Mechanical arm plane control method and device, mechanical arm and storage medium

Abstract

The application belongs to the technical field of mechanical arm control, and discloses a mechanical arm plane control method, device, mechanical arm and storage medium, the method comprises the following steps: obtaining matching parameters after pre-registration of a work object and an object model of the work object, and external force received at an end tool of a mechanical arm, so as to control the end tool to move on a pre-planned work plane; according to the current coordinates of the end tool, target coordinates after movement of the end tool, and a work boundary of the pre-planned work plane, the end tool is controlled to move within the work boundary. The application guarantees that the movement range of the mechanical arm will not exceed the boundary, and is maintained on the work plane, so that the surgical process is more accurate and stable.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arm control, and in particular to a mechanical arm plane control method and device, a mechanical arm and a storage medium. BACKGROUND

[0002] In some working processes of a surgical robot, a doctor needs to hold a mechanical arm end to swing a saw on a planned plane for translational cutting. In order to ensure accuracy in the cutting process and not to exceed a reasonable connection, the surrounding soft tissue is planned to be protected according to the position of the cutting object in the preoperative planning stage, and a boundary is designed to prevent the mechanical arm end from swinging the saw blade beyond the boundary to cause damage to the surrounding tissue. However, it is difficult for the current mechanical arm to be accurately controlled and to generate a reasonable working boundary to safely perform surgical work. SUMMARY

[0003] In a first aspect, the present application provides a mechanical arm plane control method, comprising:

[0004] controlling an end tool of the mechanical arm to move on a pre-planned working plane according to matching parameters obtained after pre-registration of a working object and an object model of the working object, and an external force received at the end tool;

[0005] controlling the end tool to move within a working boundary of the pre-planned working plane according to a current coordinate of the end tool, a target coordinate after movement of the end tool, and the working boundary of the pre-planned working plane.

[0006] Further, the controlling the end tool to move on the pre-planned working plane comprises:

[0007] acquiring a position of the end tool through a visual sensor, and acquiring an actual coordinate of the working plane through the matching parameters to determine a relative position between the end tool and the working plane; wherein the visual sensor is arranged such that a visual range covers positions of the mechanical arm and the working object;

[0008] adjusting the position of the end tool such that the end tool acts on the working plane, acquiring the external force through a force sensor arranged at the end tool, and controlling a moment perpendicular to the working plane to be 0 so that the end tool is maintained on the working plane.

[0009] Further, the working boundary is obtained through pre-planning, comprising:

[0010] planning the working boundary according to the working plane and the object model, so that the working boundary exactly surrounds the working object in the working plane.

[0011] Further, the control of the movement of the end tool within the working boundary comprises:

[0012] calculating a first distance between the current coordinate and the target coordinate in real time, and a second distance between the current coordinate and the working boundary in the direction of the movement of the end tool;

[0013] controlling the first distance to be less than the second distance, so that the end tool moves within the working boundary.

[0014] Further, the matching parameters include rotation parameters and translation parameters.

[0015] The pre-registration of the working object and the object model of the working object comprises:

[0016] acquiring model point cloud data of the object model, acquiring marker points on the surface of the working object through a visual sensor, and thus acquiring actual point cloud data of the working object;

[0017] determining a conversion relationship between the model point cloud data and the actual point cloud data, and calculating translation parameters and rotation parameters for converting the model point cloud data to the actual point cloud data.

[0018] Further, the calculation of the translation parameters and the rotation parameters for converting the model point cloud data to the actual point cloud data comprises:

[0019] calculating an error value for converting the model point cloud data to the actual point cloud data according to the conversion relationship, and obtaining the translation parameters and the rotation parameters by calculating the minimum value of the error value.

[0020] Further, the error value is calculated by the following expression:

[0021]

[0022] In the expression, p is a coordinate point set of the object model, q is a coordinate point set of the working object, i is a subscript of a coordinate point in the point sets p and q, R is the rotation parameter, t is the translation parameter, and n is the total number of coordinate points.

[0023] In a second aspect, the application further provides a mechanical arm plane control device, comprising:

[0024] a first control module, configured to control the movement of the end tool on a pre-planned working plane according to matching parameters obtained after the pre-registration of a working object and an object model of the working object, and an external force received by an end tool of a surgical mechanical arm.

[0025] A second control module is configured to control the end tool to move within the working boundary according to the current coordinate of the end tool, the target coordinate of the end tool after movement, and the pre-planned working boundary of the working plane.

[0026] In a third aspect, the present application provides a mechanical arm, comprising a processor and a memory, wherein the memory stores a computer program, and the computer program performs the mechanical arm plane control method when running on the processor.

[0027] In a fourth aspect, the present application provides a readable storage medium, which stores a computer program, and the computer program performs the mechanical arm plane control method when running on a processor.

[0028] The embodiment of the present application discloses a mechanical arm plane control method, device, mechanical arm and storage medium, the method comprising: according to the matching parameters obtained by pre-registering the working object and the object model of the working object, and the external force received at the end tool of the surgical robot arm, to maintain the end tool moving on the pre-planned working plane; according to the current coordinate of the end tool, the target coordinate of the end tool after movement, and the pre-planned working boundary of the working plane, the end tool is controlled to move within the working boundary. To ensure that the moving range of the mechanical arm will not be out of bounds. Ensure that the surgical process of the surgical robot arm is more secure. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope of protection of the present application. In each drawing, similar components are denoted by similar reference numerals.

[0030] Figure 1 A mechanical arm plane control method flowchart according to an embodiment of the present application is shown;

[0031] Figure 2 An end tool coordinate system diagram of a surgical robot arm according to an embodiment of the present application is shown;

[0032] Figure 3 A working boundary diagram according to an embodiment of the present application is shown;

[0033] Figure 4 A mechanical arm working scene diagram according to an embodiment of the present application is shown;

[0034] Figure 5 A mechanical arm plane control device structure diagram according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application.

[0036] The components of the embodiments of the present application generally described and illustrated in the accompanying drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0037] Hereinafter, the terms "include", "have", and their conjugates, used in the various embodiments of the present application, are merely intended to denote a certain characteristic, number, step, operation, element, component, or a combination thereof, and should not be construed to exclude the existence or possibility of adding one or more other characteristics, numbers, steps, operations, elements, components, or combinations thereof.

[0038] In addition, the terms "first", "second", "third", and the like are used only to distinguish descriptions, and should not be understood as indicating or implying relative importance.

[0039] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the present application belong. The terms (such as terms defined in a generally used dictionary) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of the present application.

[0040] The technical solutions of the present application obtain the conversion relationship between the image coordinate system and the actual coordinate system by scanning the work object, registering the obtained object model and the actual work object, so that the preoperative planning data in the image coordinate system can be converted into data in the actual coordinate system, and then the work plane and the work boundary can be planned on the object model, so that the robot arm can work within the planned range without exceeding the boundary.

[0041] During preoperative planning, the surgical robot arm's working plane and working boundary on the work object are planned based on the object model. The planned working plane and working boundary coordinates are converted into actual coordinates through the matching parameters obtained by registration, allowing the robot arm to be controlled according to its own coordinate system. A determination is then made based on the robot arm's current and next positions to determine whether the end tool will exceed the boundary. If so, the command is not executed; otherwise, execution is allowed. This ensures that the end tool of the surgical robot arm does not exceed the working boundary, providing better protection for the patient and enhancing the safety of the surgical robot arm.

[0042] Next, the technical solution of this application is described with specific embodiments.

[0043] Example 1

[0044] like Figure 1 As shown, the technical solution of this application includes the following steps:

[0045] Step S100 , controlling the end tool to move on a pre-planned work plane according to matching parameters obtained after registering the work object and the object model of the work object, and the external force applied to the end tool of the surgical robot arm.

[0046] In this embodiment, the specific work object can be determined based on the specific work content of the surgical robot. For example, the work object can be a knee joint or an oral cavity, and the object model can be a skeletal model of the knee joint or an oral cavity model obtained through CT scanning or other methods. The model is established to facilitate preoperative planning for the surgical robot arm. The following describes the technical solution of this application using the knee joint as an example.

[0047] The bone model is a three-dimensional model of the knee joint created in a computer. It is a three-dimensional knee joint model. It can be understood that the scanned bone model and the actual knee joint are exactly the same size, but the coordinate system is different.

[0048] After obtaining the skeletal model, it is necessary to align the skeletal model with the actual knee joint. Because the coordinate system of the skeletal model in the image and the actual knee joint in physical space are different, preoperative planning performed directly on the image will not be the same as in physical space. Therefore, it is necessary to obtain the coordinate transformation relationship between the skeletal model in the image coordinate system and the knee joint in the physical space coordinate system, that is, the matching parameters.

[0049] The coordinate transformation relationship H required in this step can be expressed as:

[0050]

[0051] Wherein, R represents a rotation parameter, t represents a translation parameter, V represents a perspective vector, and U represents a scale factor. Because the bone model obtained through the CT scan is not deformed and scaled, the perspective vector V is 0 and the scale factor U is 1, so the rotation parameter and the translation parameter need to be solved.

[0052] Wherein, the rotation parameter represents a rotation transformation from the bone model in the image coordinate system to the knee joint in the physical space coordinate system, the translation parameter represents a translation transformation from the bone model to the knee joint, and the perspective vector and the scale factor represent the scaling size between the bone model and the knee joint.

[0053] In order to perform registration, the position of the knee joint in space also needs to be obtained, so a marker point needs to be set on the knee joint, and the position of the marker point is obtained by a visual sensor. In order to accurately obtain the position of the marker point and confirm the position of the knee joint, the position of the marker point can be obtained by a probe, that is, the position of the marker point is pointed to by a handheld probe, and the visual sensor obtains image data of the probe, and then calculates the position of the probe tip. Because the probe tip points to the marker point, the position of the marker point can be obtained.

[0054] The coordinates of the marker points are also multiple, so the position of the knee joint in the physical space can be obtained through the positions of the marker points.

[0055] Thus, two point sets, i.e., the point set p of the bone model and the point set q of the knee joint, can be obtained, and the coordinate points in the two point sets correspond one by one, so the following expression exists:

[0056]

[0057] In the formula, i is the i-th coordinate point in the point sets p and q, and n is the total number of coordinate points. The formula represents the error value of the conversion of the point set of the bone model to the point set of the actual knee joint under the rotation parameter R and the translation parameter t.

[0058] It can be understood that R and t that make the error value of the above expression minimum can be calculated, the R and t are a combination of rotation changes and translation changes that make the conversion error between the bone model and the actual knee joint minimum, that is, the parameter combination that has the best coordinate conversion effect, and the conversion relationship H composed of the R and t is the conversion relationship that needs to be obtained, so the R and t can be taken as the registration result.

[0059] After obtaining the registration result, the mapping relationship of the points in the image coordinate system to the points in the actual physical coordinate system can be obtained, and the planned surgical path and the surgical area during preoperative planning can be reflected in the actual physical coordinate system, which provides convenience for subsequent control of the mechanical arm.

[0060] Before the actual surgery, preoperative planning is performed. For example, for a knee replacement, it is necessary to determine which side to incise the skin from, how to make the cut, and then remove the knee joint and place the replacement knee joint model in. This embodiment mainly focuses on the selection of the working plane and the planning of the working boundary.

[0061] The working plane is related to the orientation of the surgical arm during surgery. Simply put, it can be considered the plane formed by the surgical arm during preoperative planning. For example, if a knee joint needs to be cut, the cutting surface needs to be flat, so the surgical arm needs to move on the planned cutting surface and cannot move in other plane directions. For example, when performing a horizontal cut on the knee joint, there cannot be any vertical movement or movement at a certain angle. When performing a vertical cut, there cannot be any horizontal movement either, so as to ensure the accuracy of the cut.

[0062] To control the movement of the surgical robotic arm on a given plane, it is necessary to control the torque in all directions of the robotic arm. The robotic arm is subject to external forces, such as downward gravity, friction in the opposite direction of motion, and interference caused by system errors. These forces are all external. By installing a force sensor at the end of the robotic arm, the external forces acting on the end of the robotic arm can be detected in real time. Based on these external forces, the motor output force can be calculated to balance these external forces and stabilize the robotic arm on a plane.

[0063] like Figure 2 As shown in the figure, it is a schematic diagram of the coordinate system of the end tool of the surgical robot arm. It is known that after the coordinate system of the end tool of the surgical robot arm is established, there are six directions in the xyz coordinate system: front, back, left, right, up and down. If the above-mentioned working plane is the xy plane, then when moving on the plane, movement in the z-axis direction cannot be performed. For this reason, the torque in the z-axis direction needs to be controlled to 0 to keep the end tool moving on the xy plane.

[0064] Understandably, the movement of a surgical robot arm is affected by factors such as gravity. Therefore, the robot must balance these external forces during movement, ensuring that the actual torque in each direction is consistent with the theoretical torque. Similarly, the torque perpendicular to the working plane must be balanced to zero, taking into account the effects of external forces such as gravity. This ensures that the end-of-line tool's movement on that plane is not affected, preventing errors during operation.

[0065] Step S200 , controlling the end tool to move within the working boundary according to the current coordinates of the end tool, the target coordinates after the end tool moves, and the pre-planned working boundary.

[0066] For the planned plane, its working boundary needs to be planned, which represents those parts that should not be affected, such as when performing knee joint cutting, the main object of cutting is bone, not the surrounding muscle tissue, so it cannot be cut to these muscle tissues, so these planes need to be planned according to these muscle tissues. Because the above-mentioned muscle tissues are wrapped around the knee joint, as long as the boundary of the knee joint is not exceeded, the muscle tissue will not be damaged during cutting, so the planning of these boundaries can be performed according to the model of the knee joint.

[0067] As shown in Figure 3 , the knee joint 20 in the figure is cut in the plane as shown in the figure, and the surgical robot arm 30 cuts the knee joint 20 from the direction as shown in the figure. It can be understood that in addition to the side facing the surgical robot arm 30, the soft tissue of the remaining three sides belongs to the part that should not be affected, and the cutting range should also be limited to the space occupied by the knee joint 20 itself, so the working boundary 10 can be planned according to the size of the knee joint 20. The working boundary 10 is a semi-open boundary, the part facing the surgical robot arm 30 has no boundary, and the other three sides are provided with corresponding boundaries according to the size of the contour of the knee joint 20 itself, to limit the movement space of the surgical robot arm, to protect other muscle tissues.

[0068] Specifically, the generation of the working boundary 10 can refer to Figure 3 , the knee joint 20 is shown in an elliptical shape, then the working boundary 10 is set as a rectangle tangent to the four sides of the ellipse with the longest diameter as the length and the shortest diameter as the width, and the boundary in the direction of the surgical robot arm is removed, to obtain the semi-open working boundary 10 as shown in Figure 3 .

[0069] After the working plane and the working boundary are determined, the surgical robot arm needs to be controlled to move on the plane, and through the matching parameters obtained by the foregoing registration, the actual coordinates of the planned working boundary and the working plane in the physical space can be obtained. According to these actual coordinates, the surgical robot arm is adjusted to an appropriate position, so that the end tool of the surgical robot arm falls on the working plane.

[0070] When the end tool is working, the current coordinates of the end tool are calculated in real time, the next instruction makes the end tool move to the target coordinates, and the coordinates of the working boundary closest to the target coordinates.

[0071] The current coordinates are the spatial coordinates of the tool at the end of the robotic arm, acquired through the vision sensor. The target coordinates are calculated by analyzing the control instructions for the surgical robot arm and calculating the coordinates the surgical robot will reach after receiving these instructions. The coordinates of the nearest work boundary are determined by the direction of movement of the robotic arm.

[0072] After acquiring these coordinates, a first distance between the current coordinate and the target coordinate, as well as a second distance between the current coordinate and the work boundary coordinate point in the end tool movement direction, can be calculated in real time.

[0073] When the first distance is smaller than the second distance, it can be seen that the end tool will not cross the defined working boundary after moving, and it can be considered that the surrounding muscle tissue will not be affected. If the first distance is larger than the second distance, it is considered that after executing the next instruction, the end tool will cross the defined working boundary, and it can be considered that the surrounding muscle tissue will be affected. Therefore, the robotic arm will not execute the instruction, and will feed back to the control end to re-plan the next movement distance and direction.

[0074] Specifically, such as Figure 4 As shown, point A is the current position of the surgical robot's end-of-line tool, and point B is the target coordinate calculated based on the next control instruction. Points AB form a straight trajectory that intersects the known working boundary 10 at point C, which is the coordinate point of the working boundary. The length of line segment AB is the first distance, and the length of line segment AC is the second distance. When AB is greater than AC, point B will exceed the boundary, and the robot cannot execute the control instruction. When AB is less than AC, point B will not exceed the boundary, and the robot can execute the control instruction.

[0075] It is understandable that if the movement direction of the robotic arm is towards an opening without a boundary, the above calculation is not necessary.

[0076] The embodiment of the application discloses a mechanical arm plane control method, which comprises the following steps: obtaining matching parameters obtained by pre-registering a work object and an object model of the work object, and external force received at an end tool of a mechanical arm, and controlling the end tool to move on a pre-planned work plane; and controlling the end tool to move within a work boundary of the work plane according to a current coordinate of the end tool, a target coordinate of the end tool after movement, and the work boundary of the work plane. The movement range of the mechanical arm is prevented from exceeding the boundary. The work process of the surgical mechanical arm is more secure. It can be understood that the technical solution of the application is mainly used for controlling the surgical mechanical arm, improving the mechanical arm control for the safety of the surgical process, improving the safety of the surgical mechanical arm during work, avoiding the movement of the mechanical arm outside the work area, reducing accidents and injuries, better controlling the movement of the mechanical arm, and improving the control accuracy of the mechanical arm.

[0077] As shown in Figure 5 The application further provides a mechanical arm plane control device, which comprises:

[0078] A first control module 40 is configured to obtain matching parameters obtained by pre-registering a work object and an object model of the work object, and external force received at an end tool of a surgical mechanical arm, and control the end tool to move on a pre-planned work plane.

[0079] A second control module 50 is configured to control the end tool to move within a work boundary of the work plane according to a current coordinate of the end tool, a target coordinate of the end tool after movement, and the work boundary of the work plane.

[0080] It can be understood that the functions of the above-mentioned functional modules and the above-mentioned method flow are corresponding, and will not be repeated here.

[0081] The application further provides a mechanical arm, which comprises a processor and a memory, wherein the memory stores a computer program, and the computer program performs the functions of the modules of the mechanical arm plane control device when the computer program runs on the processor.

[0082] The application further provides a readable storage medium, which stores a computer program, and the computer program performs the functions of the modules of the mechanical arm plane control device when the computer program runs on the processor.

[0083] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can also be implemented by other manners. The apparatus embodiments described above are merely illustrative, for example, the flowcharts and structural diagrams in the drawings show the possible implementation architecture, function and operation of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logic function. It should also be noted that in alternative implementation manners, the functions noted in the blocks can also occur in different order from that noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can also be executed in reverse order, depending on the functions involved. It should also be noted that each block in the structural diagram and / or flowchart, and the combination of blocks in the structural diagram and / or flowchart, can be implemented by a dedicated hardware-based system performing the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0084] In addition, each functional module or unit in the embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0085] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part of the prior art that contributes to the technical solutions or the part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0086] The above is merely a specific implementation of the present application, and although a surgical procedure is designed, it is only an extended description for the convenience of understanding. The technical solutions of the present application do not involve treatment, but only control of the mechanical arm to ensure that the mechanical arm does not harm soft tissue during the surgical procedure, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A method for controlling a robot arm plane, characterized in that: include: Controlling the movement of the end tool on a pre-planned work plane based on matching parameters obtained after pre-registration of the work object and the object model of the work object, and the acquired external force applied to the end tool of the manipulator; Controlling the end tool to move within the working boundary according to the current coordinates of the end tool, the target coordinates after the end tool moves, and the pre-planned working boundary of the working plane; The controlling the end tool to move within the working boundary includes: Calculating in real time a first distance between the current coordinate and the target coordinate, and a second distance between the current coordinate and the working boundary in the direction of motion of the end tool; The first distance is controlled to be smaller than the second distance so that the end tool moves within the working boundary.

2. The robot arm plane control method according to claim 1, characterized in that: The controlling the end tool to move on a pre-planned working plane includes: The position of the end tool is acquired by a visual sensor, and the actual coordinates of the work plane are acquired by the matching parameters to determine the relative position between the end tool and the work plane; wherein the visual sensor is arranged at a position such that a visual range covers the robotic arm and the work object; The position of the end tool is adjusted so that the end tool acts on the working plane, the external force is obtained by a force sensor set at the end tool, and the torque perpendicular to the working plane is controlled to be 0, so that the end tool remains on the working plane.

3. The robot arm plane control method according to claim 1, characterized in that: The work boundaries are obtained through pre-planning, including: The working boundary is planned according to the working plane and the object model so that the working boundary just surrounds the working object in the working plane.

4. The robot arm plane control method according to claim 1, characterized in that: The matching parameters include rotation parameters and translation parameters; The work object and the object model of the work object are pre-registered, including: Acquire model point cloud data of the object model, and acquire marked points on the surface of the work object through a visual sensor, thereby acquiring actual point cloud data of the work object; A conversion relationship between the model point cloud data and the actual point cloud data is determined, and translation parameters and rotation parameters for converting the model point cloud data to the actual point cloud data are calculated.

5. The robot arm plane control method according to claim 4, characterized in that: The calculating of the translation parameters and the rotation parameters for converting the model point cloud data into the actual point cloud data includes: According to the conversion relationship, an error value obtained by converting the model point cloud data to the actual point cloud data is calculated, and the translation parameter and the rotation parameter are obtained by calculating a minimum value of the error value.

6. The robot arm plane control method according to claim 5, characterized in that: The error value is calculated by the following expression: In the formula, p is the coordinate point set of the object model, q is the coordinate point set of the working object, i is the subscript of the coordinate point in point sets p and q, R is the rotation parameter, t is the translation parameter, and n is the total number of coordinate points.

7. A robot arm plane control device, characterized in that: include: a first control module, configured to control the movement of the end tool on a pre-planned work plane based on matching parameters obtained after pre-registration of a work object and an object model of the work object, and an acquired external force applied to an end tool of the surgical robot arm; a second control module, configured to control the end tool to move within the working boundary according to the current coordinates of the end tool, the target coordinates after the end tool moves, and the pre-planned working boundary of the working plane; The controlling the end tool to move within the working boundary includes: Calculating in real time a first distance between the current coordinate and the target coordinate, and a second distance between the current coordinate and the working boundary in the direction of motion of the end tool; The first distance is controlled to be smaller than the second distance so that the end tool moves within the working boundary.

8. A robotic arm, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program, and when the computer program is run on the processor, the robot arm plane control method according to any one of claims 1 to 6 is executed.

9. A readable storage medium, characterized in that: The device stores a computer program, which executes the robot arm plane control method according to any one of claims 1 to 6 when running on a processor.

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