kinematics model of the first motion arm 12a can be pre-set and stored in the memory 112. The forward kinematics model of the motion arm can obtain the posture of any position or any part of the motion arm (for example, the first and second end arms 128a and 128b, and the connectors 1281a and 1281b fixedly arranged on the first and second motion arms 12a and 12b, and the posture of the surgical instruments 14a and 14b mounted on the first and second motion arms 12a and 12b) based on all the joint variables (for example, joint values) known to the motion arm.

[0042] In step 505, based on the initial posture of one or more target motion arms and the motion step length corresponding to the motion mode, one or more motion control cycles are executed. It should be understood that for each motion control cycle, the motion step length corresponding to the motion mode can be preset. For example, based on the initial posture of one or more target motion arms, the corresponding target motion arm can be controlled to move with the motion step length to execute at least one motion control cycle. In one implementation, a single motion control cycle can be 80ms. In some embodiments, the motion step length can include the overall motion amplitude or the respective motion amplitude of multiple target motion arms in a single motion control cycle.

[0043] FIG5( b ) shows a flow chart of a control method 500 ( b ) for each motion control cycle according to some embodiments of the present disclosure. Figure 6 As shown, the method 500(b) may be executed by a control device (e.g., the control device 11) of the robotic system 10. The control device 11 may be configured on a computing device. The method 500(b) may be implemented by software, firmware, and / or hardware.

[0044] As shown in Figure 5 (b), in step 507, for each motion control cycle, the target posture of one or more target motion arms is determined. In some embodiments, for each motion control cycle, the current joint value of each joint of the target motion arm is determined. In some embodiments, based on the current posture, the current joint value of each joint of one or more target motion arms is determined, and based on the current joint value and joint step size of each joint of one or more target motion arms, the target joint value of each joint of one or more target motion arms in the current motion control cycle is determined. For each target motion arm, based on the target joint value, the target posture of the target motion arm can be determined. It will be appreciated by those skilled in the art that in some embodiments, the posture of the motion arm (e.g., initial posture, current posture, target posture, etc.) can be represented by a set of joint values ​​of each joint of the motion arm.

[0045] In some embodiments, for each motion control cycle, a joint step length of each joint included in each target motion arm is determined based on the motion step length. In some embodiments, the joint step length of each joint may indicate the angle that the corresponding joint can move around its joint axis in each motion control cycle. The motion step length of the motion arm may be represented by a set of joint step lengths of multiple joints of the motion arm.

[0046] In some embodiments, for the first motion control cycle, an initial joint value of each joint of the one or more target motion arms may be determined based on the initial position of the one or more target motion arms, and the initial joint value of the target motion arm may be used as the current joint value. Based on the current joint value and joint step length of each joint of the one or more target motion arms, a target joint value of each joint of the one or more target motion arms in the current motion control cycle may be determined.

[0047] In some embodiments, for each motion control cycle other than the first motion control cycle, the current pose of one or more target motion arms in the current motion control cycle can be determined. It should be understood that the current pose of the target motion arm in the current motion control cycle can be determined based on the current joint value of the target motion arm. For a motion control cycle other than the first motion control cycle, the current pose of the target motion arm in the current motion control cycle can be determined based on the calculated target pose of the previous motion control cycle, and the current joint value of each joint is the joint value of each joint corresponding to the target pose of the previous motion control cycle.

[0048] In some embodiments, method 500(b) may further include, optionally, determining, for each motion control cycle, target poses of the ends of the plurality of target motion arms based on the motion step length and the current surgical procedure type or the configuration of the auxiliary connecting device; and determining target poses of the plurality of target motion arms based on the target poses of the ends of the plurality of target motion arms. For example, the plurality of target motion arms may include a first motion arm 12a and a second motion arm 12b. Based on the current surgical procedure type or the configuration of the auxiliary connecting device (e.g., the auxiliary connecting device 15), the relative pose relationship between the ends of the first motion arm 12a (e.g., the first end arm 128a) and the ends of the second motion arm 12b (e.g., the second end arm 128b) may be determined. In some embodiments, the relative pose relationship between the first end of the first motion arm and the second end of the second motion arm may be predetermined or known. In some embodiments, the overall motion amplitude of the plurality of target motion arms (e.g., the ends of the target motion arms) may be determined based on the motion amplitude of the auxiliary connecting device, and the target poses of the ends of the plurality of target motion arms may be determined based on the initial poses and the overall motion amplitudes of the plurality of target motion arms.

[0049] In some embodiments, taking the first motion arm 12a as an example, the target posture of the first end of the first motion arm 12a may include one of the following: the target position and target posture of the first end arm 128a of the first motion arm 12a, the target position and target posture of the distal center of motion mechanism (RCM mechanism) of the first motion arm 12a, and the target position and target posture of the end (such as connector 1281a) of the first motion arm 12a for connecting to the auxiliary connecting device 15. Based on the initial posture of the first motion arm 12a and the target posture of the first end, the target posture of the first motion arm 12a is determined. It should be understood that the posture of the motion arm can be represented by a set of joint values ​​of multiple joints included in the motion arm. For example, the initial joint values ​​of each joint of the first motion arm 12a can be obtained by sensors (such as sensor 129a) installed at each joint of the first motion arm 12a, and the positive kinematic model of the first motion arm 12a is used to solve to obtain the initial posture of the first motion arm 12a. In some embodiments, the initial posture of the first motion arm 12a can be obtained by Figure 7 The method shown determines the target pose of the motion arm based on the current pose of the motion arm and the target pose of the end portion.

[0050] In some embodiments, the current operation type can be the type of operation that needs to be performed currently, for example, the operation type can include but is not limited to general surgery, thoracic surgery, urological surgery, gynecological surgery, etc. In some embodiments, the auxiliary connecting device can include a sheath, and the configuration of the sheath can include, for example, the specifications and models of the sheath under different surgical procedures (the specifications and models can include but are not limited to, for example, the length of the sheath, radial dimensions, aperture size, number of sheaths, relative posture relationships of multiple sheath settings, etc.). Each of the multiple sheaths is associated with the relative posture relationship of at least one motion arm, and the relative posture relationship of sheaths of different configurations to each motion arm can be different. In some embodiments, the input device 113 can be used to receive setting information from the user (for example, setting information of the current operation type, the configuration of the auxiliary connecting device, the relative posture model, etc., etc.).

[0051] In step 513, control one or more target motion arms to move to the target posture. Should be understood that the target motion arm can be controlled to move to the target posture by one or more motion control cycles. In some embodiments, optionally, method 500 may also include step 509. In step 509, for each motion control cycle, based on the constraint relationship and the target posture, judge whether interference occurs between one or more target motion arms or with other motion arms. In some embodiments, method 500 may also include judging whether all target joint values ​​of one or more target motion arms are within the joint motion range of corresponding joints. In response to all target joint values ​​of one or more target motion arms being within the joint motion range of corresponding joints, judge whether interference will be formed between one or more target motion arms or with other motion arms of multiple motion arms based on the constraint relationship.

[0052] In some embodiments, the method 500 may further include step 511. In step 511, in response to interference between one or more target motion arms or with other motion arms, the one or more target motion arms are controlled to stop moving or issue an alarm message.

[0053] In some embodiments, for example, whether an interference relationship will form between the first moving arm 12a and the second moving arm 12b can be determined based on a constraint relationship. If the constraint relationship is satisfied, it is determined that no interference relationship will form between the first moving arm 12a and the second moving arm 12b. If the constraint relationship is not satisfied, it is determined that an interference relationship will form between the first moving arm 12a and the second moving arm 12b. It should be understood that the constraint relationship can be defined by an interference model.

[0054] In some embodiments, the constraint relationship may include at least one of the following relationships: the relative position sequence relationship between the first moving arm 12a and the second moving arm 21b conforms to a predetermined relative position sequence relationship, the distance between the predetermined point associated with the first moving arm 12a and the predetermined point associated with the second moving arm 12b is greater than a predetermined safety distance, the minimum distance between the preset line segment associated with the first moving arm 12a and the preset line segment associated with the second moving arm 12b is greater than a predetermined safety line segment distance, or the difference between the joint values ​​of one or more joints of the first moving arm 12a and the joint values ​​of the corresponding joints of the second moving arm 12b is greater than a predetermined safety value.

[0055] In some embodiments, the predetermined relative position sequence relationship may include, but is not limited to, a clockwise or counterclockwise order between the multiple motion arms. The relative position sequence relationship between the multiple motion arms can be represented by the relative position sequence of the joints or connecting rods of the motion arms. For example, if the relative position sequence of one or more joints (e.g., joints 1202a and / or 1203a) of the first motion arm 12a near the crossbeam 132 at the end position of each motion control cycle and the corresponding one or more joints (e.g., joints 1202b and / or 1203b) of the adjacent motion arm (e.g., the second motion arm 12b) near the crossbeam 132 at the end position of each motion control cycle conforms to a clockwise or counterclockwise order, it can be determined that the first motion arm 12a and the second motion arm 12b meet the constraint of the relative position sequence relationship. Conversely, it can be determined that the predetermined relative position sequence between the first motion arm 12a and the second motion arm 12b is not satisfied, which may result in an interference relationship between the first motion arm 12a and the second motion arm 12b. In some embodiments, it is also possible to determine whether the relative position sequence relationship between the first moving arm 12a and the second moving arm 12b conforms to a predetermined relative position sequence relationship (for example, clockwise or counterclockwise arrangement) by judging whether the relative position sequence of the ends of one or more connecting rods (for example, connecting rods 121a and / or 122a) of the first moving arm 12a and the ends of the corresponding connecting rods (for example, connecting rods 121b and / or 122b) of the second moving arm 12b conforms to a predetermined relative position sequence relationship.

[0056] In some embodiments, the relative position sequence relationship between multiple motion arms can also be represented by the motion angle of the joints or links of the motion arms relative to the same reference direction. For example, based on the initial position sequence, it is determined that the rotation angle of the joint (e.g., joint 1201a) of the first motion arm 12a relative to the beam 132 is smaller than the rotation angle of the joint (e.g., joint 1201b) of the second motion arm 12b relative to the beam 132. In response to the rotation angle of the joint 1201a relative to the beam 132 being smaller than the rotation angle of the joint 1201b relative to the beam 132, it can be determined that the first motion arm 12a and the second motion arm 12b meet the constraint of the predetermined relative position sequence relationship. Conversely, it can be determined that the predetermined relative position sequence between the first motion arm 12a and the second motion arm 12b is not met, which may result in an interference relationship between the first motion arm 12a and the second motion arm 12b.

[0057] In some embodiments, the predetermined point associated with the movement arm may include a fixed point on a link of the movement arm, a joint of the movement arm, or other points related to the movement arm. For example, the predetermined point associated with the first movement arm 12a may be a predetermined joint of the first movement arm 12a (e.g., joint 1203a), and the predetermined point associated with the second movement arm 12b may be a corresponding joint of the second movement arm 12b (e.g., joint 1203b). In some embodiments, the distance between the joint 1203a of the first movement arm 12a and the joint 1203b of the second movement arm 12b may be determined based on the joint axis of the joint 1203a of the first movement arm 12a and the joint axis of the joint 1203b of the second movement arm 12b. In some embodiments, the predetermined point associated with the first movement arm 12a may be a fixed point on a predetermined link of the first movement arm 12a (e.g., link 121a), and the predetermined point associated with the second movement arm 12b may be a fixed point on a corresponding link (e.g., link 121b) or an adjacent link (e.g., 123b) of the second movement arm 12b. In some embodiments, the predetermined point associated with the first moving arm 12a can be a fixed point on a predetermined link (e.g., a distal center of motion mechanism, RCM mechanism) in the first moving arm 12a, and the predetermined point associated with the second moving arm 12b can be the projection point of the axis of the link (e.g., link 124b) of the second moving arm 12b on a horizontal plane. For example, if the distance between the joint axes of joints 1203a and 1203b is greater than the safety distance, or if the distance between predetermined points on the first moving arm 12a and the second moving arm 12b is greater than the safety distance, it can be determined that the first moving arm 12a and the second moving arm 12b meet the constraint of the predetermined point safety distance relationship. Conversely, if the distance between the predetermined points is less than the safety distance, it can be determined that an interference relationship may occur between the first moving arm 12a and the second moving arm 12b. It should be understood that the safety distance can be a pre-set distance, for example, including but not limited to 135 mm. It should be understood that the safety distance can also be set based on the size of the joint or link. The safety distances between predetermined points corresponding to different joints or links can be different. It should be understood that the predetermined points associated with the first moving arm 12a and the second moving arm 12b may include but are not limited to those shown in the above embodiments.

[0058] In some embodiments, the predetermined line segment associated with the movement arm may include an edge or axis of a link of the movement arm, a joint axis of the movement arm, or other line segments associated with the movement arm. It should be understood that the minimum distance between two line segments is the smaller of the distance between the starting points of the two line segments and the distance between the endpoints of the two line segments. For example, the predetermined line segment associated with the first movement arm 12a may be a predetermined link of the first movement arm 12b (e.g., link 121a), and the predetermined line segment associated with the second movement arm 12b may be a predetermined link of the second movement arm 12b (e.g., link 122b). In some embodiments, the predetermined line segment associated with the first movement arm 12a may be a predetermined link of the first movement arm 12a (e.g., link 125a), and the predetermined line segment associated with the second movement arm 12b may be a predetermined link of the second movement arm 12b (e.g., an edge of the distal center of motion mechanism (RCM mechanism) near link 125a, e.g., an edge of link 126a near link 125a). In some embodiments, the predetermined line segment associated with the first moving arm 12a may be a line segment formed between the RCM point of the first moving arm 12a and a point on the extension line of a predetermined link of the first moving arm 12a (e.g., link 128a), and the predetermined line segment associated with the second moving arm 12b may be an edge of a predetermined link of the second moving arm 12b (e.g., link 128b) close to the first moving arm 12a. In some embodiments, the predetermined line segment associated with the first moving arm 12a may be an edge of a predetermined link of the first moving arm 12a (e.g., link 124a) (e.g., an edge close to the second moving arm 12b), and the predetermined line segment associated with the second moving arm 12b may be an edge of a corresponding link of the second moving arm 12b (e.g., link 124b) (e.g., an edge close to the first moving arm 12a). In some embodiments, the predetermined line segment associated with the first moving arm 12a may be the joint axis of the first moving arm 12a, and the predetermined line segment associated with the second moving arm 12b may be the joint axis of the second moving arm 12b. In some embodiments, the predetermined line segment associated with the first motion arm 12a can be a line segment between the intersection of the joint axis of the first motion arm 12a (for example, the axis of the joint 1204a) and another joint axis (for example, the axis of the joint 1205a) and the distal end of the link (for example, link 125a) of the first motion arm 12a, and the predetermined line segment associated with the second motion arm 12b can be a line segment between the intersection of the joint axis of the second motion arm 12b (for example, the axis of the joint 1204b) and another joint axis (for example, the axis of the joint 1205b) and the distal end of the link (for example, link 125b) of the second motion arm 12b.For example, the minimum distance between the link 121a and the link 122b is greater than the safety distance, or the minimum distance between the link 125a and the edge of the RCM mechanism of the second moving arm 12b close to the link 125a (for example, the edge of the link 126b close to the link 125a) is greater than the safety distance, or the minimum distance between the line segment formed by the RCM point of the first moving arm 12a and the point on the extension line of the link 128a and the edge of the first moving arm 12a close to the link 128b is greater than the safety distance, or the link If the minimum distance between the edge of joint 124a near the second moving arm 12b and the edge of connecting rod 124b near the first moving arm 12a is greater than the safety distance, or if the minimum distance between the line segment formed by the intersection of the axes of joint 1204a and joint 1205a and the distal end of connecting rod 125a and the line segment formed by the intersection of the axes of joint 1204b and joint 1205a and the distal end of connecting rod 125b is greater than the safety distance, it can be determined that the first moving arm 12a and the second moving arm 12b meet the constraint of the predetermined line segment safety distance relationship. Conversely, if the distance between the predetermined line segments is less than the safety distance, it is determined that an interference relationship may occur between the first moving arm 12a and the second moving arm 12b. It should be understood that the safety distance may include, but is not limited to, 135 mm, 120 mm, 60 mm, etc. It should be understood that the safety distance can also be set based on the size of the joint or connecting rod. The safety distances between the predetermined points corresponding to different joints or connecting rods may be different. It should be understood that the predetermined line segments associated with the first moving arm 12 a and the second moving arm 12 b may include but are not limited to those shown in the above embodiments.

[0059] In some embodiments, if the difference between the joint values ​​of one or more joints of the first moving arm 12a (e.g., the joint value of joint 1203a) and the joint values ​​of corresponding joints of the second moving arm 12b (e.g., the joint value of joint 1203b) is greater than a predetermined safety value (e.g., a safety angle), it can be determined that the first moving arm 12a and the second moving arm 12b meet the joint safety angle constraint. Conversely, if the difference between the joint values ​​is less than the predetermined safety value, it can be determined that an interference relationship may occur between the first moving arm 12a and the second moving arm 12b.

[0060] It should be understood that when the robot system includes three, four or more moving arms, the constraint relationship can also be used to determine interference between adjacent moving arms or between moving arms with similar positions. In some implementations, the comparison objects of the constraint relationship can be structures that are prone to interference between adjacent moving arms (for example, a predetermined line segment associated with the first moving arm 12a and a predetermined line segment associated with the second moving arm 12b, a predetermined point associated with the first moving arm 12a and a predetermined point associated with the second moving arm 12b, one or more joints of the first moving arm 12a and the corresponding joints of the second moving arm 12b). Structures that will not inevitably interfere with multiple moving arms can be excluded from the comparison objects of the constraint relationship. There is no need to compare all structures on adjacent moving arms, which can reduce the amount of computation required for the constraint relationship comparison process and improve the system's operating efficiency.

[0061] Figure 7 A flow chart of a method 700 for determining a target pose of a motion arm according to some embodiments of the present disclosure is shown. In some embodiments, the method 700 can be used to determine a target pose of a target motion arm based on an initial pose of the target motion arm. The method 700 can be executed by a control device (e.g., the control device 11) of the robotic system 10. The control device 11 can be configured on a computing device. The method 700 can be implemented by software, firmware, and / or hardware.

[0062] like Figure 7 As shown, for each target motion arm, in step 701, one of the multiple joints of the target motion arm is selected as a feature joint, and a recommended target joint value of the feature joint is set. In some embodiments, the target motion arm is taken as the first motion arm 12a as an example. One of the multiple joints of the first motion arm 12a can be selected as a feature joint, and the recommended target joint value of the feature joint can be predetermined. In some embodiments, the feature joint of the motion arm can be a joint among the multiple joints that is prone to collision with an adjacent motion arm. For example, the selected feature joint can be a joint among the multiple joints of the first motion arm 12a that is prone to collision with other motion arms (such as the second motion arm 12b), such as Figure 3 1205a or 1206a shown. It should be understood that when the robotic system 10 includes multiple motion arms (e.g., three or four motion arms), the recommended target joint values ​​for the characteristic joints of different motion arms may be different. In some embodiments, the characteristic joints are predetermined, and thus the method 700 may not include selecting one of the multiple joints of the target motion arm as the characteristic joint. In some embodiments, the characteristic joints are predetermined, and thus the method 700 may not include setting the recommended target joint values ​​for the characteristic joints.

[0063] In step 703, based on the target posture of the end of the target motion arm and the recommended target joint value, other target joint values ​​are determined.Should be understood that, based on the target posture of the end of the target motion arm selected and the recommended target joint value, the inverse kinematics model of the target motion arm is solved, to obtain the other target joint values ​​of the target motion arm selected.Should be understood that, other target joint values ​​include the target joint values ​​of all other joints of the target motion arm except the characteristic joints.Take the target motion arm selected as the first motion arm 12a as an example.Can be based on the target posture of the first end arm 128a of the first motion arm 12a and the recommended target joint value of the recommended joint (such as 1205a), the inverse kinematics model of the first motion arm 12a is solved, to obtain the other target joint values ​​of the first motion arm 12a.Should be understood that, also can select multiple target motion arms, by the method described in step 703, determine the other target joint values ​​of each target motion arm.

[0064] In some embodiments, method 700 may further include step 705. For each target motion arm, in step 705, it is determined whether other target joint values ​​are within the joint motion range of the corresponding joint. It should be understood that each joint of the target motion arm has a certain range of motion, and the joint motion range of each joint is the range between the minimum limit joint value and the maximum limit joint value of the corresponding joint, and the minimum limit joint value and the maximum limit joint value are not within the range. For example, and not as a limitation, the range of motion of some joints is between 18 degrees and 45 degrees, the range of motion of some joints is between 45 degrees and 90 degrees, and the range of motion of some joints is between -90 degrees and -45 degrees, etc.

[0065] In some embodiments, method 700 may further include step 707. In step 707, the recommended target joint value is increased or decreased by a predetermined adjustment value to adjust the recommended target joint value of the motion arm. For example, the first motion arm 12a is selected as the target motion arm. In response to at least one of the other target joint values ​​of the first motion arm 12a not being within the joint motion range of the corresponding joint, the recommended target joint value is increased or decreased by a predetermined adjustment value to adjust the recommended target joint value of the first motion arm 12a. In some embodiments, the adjustment value can be set to, for example, 0.2° or 0.5°, etc. to adjust the recommended target joint value. It should be understood that 0.2° or 0.5° are only examples, and the adjustment value can also be set to other values. The predetermined adjustment value is increased or decreased, and the process is repeated until there is a solution or the joint motion range of the characteristic joint is reached (which may not include the joint limit value). For example, a solution can indicate that the recommended target joint value is within the joint motion range of the characteristic joint.

[0066] In some embodiments, method 700 may further include the following steps: determining whether the adjusted recommended target joint value is within the joint motion range of the characteristic joint. In response to the adjusted recommended target joint value being within the joint motion range of the characteristic joint, selecting the adjusted recommended target joint value as the recommended target joint value, and returning to step 703.

[0067] In some embodiments, method 700 may further include step 711. In step 711, the target posture of the target motion arm is determined based on the recommended target joint value and other target joint values ​​of the target motion arm. For example, in response to the fact that the other target joint values ​​of the target motion arm (e.g., the first motion arm 12a) are all within the joint motion range of the corresponding joint, the target posture of the first motion arm 12a is determined based on the recommended target joint value and other target joint values ​​of the first motion arm 12a. For example, a set of recommended target joint values ​​and other target joints can be selected as the target joint values ​​of the first motion arm 12a. By determining the target joint value of the first motion arm 12a, the target posture of the first motion arm 12a can be determined. It should be understood that the target posture of the motion arm can also be determined by method 700 for other motion arms of the plurality of motion arms.

[0068] In some embodiments, optionally, the method 700 may further include step 709. In step 709, it is determined whether an interference relationship will be formed between the target motion arm and other motion arms. For example, the first motion arm 12a is selected as the target motion arm. In response to all other target joint values ​​of the first motion arm 12a being within the joint motion range of the corresponding joint, based on the constraint relationship, it is determined whether an interference relationship will be formed between the first motion arm 12a and the adjacent motion arm (e.g., the second motion arm 12b). In some embodiments, in response to no interference relationship being formed between the multiple motion arms, step 711 is executed. For example, in response to no interference relationship being formed between the first motion arm 12a and the second motion arm 12b, the target posture of the first motion arm 12a is determined based on the recommended target joint value and other target joint values ​​of the first motion arm 12a. In some embodiments, in response to the interference relationship being formed between the selected target motion arm and other motion arms, step 707 is re-executed. For example, in response to an interference relationship being formed between the first motion arm 12a and the second motion arm 12b, the recommended target joint value of the first motion arm 12a is increased or decreased by a predetermined adjustment value to adjust the recommended target joint value of the first motion arm 12a.

[0069] In some embodiments, when there are multiple sets of solutions that meet the conditions for recommending target joint values ​​and other target joint values ​​(for example, there are multiple sets of target joint values ​​of the first motion arm 12a that meet the conditions), a set of solutions in which the joints of the first motion arm 12a are least likely to interfere with the second motion arm 12b can be selected as the only solution output as the target joint value of the first motion arm 12a.

[0070] Figure 8 FIG. 1 shows a schematic diagram of the architecture of the control device 11 included in the robot system 10 according to an embodiment of the present disclosure. Figure 8 As shown, the control device 11 may include an input device 113, an output device 114, one or more memories 112, one or more processors 111, and a communication interface 115. In some embodiments, the control device 11 may not include an output device.

[0071] In some embodiments, the input device 113 may include, but is not limited to, buttons, keyboards, touch screens, microphones, and other devices. The input device may be configured to directly receive operational commands from the user, or to receive operational instructions from the user so that the control device can obtain specific operational commands based on the operational instructions. Operational commands may include, for example, commands to maintain the relative posture relationship between the second end arm 128b and the first end arm 128a. In some embodiments, the input device 113 may also be used to receive configuration information from the user, such as the current surgical procedure type, the configuration of the auxiliary connection device, and the relative posture model.

[0072] In some embodiments, the output device 114 may include, but is not limited to, a display, a speaker, and an indicator light, etc., which may be configured to indicate the status of various components of the robot system 10, output alarm signals, etc.

[0073] In some embodiments, the memory 112 may store a computer program that can be executed on the processor 111. The processor 111 implements the control method described in the above embodiment when executing the computer program. The number of memories 112 and processors 111 can be one or more. The communication interface 115 is used to communicate between the control device 11 (for example, the processor 111 of the control device 11) and an external device. In the present disclosure, the control device 11 can, for example, communicate with the motors provided in the joints of each motion arm (for example, the first motion arm 12a, the second motion arm 12b) through the communication interface 115, thereby instructing each motion arm to move to the corresponding target position. The control device 11 can also, for example, communicate with the sensors at the joints of the motion arm through the communication interface 115 to receive the joint values ​​of the joints of the motion arm. In one example of the present disclosure, the communication interface 115 can be a CAN bus communication interface, which enables the control device 11 to communicate with the motors and sensors provided in each joint through the CAN bus.

[0074] like Figure 8As shown, the input device 113, the output device 114, the memory 112, the processor 111, and the communication interface 115 can be interconnected via a bus to achieve mutual communication. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Component Architecture (EISA) bus, etc.

[0075] In some embodiments, the processor 111 may be a central processing unit (CPU), a digital signal processor (DSP), or other general-purpose processors, which are not limited herein.

[0076] In some embodiments, the control device 11 can be integrated with the base 131 and located within the base 131 (e.g., below the base 131) to save space. However, in actual applications, the control device 11 can also be provided separately from the base 131, or the control device 11 can be partially integrated with the base 131 and partially separate from the base 131. Alternatively, the control device 11 can be provided in other configurations to communicate with and control each of the motion arms.

[0077] In some embodiments, the present disclosure provides a computer-readable storage medium. The computer-readable storage medium may include one or more instructions. The one or more instructions are executed by a processor to perform the control method in any of the above embodiments.

[0078] In some embodiments, the present disclosure provides a computer system that may include a memory and at least one processor, wherein the memory is configured to store at least one instruction, and the processor is configured to execute the at least one instruction to configure the processor to perform the control method in any of the above embodiments.

[0079] In some embodiments, a computer-readable storage medium or memory may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer-readable storage medium or memory may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination thereof.

[0080] In some embodiments, the computer-readable storage medium or memory may include, but is not limited to, a portable computer disk, a hard disk, a read-only memory (ROM), a random access memory (RAM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), flash memory or other solid-state memory technology, a CD-ROM, a digital versatile disk (DVD), an HD-DVD, a Blue-Ray or other optical storage device, a magnetic tape, a disk storage or other magnetic storage device, or any other medium that can be used to store the desired information and can be accessed by a computer, on which computer-executable instructions are stored, which, when executed in a machine (e.g., a computer device), cause the machine to perform the control method of the present disclosure. It should be understood that the computer device may include a personal computer, a server, or a network device, etc.

[0081] Some embodiments of the present disclosure can help optimize the positioning of motion arms during preoperative preparation. One or more motion arms can be controlled in real time, and interference between the motion arms can be effectively avoided during movement, allowing the target motion arm to accurately, quickly, and safely reach the target position, thereby achieving efficient and safe preoperative preparation.

[0082] In some embodiments of the present disclosure, the distal ends of multiple motion arms move as a whole, and the relative positions of the distal ends of the multiple motion arms are maintained unchanged during the movement process, thereby enabling rapid and accurate movement of the multiple motion arms. During surgery, the integrated movement of the multiple motion arms can also enable rapid position adjustment of surgical instruments mounted on the multiple motion arms, reducing the operational difficulty for users (e.g., doctors) and improving work efficiency before or during surgery.

[0083] The above are merely exemplary embodiments of the present disclosure and the technical principles employed. Those skilled in the art will appreciate that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A control method for a robotic system, the robotic system comprising a plurality of motion arms, the control method comprising: determining, based on the operation command, a movement mode of one or more target movement arms among the plurality of movement arms; determining an initial pose of the one or more target motion arms; Based on the initial posture of one or more target motion arms and the motion step length corresponding to the motion mode, one or more motion control cycles are executed, wherein for each motion control cycle, determining a target pose of the one or more target motion arms; as well as controlling the one or more target motion arms to move toward the target posture; Determining the target posture of one or more target motion arms includes: for each target motion arm, Select one of the multiple joints as the feature joint; Setting the recommended target joint value of the feature joint; and Determine other target joint values ​​based on the target pose of the end point and the recommended target joint values; The characteristic joint is a joint among the multiple joints of the target motion arm that is likely to collide with an adjacent motion arm.

2. The control method according to claim 1, wherein: The movement mode includes movement direction and movement mode, and the movement mode includes: One or more target motion arms move, rotate, or pitch; or Multiple target motion arms move, rotate or pitch as a whole.

3. The control method according to claim 1, wherein: The motion step length includes the overall motion amplitude of multiple target motion arms in a single motion control cycle, and the control method further includes: for each motion control cycle, Determining target positions of the distal ends of the plurality of target motion arms based on the motion step length and the current surgery type or the configuration of the auxiliary connecting device; and The target poses of the multiple target motion arms are determined based on the target poses of the ends of the multiple target motion arms.

4. The control method according to any one of claims 1 to 3, characterized in that: The operation command is input by the user through the user interface.

5. The control method according to claim 4, characterized in that: In response to no longer receiving the operation command or receiving a stop command, one or more of the target motion arms are controlled to stop moving.

6. The control method according to any one of claims 1 to 3, characterized in that: The movement step length is predetermined.

7. The control method according to claim 1, characterized in that: Also includes: For each motion control cycle, based on the constraint relationship and the target posture, it is determined whether interference occurs between the one or more target motion arms or with other motion arms.

8. The control method according to claim 7, characterized in that: In response to interference between the one or more target motion arms or with other motion arms, the one or more target motion arms are controlled to stop moving or issue an alarm message.

9. The control method according to claim 7, characterized in that: The constraint relationship includes at least one of the following: The relative position sequence relationship between the target motion arm and the other motion arms of the plurality of motion arms conforms to a predetermined relative position sequence relationship; a distance between a predetermined point associated with the target motion arm and predetermined points associated with one or more motion arms corresponding to the target motion arm being greater than a predetermined safety distance; a distance between a predetermined line segment associated with the target motion arm and predetermined line segments associated with one or more motion arms corresponding to the target motion arm being greater than a predetermined safety distance; or A difference between the joint values ​​of one or more joints of the target motion arm and the joint values ​​of corresponding joints of one or more motion arms corresponding to the target motion arm is greater than a predetermined safety value.

10. The control method according to claim 1, characterized in that: Also includes: For each motion control cycle, the joint step length of each joint included in each target motion arm is determined based on the motion step length.

11. The control method according to claim 10, characterized in that: Also includes: For each motion control cycle other than the first motion control cycle, A current pose of the one or more target motion arms in a current motion control cycle is determined.

12. The control method according to claim 11, wherein: For each target motion arm, Based on the current posture, determining a current joint value of each joint of the target motion arm; as well as Based on the current joint value and joint step length of each joint of the target motion arm, a target joint value of each joint of the target motion arm in the current motion control cycle is determined.

13. The control method according to claim 10, wherein: Also includes: Determining an initial joint value of each joint of the one or more target motion arms based on the initial poses of the one or more target motion arms; as well as For each motion control cycle, a target joint value of each joint of the one or more target motion arms in the current motion control cycle is determined based on the initial joint value and joint step length of each joint of the one or more target motion arms.

14. The control method according to claim 1, wherein: Also includes: For each target motion arm, Determining whether the other target joint values ​​are within the joint motion range of the corresponding joint; as well as In response to at least one of the other target joint values ​​being outside the joint motion range of the corresponding joint, the recommended target joint value is incremented or decremented by a predetermined adjustment value to adjust the recommended target joint value.

15. The control method according to claim 14, characterized in that: In response to the other target joint values ​​being within the joint motion range of the corresponding joint, a target posture of the selected target motion arm is determined based on the recommended target joint value and the other target joint values.

16. A robotic system comprising: multiple motion arms; as well as A control device, wherein the control device is configured to execute the control method according to any one of claims 1 to 15.

17. The robot system according to claim 16, wherein: The robot system further includes an auxiliary connecting device, wherein the auxiliary connecting device includes a plurality of sheaths for connecting with the plurality of motion arms; The relative position relationship of the ends of the multiple motion arms is determined based on the shapes of the multiple sheath tubes and their relative position relationship.

18. A computer-readable storage medium comprising one or more instructions, wherein the instructions are executed by a processor to perform the control method according to any one of claims 1 to 15.

19. A computer system comprising: a memory for storing at least one instruction; as well as A processor is configured to execute the at least one instruction to perform the control method according to any one of claims 1 to 15.

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