Computer-readable storage medium and surgical robotic system

Abstract

The application provides a computer readable storage medium and a surgical robot system. When a program stored on the computer readable storage medium is executed, the following steps are performed: obtaining a target parameter related to a first target object and a real-time pose of a mechanical arm; the first target object is used to coaxially cooperate with a second target object connected at the end of the mechanical arm; obtaining a radial separation value of the target parameter; the radial direction is perpendicular to a reference axis, and the reference axis is a straight line on which a central axis of the first target object is located; obtaining a target speed corresponding to each joint of the mechanical arm according to the radial separation value of the target parameter and the real-time pose of the mechanical arm; obtaining a target position corresponding to each joint according to the target speed corresponding to each joint of the mechanical arm; and controlling the movement of the mechanical arm so that each joint of the mechanical arm reaches the corresponding target position. The application of the computer readable storage medium can improve the surgical precision and safety.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically 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 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 to realign the central axis of the acetabular cup with the central axis of the acetabular fossa. This manual adjustment method suffers from low efficiency and low precision. Summary of the Invention

[0003] The purpose of this invention is to provide a computer-readable storage medium and a surgical robot system, which aims to automatically and quickly and accurately adjust the pose of the robotic arm during surgery so that the relative pose between the second target object connected to the end of the robotic arm and the corresponding first target object 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] Acquire target parameters and the real-time pose of the robotic arm related to the first target object; the first target object is used to coaxially cooperate with the second target object connected to the end of the robotic arm;

[0006] Obtain the radial separation value of the target parameter; radial is the direction perpendicular to the reference axis, which is the straight line containing the central axis of the first target object;

[0007] The target velocity corresponding to each joint of the robotic arm is obtained based on the radial separation value of the target parameter and the real-time pose of the robotic arm.

[0008] The target position corresponding to each joint is obtained based on the target velocity corresponding to each joint of the robotic arm; and,

[0009] Control the movement of the robotic arm so that each joint of the robotic arm reaches the corresponding target position.

[0010] Optionally, the target parameter comprises a Cartesian velocity of the first target object, and the radial separation value comprises a radial separation velocity of the first target object.

[0011] Optionally, the step of obtaining the target velocity corresponding to each joint of the robot arm according to the radial separation value of the target parameter and the real-time pose of the robot arm comprises:

[0012] obtaining a velocity Jacobian matrix of the robot arm according to the real-time pose of the robot arm;

[0013] obtaining the target velocity of each joint of the robot arm according to the velocity Jacobian matrix of the robot arm and the radial separation velocity of the first target object.

[0014] Optionally, the target parameter comprises a real-time virtual axis vector pose; the radial separation value comprises a radial separation position amount and a pose direction error amount of the real-time virtual axis vector; and the real-time virtual axis is a straight line on which a center point of the first target object and a center point of a second target object are located.

[0015] Optionally, the step of obtaining the target velocity corresponding to each joint of the robot arm according to the radial separation value of the target parameter and the real-time pose of the robot arm comprises:

[0016] obtaining a first compensation velocity according to the radial separation position amount of the real-time virtual axis vector, and obtaining a second compensation velocity according to the pose direction error amount of the real-time virtual axis vector;

[0017] obtaining a velocity Jacobian matrix of the robot arm according to the real-time pose of the robot arm;

[0018] obtaining the target velocity of each joint of the robot arm according to the velocity Jacobian matrix of the robot arm, the first compensation velocity and the second compensation velocity.

[0019] Optionally, the target parameter further comprises a real-time virtual axis vector pose; the radial separation value further comprises a radial separation position amount and a pose direction error amount of the real-time virtual axis vector; and the real-time virtual axis is a straight line on which a center point of the first target object and a center point of a second target object are located.

[0020] The step of obtaining the target velocity corresponding to each joint of the robot arm according to the radial separation value of the target parameter and the real-time pose of the robot arm comprises:

[0021] obtaining a first compensation velocity according to the radial separation position amount of the real-time virtual axis vector, and obtaining a second compensation velocity according to the pose direction error amount of the real-time virtual axis vector;

[0022] acquire a velocity Jacobian matrix of the robot arm according to a real-time pose of the robot arm;

[0023] acquire a target velocity of each joint of the robot arm according to the velocity Jacobian matrix of the robot arm, the radial separation velocity of the first target object, the first compensation velocity and the second compensation velocity.

[0024] Optionally, the step of acquiring the Cartesian velocity of the first target object comprises:

[0025] acquire a Cartesian pose variation of the first target object;

[0026] derivate the Cartesian pose variation of the first target object to obtain the Cartesian velocity of the first target object.

[0027] Optionally, the step of acquiring the radial separation velocity comprises:

[0028] project the Cartesian velocity of the first target object to the reference axis to obtain an axial separation velocity of the first target object along the reference axis;

[0029] acquire the radial separation velocity of the first target object according to the Cartesian velocity of the first target object and the axial separation velocity of the first target object along the reference axis.

[0030] Optionally, the step of acquiring the radial separation position comprises:

[0031] project the real-time virtual axis vector to the reference axis to obtain an axial separation position of the real-time virtual axis vector along the reference axis;

[0032] acquire a radial separation position of the real-time virtual axis vector according to the real-time virtual axis vector and the axial separation position of the real-time virtual axis vector along the reference axis.

[0033] Optionally, the step of acquiring the pose direction error comprises:

[0034] acquire the pose direction error according to a Cartesian pose of the first target object, a Cartesian pose of the second target object and an equivalent axis algorithm.

[0035] Optionally, the program further performs the following step: generating prompt information to prompt that an axis of the second target object deviates from the reference axis.

[0036] Optionally, the reference axis is characterized by a collimated light beam;

[0037] the step of generating the prompt information comprises:

[0038] a color of the collimated light beam is controlled to change.

[0039] Optionally, the mechanical arm has a protection mode, when the mechanical arm is in the protection mode, the mechanical arm is locked to keep still; when an axis of the second target deviates from the reference axis to a degree reaching a set range, the mechanical arm is in a low safety state;

[0040] When the mechanical arm is in the low safety state, the program further performs the following steps:

[0041] controlling the mechanical arm to enter the protection mode.

[0042] To achieve the above object, the present application further provides a surgical robot system, comprising:

[0043] a mechanical arm, the mechanical arm is used to load a second target, the second target is used to coaxially cooperate with a first target;

[0044] a navigation device, comprising a positioning target and a positioning tracking device, the positioning target is used to at least mark a position of the first target, the positioning tracking device is used to identify the positioning target to collect position information of the first target, the position information of the first target is used to obtain a target parameter related to the first target; and,

[0045] a control unit, the control unit is in communication connection with the mechanical arm and the positioning tracking device, the control unit is configured to execute the program stored on the computer readable storage medium as described above.

[0046] Compared with the prior art, the computer readable storage medium and the surgical robot system of the present application have the following advantages:

[0047] The aforementioned computer-readable storage medium stores a program that, when executed, performs the following steps: acquiring target parameters related to a first target object and the real-time pose of a robotic arm, the first target object being used for coaxial cooperation with a second target object connected to the end of the robotic arm; acquiring the radial separation value of the target parameters; the radial direction being perpendicular to a reference axis, the reference axis being the straight line containing the central axis of the first target object and the target object; acquiring the corresponding target velocity of each joint of the robotic arm based on the radial separation value of the target parameters and the real-time pose of the robotic arm; acquiring the target position corresponding to each joint based on the corresponding target velocity of each joint of the robotic arm; and controlling the movement of the robotic arm so that each joint of the robotic arm reaches the corresponding target position. This computer-readable storage medium can be applied to a surgical robot system, enabling the robotic arm to move following the positional changes of the first target object, achieving coaxial cooperation between the second and first target objects, and also improving the response speed or accuracy of the robotic arm to changes in the pose of the first target object.

[0048] By using a collimated beam to represent the reference axis, the reference axis can be superimposed and displayed in the display scene, allowing medical staff to intuitively observe whether the real-time virtual axis deviates from the reference axis. The color change of the collimated beam visually indicates the degree of deviation of the real-time virtual axis from the reference axis, enabling medical staff to quickly and accurately understand the current safety level of the surgery and perform appropriate actions accordingly, thus improving surgical safety. Attached Figure Description

[0049] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein:

[0050] 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;

[0051] Figure 2 This is a schematic diagram of the navigation device of the surgical robot system provided according to an embodiment of the present invention;

[0052] Figure 3 This is a schematic diagram of the navigation device of the surgical robot system according to an embodiment of the present invention locating the end of the robotic arm and the acetabulum;

[0053] Figure 4 This is a schematic diagram of a surgical robot system according to an embodiment of the present invention performing a hip replacement surgery, in which the robotic arm drives the acetabular cup to move so that the acetabular cup enters the acetabular fossa. In the figure, the axis of the end of the robotic arm is collinear with the reference axis.

[0054] Figure 5This is a schematic diagram of an application scenario of the surgical robot system provided by the present invention according to an embodiment. Only the end effector of the robotic arm, the first target object, and the second target object are shown in the figure, and the axis of the end effector of the robotic arm is deviated from the reference axis.

[0055] Figure 6 This is an overall flowchart of the guidance method performed by the surgical robot system according to an embodiment of the present invention;

[0056] Figure 7 This is a schematic diagram of an application scenario of the surgical robot system provided by the present invention according to an embodiment. The diagram shows the end effector of the robotic arm, a first target object and a second target object, and the Cartesian velocity and radial separation velocity of the first target object are schematically marked in the diagram.

[0057] Figure 8 This is a flowchart illustrating how a surgical robot system according to an embodiment of the present invention acquires the radial separation velocity of a first target object when performing a guidance method;

[0058] Figure 9 This is a more detailed flowchart of the surgical robot system performing the guidance method according to an embodiment of the present invention;

[0059] Figure 10 This is a schematic diagram of an application scenario of the surgical robot system provided by the present invention according to an embodiment. The figure shows the end effector of the robotic arm, a first target object and a second target object, and also shows the real-time virtual axis vector and its axial separation position and radial separation position.

[0060] Figure 11 This is a partial flowchart of a guidance method for a surgical robot system according to an embodiment of the present invention;

[0061] Figure 12 This is a partial flowchart of a guidance method for a surgical robot system according to an embodiment of the present invention;

[0062] Figure 13 This is a detailed flowchart of a guidance method for a surgical robot system according to an embodiment of the present invention. The target parameters in the diagram include the pose of the real-time virtual axis vector.

[0063] Figure 14 This is a detailed flowchart of a guidance method for a surgical robot system according to an embodiment of the present invention. The target parameters in the diagram include the Cartesian velocity of the first target object and the pose of the real-time virtual axis vector.

[0064] Figure 15 This is a flowchart of a guidance method for a surgical robot system according to an embodiment of the present invention. The flowchart shows the prompt information corresponding to different degrees of deviation of the real-time virtual axis from the reference axis.

[0065] Figure 16 This is an overall block diagram of the robotic arm follow-up control system of the surgical robot system provided by the present invention according to an embodiment. Detailed Implementation

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] like Figure 1 As shown, one objective of this invention is to provide a surgical robot system 10, which is used to independently perform surgical procedures or assist medical personnel in performing surgical procedures. In some alternative implementations, the surgical robot system 10 may be an orthopedic surgical robot system, which can be used to assist in performing orthopedic surgeries, such as hip replacement surgery.

[0071] Please continue to refer to this. Figure 1 The surgical robot system 10 includes a robotic arm 100, a navigation device, 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 second target object, which is used to coaxially engage with a first target object. Figure 2 As shown, the navigation device includes a positioning target 210 and a positioning tracking device 220. The positioning target 210 is used to mark the target object to be identified, such as a second target object and / or a 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 acetabulum 20, and the second target object can be the acetabular cup 30, with the central axis of the acetabular cup 30 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. The first positioning target 211 is disposed on the end effector of the robotic arm, and the second positioning target 212 is disposed on a target bone connected to the hip joint. In addition, the navigation device also includes a reference target 230, which is fixedly installed at the target position near the acetabulum 20, and the reference target 230 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 robotic arm end effector and the acetabulum 20 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 perform robotic arm registration and bone registration under the guidance of the navigation device, thereby enabling the positioning and tracking device 220 to locate the robotic arm 120 and the acetabulum 20 in the reference coordinate system (e.g., ...). Figure 3 (As shown). Those skilled in the art know how to register robotic arms and bones using navigation devices, and will not elaborate further here.

[0072] In this embodiment of the invention, the second positioning target 212 may include a support frame 201, a positioning ball 202, and a connecting part 203 (e.g., Figure 2 (As shown). The support frame 201 has four connection points, which are arranged according to the orientation of the four vertices of a quadrilateral. There are four positioning balls 202, each positioned at one of the four connection points of the support frame 201. The connecting part 203 connects to the support frame 201 and is used to connect to a predetermined position, including the end effector of the robotic arm, the aforementioned target skeleton, and the aforementioned target location. The structure of the first positioning target 201 and the reference target 230 can be based on the second positioning target 202 without the connecting part; that is, the first positioning target 211 and the reference target 230 may include the support frame and positioning balls (not shown) mounted on the support frame. The positioning tracking device 220 includes, but is not limited to, an optical positioning tracking device, and optional optical positioning tracking devices include, but are not limited to, a binocular vision camera. The positioning tracking device 220 identifies the corresponding target by recognizing the positioning balls 202.

[0073] Furthermore, the Cartesian velocities, positions, orientations, and poses mentioned later are all referenced to the reference coordinate system. For example, "Cartesian pose change of the acetabulum 20" refers to the Cartesian pose change of the acetabulum 20 in the reference coordinate system, and "Cartesian velocity of the acetabulum 20" refers to the Cartesian velocity of the acetabulum 20 in the reference coordinate system, etc. In addition, the term "pose" in this article includes both position and orientation.

[0074] Those skilled in the art will understand that in hip replacement surgery, the acetabular cup 30 is moved by the robotic arm 100 to insert it into the acetabular fossa 20. During this process, such as... Figure 4 As shown, the axis of the robotic arm's end effector is intended to always be collinear with the central axis of the acetabulum 20, so that the robotic arm 100 can feed along the direction of the central axis of the acetabulum 20, thereby ensuring that the central axis of the acetabular cup 30 is collinear with the central axis of the acetabulum 20, achieving the purpose of the acetabular cup 30 entering the acetabulum 20 along the central axis of the acetabulum 20. In view of this, the control unit is also configured to perform a guiding method to deviate the axis of the robotic arm's end effector from the central axis of the acetabulum 20 (e.g., ...). Figure 5 As shown, the movement of the robotic arm 100 is adjusted so that the axis of the robotic arm's end is as collinear as possible with the central axis of the acetabulum 20. For simplicity, the reference axis 40 will be used to refer to the straight line containing the central axis of the acetabulum 20. Thus, "collinear with reference axis 40" means "collinear with the central axis of the acetabulum 20", and "deviated from reference axis 40" means "deviated from the central axis of the acetabulum 20".

[0075] like Figure 6 As shown, the bootstrapping method includes the following steps:

[0076] Step S10: Obtain the target parameters related to the acetabulum 20 and the real-time pose of the robotic arm 100.

[0077] Step S20: Obtain the radial separation value of the target parameter. Here, "radial" refers to the direction perpendicular to the reference axis 40.

[0078] Step S30: Obtain the target velocity corresponding to each joint of the robotic arm 100 based on the radial separation value of the target parameter and the real-time pose of the robotic arm 100.

[0079] Step S40: Obtain the target position corresponding to each joint based on the target speed of each joint of the robotic arm 100.

[0080] And step S50: control the movement of the robotic arm 100 so that each joint of the robotic arm 100 reaches the corresponding target position.

[0081] It is understood that step S10 begins execution when the robotic arm 100 starts moving. The real-time pose of the robotic arm 100 can be provided by the navigation device 200 or obtained by solving the kinematic equations of the robotic arm. When the axis of the robotic arm's end effector is collinear with the reference axis 40 (e.g....), Figure 4 As shown, the target parameter does not have a radial separation value, so steps S20 to S50 will not be executed. Once the axis of the robotic arm's end effector deviates from the reference axis 40, the target parameter immediately has a radial separation value, at which point the control unit will execute steps S20 to S50 sequentially.

[0082] In the first embodiment of the present invention, as Figure 7 As shown, the target parameters include the Cartesian velocity of the acetabulum 20. Correspondingly, the radial separation value of the target parameters includes the radial separation velocity of the acetabulum 20. Thus, the control unit can directly use the radial separation velocity of the acetabulum 20 as the compensation velocity to adjust the movement of the robotic arm 100, so that the axis of the robotic arm end is brought back to a state that coincides with the reference axis 40 as much as possible.

[0083] The process of obtaining the Cartesian velocity of the acetabular fossa 20 is as follows: Figure 8 As shown, the procedure includes steps S110 and S120. Step S110 involves acquiring the Cartesian pose change of the acetabulum 20. Specifically, the control unit obtains the Cartesian pose change of the acetabulum 20 over a corresponding time period by monitoring the pose of the acetabulum 20 at different times using the positioning and tracking device 220. Step S120 involves differentiating the Cartesian pose change of the acetabulum 20 to obtain the Cartesian velocity of the acetabulum 20.

[0084] Continue to refer to Figure 8The process of obtaining the radial separation velocity of the acetabular fossa 20 may include steps S210 and S220.

[0085] Step S210 includes projecting the Cartesian velocity of the acetabulum 20 onto the reference axis 40 to obtain the axial separation velocity of the acetabulum 20 along the reference axis (e.g., Figure 7 (As shown). The formula for calculating the axial separation velocity of the acetabular fossa 20 is shown in equation (1) below:

[0086] V 0-cart-axial =(V 0-cart ·n -axis )·n -axis (1), in equation (1), V 0-cart n represents the Cartesian velocity of the acetabular fossa 20. -axis V represents the unit vector of the reference axis 40. 0-cart-axial This indicates the axial separation velocity of the acetabular fossa 20.

[0087] Step S220 includes obtaining the radial separation velocity of the acetabulum 20 based on the Cartesian velocity and the axial separation velocity of the acetabulum 20. That is, the radial separation velocity of the acetabulum 20 is actually the difference between the Cartesian velocity and the axial separation velocity of the acetabulum 20. In other words, the radial separation velocity of the acetabulum 20 can be obtained by the following formula (2).

[0088] V 0-cart-ver =V o-cart -V 0-cart-axial (2),

[0089] In the formula, V 0-cart-ver This indicates the radial separation velocity of the acetabular fossa 20.

[0090] refer to Figure 9 Step S30 specifically includes the following steps S310 and S320.

[0091] Step S310 includes obtaining the velocity Jacobian matrix of the robotic arm 100 based on its real-time pose. Specifically, this involves performing a forward kinematics solution on the robotic arm 100 based on its real-time pose to obtain the velocity Jacobian matrix.

[0092] Step S320 includes obtaining the target velocities of each joint of the robotic arm 100 based on the velocity Jacobian matrix of the robotic arm 100 and the radial separation velocity of the acetabular cup 20. Specifically, it includes steps S321 and S322. Step S321 includes inverting the velocity Jacobian matrix of the robotic arm 100 to obtain the inverse matrix of the velocity Jacobian matrix. Step S322 includes solving for the target velocities corresponding to each joint of the robotic arm 100 based on the inverse matrix of the velocity Jacobian matrix and the radial separation velocity of the acetabular cup 30. The calculation formula is shown in the following formula (3):

[0093]

[0094] In the formula, J represents the target velocity of the i-th joint of robotic arm 100. s-inv The inverse of the Jacobian matrix representing the velocity of robotic arm 100 is given.

[0095] The specific operation of step S40 is to integrate the target velocity of each joint of the robotic arm 100 with respect to time to obtain the target position corresponding to each joint of the robotic arm 100. The calculation formula is as follows (4):

[0096]

[0097] In the formula, θ i This represents the target position of the i-th joint.

[0098] Using the Cartesian velocity of the acetabulum 20 as the target parameter to execute the guidance method can enable the movement of the robotic arm 100 to have a faster response speed to the pose changes of the acetabulum 20.

[0099] In the second embodiment, the target parameters include the pose of the real-time virtual axis vector 50. The real-time virtual axis is the straight line connecting the center point of the acetabular fossa 20 and the center point of the acetabular cup 30. Optionally, the real-time virtual axis vector 50 points from the center point of the acetabular fossa 20 to the center point of the acetabular cup 30 (e.g., ...). Figure 6 , Figure 10 (As shown in the figure), alternatively, the real-time virtual axis vector can also be directed from the center point of the acetabular cup 30 to the center point of the acetabular fossa 20 (not shown in the figure).

[0100] The coordinates of the center point of the acetabular cup 30 can be obtained by the positioning and tracking device 220 identifying the second positioning target 212, or by solving the kinematic equations of the robotic arm. The coordinates of the center point of the acetabular fossa 20 can be obtained by the positioning and tracking device 220 identifying the first positioning target 211. Then, based on the coordinates of the center points of the acetabular cup 30 and the acetabular fossa 20, a real-time virtual axis vector 50 is obtained.

[0101] Accordingly, the radial separation value of the target parameter includes the radial separation position and direction deviation error of the real-time virtual axis vector 50. It can be understood that when the axis of the robotic arm's end effector is collinear with the reference axis 40, the real-time virtual axis is collinear with the reference axis 40 (e.g., ...). Figure 4 As shown), the real-time virtual axis vector 50 has no radial deviation. When the axis at the end of the robotic arm deviates from the reference axis 40, the real-time virtual axis also deviates from the reference axis 40 (as shown). Figure 5 As shown), the real-time virtual axis vector 50 has a radial deviation value.

[0102] The following describes the steps by which the control unit obtains the radial separation position and directional deviation error of the real-time virtual axis vector 50 when the axis of the robotic arm's end deviates from the reference axis 40.

[0103] like Figure 11 As shown, the specific steps for obtaining the radial separation position of the real-time virtual axis vector 50 include steps S2100 and S2200. Step S2100 includes projecting the real-time virtual axis vector 50 onto the reference axis 40 to obtain the axial separation position of the real-time virtual axis vector 50 along the reference axis 40 (e.g., ...). Figure 10 (As shown). Step S2200 includes obtaining the radial separation position based on the axial separation position of the real-time virtual axis vector 50 and the real-time virtual axis vector 50 along the reference axis 40. The specific calculation formulas are shown in equations (5) and (6) below:

[0104]

[0105]

[0106] In the formula, This represents the real-time virtual axis vector 50, ΔBC. -axial ΔBC represents the axial separation position of the real-time virtual axis vector 50 along the reference axis 40. -ver This represents the radial separation position of the real-time virtual axis vector 50.

[0107] like Figure 12 As shown, the attitude vector error of the real-time virtual axis vector 50 relative to the reference axis 40 is obtained through step S2300. Specifically, it can be calculated based on the Cartesian attitude of the acetabular fossa 20, the attitude of the acetabular cup 30, and the equivalent axis algorithm. The calculation formula is shown in the following formula (7):

[0108] e0 = 0.5*(n B ×n C +s B ×s C +a B ×a C (7),

[0109] In the formula, e0 represents the attitude vector error of the real-time virtual axis vector 50, and n B s B a B This represents the three column vectors in the pose matrix of the acetabular fossa 20, n C s C a C These represent the three column vectors in the attitude matrix of the robotic arm's end effector.

[0110] It is understandable that n B s B a B The Cartesian pose matrix of the acetabular fossa 20 is obtained. The Cartesian pose matrix of the acetabular fossa 20 is expressed as follows (8):

[0111]

[0112] In the formula, P B Indicates the Cartesian position of the acetabular fossa 20, R B R represents the Cartesian position of the acetabulum 20. B With n B s B a B The following equation (9) applies between them:

[0113] R B =[n B s B a B (9).

[0114] The Cartesian pose matrix of the robotic arm's end effector is represented by the following equation (10):

[0115]

[0116] In the formula, P C The Cartesian position of the end effector of the robotic arm, R C R represents the Cartesian pose of the robotic arm's end effector. C With n C s C a C The following equation (11) applies between them:

[0117] R C =[n C s C a C (11).

[0118] The Cartesian pose matrix of the acetabular fossa 20 can be obtained by the positioning and tracking device 220 recognizing the second positioning target 212, and the Cartesian pose matrix of the end effector of the robotic arm can be obtained by the positioning and tracking device 220 recognizing the first positioning target 211, or by solving the kinematic equations of the robotic arm.

[0119] Please refer to Figure 13 and combined Figure 11 and Figure 12 The steps for obtaining the target speeds of each joint of the robotic arm 100 specifically include steps S3100, S3200, and S3300.

[0120] Step S3100 includes steps S3110 and S3120. Step S3110 includes obtaining a first compensation velocity based on the radial separation position of the real-time virtual axis vector 50. Step S3120 includes obtaining a second compensation velocity based on the attitude direction error of the real-time virtual axis vector 50. The first compensation velocity is calculated according to equation (12), and the second compensation velocity is calculated according to equation (13). Equations (12) and (13) are shown below:

[0121] V 0-cart-pos-err =K p ·ΔBC -ver (12),

[0122] V 0-cart-rot-err =K o ·e0 (13),

[0123] Here, equations (12) and (13) can also be integrated and expressed as equation (14) as follows:

[0124] [V 0-cart-pos-err V 0-cart-rot-err ] = [K p ·ΔBC -ver K o ·e0] (14),

[0125] In the formula, V 0-cart-pos-err K represents the first compensation velocity. p This represents the first transformation matrix, which is a linear parameter calculated based on the radial separation position of the real-time virtual axis vector 50 and the equivalent axis method. V 0-cart-rot-err K represents the second compensation velocity. o The second transformation matrix is ​​a linear parameter calculated based on the attitude direction error of the real-time virtual axis vector 50 and the equivalent axis algorithm. Those skilled in the art will understand how to calculate the first and second transformation matrices given the radial separation position and attitude direction error of the real-time virtual axis vector 50; therefore, this will not be elaborated upon here.

[0126] Step S3200 includes obtaining the velocity Jacobian matrix of the robotic arm 100 based on the real-time pose of the robotic arm 100.

[0127] Step S3300 includes obtaining the target velocities of each joint of the robotic arm 100 based on the velocity Jacobian matrix of the robotic arm 100, the first compensation velocity, and the second compensation velocity. Specifically, it includes steps S3310 and S3320. Step S3310 includes inverting the velocity Jacobian matrix of the robotic arm 100 to obtain the inverse matrix of the velocity Jacobian matrix. Step S3320 includes solving for the target velocities of each joint of the robotic arm 100 based on the inverse matrix of the velocity Jacobian matrix, the first compensation velocity, and the second compensation velocity. The specific calculation formula is as follows: Equation (15):

[0128]

[0129] In this embodiment, step S40 is the same as in the first embodiment, which includes integrating the target velocity of each joint of the robotic arm 100 with respect to time to obtain the target position corresponding to each joint of the robotic arm 100. The calculation formula is as described above in equation (4).

[0130] Using the real-time virtual axis vector 50 as the target parameter to execute the guidance method can make the movement of the robotic arm 100 highly stable in response to the pose changes of the acetabulum 20.

[0131] In the third embodiment of the present invention, the target parameters simultaneously include the Cartesian velocity of the acetabular fossa 20 and the real-time virtual axis vector 50. In other words, as... Figure 14 As shown, in the execution guidance method, step S10 includes obtaining the Cartesian velocity of the acetabulum 20, the real-time virtual axis vector 50, and the real-time pose of the robotic arm 100. Step S20 includes obtaining the radial separation velocity of the acetabulum 20 and obtaining the radial separation position and orientation error of the real-time virtual axis vector 50. Step S30 includes obtaining the target position corresponding to each joint of the robotic arm 100 based on the radial separation velocity of the acetabulum 20, the radial separation position of the real-time virtual axis vector 50, and the orientation error. Specifically, step S30 includes first obtaining a first compensation velocity based on the radial separation position of the real-time virtual axis vector 50, and then obtaining a second compensation velocity based on the orientation error of the real-time virtual axis vector 50. Then, the target velocity corresponding to each joint of the robotic arm 100 is obtained based on the radial separation velocity of the acetabulum 20, the first compensation velocity, and the second compensation velocity. The calculation formula can be expressed as follows (16):

[0132]

[0133] Simultaneously, the Cartesian velocity of the acetabulum 20 and the real-time virtual axis vector 50 are used as target parameters to execute the guidance method, taking into account both the response speed and stability of the robotic arm 100's motion to the pose changes of the acetabulum 20.

[0134] It is understood that, similar to the second embodiment, the Cartesian pose of the robotic arm 100 in the third embodiment can be solved according to the forward kinematics equation of the robotic arm.

[0135] Furthermore, such as Figure 15 As shown, the guidance method further includes step S60: generating a prompt message to indicate that the robotic arm end-effector axis has deviated from the reference axis 40. In some embodiments, the control unit generates the prompt message immediately when the robotic arm end-effector axis deviates from the reference axis 40. In other embodiments, the control unit generates the prompt message only when the robotic arm end-effector axis deviates from the reference axis 40 and the degree of deviation reaches a first threshold.

[0136] As mentioned earlier, when the axis of the robotic arm's end effector deviates from the reference axis 40, the real-time virtual axis also deviates from the reference axis 40. Therefore, in this embodiment of the invention, the deviation of the robotic arm's end effector axis from the reference axis 40 can be expressed by the deviation of the real-time virtual axis from the reference axis 40. The degree of deviation of the real-time virtual axis from the reference axis 40 is expressed by the radial separation position and attitude direction error of the real-time virtual axis vector 50. Thus, as... Figure 15 As shown, the guidance method further includes step S70: determining whether the degree of deviation of the real-time virtual axis from the reference axis 40 is greater than a preset value based on the radial separation position and attitude direction error of the real-time virtual axis vector 50. When the degree of deviation of the real-time virtual axis from the reference axis 40 is greater than the preset value, step S60 is then executed. The preset value can be zero or greater than zero, such as a first threshold, and can be set as needed. It can be understood that the preset value includes the preset value of the radial separation position and the preset value of the attitude direction error. When the radial separation position of the real-time virtual axis vector 50 is greater than the preset value of the radial separation position, and the attitude direction error of the real-time virtual axis vector 50 is greater than the preset value of the attitude direction error, it can be determined that the degree of deviation of the real-time virtual axis from the reference axis 40 is greater than the preset value. It can also be understood that when the guidance method includes steps S70 and S60, regardless of whether the target parameter includes the pose of the virtual axis vector 50, the guidance method includes the operation of acquiring the real-time virtual axis vector 50, and the operation of acquiring the radial separation position and attitude direction error of the real-time virtual axis vector 50.

[0137] Preferably, a collimated beam is used to characterize the reference axis 40. In other words, by propagating a collimated beam along the extension direction of the reference axis 40, the reference axis 40 is visualized, making it easier for medical personnel to intuitively see the position of the reference axis 40 in space.

[0138] Further, step S60 specifically includes: controlling the color of the collimated beam to change as a prompting information. The control unit controls the color change of the collimated beam so that the collimated beam can use different colors to indicate different degrees of deviation of the real-time virtual axis from the reference axis 40. For example, when the real-time virtual axis is collinear with the reference axis 40, the reference axis 40 can be displayed in the first color. Figure 15 As shown, when the preset value is the first threshold, if the deviation of the real-time virtual axis from the reference axis 40 is less than or equal to the first threshold, the color of the reference axis 40 remains unchanged. If the deviation is greater than the first threshold but less than or equal to the second threshold, the color of the reference axis 40 changes to the second color. If the deviation is greater than the second threshold, the color changes to the third color. The second threshold is greater than the first threshold. This setting allows medical staff to intuitively and quickly understand the degree of deviation of the real-time virtual axis from the reference axis 40, facilitating timely response and preventing safety accidents caused by excessive deviation.

[0139] Optionally, the robotic arm 100 has a protection mode. When the robotic arm 100 is in the protection mode, it is locked and remains stationary. Furthermore, when the real-time virtual axis deviates from the reference axis 40 to a predetermined range, the robotic arm 100 is considered to be in a low-safety state. Preferably, when the robotic arm 100 is in a low-safety state, the guidance method further includes step S50: controlling the robotic arm 100 to enter the protection mode. This further improves surgical safety.

[0140] As described above, the surgical robot system provided in this embodiment of the invention actually employs a robotic arm follow-up control system 60 to control the movement of the robotic arm. The overall block diagram of this robotic arm follow-up control system 60 is shown below. Figure 16 . refer to Figure 16The robotic arm follow-up control system 60 includes an information acquisition module 61, a calculation module 62, a joint control module 63, and a robotic arm execution module 64. The information acquisition module 61 acquires target parameters related to the acetabulum 20 (i.e., the first target object). The calculation module 62 is communicatively connected to the information acquisition module 61. The calculation module 62 receives the target parameters and calculates the target positions corresponding to each joint of the robotic arm 100 based on these parameters. Specifically, the calculation module 62 includes a first sub-calculation module 62a, a second sub-calculation module 62b, a third sub-calculation module 62c, and a fourth sub-calculation module 64d. The first sub-calculation module 62a is used to calculate the radial separation value of the target parameters. The second sub-calculation module b is used to calculate the velocity Jacobian matrix of the robotic arm 100 based on its real-time pose, and invert the velocity Jacobian matrix to obtain its inverse matrix. The third sub-calculation module 62c is used to obtain the target velocity of each joint of the robotic arm 100 based on the radial separation value of the target parameters and the inverse matrix of the velocity Jacobian matrix. The fourth sub-calculation module 62d is used to calculate the target position of each joint based on its target velocity. The joint control module 63 is communicatively connected to the calculation module 62. The joint control module 63 is used to acquire the target position of each joint of the robotic arm 100 and generate control commands based on the target position of each joint. The robotic arm execution module 64 is communicatively connected to the joint control module 63. The robotic arm execution module 64 is used to receive control commands and output driving torque according to the control commands to drive the movement of each joint of the robotic arm 100.

[0141] The robotic arm 100 of the surgical robot system is controlled by a robotic arm servo control system, allowing it to move in sync with the movement of the acetabulum 20. In this embodiment, the ratio of the robotic arm 100's movement speed to the acetabulum 20's movement speed is 1:1. This allows the calculation unit to directly calculate the target position of the robotic arm's end effector using either the radial separation velocity of the acetabulum 20 or the first and second compensation velocities as the motion compensation amount. Furthermore, this ensures that after reaching the calculated target position, the axis of the robotic arm's end effector is as collinear as possible with the central axis of the acetabulum 20. In practical applications, the Cartesian pose (including position and attitude) of the robotic arm 100 can be obtained through monitoring by a navigation device or directly by solving the forward kinematics equations of the robotic arm.

[0142] A second objective of this invention is to provide a computer-readable storage medium on which a program is stored, and when the program is executed, the boot method described above is performed.

[0143] 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, When the program is executed, the following steps are performed: Acquire target parameters and the real-time pose of the robotic arm related to the first target object; the first target object is used to coaxially cooperate with the second target object connected to the end of the robotic arm; Obtain the radial separation value of the target parameter; radial is the direction perpendicular to the reference axis, which is the straight line containing the central axis of the first target object; The target velocity corresponding to each joint of the robotic arm is obtained based on the radial separation value of the target parameter and the real-time pose of the robotic arm. The target position corresponding to each joint is obtained based on the target speed corresponding to each joint of the robotic arm; as well as, Control the movement of the robotic arm so that each joint of the robotic arm reaches the corresponding target position.

2. The computer-readable storage medium according to claim 1, characterized in that, The target parameters include the Cartesian velocity of the first target object, and the radial separation value includes the radial separation velocity of the first target object.

3. The computer-readable storage medium according to claim 2, characterized in that, The step of obtaining the target velocity corresponding to each joint of the robotic arm based on the radial separation value of the target parameter and the real-time pose of the robotic arm includes: The velocity Jacobian matrix of the robotic arm is obtained based on its real-time pose. The target velocities of each joint of the robotic arm are obtained based on the speed Jacobian matrix of the robotic arm and the radial separation velocity of the first target object.

4. The computer-readable storage medium according to claim 1, characterized in that, The target parameters include the pose of the real-time virtual axis vector; the radial separation value includes the radial separation position and attitude direction error of the real-time virtual axis vector; the real-time virtual axis is the straight line connecting the center point of the first target object and the center point of the second target object.

5. The computer-readable storage medium according to claim 4, characterized in that, The step of obtaining the target velocity corresponding to each joint of the robotic arm based on the radial separation value of the target parameter and the real-time pose of the robotic arm includes: A first compensation velocity is obtained based on the radial separation position of the real-time virtual axis vector, and a second compensation velocity is obtained based on the attitude direction error of the real-time virtual axis vector. The velocity Jacobian matrix of the robotic arm is obtained based on its real-time pose. The target speed of each joint of the robotic arm is obtained based on the speed Jacobian matrix of the robotic arm, the first compensation speed, and the second compensation speed.

6. The computer-readable storage medium according to claim 2, characterized in that, The target parameters also include the pose of the real-time virtual axis vector; the radial separation value also includes the radial separation position and attitude direction error of the real-time virtual axis vector; the real-time virtual axis is the straight line connecting the center point of the first target object and the center point of the second target object; The step of obtaining the target velocity corresponding to each joint of the robotic arm based on the radial separation value of the target parameter and the real-time pose of the robotic arm includes: A first compensation velocity is obtained based on the radial separation position of the real-time virtual axis vector, and a second compensation velocity is obtained based on the attitude direction error of the real-time virtual axis vector. The velocity Jacobian matrix of the robotic arm is obtained based on its real-time pose. The target velocities of each joint of the robotic arm are obtained based on the speed Jacobian matrix of the robotic arm, the radial separation velocity of the first target object, the first compensation velocity, and the second compensation velocity.

7. The computer-readable storage medium according to claim 2 or 6, characterized in that, The steps for obtaining the Cartesian velocity of the first target object include: Obtain the Cartesian pose change of the first target object; The Cartesian velocity of the first target object is obtained by differentiating the Cartesian pose change of the first target object.

8. The computer-readable storage medium according to claim 2 or 6, characterized in that, The steps for obtaining the radial separation velocity include: The Cartesian velocity of the first target object is projected onto the reference axis to obtain the axial separation velocity of the first target object along the reference axis; The radial separation velocity of the first target object is obtained based on the Cartesian velocity of the first target object and the axial separation velocity of the first target object along the reference axis.

9. The computer-readable storage medium according to claim 4 or 6, characterized in that, The steps for obtaining the radial separation position include: Projecting the real-time virtual axis vector onto the reference axis yields the axial separation position of the real-time virtual axis vector along the reference axis. The radial separation position of the real-time virtual axis vector is obtained based on the axial separation position of the real-time virtual axis vector along the reference axis.

10. The computer-readable storage medium according to claim 4 or 6, characterized in that, The steps for obtaining the attitude direction error include: The attitude direction error is obtained based on the Cartesian attitude of the first target object, the Cartesian attitude of the second target object, and the equivalent axis algorithm.

11. The computer-readable storage medium according to claim 1, characterized in that, The program also performs the following steps: generating a prompt message to indicate that the axis of the second target object deviates from the reference axis.

12. The computer-readable storage medium according to claim 11, characterized in that, The reference axis is characterized using a collimated beam. The steps for generating the prompt message include: The color of the collimated beam is controlled to change.

13. The computer-readable storage medium according to claim 1, characterized in that, The robotic arm has a protection mode. When the robotic arm is in the protection mode, it is locked and remains stationary. When the axis of the second target object deviates from the reference axis to a set range, the robotic arm is in a low safety state. When the robotic arm is in the low-safety state, the program also performs the following steps: Control the robotic arm to enter the protection mode.

14. A surgical robot system, characterized in that, include: A robotic arm for loading a second target object, the second target object being used to coaxially engage with a first target object; A navigation device includes a positioning target and a positioning tracking device. The positioning target is used to at least indicate the position of the first target object. The positioning tracking device is used to identify the positioning target to collect the position information of the first target object. The position information of the first target object is used to obtain target parameters related to the first target object. as well as, A control unit, communicatively connected to the robotic arm and the positioning and tracking device, is configured to execute a program stored on a computer-readable storage medium as described in any one of claims 1-13.

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