Method for forming a robot arm posture deviation index table and method for controlling a robot arm

Abstract

The present application relates to a method for forming a manipulator posture deviation index table and a manipulator control method, including: determining the boundary of the surgical area; controlling the end of the manipulator to move to multiple preset positions within the boundary, and recording multiple first posture data generated when the end of the manipulator is at multiple preset positions; obtaining multiple second posture data when the end of the manipulator is at multiple preset positions in a robot vision device, and forming a deviation index table based on the difference between each first posture data and each second posture data, multiple first posture data or multiple second posture data; multiple first posture data and multiple second posture data correspond one to one. The present application can directly obtain the deviation compensation amount of the manipulator movement by looking up a table during the surgical process, realize the position deviation compensation of the manipulator according to the deviation compensation amount without relying on the subjective judgment and experience of the operator, and improve the accuracy of the manipulator posture control.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a method for forming a robot arm posture deviation index table and a method for controlling the robot arm. Background Art

[0002] Robots are widely used in the fields of industry, medicine, agriculture, service, construction and military due to their many advantages such as short learning curve and time, ability to withstand radiation, short action execution delay time and high accuracy. Users control the movement of the robot arm joints to drive the surgical instruments at the end of the robot arm joints to perform preset surgical actions and accurately perform complex medical operations.

[0003] However, in traditional surgical robot systems, sensors are needed to perceive the real-time position information of surgical instruments within the patient's body during surgery, and doctors use images to plan and navigate the surgery. However, it is difficult for doctors to take into account both the actual situation of the surgical site and the navigation information on the screen, and intraoperative positioning relies on the operator's subjective judgment and experience. There are high levels of uncertainty, which affects the efficiency and accuracy of the doctor's operation. Moreover, in a small surgical space, the positioning information can easily be blocked, interrupting the surgical process. Summary of the invention

[0004] Based on this, it is necessary to provide a method for forming a robot arm posture deviation index table and a robot arm control method, which automatically generates a robot arm posture deviation index table according to the boundary of the surgical area, so as to directly obtain the deviation compensation amount of the robot arm movement by looking up the table during the operation, compensate for the position deviation of the robot arm, and improve the accuracy of the robot arm posture control.

[0005] In order to achieve the above-mentioned purpose and other purposes, one aspect of the present application provides a method for forming a robot arm posture deviation index table, including: determining the boundary of the surgical area; controlling the end of the robot arm to move to multiple preset positions within the boundary, and recording multiple first posture data generated when the end of the robot arm is at multiple preset positions; obtaining multiple second posture data when the end of the robot arm is at multiple preset positions in a robot vision device, and forming a deviation index table based on the difference between each first posture data and each second posture data, multiple first posture data or multiple second posture data; multiple first posture data and multiple second posture data correspond one to one.

[0006] In the method for forming the robot arm posture deviation index table in the above embodiment, after determining the boundary of the surgical area, the robot arm end is controlled to move to multiple preset positions within the boundary, and multiple first posture data generated when the robot arm end is at the multiple preset positions, and the second posture data when the robot arm end is at the multiple preset positions in the robot vision device are obtained. Each second posture data corresponds to each first posture data one by one, and a deviation index table is formed according to the difference between each first posture data and each second posture data and the first posture data or the second posture data, so that the deviation compensation amount of the robot arm movement can be directly obtained by looking up the table during the operation, so as to realize position deviation compensation of the robot arm according to the deviation compensation amount without relying on the operator's subjective judgment and experience, thereby improving the accuracy of the robot arm posture control.

[0007] In some embodiments, controlling the end of the robotic arm to move to a plurality of preset positions within the boundary includes:

[0008] Generate an automatic control instruction, which is used to instruct the end of the robot arm to move to the preset position in sequence; or generate a reminder instruction, which is used to prompt the user to drag the end of the robot arm to the preset position.

[0009] In some embodiments, multiple first-position pose data generated when the end of the robotic arm is at multiple preset positions are recorded, including: obtaining the joint angle data of the robotic arm when the end of the robotic arm is at multiple preset positions; and calculating the first-position pose data of the end of the robotic arm in the robot base coordinate system based on the joint angle data.

[0010] In some embodiments, an end optical marker is provided at the end of the robotic arm; a plurality of second posture data of the end of the robotic arm when it is at a plurality of preset positions in a robot vision device are obtained, including: obtaining a coordinate conversion relationship between the robot vision device and the robotic arm; based on the end optical marker, obtaining the end optical marker data of the end of the robotic arm when it is at a plurality of preset positions; based on the end optical marker data and the coordinate conversion relationship, obtaining the second posture data of the end of the robotic arm in the robot base coordinate system.

[0011] In some embodiments, an end optical marker is provided at the end of the robotic arm, and a trolley optical marker is provided on the trolley carrying the robotic arm; multiple second posture data of the end of the robotic arm at multiple preset positions in the robot vision device are obtained, including: obtaining coordinate information of the trolley optical marker in the robot base coordinate system; obtaining the trolley optical marker data based on the trolley optical marker; obtaining the end optical marker data of the robotic arm at multiple preset positions based on the end optical marker; and obtaining the second posture data of the end of the robotic arm in the robot base coordinate system according to the trolley optical marker data, the end optical marker data and the coordinate information of the trolley optical marker in the robot base coordinate system.

[0012] The second aspect of the present application provides a method for controlling a robotic arm, including: obtaining a motion posture instruction, the motion posture instruction including a target posture of the robotic arm; querying a deviation index table generated by a method in any embodiment of the present application to obtain a deviation value corresponding to the target posture; obtaining a deviation compensation amount of the motion posture instruction according to the deviation value; correcting the motion posture instruction according to the deviation compensation amount; and executing the corrected motion posture instruction.

[0013] In some embodiments, if there is no deviation value corresponding to the target posture in the deviation index table, several deviation values ​​corresponding to several positions adjacent to the target posture are obtained; and interpolation fitting is performed on the several deviation values ​​to obtain the deviation value corresponding to the target posture.

[0014] The third aspect of the present application provides a robotic arm control system, including a robotic arm, a joint sensor, a robot vision device and a controller, wherein an end optical marker is provided at the end of the robotic arm; the joint sensor is used to obtain the joint angle data of each joint of the robotic arm; the robot vision device is used to collect the end optical marker data of the robotic arm end when it is in a preset position according to the end optical marker; the controller is respectively connected to the robotic arm, the joint sensor and the robot vision device, and the controller is used to execute any method for forming a robotic arm posture deviation index table in the embodiments of the present application, or any method for controlling the robotic arm in the embodiments of the present application.

[0015] In some embodiments, the robotic arm control system also includes a robotic arm trolley, which is used to carry the robotic arm and is provided with a trolley optical mark; the robot vision device obtains the trolley optical mark data according to the trolley optical mark and sends the trolley optical mark data to the controller.

[0016] In some embodiments, the robot arm control system also includes multiple robot vision devices, which are all connected to the controller and are used to collect end optical mark data when the end of the robot arm is at a preset position based on the end optical mark.

[0017] In some embodiments, the robotic arm control system also includes multiple robotic arms and multiple joint sensors, and the ends of the multiple robotic arms are each provided with an end optical marker; multiple joint sensors are respectively arranged on each robotic arm to obtain joint angle data of each robotic arm.

[0018] A fourth aspect of the present application provides a surgical system, comprising a robotic control system in any one of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiment technology of the present application, the drawings required for use in the technical description of the embodiment will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 Schematic diagram of a process for forming a robot arm posture deviation index table in one embodiment;

[0021] Figure 2 A schematic diagram of a coordinate space of a posture deviation index table in one embodiment;

[0022] Figure 3 is a schematic flow chart of a method for controlling a robotic arm in another embodiment;

[0023] Figure 4 A schematic flow chart of a method for controlling a robotic arm in yet another embodiment;

[0024] Figure 5a A schematic side view of a robotic arm control system in one embodiment;

[0025] Figure 5b for Figure 5a A schematic top view of a robotic arm control system in the embodiment shown in FIG.

[0026] Figure 6a A schematic side view of a robot arm control system in another embodiment;

[0027] Figure 6b for Figure 6a A schematic top view of a robotic arm control system in the embodiment shown in FIG.

[0028] Figure 6c is a graphical diagram of an end optical mark in one embodiment;

[0029] Figure 6d A schematic diagram of a trolley optical mark in one embodiment;

[0030] Figure 7 It is a schematic top view of a robot arm control system in yet another embodiment.

[0031] Description of reference numerals:

[0032] 100. Robotic arm control system; 101. Robotic arm; 20. End optical marker; 10. Robot vision device; 102. Surgical instrument; 103. Robotic arm trolley; 30. Trolley optical marker. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0034] In this application, unless otherwise clearly specified and limited, the terms "connected", "connection" and the like should be understood in a broad sense, for example, it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0035] In oral surgery, the following three technical solutions are generally used to accurately determine the actual situation of the oral surgical area:

[0036] (1) A guide is made according to the patient's oral area, and the doctor performs oral surgery along the guide;

[0037] (2) Using sensors to sense the position of medical devices in the doctor's hand and the patient's mouth, the doctor can plan and perform surgery based on medical images;

[0038] (3) A surgical instrument is installed at the end of the robotic arm. Sensors sense the relative position of the surgical instrument and the patient's oral surgical area. The doctor plans the operation based on medical images and operates the robot to complete the operation.

[0039] In the above technical scheme, the patient's oral surgical position is determined based on the guide plate, the guide plate production cycle is long, and the intraoperative plan is difficult to modify; the position of the surgical instrument and the patient's oral position are sensed by sensors, and the doctor combines the image to plan and navigate the oral surgery. It is difficult for the doctor to take into account the oral and screen navigation information, and the intraoperative positioning information depends on the operator's subjective judgment and personal experience, and the human uncertainty factor is relatively high; for common robotic navigation surgery systems, due to the narrow oral surgery space, the doctor can easily block the optical marker point at the end of the robotic arm during the operation of the surgical robot, causing the robot to lose the optical marker position feedback information, causing the system to alarm and the operation to be interrupted.

[0040] The present application aims to provide a method for forming a robot arm posture deviation index table and a method for controlling a robot arm, by automatically generating a robot arm posture deviation index table according to the boundary of the surgical area before the operation, so as to directly obtain the deviation compensation amount of the robot arm movement by looking up the table during the operation, perform position deviation compensation on the robot arm, and improve the accuracy of the robot arm posture control; during the operation, the doctor does not need to worry about the system crashing due to blocking the positioning target, thereby improving the efficiency, safety and reliability of operations such as dental implant operations.

[0041] Please refer to Figure 1In one embodiment of the present application, a method for forming a robot arm posture deviation index table is provided, which may include the following steps:

[0042] Step S210: determining the boundary of the surgical area;

[0043] Step S220: Control the end of the robot arm to move to a plurality of preset positions within the boundary, and record a plurality of first position data generated when the end of the robot arm is at the plurality of preset positions;

[0044] Step S230: Obtain multiple second posture data when the end of the robotic arm is at multiple preset positions in the robot vision device, and form a deviation index table based on the difference between each first posture data and each second posture data, multiple first posture data or multiple second posture data; multiple first posture data and multiple second posture data correspond one to one.

[0045] Specifically, in the process of executing control instructions, the robot arm is affected by various error factors such as the robot arm's own system error and the error in its terminal positioning information. There may be a deviation between the actual position reached by the robot arm terminal due to executing the target control instruction and the target position represented by the target control instruction. Therefore, in the process of actual motion control of the robot arm, it is necessary to dynamically compensate the robot arm motion control based on the position information between the actual position reached by the robot arm terminal and the target position represented by the target control instruction, so that the robot arm terminal can move to the target position as accurately as possible, thereby improving the accuracy of the robot arm posture control. This can be done in determining the boundaries of the surgical area, such as Figure 2 After the surgical area boundary is formed by the line connecting the center of the ball a, the end of the robotic arm is controlled to move to multiple preset positions within the boundary, such as Figure 2 The position is shown by the intersection b of the middle grid line, and multiple first posture data generated when the end of the robot arm is in multiple preset positions, and the second posture data when the end of the robot arm is in the multiple preset positions in the robot vision device are obtained, each second posture data corresponds to each first posture data one by one, and a deviation index table is formed according to the difference between each first posture data and each second posture data and the first posture data, or a deviation index table is formed according to the difference between each first posture data and each second posture data and the second posture data, so as to directly or indirectly obtain the deviation compensation amount of the robot arm movement by querying the deviation index table during the operation, so as to realize position deviation compensation of the robot arm according to the deviation compensation amount without relying on the subjective judgment and experience of the operator, thereby improving the accuracy of the posture control of the robot arm.

[0046] As an example, see Figure 3 In step S220, controlling the end of the robot arm to move to a plurality of preset positions within the boundary may include the following steps:

[0047] Step S221: Generate an automatic control instruction, the automatic control instruction is used to instruct the end of the robot arm to move to a preset position in sequence;

[0048] Step S223: Record multiple first position data generated when the end of the robot arm is at multiple preset positions.

[0049] Specifically, the user can send a control instruction to the robot arm controller to instruct the end of the robot arm to move to the preset position in sequence, so that the controller responds to the control instruction and automatically controls the end of the robot arm to move to the preset position in sequence along the preset path, so that the robot arm responds to the automatic control instruction and automatically builds the deviation index table. After setting the surgical area (for example, a square area), the doctor can send a control instruction to the robot arm to instruct the end of the robot arm to move to the preset position in sequence, so that the robot arm generates the deviation index table according to the set step length. Figure 2 The point information shown at the intersection b of the middle grid line is shown. The robotic arm automatically moves to each point along the preset path. During the movement of the robotic arm, the optical sensor and the robotic arm joint encoder set near the robotic arm respectively record the optical mark at the end of the robotic arm and the joint angle information, and calculate the deviation value of the robotic arm operation space. According to this deviation value set and the corresponding first posture data set or the second posture data set, a deviation index table is directly constructed for rapid query of the deviation value during the operation, so as to realize position deviation compensation of the robotic arm according to the deviation compensation amount obtained by looking up the table without relying on the subjective judgment and experience of the operator, thereby improving the accuracy of the robotic arm posture control.

[0050] As an example, please refer to Figure 3 In step S220, controlling the end of the robot arm to move to a plurality of preset positions within the boundary may include the following steps:

[0051] Step S222: generating a reminder instruction, where the reminder instruction is used to prompt the user to drag the end of the robotic arm to a preset position;

[0052] Step S223: Record multiple first position data generated when the end of the robot arm is at multiple preset positions.

[0053] Specifically, the user can construct a deviation index table by interacting with the robotic arm. The user, such as a doctor, can drag the robotic arm to confirm the surgical area (such as a square area), and then drag the robotic arm to move within the surgical area. During the movement of the robotic arm, the optical sensor and the robotic arm joint encoder set near the robotic arm respectively record the optical mark and joint angle information at the end of the robotic arm, calculate the deviation value of the robotic arm operation space, and construct a deviation index table based on this deviation value set using the data fitting method for rapid query of the deviation value during the operation. This realizes position deviation compensation of the robotic arm based on the deviation compensation amount obtained by table lookup without relying on the operator's subjective judgment and experience, thereby improving the accuracy of the robotic arm's posture control.

[0054] Table 1

[0055] Index (robot operation space pose) Value (operating space deviation) {x1,y1,z1,qw1,qx1,qy1,qz1} {Δx1,Δy1,Δz1,Δqw1,Δqx1,Δqy1,Δqz1} {x2,y2,z2,qw2,qx2,qy2,qz2} {Δx2,Δy2,Δz2,Δqw2,Δqx2,Δqy2,Δqz2} {x3,y3,z3,qw3,qx3,qy3,qz3} {Δx3,Δy3,Δz3,Δqw3,Δqx3,Δqy3,Δqz3} … …

[0056] Specifically, please refer to Table 1. After the robot arm obtains the surgical area, it can control the end of the robot arm to move to the preset position in sequence based on the control command, or generate a reminder instruction to prompt the user to drag the end of the robot arm to the preset position. For example, after setting the surgical area (such as a square area), the user can send a control instruction to the robot arm to instruct the end of the robot arm to move to the preset position in sequence, so that the robot arm generates the following steps according to a fixed step length: Figure 2 The point information shown at the intersection b of the middle grid line, the robot arm automatically moves to each point, and during the movement of the robot arm, the optical sensor and robot arm joint encoder set near the robot arm respectively record the optical mark and joint angle information of the end of the robot arm, calculate the deviation value of the robot arm operation space, and directly construct the deviation index table based on this deviation value set for rapid query of the deviation value during the operation. The deviation of the operation space can be represented by quaternion, quaternion q = [qw, qx, qy, qz] T , in three-dimensional space, the posture of an object in space is represented by rotating a certain angle around a certain axis. Among them:

[0057] qw=cos(a / 2);

[0058] qx=sin(a / 2)*wx;

[0059] qy=sin(a / 2)*wy;

[0060] qz=sin(a / 2)*wz.

[0061] Where w = [wx, wy, wz]T, is the unit vector of the spatial rotation axis, and a is the rotation angle.

[0062] As an example, in step S223, recording a plurality of first pose data generated when the end of the robot arm is at a plurality of preset positions may include the following steps:

[0063] Step S2231: Acquire the joint angle data of the robotic arm when the end of the robotic arm is at a plurality of preset positions;

[0064] Step S2232: Calculate the first position data of the end of the robotic arm in the robot base coordinate system based on the joint angle data.

[0065] Specifically, the robot arm generally has a robot base coordinate system. In order to obtain the real-time position information of the end of the robot arm, an optical sensor can be set near the robot arm, an optical marker can be set at the end of the robot arm, and a joint encoder can be set at the joint of the robot arm. During the period when the robot arm executes the motion control instruction, the optical sensor can obtain the position information of the optical marker at the end of the robot arm, and the joint encoder can record the angle data of the robot arm joint; based on the joint angle data, the first position data of the end of the robot arm in the robot base coordinate system can be calculated.

[0066] As an example, the end of the robot arm is provided with an end optical marker; the step S230 of obtaining a plurality of second posture data of the end of the robot arm at a plurality of preset positions in the robot vision device may include the following steps:

[0067] Step S2311: Acquire the coordinate transformation relationship between the robot vision device and the robot arm;

[0068] Step S2312: acquiring the end optical mark data of the end of the robot arm when the end is at a plurality of preset positions based on the end optical mark;

[0069] Step S2313: Based on the end optical marker data and the coordinate conversion relationship, obtain the second posture data of the end of the robotic arm in the robot base coordinate system.

[0070] Specifically, in order to obtain the real-time position information of the end optical marker, a robot vision device may be set near the robot arm, for example, an optical sensor such as a binocular vision camera or a depth camera. During the period when the robot arm executes the motion control instruction, the end optical marker data at multiple preset positions may be obtained, and the end optical marker data may include the position data of the end optical marker in the coordinate system of the robot vision device. After obtaining the coordinate conversion relationship between the robot vision device and the robot arm, the second posture data of the end of the robot arm in the robot base coordinate system may be obtained based on the end optical marker data and the coordinate conversion relationship.

[0071] As an example, the end of the robot arm is provided with an end optical mark, and the trolley carrying the robot arm is provided with a trolley optical mark; in step S230, obtaining a plurality of second posture data of the end of the robot arm at a plurality of preset positions in the robot vision device may include the following steps:

[0072] Step S2321: Obtaining coordinate information of the trolley optical marker in the robot base coordinate system;

[0073] Step S2322: acquiring the trolley optical mark data based on the trolley optical mark, and acquiring the end optical mark data of the end of the robot arm when the end is at a plurality of preset positions based on the end optical mark;

[0074] Step S2323: According to the trolley optical mark data, the end optical mark data and the coordinate information of the trolley optical mark in the robot base coordinate system, obtain the second posture data of the end of the robot arm in the robot base coordinate system.

[0075] Specifically, during the period when the robot arm executes the motion control instruction movement, the trolley optical marker data can be obtained based on the trolley optical marker, the end optical marker data of the robot arm at multiple preset positions can be obtained based on the end optical marker, and the robot arm joint angle data recorded by the joint encoder can be obtained. The end optical marker data can include the position data of the end optical marker in the robot vision device coordinate system; the kinematic forward solution algorithm can be used to calculate the robot arm end position data based on the robot arm joint angle data, and obtain the first posture data of the robot arm end in the robot base coordinate system; based on the trolley optical marker data, the end optical marker data and the coordinate information of the trolley optical marker in the robot base coordinate system, the second posture data of the robot arm end in the robot base coordinate system is obtained; then the robot arm operation space deviation value is calculated, and the deviation index table is constructed based on this deviation value set using the data fitting method, so as to facilitate the rapid query of the deviation value during the operation, so as to realize the position deviation compensation of the robot arm according to the deviation compensation amount obtained by looking up the table without relying on the operator's subjective judgment and experience, thereby improving the accuracy of the robot arm posture control.

[0076] Please refer to Figure 4 In one embodiment of the present application, a method for controlling a robotic arm is provided, which may include the following steps:

[0077] Step S310: obtaining a motion posture instruction, wherein the motion posture instruction includes a target posture of the robot arm;

[0078] Step S320: querying the deviation index table generated by the method in any embodiment of the present application to obtain the deviation value corresponding to the target posture;

[0079] Step S330: obtaining a deviation compensation amount of the motion posture instruction according to the deviation value; correcting the motion posture instruction according to the deviation compensation amount; and executing the corrected motion posture instruction.

[0080] As an example, step S320 may include the following steps:

[0081] Step S321: querying a deviation index table generated by a method in any embodiment of the present application;

[0082] Step S322: Determine whether there is a deviation value corresponding to the target posture in the deviation index table;

[0083] Step S323: If yes, obtain the deviation value corresponding to the target posture;

[0084] Step S324: If not, obtain several deviation values ​​corresponding to several positions adjacent to the target posture, and interpolate and fit the several deviation values ​​to obtain the deviation value corresponding to the target posture. For example, the position deviation and posture deviation of the current point can be interpolated according to the deviation value of the index adjacent point. It can be expressed by quaternion, quaternion q = [qw, qx, qy, qz] T , in three-dimensional space, the posture of an object in space is represented by rotating a certain angle around a certain axis. Among them:

[0085] qw=cos(a / 2);

[0086] qx=sin(a / 2)*wx;

[0087] qy=sin(a / 2)*wy;

[0088] qz=sin(a / 2)*wz.

[0089] Where w = [wx, wy, wz]T, is the unit vector of the spatial rotation axis, and a is the rotation angle.

[0090] Specifically, since the deviation index table only includes deviation values ​​of a limited number of positions in the surgical area, it is difficult to completely cover any position in the surgical area. The position of the end of the robotic arm in the surgical area is arbitrary and random. Therefore, it is first determined whether there is a deviation value corresponding to the target posture in the deviation index table. If so, the deviation value is directly obtained and the position deviation of the robotic arm is compensated to improve the efficiency and accuracy of the robotic arm posture control; if not, that is, there is no deviation value corresponding to the target posture in the deviation index table, then several deviation values ​​corresponding to several positions adjacent to the target posture are obtained, and interpolation fitting is performed on the several deviation values ​​to obtain the deviation value corresponding to the target posture, so as to avoid the phenomenon of position control interruption or failure due to table lookup.

[0091] Please refer to Figure 5a-Figure 5b In one embodiment of the present application, a robot arm control system 100 is provided, including a robot arm 101, a joint sensor (not shown), a robot vision device 10 and a controller (not shown), wherein an end optical marker 20 is provided at the end of the robot arm 101; the joint sensor is used to obtain joint angle data of each joint of the robot arm 101; the robot vision device 10 is used to collect the end optical marker data of the robot arm end when it is at a preset position according to the end optical marker 20; the controller is respectively connected to the robot arm 101, the joint sensor and the robot vision device 10, and the controller is used to execute any method for forming a robot arm posture deviation index table in the embodiments of the present application, or any method for controlling the robot arm in the embodiments of the present application.

[0092] As an example, please refer to Figure 5a-Figure 5b , so as to illustrate the specific implementation principle of the embodiment of the present application by using the embodiment of the present application for oral surgery, such as dental implant surgery. The patient 300 lies on the dental chair, and a surgical instrument 102 is provided at the end of the robotic arm 101. The dentist controls the movement of the robotic arm 101 to drive the surgical instrument 102 into the oral cavity of the patient 300, and performs dental implant surgery on the patient under the guidance of the preset control program. During the movement of the robotic arm executing the motion control instruction, the end optical mark data of the end optical mark 10 at multiple preset positions can be obtained, and the end optical mark data can include the position data of the end optical mark in the coordinate system of the robot vision device; the joint encoder can record the joint angle data of the robotic arm; according to the joint angle data, the first posture data of the end of the robotic arm in the robot base coordinate system can be calculated. After obtaining the coordinate transformation relationship between the robot vision device 10 and the robotic arm 101, the second posture data of the end of the robotic arm in the robot base coordinate system can be obtained based on the end optical mark data and the coordinate transformation relationship. The deviation value of the robot arm's operating space is then calculated, and a deviation index table is constructed based on this deviation value set using the data fitting method to facilitate quick query of the deviation value during the operation. This allows the robot arm to be compensated for its position deviation based on the deviation compensation amount obtained from the table without relying on the operator's subjective judgment and experience, thereby improving the accuracy of the robot arm's posture control.

[0093] As an example, see Figure 6a-Figure 6bThe robot control system 100 also includes a robot trolley 103, which is used to carry the robot 101. The robot trolley 103 is provided with a trolley optical marker 30; the robot vision device 10 obtains the trolley optical marker data according to the trolley optical marker 30, and sends the trolley optical marker data to the controller. During the movement of the robotic arm executing the motion control instruction, the trolley optical marker data can be obtained based on the trolley optical marker 30, the end optical marker data of the robotic arm end at multiple preset positions can be obtained based on the end optical marker 20, and the robotic arm joint angle data recorded by the joint encoder can be obtained. The end optical marker data can include the position data of the end optical marker in the robot vision device coordinate system; based on the robotic arm joint angle data, the kinematic forward solution algorithm can be used to calculate the robotic arm end position data to obtain the first posture data of the robotic arm end in the robot base coordinate system; based on the trolley optical marker data, the end optical marker data and the coordinate information of the trolley optical marker 30 in the robot base coordinate system, the second posture data of the robotic arm end in the robot base coordinate system is obtained; then the robotic arm operation space deviation value is calculated, and a deviation index table is constructed based on this deviation value set using a data fitting method for rapid query of the deviation value during the operation, so as to achieve position deviation compensation of the robotic arm based on the deviation compensation amount obtained by looking up the table without relying on the operator's subjective judgment and experience, thereby improving the accuracy of the robotic arm posture control.

[0094] As an example, see Figure 6c-6d , the graphic of the end optical mark 20 can be set to be circular, and the graphic of the trolley optical mark 30 can be set to be rectangular, so that the robot vision device 10 can clearly distinguish the end optical mark 20 from the trolley optical mark 30. Those skilled in the art can undoubtedly determine that this embodiment is intended to exemplify the implementation principle, and the graphic shape of the end optical mark 20 or the graphic shape of the trolley optical mark 30 is not specifically limited. In other embodiments, the graphic shape of the optical mark 20 and the graphic shape of the trolley optical mark 30 can be set to any one or more combinations of rectangles, triangles, polygons, ellipses, circles and rings, and the graphic shape of the optical mark 20 is different from the graphic shape of the trolley optical mark 30.

[0095] As an example, see Figure 7 The robot control system 100 further includes a plurality of robot vision devices 10, which are all connected to the controller and are used to collect the end optical mark data of the robot end when the robot end is at a preset position according to the end optical mark. The plurality of robot vision devices 10 simultaneously shoot the optical mark in multiple directions, thereby reducing the possibility of the mark being blocked and improving the accuracy and reliability of the robot position control.

[0096] As an example, please refer to Figure 7The robot control system 100 also includes multiple robot arms 101 and multiple joint sensors. The ends of the multiple robot arms 101 are all provided with end optical markers 20; multiple joint sensors are respectively provided on each robot arm to obtain joint angle data of each robot arm. Multiple robot arms 101 meet the needs of multi-instrument surgery, improve the efficiency of surgery, and ensure the smooth completion of surgery in the event of a failure of one robot arm 101.

[0097] As an example, please refer to Figure 7 In one embodiment of the present application, a surgical system is provided, including a robot control system in any embodiment of the present application, including a plurality of robot arms 101, which can be used to mount surgical instruments such as scalpels or endoscopes (e.g., laparoscopes). An end optical marker 20 is provided at the end of the robot arm 101; a joint sensor is used to obtain joint angle data of each joint of the robot arm 101; a robot vision device 10 is used to collect end optical marker data of the end of the robot arm at a preset position according to the end optical marker 20; a controller is respectively connected to the robot arm 101, the joint sensor and the robot vision device 10, and during the movement of the robot arm executing the motion control instruction, the end optical marker data of the end optical marker 10 at multiple preset positions can be obtained, and the end optical marker data can include the position data of the end optical marker in the robot vision device coordinate system; a joint encoder can record the joint angle data of the robot arm; and the first position data of the end of the robot arm in the robot base coordinate system can be calculated based on the joint angle data. After obtaining the coordinate conversion relationship between the robot vision device 10 and the robot arm 101, the second posture data of the end of the robot arm in the robot base coordinate system can be obtained based on the end optical mark data and the coordinate conversion relationship. Then the deviation value of the robot arm operation space is calculated, and a deviation index table is constructed based on this deviation value set using the data fitting method to facilitate rapid query of the deviation value during the operation, so as to achieve position deviation compensation of the robot arm based on the deviation compensation amount obtained by looking up the table without relying on the subjective judgment and experience of the operator, thereby improving the accuracy of the robot arm posture control.

[0098] It should be understood that although Figure 1 , Figure 3-Figure 4 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 , Figure 3-Figure 4At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0099] Each module in the above robot system can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0100] Please note that the above embodiments are for illustrative purposes only and are not intended to limit the present invention. The embodiments in the above context may be referenced and referred to each other.

[0101] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0102] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for forming a manipulator posture deviation index table, characterized in that: include: Determine the boundaries of the surgical field; Controlling the end of the robotic arm to move to a plurality of preset positions within the boundary, and recording a plurality of first position data generated when the end of the robotic arm is at the plurality of preset positions; Acquire a plurality of second posture data when the end of the robotic arm is at the plurality of preset positions in the robot vision device, and form a deviation index table according to the difference between each first posture data and each second posture data, the plurality of first posture data or the plurality of second posture data; the plurality of first posture data and the plurality of second posture data correspond one to one; the end of the robotic arm is provided with a terminal optical marker; The step of obtaining a plurality of second posture data of the end of the robotic arm at the plurality of preset positions in the robot vision device comprises: Obtaining a coordinate transformation relationship between the robot vision device and the robot arm; Acquiring the end optical mark data of the end of the robot arm at the plurality of preset positions based on the end optical mark; Based on the end optical mark data and the coordinate conversion relationship, second posture data of the end of the robotic arm in the robot base coordinate system is obtained.

2. The method for forming a manipulator posture deviation index table according to claim 1, characterized in that: The controlling the end of the robot arm to move to a plurality of preset positions within the boundary comprises: Generate an automatic control instruction, wherein the automatic control instruction is used to instruct the end of the robot arm to move to the preset position in sequence.

3. The method for forming a manipulator posture deviation index table according to claim 1, characterized in that: The controlling the end of the robotic arm to move to a plurality of preset positions within the boundary includes: generating a reminder instruction, wherein the reminder instruction is used to prompt a user to drag the end of the robotic arm to the preset position.

4. The method for forming a manipulator posture deviation index table according to claim 1, characterized in that: The recording of a plurality of first pose data generated when the end of the robotic arm is at the plurality of preset positions includes: Acquiring joint angle data of the robotic arm when the end of the robotic arm is at the plurality of preset positions; The first position data of the end of the robotic arm in the robot base coordinate system is calculated based on the joint angle data.

5. A method for forming a manipulator posture deviation index table, characterized in that: include: Determine the boundaries of the surgical field; Controlling the end of the robotic arm to move to a plurality of preset positions within the boundary, and recording a plurality of first position data generated when the end of the robotic arm is at the plurality of preset positions; Acquire a plurality of second posture data when the end of the robot arm is at the plurality of preset positions in the robot vision device, and form a deviation index table according to the difference between each first posture data and each second posture data, the plurality of first posture data or the plurality of second posture data; the plurality of first posture data and the plurality of second posture data correspond one to one; The end of the mechanical arm is provided with an end optical mark, and the trolley carrying the mechanical arm is provided with a trolley optical mark; The step of obtaining a plurality of second posture data of the end of the robotic arm at the plurality of preset positions in the robot vision device comprises: Obtaining coordinate information of the trolley optical marker in the robot base coordinate system; Acquire trolley optical mark data based on the trolley optical mark, and acquire terminal optical mark data of the end of the robotic arm at the plurality of preset positions based on the terminal optical mark; According to the trolley optical mark data, the end optical mark data and the coordinate information of the trolley optical mark in the robot base coordinate system, the second posture data of the end of the robot arm in the robot base coordinate system is obtained.

6. A method for controlling a robotic arm, characterized in that: include: Acquire a motion posture instruction, wherein the motion posture instruction includes a target posture of the robot arm; Querying the deviation index table generated by the method described in any one of claims 1 to 5 to obtain a deviation value corresponding to the target posture; Acquire a deviation compensation amount of the motion posture instruction according to the deviation value; Correcting the motion posture instruction according to the deviation compensation amount; Execute the corrected motion posture instruction.

7. The control method of the robot arm according to claim 6, characterized in that: If there is no deviation value corresponding to the target posture in the deviation index table, obtaining a plurality of deviation values ​​corresponding to a plurality of positions adjacent to the target posture; Interpolation fitting is performed on the plurality of deviation values ​​to obtain deviation values ​​corresponding to the target posture.

8. A robotic arm control system, characterized in that: include: A mechanical arm, wherein a terminal optical marker is disposed at a terminal end of the mechanical arm; A joint sensor, used to obtain joint angle data of each joint of the robotic arm; A robot vision device, used for collecting the end optical mark data of the end of the robot arm when the end of the robot arm is at a preset position according to the end optical mark; A controller is respectively connected to the robotic arm, the joint sensor and the robot vision device, and the controller is used to execute the method for forming the robotic arm posture deviation index table described in any one of claims 1 to 5 or the method for controlling the robotic arm described in any one of claims 6 to 7.

9. The robot arm control system according to claim 8, characterized in that: Also includes: A robot arm trolley, used for carrying the robot arm, and the robot arm trolley is provided with a trolley optical marker; The robot vision device acquires the trolley optical mark data according to the trolley optical mark, and sends the trolley optical mark data to the controller.

10. The robot arm control system according to claim 8, characterized in that: Also includes: A plurality of robot vision devices are connected to the controller and are used to collect the end optical mark data when the end of the robot arm is at a preset position according to the end optical mark.

11. The robot arm control system according to claim 8, characterized in that: Also includes: A plurality of mechanical arms, each end of each of the plurality of mechanical arms is provided with an end optical marker; A plurality of joint sensors are respectively arranged on each robotic arm to obtain the joint angle data of each robotic arm.

12. A surgical system, characterized in that: A robotic arm control system comprising any one of claims 8 to 11.

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