A robot arm pose error compensation method, device, equipment and storage medium

Abstract

The application provides a mechanical arm posture error compensation method, device and equipment and a storage medium. The method comprises: performing mechanical arm end tool calibration and mechanical arm and navigation camera relative position calibration; collecting the pose of an end tool feature point in a mechanical arm flange coordinate system through a probe; calculating an error value introduced in calibration, and transferring the error value to the flange coordinate system and compensating the error value into the calibration result of the end tool in the mechanical arm coordinate system. The method provided by the application compensates the calibration result of the end tool in the mechanical arm system by collecting a feature path on the end tool using a probe, so that a more accurate calibration result is obtained, and the surgical result is maximized to meet the planning scheme. Meanwhile, the method provided by the application does not need to rely on other third-party tools, saves cost, is convenient and fast, does not need to spend a large amount of time, can be performed in real time during surgery, and can provide real-time feedback.

Description

Technical Field

[0001] This invention relates to the field of medical technology, specifically to a method, apparatus, device, and storage medium for compensating for posture errors in a robotic arm. Background Technology

[0002] Most existing robotic-based joint replacement surgeries consist of two main parts: a robotic system and a vision system. Both require system calibration before the procedure, including camera calibration, robot calibration, and calibration of the relative positions of the robot and the camera. However, due to the high precision of the navigation camera, camera calibration is often omitted, while robot calibration results often contain errors.

[0003] Most commonly used robotic arm posture compensation methods involve manipulating the robotic arm's movement through a device and recording the front and rear joint angles of the corresponding robotic arm's actual movement, thereby calculating and recording the deviations during the movement process.

[0004] Patent CN107263469A provides a method for compensating the posture of a robotic arm. This method involves real-time detection of joint motion angles during the process of controlling the robotic arm's movement using a manipulator, and correcting the correspondence between the robotic arm coordinate system and the manipulator coordinate system based on these motion angles. However, this method of controlling the robotic arm's movement via a device is cumbersome in practice, making it impossible to perform compensation operations anytime and anywhere during surgery. Furthermore, it is prone to introducing errors when measuring the actual angles of the robotic arm's movement. Additionally, this method can only compensate for the pose error of the robotic arm's end flange; it cannot compensate for the pose error in the end-effector's coordinate system when the actual surgical tool is mounted on the flange. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art described in the background section and to provide a method, apparatus, device, and storage medium for compensating for robotic arm posture errors. This invention compensates for the posture errors of the robotic arm's end-effector caused by errors introduced after calibration of the end-effector tool and the relative position calibration between the robotic arm and the navigation camera, enabling the robotic arm to move more accurately to the target posture given in the surgical plan.

[0006] This invention is achieved through the following technical solution: Firstly, this invention provides a method for compensating for the posture error of a robotic arm, comprising the following steps:

[0007] Perform end-effector calibration and relative position calibration between the robotic arm and the navigation camera;

[0008] The pose of the end-effector feature points in the robotic arm flange coordinate system is acquired by a probe.

[0009] Calculate the error value introduced by the calibration, and transfer the error value to the flange coordinate system to compensate for the calibration result of the end tool in the robot arm coordinate system.

[0010] Furthermore, the calibration of the robotic arm's end effector and the relative position calibration of the robotic arm and the navigation camera includes:

[0011] The end effector installed on the robotic arm flange is calibrated to obtain the position and pose of the end effector in the robotic arm flange coordinate system;

[0012] The pose of the robotic arm base in the navigation camera coordinate system was determined using a hand-eye calibration method.

[0013] Install a reflective array on the trolley where the robotic arm is located, which can be recognized by the navigation camera;

[0014] The pose of the robotic arm base in the coordinate system of the robotic arm trolley is obtained.

[0015] Further, the step of acquiring the pose of the end-effector feature points in the robotic arm flange coordinate system via a probe includes:

[0016] Register a probe with a reflective array under the navigation camera;

[0017] The probe is used to acquire the pose of the end-effector tool on the robotic arm along a predefined path, thereby obtaining the pose of the end-effector feature points in the navigation camera coordinate system.

[0018] Record the pose of the corresponding trolley array in the navigation camera coordinate system and the pose of the flange in the robot arm base coordinate system.

[0019] Furthermore, the calculation of the error value introduced by the calibration, and the transfer of the error value to the flange coordinate system to compensate for the calibration result of the end tool in the robot arm coordinate system, includes:

[0020] The pose of the end effector in the navigation camera coordinate system is calculated by using the pose of the end effector in the flange coordinate system obtained after the robot arm is calibrated, the pose of the flange in the robot arm base coordinate system, the pose of the robot arm base in the trolley array coordinate system obtained after the robot arm is calibrated with the navigation camera, and the pose of the trolley array in the navigation camera coordinate system.

[0021] By collecting data from the recorded probe and using the pre-defined acquisition path and machining parameters in the end-effector, the pose of the robotic arm end in the navigation camera coordinate system in the actual navigation camera system is obtained.

[0022] The offset values ​​between the two are calculated;

[0023] The offset value is transferred to the flange coordinate system and compensated for in the calibration result of the end tool in the robot arm coordinate system.

[0024] In a second aspect, the present invention provides a robotic arm posture error compensation device, the device comprising:

[0025] The calibration module is used for calibrating the end effector of the robotic arm and the relative position of the robotic arm and the navigation camera.

[0026] The data acquisition module is used to acquire the pose of the end-effector feature points in the flange coordinate system of the robotic arm via a probe.

[0027] The error compensation module is used to calculate the error value introduced by the calibration and transfer the error value to the flange coordinate system to compensate the calibration result of the end tool in the robot arm coordinate system.

[0028] Thirdly, the present invention provides a robotic arm posture error compensation device, the device comprising: a memory, a processor, and computer program instructions stored in the memory and executable on the processor, wherein the processor is configured to execute the computer program instructions stored in the memory to implement the robotic arm posture error compensation method described above.

[0029] Fourthly, the present invention also provides a robotic arm posture error compensation storage medium, wherein the computer storage medium stores computer program instructions, and the computer program instructions, when executed by a processor, implement the robotic arm posture error compensation method described above.

[0030] The robotic arm posture error compensation method provided by this invention uses a probe to collect feature paths on the end effector tool, compensating for the calibration results of the end effector tool within the robotic arm system, thereby obtaining more accurate calibration results and ensuring that the surgical outcome conforms to the planned scheme to the greatest extent. Furthermore, the method provided by this invention does not require other third-party tools, saving costs and offering convenience and speed without spending a significant amount of time. It can be performed in real-time during surgery, providing real-time feedback. Therefore, it is possible to determine whether multiple compensations are needed after evaluating the compensation results. Additionally, the compensation method described in this invention relies more heavily on navigation camera data, offering higher accuracy compared to robotic arm data and robotic arm processing parameters. Attached Figure Description

[0031] The features, advantages and technical effects of exemplary embodiments of the present invention will now be described with reference to the accompanying drawings.

[0032] Figure 1 This is a schematic diagram of the robotic arm posture error compensation method provided in an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the robotic arm posture error compensation device provided in an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the structure of a computing device provided in an embodiment of the present invention. Detailed Implementation

[0035] The features and exemplary embodiments of various aspects of this disclosure will now be described in detail. To make the objectives, technical solutions, and advantages of this disclosure clearer, the disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are intended to explain this disclosure only and not to limit it. For those skilled in the art, this disclosure can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this disclosure by illustrating examples.

[0036] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0037] To better understand the present invention, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0038] Figure 1 This is a schematic diagram of the robotic arm posture error compensation method provided in an embodiment of the present invention.

[0039] like Figure 1 As shown, the present invention provides a method for compensating for the posture error of a robotic arm, comprising the following steps:

[0040] S101, perform end-effector calibration of the robotic arm and the relative position calibration of the robotic arm and the navigation camera;

[0041] S102, the pose of the end-effector feature points in the robotic arm flange coordinate system is acquired by the probe;

[0042] S103, calculate the error value introduced by the calibration, and transfer the error value to the flange coordinate system to compensate for the calibration result of the end tool in the robot arm coordinate system.

[0043] As an optional implementation, the calibration of the robotic arm's end effector and the relative position calibration of the robotic arm and the navigation camera described in S101 include:

[0044] The end effector installed on the robotic arm flange is calibrated to obtain the position and pose of the end effector in the robotic arm flange coordinate system;

[0045] The pose of the robotic arm base in the navigation camera coordinate system was determined using a hand-eye calibration method.

[0046] Install a reflective array on the trolley where the robotic arm is located, which can be recognized by the navigation camera;

[0047] The pose of the robotic arm base in the coordinate system of the robotic arm trolley is obtained.

[0048] As an optional implementation, the step S102, which involves acquiring the pose of the end-effector feature points in the robotic arm flange coordinate system using a probe, includes:

[0049] Register a probe with a reflective array under the navigation camera;

[0050] The probe is used to acquire the pose of the end-effector tool on the robotic arm along a predefined path, thereby obtaining the pose of the end-effector feature points in the navigation camera coordinate system.

[0051] Record the pose of the corresponding trolley array in the navigation camera coordinate system and the pose of the flange in the robot arm base coordinate system.

[0052] As an optional implementation, the calculation of the error value introduced by the calibration in S103, and the transfer of the error value to the flange coordinate system to compensate for the calibration result of the end tool in the robot arm coordinate system, includes:

[0053] The pose of the end effector in the navigation camera coordinate system is calculated by using the pose of the end effector in the flange coordinate system obtained after the robot arm is calibrated, the pose of the flange in the robot arm base coordinate system, the pose of the robot arm base in the trolley array coordinate system obtained after the robot arm is calibrated with the navigation camera, and the pose of the trolley array in the navigation camera coordinate system.

[0054] By collecting data from the recorded probe and using the pre-defined acquisition path and machining parameters in the end-effector, the pose of the robotic arm end in the navigation camera coordinate system in the actual navigation camera system is obtained.

[0055] The offset values ​​between the two are calculated;

[0056] The offset value is transferred to the flange coordinate system and compensated for in the calibration result of the end tool in the robot arm coordinate system.

[0057] Figure 2 This is a schematic diagram of the robotic arm posture error compensation device provided in an embodiment of the present invention, as shown below. Figure 2 As shown, the device includes:

[0058] Calibration module 201 is used for calibration of the end effector of the robotic arm and calibration of the relative position between the robotic arm and the navigation camera;

[0059] Data acquisition module 202 is used to acquire the pose of end-effector feature points in the robotic arm flange coordinate system via a probe;

[0060] The error compensation module 203 is used to calculate the error value introduced by the calibration and transfer the error value to the flange coordinate system to compensate the calibration result of the end tool in the robot arm coordinate system.

[0061] Figure 2 Each module / unit in the illustrated device has the ability to implement Figure 1 The functions of each step in the process and their corresponding technical effects are described in detail here for the sake of brevity.

[0062] like Figure 3 As shown, the present invention also provides a robotic arm posture error compensation device, the device comprising: a processor 301, a memory 302, and computer program instructions stored in the memory 302 and executable on the processor 301, wherein the processor 301 is used to execute the computer program instructions stored in the memory 302 to implement the robotic arm posture error compensation method described above.

[0063] Specifically, the processor 301 may include a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the present invention.

[0064] Memory 302 may include mass storage for data or instructions. For example, and not as a limitation, memory may include hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these.

[0065] In one instance, memory 302 may include removable or non-removable (or fixed) media, or the memory may be non-volatile solid-state memory. The memory may be internal or external to the integrated gateway disaster recovery device.

[0066] In one instance, memory 302 may be read-only memory (ROM). In one instance, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0067] In one example, memory 302 may include read-only memory (ROM), random access memory (RAM), disk storage media device, optical storage media device, flash memory device, electrical, optical, or other physical / tangible memory storage device. Thus, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of this disclosure.

[0068] The processor 301 reads and executes computer program instructions stored in the memory 302 to achieve... Figure 1 The methods / steps in the illustrated embodiments, and the corresponding technical effects they achieve, will not be elaborated upon here for the sake of brevity.

[0069] In one embodiment, the computing device may further include a communication interface 303 and a bus 304. For example... Figure 3 As shown, the processor 301, memory 302, and communication interface 303 are connected through bus 304 and complete communication with each other.

[0070] The communication interface 303 is mainly used to realize communication between various modules, devices, units and / or equipment in this invention.

[0071] Bus 304 includes hardware, software, or both, that couples components of an online data flow metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, the bus may include one or more buses. Although specific buses are described and illustrated in this invention, this disclosure contemplates any suitable bus or interconnect.

[0072] In addition, in conjunction with the robotic arm posture error compensation method described in the above embodiments, the present invention also provides a computer storage medium for implementation. The computer storage medium stores computer program instructions, which, when executed by the processor 301, implement the aforementioned robotic arm posture error compensation method.

[0073] The computer storage medium provided in this invention can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0074] The robotic arm posture error compensation method provided by this invention uses a probe to collect feature paths on the end effector tool, compensating for the calibration results of the end effector tool within the robotic arm system, thereby obtaining more accurate calibration results and ensuring that the surgical outcome conforms to the planned scheme to the greatest extent. Furthermore, the method provided by this invention does not require other third-party tools, saving costs and offering convenience and speed without spending a significant amount of time. It can be performed in real-time during surgery, providing real-time feedback. Therefore, it is possible to determine whether multiple compensations are needed after evaluating the compensation results. Additionally, the compensation method described in this invention relies more heavily on navigation camera data, offering higher accuracy compared to robotic arm data and robotic arm processing parameters.

[0075] It should be clarified that this disclosure is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this disclosure is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this disclosure.

[0076] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this disclosure are programs or code segments used to perform the required tasks. Those skilled in the art can write computer program code for performing the operations of this invention in one or more programming languages ​​or combinations thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages—such as the "C" language or similar programming languages. Furthermore, the program or code segment can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. A machine-readable medium can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc.

[0077] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0078] The above description is merely a specific embodiment of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this disclosure is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this disclosure, and these modifications or substitutions should all be covered within the protection scope of this disclosure.

Claims

1. A method for compensating for posture errors of a robotic arm, characterized in that, Includes the following steps: S101, perform end-effector calibration of the robotic arm and the relative position calibration of the robotic arm and the navigation camera; S102, the pose of the end-effector feature points in the robotic arm flange coordinate system is acquired by the probe; S103, calculate the error value introduced by the calibration, and transfer the error value to the flange coordinate system to compensate for the calibration result of the end tool in the robot arm coordinate system; The calculation of the error introduced by the calibration in S103, and the transfer of the error to the flange coordinate system to compensate for the calibration result of the end tool in the robot arm coordinate system, includes: The pose of the end effector in the navigation camera coordinate system is calculated by using the pose of the end effector in the flange coordinate system obtained after the robot arm is calibrated, the pose of the flange in the robot arm base coordinate system, the pose of the robot arm base in the trolley array coordinate system obtained after the robot arm is calibrated with the navigation camera, and the pose of the trolley array in the navigation camera coordinate system. By collecting data from the recorded probe and using the pre-defined acquisition path and machining parameters in the end-effector, the pose of the robotic arm end in the navigation camera coordinate system in the actual navigation camera system is obtained. The offset values ​​between the two are calculated; The offset value is transferred to the flange coordinate system and compensated for in the calibration result of the end tool in the robot arm coordinate system; The pose acquisition of end-effector feature points in the robotic arm flange coordinate system via a probe, as described in S102, includes: Register a probe with a reflective array under the navigation camera; The probe is used to acquire the pose of the end-effector tool on the robotic arm along a predefined path, thereby obtaining the pose of the end-effector feature points in the navigation camera coordinate system. Record the pose of the corresponding trolley array in the navigation camera coordinate system and the pose of the flange in the robot arm base coordinate system.

2. The robotic arm posture error compensation method according to claim 1, characterized in that, The calibration of the robotic arm's end effector and the relative position calibration of the robotic arm and navigation camera described in S101 include: The end effector installed on the robotic arm flange is calibrated to obtain the position and pose of the end effector in the robotic arm flange coordinate system; The pose of the robotic arm base in the navigation camera coordinate system was determined using a hand-eye calibration method. Install a reflective array on the trolley where the robotic arm is located, which can be recognized by the navigation camera; The pose of the robotic arm base in the coordinate system of the robotic arm trolley is obtained.

3. A robotic arm posture error compensation device, characterized in that, include: The calibration module is used for calibrating the end effector of the robotic arm and the relative position of the robotic arm and the navigation camera. The data acquisition module is used to acquire the pose of the end-effector feature points in the flange coordinate system of the robotic arm via a probe. The error compensation module is used to calculate the error value introduced by the calibration and transfer the error value to the flange coordinate system to compensate the calibration result of the end tool in the robot arm coordinate system. The calculation of the error introduced by the calibration, and the transfer of the error to the flange coordinate system to compensate for the calibration result of the end tool in the robot arm coordinate system, includes: The pose of the end effector in the navigation camera coordinate system is calculated by using the pose of the end effector in the flange coordinate system obtained after the robot arm is calibrated, the pose of the flange in the robot arm base coordinate system, the pose of the robot arm base in the trolley array coordinate system obtained after the robot arm is calibrated with the navigation camera, and the pose of the trolley array in the navigation camera coordinate system. By collecting data from the recorded probe and using the pre-defined acquisition path and machining parameters in the end-effector, the pose of the robotic arm end in the navigation camera coordinate system in the actual navigation camera system is obtained. The offset values ​​between the two are calculated; The offset value is transferred to the flange coordinate system and compensated for in the calibration result of the end tool in the robot arm coordinate system; The pose of the end-effector feature points in the robotic arm flange coordinate system is acquired by a probe, including: Register a probe with a reflective array under the navigation camera; The probe is used to acquire the pose of the end-effector tool on the robotic arm along a predefined path, thereby obtaining the pose of the end-effector feature points in the navigation camera coordinate system. Record the pose of the corresponding trolley array in the navigation camera coordinate system and the pose of the flange in the robot arm base coordinate system.

4. A robotic arm posture error compensation device, characterized in that, The device includes: a processor, a memory, and computer program instructions stored in the memory and executable on the processor, wherein the processor is configured to execute the computer program instructions stored in the memory to implement the robotic arm posture error compensation method as described in any one of claims 1 to 2.

5. A storage medium for compensating for the posture error of a robotic arm, characterized in that, The storage medium stores computer program instructions, which, when executed by a processor, implement the robotic arm posture error compensation method according to any one of claims 1 to 2.

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