Computer-readable storage medium and surgical robotic system

Abstract

The application provides a computer readable storage medium and a surgical robot system, and the computer readable storage medium stores a program which, when executed, performs the following: obtaining a current pose of a central axis of a first target object at an end of a mechanical arm and a current pose of a central axis of a second target object on a follow-up platform; obtaining target positions of joints of a pose adjusting mechanism for driving the follow-up platform to move according to the current pose of the central axis of the first target object and the current pose of the central axis of the second target object; and controlling the pose adjusting mechanism to move so that the joints of the pose adjusting mechanism reach the corresponding target positions. When the computer readable storage medium is applied to the surgical robot system, the pose of the follow-up platform can be automatically adjusted to keep the first target object and the second target object coaxial, and interference of follow-up control on a surgical operation performed by the mechanical arm is avoided, thereby improving the safety and reliability of the surgery.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically relating to a computer-readable storage medium and a surgical robot system. Background Technology

[0002] In hip replacement surgery, the acetabular cup is attached to the end of a robotic arm. The surgeon uses a collaborative control mode to guide the robotic arm's feed to insert the acetabular cup into the acetabular fossa; this process is called cup insertion. During cup insertion, it is desirable for the central axis of the acetabular fossa to remain collinear with the central axis of the acetabular cup. However, in practice, the contact between the acetabular fossa and the acetabular cup creates an interaction force, which can cause the acetabular fossa to shift its position, leading to a misalignment between their central axes. Currently, when the central axis of the acetabular fossa deviates from the central axis of the acetabular cup by a predetermined margin, medical staff can manually adjust the robotic arm's position based on experience, or the robotic arm's servo control system can move the robotic arm according to the changes in the acetabular fossa's position to achieve position adjustment, ensuring that the central axis of the acetabular cup is once again collinear with the central axis of the acetabular fossa. Manual adjustment of the robotic arm by medical staff is inefficient and inaccurate. When the robotic arm is controlled by a follow-up control system, the robotic arm also needs to perform a collaborative bone grinding operation, which leads to many interference factors in the control process and can easily cause a decrease in control stiffness and control accuracy. Summary of the Invention

[0003] The purpose of this invention is to provide a computer-readable storage medium and a surgical robot system, which are designed to automatically, quickly and accurately control the operation during surgery so that the relative pose between the first target object and the corresponding second target object at the end of the robotic arm meets the requirements.

[0004] To achieve the above objectives, the present invention provides a computer-readable storage medium having a program stored thereon, which, when executed, performs the following steps:

[0005] The current pose of the central axis of the first target object connected to the end of the robotic arm is obtained, and the current pose of the central axis of the second target object fixed to the follower platform is obtained; the second target object is used to cooperate coaxially with the first target object.

[0006] The target positions of each joint of the pose adjustment mechanism used to drive the motion of the follower platform are obtained based on the current pose of the central axis of the first target object and the current pose of the central axis of the second target object; when each joint of the pose adjustment mechanism is located at the corresponding target position, the first target object and the second target object are coaxial; and,

[0007] Control the movement of the posture adjustment mechanism so that each joint of the posture adjustment mechanism reaches the corresponding target position.

[0008] Optionally, the step of obtaining the target positions of each joint of the pose adjustment mechanism used to drive the motion of the follower platform based on the current pose of the central axis of the first target object and the current pose of the central axis of the second target object includes:

[0009] The pose offset of the center axis of the second target object relative to the center axis of the first target object is obtained based on the current pose of the center axis of the first target object and the current pose of the center axis of the second target object.

[0010] The target pose of the servo platform is obtained based on the pose offset of the central axis of the second target object relative to the central axis of the first target object.

[0011] The pose adjustment mechanism is subjected to inverse kinematics calculation based on the target pose of the servo platform to obtain the target position of each joint of the pose adjustment mechanism.

[0012] Optionally, the step of obtaining the target positions of each joint of the pose adjustment mechanism used to drive the motion of the follower platform based on the current pose of the central axis of the first target object and the current pose of the central axis of the second target object includes:

[0013] Based on the current pose of the central axis of the first target object and the current pose of the central axis of the second target object, obtain the radial separation value of the pose offset of the central axis of the second target object relative to the central axis of the first target object; the radial direction is perpendicular to the central axis of the second target object.

[0014] The target positions of each joint of the pose adjustment mechanism are obtained based on the radial separation value of the pose offset of the central axis of the second target object relative to the central axis of the first target object and the current pose of the second target object.

[0015] Optionally, the radial separation value of the pose offset of the central axis of the second target relative to the central axis of the first target includes the radial separation position of the direction vector of the central axis of the second target relative to the central axis of the first target and the attitude direction error.

[0016] The step of obtaining the target positions of each joint of the pose adjustment mechanism based on the radial separation value of the pose offset of the central axis of the second target object relative to the central axis of the first target object and the current pose of the second target object includes:

[0017] A first compensation velocity is obtained based on the radial separation position, and a second compensation velocity is obtained based on the attitude direction error.

[0018] The velocity Jacobian matrix of the pose adjustment mechanism is obtained based on the current pose of the second target object;

[0019] The target speed of each joint of the posture adjustment mechanism is obtained based on the first compensation speed, the second compensation speed, and the speed Jacobian matrix of the posture adjustment mechanism.

[0020] The target position of each joint is obtained based on the target velocity of each joint of the posture adjustment mechanism.

[0021] Optionally, the step of obtaining the radial separation position of the direction vector of the central axis of the second target object relative to the central axis of the first target object includes:

[0022] Project the direction vector of the central axis of the second target onto the normal plane of the central axis of the first target.

[0023] Optionally, the step of obtaining the first compensated velocity based on the radial separation position includes:

[0024] The first transformation matrix is ​​obtained based on the radial separation position; and

[0025] The first compensation velocity is obtained based on the first transformation matrix and the radial separation position quantity.

[0026] Optionally, the step of obtaining the attitude direction error of the direction vector of the central axis of the second target object relative to the central axis of the first target object includes:

[0027] The current quaternion of the central axis of the first target object is obtained based on the current pose of the first target object, and the current quaternion of the central axis of the second target object is obtained based on the current pose of the second target object;

[0028] The attitude direction error of the direction vector of the center axis of the second target object relative to the center axis of the first target object is obtained based on the current quaternion of the center axis of the first target object and the current quaternion of the center axis of the second target object.

[0029] Optionally, the step of obtaining the second compensation velocity based on the attitude direction error includes:

[0030] The second transformation matrix is ​​obtained based on the attitude direction error.

[0031] The second compensation speed is obtained based on the attitude direction error and the second transformation matrix.

[0032] Optionally, the step of obtaining the target velocity of each joint of the pose adjustment mechanism based on the first compensation velocity, the second compensation velocity, and the velocity Jacobian matrix includes:

[0033] Inverting the velocity Jacobian matrix of the pose adjustment mechanism yields the inverse matrix of the velocity Jacobian matrix of the pose adjustment mechanism.

[0034] The target speed of each joint of the posture adjustment mechanism is obtained based on the first compensation speed, the second compensation speed, and the inverse of the speed Jacobian matrix of the posture adjustment mechanism.

[0035] Optionally, the step of obtaining the target position of each joint based on the target velocity of each joint of the pose adjustment mechanism includes:

[0036] The target velocity of each joint of the posture adjustment mechanism is integrated over time.

[0037] To achieve the above objectives, the present invention also provides a surgical robot system, comprising:

[0038] A robotic arm, with the first target object attached to its end;

[0039] The support component includes a pose adjustment mechanism and a follower platform. The pose adjustment mechanism is connected to the follower platform and is used to drive the follower platform to move in order to adjust the pose of the follower platform.

[0040] A navigation device includes a positioning target and a positioning tracking device, wherein the positioning target is used to identify a first target object and a second target object, and the positioning tracking device is used to identify the positioning target to acquire the poses of the first target object and the second target object; and...

[0041] The control unit is communicatively connected to the pose adjustment mechanism and the positioning tracking position, and is used to execute the program stored on the computer-readable storage medium as described above.

[0042] Compared with the prior art, the computer-readable storage medium and surgical robot system of the present invention have the following advantages:

[0043] The aforementioned computer-readable storage medium stores a program that, when executed, performs the following steps: acquiring the current pose of the central axis of a first target object connected to the end effector of a robotic arm, and acquiring the current pose of the central axis of a second target object fixed to a follower platform; the second target object and the first target object are coaxially coupled; based on the current poses of the central axes of the first and second target objects, target positions of each joint of a pose adjustment mechanism for driving the follower platform are acquired; when each joint of the pose adjustment mechanism is in its corresponding target position, the first target object and the second target object are coaxial; and the pose adjustment mechanism is controlled to move so that each joint of the pose adjustment mechanism reaches its corresponding target position. The first target object may be an acetabular cup, and the second target object is correspondingly an acetabular fossa. Thus, when the computer-readable storage medium is applied to a surgical robot system, the surgical robot system can be used to perform hip replacement surgery. In the cupping procedure of hip replacement surgery, the pose adjustment mechanism drives the motion of the follower platform to adjust the pose of the second target object so that the central axis of the second target object is collinear with the central axis of the first target object. On the one hand, automatic adjustment replaces manual adjustment, improving adjustment efficiency and accuracy. On the other hand, by driving the second target object to move through the follower platform, the follower control between the robotic arm and the follower platform is separated from the collaborative control of the robotic arm. This allows the robotic arm to focus on bone grinding and axial feed operations, reducing interference caused by follower control during bone grinding and axial feed control, and improving the accuracy of the robotic arm's movement. Attached Figure Description

[0044] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein:

[0045] Figure 1 This is a schematic diagram illustrating an application scenario of the surgical robot system provided by the present invention according to an embodiment;

[0046] Figure 2 This is a schematic diagram illustrating the positioning of a first target object and a second target object using a navigation device in a surgical robot system provided according to an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram of the cupping operation performed by the surgical robot system according to an embodiment of the present invention during hip replacement surgery. In the diagram, the central axis of the acetabular cup is collinear with the central axis of the acetabular fossa.

[0048] Figure 4This is a schematic diagram of the cupping operation performed during a hip replacement surgery using the surgical robot system provided in an embodiment of the present invention. The diagram shows that the movement of the acetabular fossa causes the central axis of the acetabular fossa to deviate from the central axis of the acetabular cup.

[0049] Figure 5 This is a schematic diagram of the surgical robot system provided in an embodiment of the present invention performing a cupping operation during hip replacement surgery. In the diagram, the radial movement of the end of the robotic arm causes the central axis of the acetabulum to deviate from the central axis of the acetabular cup. The arrow S in the diagram indicates the direction of movement of the end of the robotic arm.

[0050] Figure 6 This is a schematic diagram of the structure of the support component of the surgical robot system provided by the present invention according to an embodiment, showing the six movement directions of the pose adjustment mechanism;

[0051] Figure 7 This is a schematic diagram of the structure of the support component of the surgical robot system provided by the present invention according to an embodiment. The pose adjustment mechanism shown in the diagram includes four telescopic rods.

[0052] Figure 8 This is a schematic diagram of the structure of the support component of the surgical robot system provided by the present invention according to an embodiment. The pose adjustment mechanism shown in the figure includes six telescopic rods.

[0053] Figure 9 This is an overall flowchart of the control method executed by the control unit of the surgical robot system provided according to an embodiment of the present invention;

[0054] Figure 10 This is a flowchart of a control method executed by the control unit of a surgical robot system provided according to an embodiment of the present invention. In the figure, the movement of the acetabulum causes the central axis of the acetabulum to deviate from the central axis of the acetabular cup, and the control unit obtains the target position of each joint of the pose adjustment mechanism based on the inverse kinematics of the pose adjustment mechanism.

[0055] Figure 11 This is a flowchart of a control method executed by the control unit of a surgical robot system provided according to an embodiment of the present invention. The figure shows the acquisition of the target position of each joint of the pose adjustment mechanism based on the radial separation value of the pose offset of the central axis of the acetabulum relative to the central axis of the acetabular cup.

[0056] Figure 12 This is a detailed flowchart of the control method executed by the control unit of the surgical robot system provided according to an embodiment of the present invention. The flowchart shows the acquisition of the target position of each joint of the pose adjustment mechanism based on the radial separation value of the pose offset of the central axis of the acetabulum relative to the central axis of the acetabular cup.

[0057] Figure 13 This is a flowchart of some steps in the control method executed by the control unit of the surgical robot system provided according to an embodiment of the present invention;

[0058] Figure 14 This is a flowchart of some steps in the control method executed by the control unit of the surgical robot system provided according to an embodiment of the present invention;

[0059] Figure 15 This is an overall flowchart of the control method executed by the control unit of the surgical robot system provided according to an embodiment of the present invention. The figure shows that radial movement of the end of the robotic arm causes the central axis of the acetabulum to deviate from the central axis of the acetabular cup.

[0060] Figure 16 This is a schematic diagram of the overall framework of the follow-up control component of the follow-up platform of the surgical robot system provided according to an embodiment of the present invention;

[0061] Figure 17 This is a schematic diagram of the frame of the follow-up control component of the follow-up platform of the surgical robot system provided by the present invention according to an embodiment. The calculation module in the figure includes an inverse kinematics solution submodule.

[0062] Figure 18 This is a schematic diagram of the frame of the follow-up control component of the follow-up platform of the surgical robot system provided by the present invention according to an embodiment. The calculation module in the figure includes a radial separation value calculation submodule. Detailed Implementation

[0063] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show components related to the present invention and are not drawn according to the actual number, shape, and size of components in the actual implementation. In the actual implementation, the type, quantity, and proportion of each component can be arbitrarily changed, and the component layout may also be more complex.

[0064] Furthermore, while each embodiment described below possesses one or more technical features, this does not imply that users of the present invention must simultaneously implement all technical features in any embodiment, or can only separately implement some or all technical features in different embodiments. In other words, provided it is feasible, those skilled in the art can, based on the disclosure of the present invention and depending on design specifications or implementation requirements, selectively implement some or all technical features in any embodiment, or selectively implement a combination of some or all technical features in multiple embodiments, thereby increasing the flexibility in implementing the present invention.

[0065] As used herein, the singular forms “a,” “an,” and “the” include plural objects, and the plural form “a plurality” includes two or more objects, unless otherwise expressly indicated. As used herein, the term “or” is generally used to include the meaning of “and / or,” unless otherwise expressly indicated, and the terms “install,” “connect,” and “link” should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection. Connections can be mechanical or electrical. Connections can be direct or indirect through an intermediate medium, and can represent internal communication between two elements or an interaction between two elements. Those skilled in the art will understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0066] To make the objectives, advantages, and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clearly illustrate the objectives of the embodiments of the present invention. The same or similar reference numerals in the drawings represent the same or similar parts.

[0067] like Figure 1 As shown, this embodiment of the invention provides a surgical robot system 10, which is used to independently perform surgical procedures or assist medical personnel in performing surgical procedures. In some optional implementations, the surgical robot system 10 can be an orthopedic surgical robot system, which can be used to assist in performing orthopedic surgeries, such as hip replacement surgery.

[0068] Please continue to refer to this. Figure 1 The surgical robot system 10 includes a robotic arm 100, a navigation device (not labeled in the figure), a support assembly 300, and a control unit (not shown in the figure). The end effector of the robotic arm 100 (hereinafter referred to as the robotic arm end effector) is used to load a first target object, which is used to coaxially engage with a second target object. The support assembly 300 is used to support the target object, such as a human or a human body model, which has a second target object. Figure 2As shown, the navigation device includes a positioning target 210 and a positioning tracking device 220. The positioning target 210 is used to mark the object to be identified, such as a second target object, the robotic arm 100, and the first target object. For ease of understanding, the following description uses a surgical robot system as an example of an orthopedic surgical robot system that can be used to assist in performing hip replacement surgery. Accordingly, the first target object can be the acetabular cup 20, and the second target object can be the acetabular fossa 30 (e.g., Figure 3 (As shown). In practice, after the acetabular cup 20 is loaded onto the end effector of the robotic arm, the central axis of the acetabular cup 20 is collinear with the axis of the end effector of the robotic arm. The positioning target 210 includes a first positioning target 211 and a second positioning target 212 (as shown). Figure 2 (As shown). The first positioning target 211 is set on the end effector of the robotic arm, and the second positioning target 212 is set on a target bone connected to the hip joint. In addition, the navigation device includes a reference target 230, which is fixedly installed at the target position near the acetabular fossa 30 and is used to construct a reference coordinate system. The positioning and tracking device 220 is used to identify the positioning target 210 and the reference target 230 to monitor the spatial pose of the end effector of the robotic arm, the acetabular cup 20, and the acetabular fossa 30 in the reference coordinate system. The control unit is communicatively connected to the positioning and tracking device 220 and the robotic arm 100. The control unit is used to register the robotic arm and bone under the guidance of the navigation device, thereby enabling the positioning and tracking device 220 to locate the end effector of the robotic arm and the acetabular fossa 20 in the reference coordinate system (e.g., ...). Figure 3 (As shown). Those skilled in the art know how to perform robotic arm registration and bone registration using navigation equipment, which will not be elaborated here. Since the relative position between the acetabular cup 20 and the robotic arm end is fixed, the positioning and tracking device 220 achieves positioning of the robotic arm end and the acetabular cup 20 by identifying the first positioning target 211.

[0069] The positions, orientations, and poses mentioned below are all referenced to the reference coordinate system. For example, "the current pose of the acetabular cup 20" refers to the current pose of the acetabular cup 20 in the reference coordinate system, and "the current pose of the acetabular fossa 30" refers to the current pose of the acetabular fossa 30 in the reference coordinate system. In addition, "pose" includes both position and orientation.

[0070] Those skilled in the art will understand that in hip replacement surgery, a robotic arm 120 assists in the movement of the acetabular cup 20 to insert the acetabular cup 20 into the acetabular fossa 30 (this process is referred to as cupping). During this process, the central axis of the acetabular cup 20 is expected to always be collinear with the central axis of the acetabular fossa 30, so that the robotic arm 120 can advance along the direction of the central axis of the acetabular fossa 30, thereby ensuring that the central axis of the acetabular cup 20 is collinear with the central axis of the acetabular fossa 30 (e.g., ...). Figure 3As shown in the figure, this achieves the purpose of coaxially fitting the acetabular cup 20 and the acetabular fossa 30.

[0071] In practice, before cupping, the central axis of the acetabular fossa 30 is pre-aligned with the central axis of the acetabular cup 20. In this paper, when the central axis of the acetabular fossa 30 is aligned with the central axis of the acetabular cup 20, the straight line containing the two central axes is referred to as the reference line. During cupping, the acetabular fossa 30 often moves due to contact force with the acetabular cup 20, causing the central axis of the acetabular fossa 30 to deviate from the reference line, resulting in the central axis of the acetabular fossa 30 deviating from the central axis of the acetabular cup 20 (e.g., ...). Figure 4 (As shown). Alternatively, uneven force on the robotic arm 120 may cause the end of the robotic arm to move in the direction of arrow S, causing the acetabular cup 20 to deviate from the reference straight line, resulting in the central axis of the acetabular cup 20 deviating from the central axis of the acetabular fossa 30 (e.g.). Figure 5 (As shown). At this point, it is necessary to adjust the relative pose of the robotic arm end effector and the acetabulum 30 so that the central axis of the acetabular cup 20 is realigned with the central axis of the acetabular 30. After realignment, the straight line containing the central axis of the acetabular cup 20 and the central axis of the acetabular 30 is still referred to as the reference line. For simplicity, the central axis of the acetabular cup 20 will be referred to as the first axis 40 and the central axis of the acetabular 30 will be referred to as the second axis 50 in the following text.

[0072] In view of this, such as Figures 6 to 8 As shown, the support component 300 of the surgical robot system 10 provided in this embodiment of the invention includes a follower platform 310 and a pose adjustment mechanism 320. The follower platform 310 is used to support the target object, thus the acetabulum 30 is fixed on the follower platform 310. The pose adjustment mechanism 320 is connected to the follower platform 310 and is used to drive the follower platform 310 to move in order to adjust the pose of the follower platform 310. Thus, if the first axis 40 and the second axis 50 deviate due to any reason during hip replacement surgery, the pose adjustment mechanism 320 can be controlled to drive the follower platform 310 to move, thereby adjusting the pose of the acetabulum 30 by adjusting the pose of the follower platform 310, so that the first axis 40 and the second axis 50 are re-collinear.

[0073] Optionally, the pose adjustment mechanism 320 includes at least two translational joints and at least two rotational joints. When the pose adjustment mechanism 320 includes two translational joints, the two translational joints are used to drive the follower platform 310 to move horizontally in the X direction (e.g., ...). Figure 6 Move horizontally in the X and Y directions (as indicated by the middle arrow x). Figure 6 (As indicated by the middle arrow y). When the pose adjustment mechanism 320 includes three translation joints, the three translation joints are used to drive the follower platform 310 to move horizontally along the X and Y directions, and to drive the follower platform to move vertically along the Z direction (e.g., ...). Figure 6 (As indicated by the middle arrow z). When the pose adjustment mechanism 320 includes two rotary joints, the two rotary joints are used to drive the follower platform 310 to perform pitch motion in the XZ plane (e.g., ...). Figure 6 (As shown by the middle arrow z2) and the pitch motion in the YZ plane (such as...) Figure 6 (As shown by the middle arrow z1). When the pose adjustment mechanism 320 includes three rotary joints, the three rotary joints are respectively used to drive the follower platform 310 to perform pitch motion in the XZ plane and YZ plane, and rotational motion in the XY plane (e.g., ...). Figure 6 (As indicated by the middle arrow z3).

[0074] More specifically, such as Figure 7 and Figure 8 As shown, the support assembly 300 also includes a base 330. The posture adjustment mechanism 320 may include multiple telescopic rods 321, each of which is hinged at both ends to the base 330 and the follower platform 310, respectively. The extension and retraction of the telescopic rods 321 and their rotation at the hinge points can drive the follower platform 310 to perform translational and rotational movements, thereby achieving posture adjustment of the follower platform 310. Depending on actual needs, the number of telescopic rods 321 can be four, six, or other numbers. That is, multiple telescopic rods 321 are used to form at least two translational joints and at least two rotational joints of the posture adjustment mechanism 320. The telescopic rods 321 can be electrically operated or pneumatically operated; this embodiment of the invention does not limit the type of telescopic rod.

[0075] Furthermore, the control unit of the surgical robot system 10 is also configured to execute a control method to precisely control the movement of the pose adjustment mechanism 300 when the first axis 40 deviates from the second axis 50, so that the follower platform 310 can move to a pose that makes the first axis collinear with the second axis again.

[0076] like Figure 9 As shown, the control method executed by the control unit includes the following steps:

[0077] Step S100: Obtain the current pose of the first axis 40 and the current pose of the second axis 50.

[0078] Step S200: Obtain the target positions of each joint of the pose adjustment mechanism 320 based on the current pose of the first axis 40 and the second axis 50. When each joint of the pose adjustment mechanism 320 is in its corresponding target position, the first axis 40 and the second axis 50 are collinear.

[0079] Step S300: Control the movement of the pose adjustment mechanism 320 so that each joint of the pose adjustment mechanism 320 reaches the corresponding target position.

[0080] The control method will now be described through specific embodiments.

[0081] In the first embodiment of the present invention, as Figure 4 As shown, the acetabular cup 20 moves along a reference straight line with the assistance of the robotic arm 100, while the acetabular socket 30 changes position due to force, causing the second axis 50 to deviate from the reference straight line. In this situation, the position of the first axis 40 remains unchanged.

[0082] Therefore, in this embodiment, as Figure 10 As shown, step S100 includes steps S110 and S120. Step S110 includes obtaining the current pose of the acetabular fossa 30 through the navigation device, and then obtaining the current pose of the second axis 50. Step S120 includes directly calling the pose of the first axis 40 at the previous moment as the current pose of the first axis 40. Alternatively, in step S120, the current pose of the first axis 40 (not shown in the figure) can be obtained by obtaining the current pose of the acetabular cup 20 (not shown in the figure) through the navigation device.

[0083] like Figure 10 As shown, step S200 includes steps S210, S220, and S230. Step S210 includes obtaining the pose offset of the second axis 50 relative to the first axis 40 based on the current pose of the second axis 50 and the current pose of the first axis 40. In this embodiment, the ratio of the pose offset of the second axis 50 relative to the first axis 40 to the pose compensation of the follower platform 310 is 1:1. Therefore, step S220 includes using the pose offset of the second axis 50 relative to the first axis 40 as the pose compensation of the follower platform 310 to obtain the target pose of the follower platform 310. When the follower platform 310 is in the target pose, the second axis 50 is collinear with the first axis 40 again. Step S230 includes performing inverse kinematics calculation on the pose adjustment mechanism 320 based on the target pose of the follower platform 310 to obtain the target positions of each joint of the pose adjustment mechanism 320.

[0084] In the first embodiment, joint position calculation is performed based on the inverse kinematics of the pose adjustment mechanism 320, which can quickly obtain the target position of each joint of the pose adjustment mechanism 320, thereby achieving the effect of quickly adjusting the pose of the follower platform 310.

[0085] It is understood that the control method and the cup-making operation are executed simultaneously. In other words, after the cup-making operation begins, step S100 starts executing immediately, followed by step S210. In step S210, if the pose offset of the second axis 50 relative to the first axis 40 is less than or equal to a predetermined value, then step S220 and subsequent steps S230 and S300 are not executed. If the pose offset of the second axis 50 relative to the first axis 40 is greater than the predetermined value, then after step S210, steps S220, S230, and S300 are executed sequentially. The predetermined value can be zero or greater than zero.

[0086] In the second embodiment of the present invention, the acetabular cup 20 moves along a reference straight line with the assistance of the robotic arm 100, while the acetabular socket 30 undergoes a positional change due to force, causing the second axis 50 to deviate from the reference straight line. The difference between the second embodiment and the first embodiment lies in the difference in step S200.

[0087] Please refer to Figure 11 and Figure 12 In this embodiment, step S200 includes steps S210' and S220'. Step S210' includes obtaining a radial separation value of the pose offset of the second axis 50 relative to the first axis 40 based on the current pose of the second axis 50 and the current pose of the first axis 40. Radial is the direction perpendicular to the central axis of the first target object. Step S220' includes obtaining the target position of each joint of the pose adjustment mechanism 320 based on the radial separation value of the pose offset of the second axis 50 relative to the first axis 40.

[0088] like Figure 12 As shown, in a non-limiting implementation, the radial separation value of the pose offset of the second axis 50 relative to the first axis 40 includes the radial separation position of the direction vector of the second axis 50 relative to the first axis 40 and the attitude direction error.

[0089] In this situation, please continue to refer to Figure 12 Step S210' may specifically include steps S211' and S212'. Step S211' includes obtaining the radial separation position of the direction vector of the second axis 50 relative to the first axis 40. Step S212' includes obtaining the attitude direction error of the direction vector of the second axis 50 relative to the first axis 40.

[0090] In an exemplary implementation, such as Figure 13As shown, step S211' includes projecting the direction vector of the second axis 50 onto the normal plane of the first axis 40, and using the projection of the second axis 50 onto the normal plane of the first axis 40 as the radial separation position of the direction vector of the second axis 50 relative to the first axis 40. The normal plane of the first axis 40 refers to a plane perpendicular to the first axis 40. In an alternative implementation, step S211' can also be implemented as follows: first, project the direction vector of the second axis 50 onto the first axis 40 to obtain the axial separation amount of the direction vector of the second axis 50 along the first axis 40. Then, obtain the difference between the direction vector of the second axis 50 and the axial separation amount of the direction vector of the second axis 50 along the first axis 40, and use this difference as the radial separation position of the direction vector of the second axis 50 relative to the first axis 40 (not shown in the figure).

[0091] In an exemplary implementation, such as Figure 14 As shown, step S212' includes: firstly, obtaining the current quaternion of the first axis 40 based on the current pose of the first axis 40, and then obtaining the current quaternion of the second axis 50 based on the current pose of the second axis 50. Then, obtaining the attitude direction error of the direction vector of the second axis 50 relative to the first axis 40 based on the current quaternion of the first axis 40 and the current quaternion of the second axis 50.

[0092] Specifically, the current pose of the first axis 40 is represented by the following equation (1):

[0093] T C =[R C ,P C (1),

[0094] in, T C P represents the pose matrix of the acetabular cup 20. C Indicates the Cartesian position of the acetabular cup 20, R C Represents the Cartesian position of the acetabular cup 20, r ijc The matrix element represents the posture matrix of the acetabular cup 20, where i takes any value from 1 to 3, and j takes any value from 1 to 3.

[0095] Thus, the current quaternion of the first axis 40 is calculated using the following equations (2), (3), and (4):

[0096] Q C0 =[q C0 ,q c (2),

[0097]

[0098]

[0099] In the formula, r C θ represents the direction vector of the attitude matrix of the acetabular cup 20. C The attitude matrix of the acetabular cup 20 is represented by the vector r around it. C The rotation angle during rotation, thus allowing us to determine the rotation angle via r. C With θ C Let q describe the pose matrix of the acetabular cup 20. C0 q is a quaternion constant. C It is a quaternion vector, using q C0 and q C The attitude matrix of the acetabular cup 20 can be transformed into the orientation and axis rotation angle of the attitude matrix of the acetabular cup 20 expressed using the axis-angle method.

[0100] The current pose of the second axis 50 is represented by the following equation (5):

[0101] T B =[R B ,P B (5),

[0102] in, T B P represents the pose matrix of the acetabular fossa 30. B Indicates the Cartesian position of the acetabular fossa at 30°, R B Represents the Cartesian posture of the acetabulum at 30°, r ijB The matrix element represents the posture matrix of the acetabular fossa 30, where i takes any value from 1 to 3, and j takes any value from 1 to 3.

[0103] Thus, the current quaternion of the second axis 50 is calculated using the following equations (6), (7), and (8):

[0104] Q B0 =[q B0 ,q B (6),

[0105]

[0106]

[0107] In the formula, r B θ represents the direction vector of the attitude matrix of the acetabulum 30. B The attitude matrix of the acetabular fossa 30 is represented by the vector r around it. B The rotation angle during rotation, thus allowing us to determine the rotation angle via r. B With θ B To describe the pose matrix of the acetabular fossa 30. q B0 q is a quaternion constant.B It is a quaternion vector, using q B0 and q B The attitude matrix of the acetabulum 30 can be transformed into the orientation and axis rotation angle of the attitude matrix of the acetabulum 30 expressed using the axis-angle method.

[0108] Then, the attitude direction error of the second axis 50 relative to the first axis 40 is calculated using the following equation (9): Equation (9) is:

[0109] e0 = q B0 ·q C -q C0 ·q B -q B ×q C (9)

[0110] In the formula, e0 represents the attitude direction error of the second axis 50 relative to the first axis 40.

[0111] Please continue to refer to this. Figure 12 and combined Figure 13 and Figure 14 Step S220' specifically includes steps S221', S222', S223', S224' and S225'.

[0112] Step S221' includes obtaining a first compensation velocity based on the radial separation position of the second axis 50 relative to the first axis 40. Specifically, it includes: firstly, obtaining a first transformation matrix based on the radial separation position of the second axis 50 relative to the first axis 40 and the equivalent axis algorithm. Those skilled in the art know how to calculate the first transformation matrix given the radial separation position of the second axis 50 relative to the first axis 40, so it will not be elaborated here. Then, obtaining the first compensation velocity based on the first transformation matrix and the radial separation position of the second axis 50 relative to the first axis 40. The calculation formula is shown in the following formula (10):

[0113] V -pos-err =K P *ΔOB -ver (10)

[0114] In the formula, V -pos-err K represents the first compensation velocity. P Let ΔOB represent the first transformation matrix. -ver This indicates the radial deviation of the second axis 50 relative to the first axis 40.

[0115] Step S222' includes obtaining a second compensation speed based on the attitude direction error of the second axis 50 relative to the first axis 40. Specifically, it includes: firstly, obtaining a second transformation matrix based on the attitude direction error of the second axis 50 relative to the first axis 40 and the equivalent axis method. Those skilled in the art know how to calculate the second transformation matrix when the attitude direction error of the second axis 50 relative to the first axis 40 is known, so it will not be elaborated here. Then, the second compensation speed is calculated based on the attitude direction error of the second axis 50 relative to the first axis 40 and the second transformation matrix. The calculation formula is shown in the following formula (11):

[0116] V -ros-err =K0*e0 (11),

[0117] In the formula, V -ros-err K represents the second compensation velocity, and K0 represents the second transformation matrix.

[0118] It can be understood that equations (10) and (11) can be expressed as a whole as equation (12):

[0119] [V -pos-err V -ros-err ] = [K P ·ΔOB -ver ,K0·e0] (12).

[0120] Step S223' includes obtaining the velocity Jacobian matrix of the pose adjustment mechanism 320 based on the current pose of the acetabulum 30. It can be understood that the acetabulum 30 is fixed on the follower platform 310, and the pose of the follower platform 310 is determined by the pose adjustment mechanism 320. Therefore, the velocity Jacobian matrix of the pose adjustment mechanism 320 can be obtained based on the current pose of the acetabulum 30. It can also be understood that the current pose of the acetabulum 30 is already obtained when the current pose of the second axis 50 is acquired.

[0121] Step S224' includes obtaining the target velocities of each joint of the position adjustment mechanism 320 based on the first compensation velocity, the second compensation velocity, and the velocity Jacobian matrix of the position adjustment mechanism 320. Specifically, the velocity Jacobian matrix of the position adjustment mechanism 320 is first inverted to obtain the inverse matrix of the velocity Jacobian matrix of the position adjustment mechanism 320. Then, the target velocities of each joint of the position adjustment mechanism 320 are calculated based on the first compensation velocity, the second compensation velocity, and the inverse matrix of the velocity Jacobian matrix of the position adjustment mechanism 320. The calculation formula is shown in the following formula (13):

[0122]

[0123] In the formula, This represents the target velocity of the i-th joint of the pose adjustment mechanism 320, where i takes the values ​​1, 2, ..., n, and n is the number of joints in the pose adjustment mechanism 320.

[0124] Step S225' includes obtaining the target position of each joint based on the target velocity of each joint of the pose adjustment mechanism 320. Specifically, the target velocity of each joint is integrated over time to obtain the target position corresponding to each joint.

[0125] In the second embodiment, deviation compensation based on the radial separation value of the direction vector of the second axis 50 relative to the first axis 40 can effectively eliminate the deviation between the current pose and the target pose of the servo platform 310, thereby improving control accuracy. Furthermore, by solving for the target velocity of each joint of the pose adjustment mechanism 320 through the velocity Jacobian matrix, and then solving for the target position of each joint, it is beneficial to improve the control stability of the pose adjustment mechanism 320 in singular positions.

[0126] It is understood that steps S221', S222' and S223' in the second embodiment can be executed simultaneously.

[0127] In the third embodiment of the present invention, as Figure 5 As shown, the acetabular socket 30 remains stationary, while the movement of the robotic arm 120 deviates, causing the acetabular cup 20 to deviate from the reference straight line, resulting in a deviation between the first axis 40 and the second axis 50. In this embodiment, the control method differs from the first or second embodiment in step S100. Specifically, please refer to... Figure 15 In this embodiment, step S100 includes steps S110' and S120'. Step S110' includes obtaining the current pose of the acetabular cup 20 through the navigation device. Step S120' includes directly recalling the pose of the acetabular fossa 30 at the previous moment. Then, steps S200 and S300 are executed sequentially with reference to the first embodiment or the second embodiment.

[0128] In the fourth embodiment of the present invention, the movement of the acetabular fossa 30 causes the second central axis 50 to deviate from the reference line, and the acetabular cup 20 also stops moving along the reference line due to the deviation of the movement of the robotic arm 120. The difference between this embodiment and the first, second and third embodiments lies in the different step S100. Specifically, the current pose of the acetabular cup 20 and the current pose of the acetabular fossa 30 are obtained according to the navigation device, and then the current pose of the first axis 40 and the current pose of the second axis 50 can be obtained.

[0129] It should be noted that the control unit executes a method based on preset control logic. Essentially, it performs autonomous category selection for the surgery, not object identification. Understandably, since object identification is not required, these operations can be performed even if the target object is a human model or other object. Therefore, the surgery described here does not specifically refer to surgical procedures on a patient, but rather a set of operational steps executed according to preset control logic. This can be used in applications such as simulation training (where the target object can be a human model or other objects).

[0130] As can be seen from the above description, the surgical robot system provided in this embodiment of the invention actually utilizes a follow-up platform control component to perform follow-up control on the movement of each joint of the pose adjustment mechanism. For example... Figure 16 As shown, the servo platform control component includes an information acquisition module 400, a calculation module 500, a joint control module 600, and a joint execution module 700. The information acquisition module 400 acquires the current pose of the first axis 40 and the second axis 50. The calculation module 500 is communicatively connected to the information acquisition module 600 and receives the current poses of the first axis 40 and the second axis 50 of the acetabulum 30. The calculation module 500 also calculates the target positions of each joint of the pose adjustment mechanism 320 based on the current poses of the first axis 40 and the second axis 50. The joint control module 600 is communicatively connected to the calculation module 500 and generates control commands based on the corresponding target positions of each joint of the pose adjustment mechanism 320. The joint execution module 500 is communicatively connected to the joint control module and receives the control commands. Based on the control commands, it outputs driving torque to drive each joint of the pose adjustment mechanism 320 to its corresponding target position.

[0131] Specifically, such as Figure 17As shown, when the calculation module 500 calculates the target positions of each joint of the pose adjustment mechanism 320 based on the inverse kinematics of the pose adjustment mechanism 320, the calculation module 500 may specifically include a pose offset calculation module 510, a follow-up compensation calculation module 520, a pose solving module 530, and an inverse kinematics solving module 540. The follow-up compensation calculation module 520 is communicatively connected to the pose offset calculation module 510, the pose solving module 530 is communicatively connected to the follow-up compensation calculation module 520, and the inverse kinematics solving module 540 is communicatively connected to the pose solving module 530. The offset calculation module 510 is used to obtain the current poses of the second axis 50 and the first axis 40, and to calculate the pose offset of the second axis 50 relative to the first axis 40. The motion compensation calculation module 520 calculates the motion compensation amount of the follower platform 310 based on the pose offset of the second axis 50 relative to the first axis 40. In this embodiment of the invention, the follower platform 310 compensates for the pose offset of the second axis 50 relative to the first axis 40 according to the principle of proportional compensation. That is, the motion compensation calculation module 520 directly uses the pose offset of the second axis 50 relative to the first axis 40 as the pose compensation amount of the follower platform 310 and sends it to the pose solving module 530. The pose solving module 530 solves for the target pose of the follower platform 310 based on the pose compensation amount. Then, the inverse kinematics calculation module 540 solves for the target positions of each joint of the pose adjustment mechanism 320 based on the target pose of the follower platform 310.

[0132] Or, such as Figure 18As shown, when the calculation module 500 calculates the target position of each joint of the pose adjustment mechanism 320 based on the radial separation value of the pose offset of the second axis 50 relative to the first axis 40 and the velocity Jacobian matrix of the pose adjustment mechanism 320, the calculation module 500 includes a radial separation value calculation module 510', a follow-up compensation speed calculation module 520', a speed conversion module 530', and an integration module 540'. The radial separation value calculation module 510' is communicatively connected to the information acquisition pose acquisition module 400 and is used to calculate the radial separation value of the pose offset of the direction vector of the second axis 50 relative to the first axis 40. The follow-up compensation speed calculation module 520' is communicatively connected to the radial separation value calculation module 510' and is used to receive the radial separation value of the pose offset of the direction vector of the second axis 50 relative to the first axis 40, and calculate the first compensation speed and the second compensation speed based on the radial separation value of the pose offset of the direction vector of the second axis 50 relative to the first axis 40. The velocity conversion module 530' is communicatively connected to the pose acquisition module 400 and the follow-up compensation velocity calculation module 520', and is used to acquire the velocity Jacobian matrix of the pose adjustment mechanism 320 based on the current pose of the acetabulum 30, and to acquire the target velocity of each joint of the pose adjustment mechanism 320 based on the first compensation velocity, the second compensation velocity, and the velocity Jacobian matrix of the pose adjustment mechanism 320. The integration module 540' is communicatively connected to the velocity conversion module 530', and is used to receive the target velocity of each joint of the pose adjustment mechanism 320, and to integrate the target velocity of each joint with respect to time to obtain the target position of each joint.

[0133] Furthermore, embodiments of the present invention provide a computer-readable storage medium storing a program, which, when executed, performs the aforementioned control method.

[0134] While the present invention has been disclosed above, it is not limited thereto. Those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, the present invention also intends to include such modifications and variations.

Claims

1. A computer-readable storage medium having a program stored thereon, characterized in that, The procedure is executed simultaneously with the surgical operation. When the procedure is executed, the following steps are performed: The current pose of the central axis of the first target object connected to the end of the robotic arm is obtained, and the current pose of the central axis of the second target object fixed to the follower platform is obtained; the second target object is used to cooperate coaxially with the first target object. The target positions of each joint of the pose adjustment mechanism used to drive the motion of the follower platform are obtained based on the current pose of the central axis of the first target object and the current pose of the central axis of the second target object; when each joint of the pose adjustment mechanism is located at the corresponding target position, the first target object and the second target object are coaxial; and, Control the movement of the posture adjustment mechanism so that each joint of the posture adjustment mechanism reaches the corresponding target position.

2. The computer-readable storage medium according to claim 1, characterized in that, The steps of obtaining the target positions of each joint of the pose adjustment mechanism used to drive the motion of the follower platform based on the current pose of the central axis of the first target object and the current pose of the central axis of the second target object include: The pose offset of the center axis of the second target object relative to the center axis of the first target object is obtained based on the current pose of the center axis of the first target object and the current pose of the center axis of the second target object. The target pose of the servo platform is obtained based on the pose offset of the central axis of the second target object relative to the central axis of the first target object. The pose adjustment mechanism is subjected to inverse kinematics calculation based on the target pose of the servo platform to obtain the target position of each joint of the pose adjustment mechanism.

3. The computer-readable storage medium according to claim 1, characterized in that, The steps of obtaining the target positions of each joint of the pose adjustment mechanism used to drive the motion of the follower platform based on the current pose of the central axis of the first target object and the current pose of the central axis of the second target object include: Based on the current pose of the central axis of the first target object and the current pose of the central axis of the second target object, obtain the radial separation value of the pose offset of the central axis of the second target object relative to the central axis of the first target object; the radial direction is perpendicular to the central axis of the second target object. The target positions of each joint of the pose adjustment mechanism are obtained based on the radial separation value of the pose offset of the central axis of the second target object relative to the central axis of the first target object and the current pose of the second target object.

4. The computer-readable storage medium according to claim 3, characterized in that, The radial separation value of the pose offset of the central axis of the second target relative to the central axis of the first target includes the radial separation position of the direction vector of the central axis of the second target relative to the central axis of the first target and the attitude direction error. The step of obtaining the target positions of each joint of the pose adjustment mechanism based on the radial separation value of the pose offset of the central axis of the second target object relative to the central axis of the first target object and the current pose of the second target object includes: A first compensation velocity is obtained based on the radial separation position, and a second compensation velocity is obtained based on the attitude direction error. The velocity Jacobian matrix of the pose adjustment mechanism is obtained based on the current pose of the second target object; The target speed of each joint of the posture adjustment mechanism is obtained based on the first compensation speed, the second compensation speed, and the speed Jacobian matrix of the posture adjustment mechanism. The target position of each joint is obtained based on the target velocity of each joint of the posture adjustment mechanism.

5. The computer-readable storage medium according to claim 4, characterized in that, The step of obtaining the radial separation position of the direction vector of the central axis of the second target object relative to the central axis of the first target object includes: Project the direction vector of the central axis of the second target onto the normal plane of the central axis of the first target.

6. The computer-readable storage medium according to claim 4, characterized in that, The step of obtaining the first compensated velocity based on the radial separation position includes: The first transformation matrix is ​​obtained based on the radial separation position; and The first compensation velocity is obtained based on the first transformation matrix and the radial separation position quantity.

7. The computer-readable storage medium according to claim 4, characterized in that, The step of obtaining the orientation direction error of the direction vector of the central axis of the second target object relative to the central axis of the first target object includes: The current quaternion of the central axis of the first target object is obtained based on the current pose of the first target object, and the current quaternion of the central axis of the second target object is obtained based on the current pose of the second target object; The attitude direction error of the direction vector of the center axis of the second target object relative to the center axis of the first target object is obtained based on the current quaternion of the center axis of the first target object and the current quaternion of the center axis of the second target object.

8. The computer-readable storage medium according to claim 4, characterized in that, The step of obtaining the second compensation speed based on the attitude direction error includes: The second transformation matrix is ​​obtained based on the attitude direction error. The second compensation speed is obtained based on the attitude direction error and the second transformation matrix.

9. The computer-readable storage medium according to claim 4, characterized in that, The step of obtaining the target speed of each joint of the pose adjustment mechanism based on the first compensation speed, the second compensation speed, and the speed Jacobian matrix includes: Inverting the velocity Jacobian matrix of the pose adjustment mechanism yields the inverse matrix of the velocity Jacobian matrix of the pose adjustment mechanism. The target speed of each joint of the posture adjustment mechanism is obtained based on the first compensation speed, the second compensation speed, and the inverse of the speed Jacobian matrix of the posture adjustment mechanism.

10. The computer-readable storage medium according to claim 4, characterized in that, The step of obtaining the target position of each joint based on the target velocity of each joint of the posture adjustment mechanism includes: The target velocity of each joint of the posture adjustment mechanism is integrated over time.

11. A surgical robot system, characterized in that, include: A robotic arm, with the first target object attached to its end; The support component includes a pose adjustment mechanism and a follower platform. The pose adjustment mechanism is connected to the follower platform and is used to drive the follower platform to move in order to adjust the pose of the follower platform. A navigation device includes a positioning target and a positioning tracking device, wherein the positioning target is used to identify a first target and a second target, and the positioning tracking device is used to identify the positioning target to acquire the pose of the first target and the pose of the second target; as well as, The control unit is communicatively connected to the pose adjustment mechanism and the positioning and tracking device, and is used to execute the program stored on the computer-readable storage medium as described in any one of claims 1-10.

Images