Control system, device, apparatus, and medium for end tool provisional motion

Abstract

The embodiment of the application discloses a control method, device, system, equipment and medium for temporary movement of an end tool, the method comprising: if a temporary addition operation triggered by a target object is detected, determining first pose information of a base of a robot relative to a pose collector, unlocking a probe located in a surgical area to enable the target object to change the pose of the probe; if a probe pose locking operation triggered by the target object at a target probe pose is detected, determining second pose information of the probe relative to the pose collector; determining third pose information based on the first pose information and the second pose information; and determining a target movement trajectory corresponding to an end flange based on the fourth pose information and the third pose information, and controlling the end flange to move based on the target movement trajectory to drive the end tool connected to the end flange to move to the target probe pose, thereby simplifying the addition operation of temporary movement of the end tool, improving the addition efficiency of the temporary movement, and thereby improving the efficiency of the operation.

Description

Technical Field

[0001] The embodiments of the present invention relate to computer technology, and more particularly to a method, apparatus, system, device and medium for controlling the temporary movement of an end-effector. Background Technology

[0002] Most surgeries now require robotic assistance. For example, during surgery, robots control end-effectors mounted on robotic arms to perform auxiliary operations such as support or fixation.

[0003] Typically, before surgery begins, the surgeon needs to plan the operations that the robot-controlled end-effector will perform, ensuring the robot follows the pre-planned procedure. However, unforeseen circumstances may arise during surgery, requiring the robot to perform temporary actions beyond the planned procedures. In such cases, the surgeon must leave the surgical area, use a 3D model of the surgical area on the computer software interface to select the location for inserting the auxiliary positioning pins, and adjust the tool's posture to add the temporary robot action. Once the surgeon returns to the surgical area, the robot controls the end-effector to execute the specified actions based on the newly added temporary actions. After the robot completes the added temporary actions, the surgeon continues the surgery.

[0004] However, during the surgery, doctors need to disinfect themselves again when returning to the surgical area, and when multiple temporary actions need to be added during a single surgery, doctors need to travel back and forth between the surgical area and the computer placement area multiple times, which increases the surgery time and the risk of secondary contamination of the surgical area. Summary of the Invention

[0005] This invention provides a method, apparatus, system, device, and medium for controlling temporary movement of an end-effector, thereby simplifying the addition of temporary movement of the end-effector, improving the efficiency of adding temporary movement, and thus improving surgical efficiency.

[0006] In a first aspect, embodiments of the present invention provide a method for controlling the temporary movement of an end-effector, comprising: If a temporary addition operation triggered by the target object is detected, the first pose information of the robot's base relative to the pose acquisition device is determined, and the probe located in the surgical area is unlocked to change the probe pose of the target object. If a probe pose locking operation triggered by the target object under the target probe pose is detected, then the second pose information of the probe relative to the pose acquisition device is determined. The third pose information of the probe relative to the base is determined based on the first pose information and the second pose information; The fourth pose information of the end flange relative to the end tool is determined, and based on the fourth pose information and the third pose information, the target motion trajectory corresponding to the end flange is determined, and the end flange is controlled to move based on the target motion trajectory so as to drive the end tool connected to the end flange to move to the target probe pose.

[0007] Secondly, embodiments of the present invention provide a control device for temporary movement of an end-effector, comprising: The first pose information determination module is used to determine the first pose information of the robot's base relative to the pose acquisition device if a temporary addition operation triggered by the target object is detected, and to unlock the probe located in the surgical area so that the target object changes the probe pose. The second pose information determination module is used to determine the second pose information of the probe relative to the pose acquisition device if a probe pose locking operation triggered by the target object under the pose of the target probe is detected. The third pose information determination module is used to determine the third pose information of the probe relative to the base based on the first pose information and the second pose information; The target motion trajectory determination module is used to determine the fourth pose information of the end flange relative to the end tool, and based on the fourth pose information and the third pose information, determine the target motion trajectory corresponding to the end flange, and control the end flange to move based on the target motion trajectory so as to drive the end tool connected to the end flange to move to the target probe pose.

[0008] Thirdly, embodiments of the present invention provide a control system for temporary movement of an end-effector, the system comprising: A robot, a probe, a pose acquisition device, and a controller; wherein the robot includes: a base, an end flange on a robotic arm, and an end tool connected to the end flange; The controller is used to implement the control method for temporary movement of the end-effector as provided in any embodiment of the present invention.

[0009] Fourthly, embodiments of the present invention provide an electronic device, the electronic device comprising: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the control method for temporary movement of the end-effector as provided in any embodiment of the present invention.

[0010] Fifthly, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method for temporary movement of an end-effector as provided in any embodiment of the present invention.

[0011] The technical solution of this invention, by detecting a temporary addition operation triggered by the target object, determines the first pose information of the robot's base relative to the pose acquisition device, and unlocks the probe located in the surgical area to allow the target object to change the probe pose. This avoids the target object accidentally touching the probe, resulting in the addition of invalid temporary actions, ensuring the accurate addition of temporary actions. Furthermore, the target object can directly add temporary actions in the surgical area, avoiding secondary contamination of the surgical area while improving the efficiency of adding temporary actions. If a probe pose locking operation triggered by the target object under the target probe pose is detected, the second pose information of the probe relative to the pose acquisition device is determined. Thus, when the target object places the probe in the desired position and adjusts it to the desired pose, the pose information of the target object placing the probe is recorded, and the relative pose information, i.e., the first pose information, can be determined based on the pose acquisition device. The robot can directly determine the third pose of the probe relative to the base based on the first and second pose information without needing to perform a transitional conversion of pose information. It can also determine the fourth pose of the end flange relative to the end tool, and based on the fourth and third pose information, determine the target motion trajectory corresponding to the end flange. The robot then controls the end flange to move according to the target motion trajectory, thereby moving the end tool connected to the end flange to the target probe pose. This allows for the addition of temporary actions to the original surgical plan, enabling the robot to perform these temporary actions to control the end flange, allowing the end flange to automatically move the end tool to the position marked by the probe and achieve a synchronized posture with the probe. This simplifies the addition of temporary movements to the end tool, improves the efficiency of adding temporary movements, and further enhances surgical efficiency.

[0012] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a flowchart of a method for controlling the temporary movement of an end-effector provided in Embodiment 1 of the present invention; Figure 2 This is an example diagram illustrating the calibration of the target probe pose after probe unlocking, according to Embodiment 1 of the present invention. Figure 3 This is an example diagram illustrating the movement of an end effector to a target probe pose according to Embodiment 1 of the present invention; Figure 4 This is a flowchart of a method for controlling the temporary movement of an end-effector provided in Embodiment 2 of the present invention; Figure 5 This is a schematic diagram of the structure of a control device for temporary movement of an end-effector provided in Embodiment 3 of the present invention; Figure 6 This is a schematic diagram of the structure of a control system for temporary movement of an end-effector provided in Embodiment 4 of the present invention. Figure 7 This is a schematic diagram of the structure of an electronic device that implements the control method for temporary movement of the end-effector in an embodiment of the present invention. Detailed Implementation

[0015] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0016] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0017] Example 1 Figure 1This is a flowchart illustrating a method for controlling the temporary movement of an end-effector in Embodiment 1 of the present invention. This embodiment is applicable to situations where temporary actions are added to an existing operational plan, and the end-effector is controlled to perform temporary movements to complete these actions. It is particularly suitable for situations where, during surgery, temporary actions are added to the existing operational plan, and the end-effector is controlled to perform temporary movements to complete these actions. This method can be executed by a control device for the temporary movement of the end-effector, which can be implemented in hardware and / or software and can be configured within a control system for the temporary movement of the end-effector. Figure 1 As shown, the method includes: S110. If a temporary addition operation triggered by the target object is detected, the first pose information of the robot's base relative to the pose acquisition device is determined, and the probe located in the surgical area is unlocked to change the probe pose of the target object.

[0018] The target object can be the object responsible for adding temporary actions in the surgical area, and it can be, but is not limited to, a doctor or nurse. The temporary action refers to a temporary operation triggered by the target object to add temporary actions to the existing operational plan of the end effector. The first pose information refers to the position and orientation information of the robot's base relative to the pose acquisition device in a pre-built spatial coordinate system. The spatial coordinate system can be, but is not limited to, using the pose acquisition device as the origin. The pose acquisition device is a device used to acquire the pose information corresponding to various objects in the spatial coordinate system. For example, the pose acquisition device can be, but is not limited to, a positioning scanning camera or a near-infrared optical positioning camera. The position of the pose acquisition device can be adjusted before the surgery begins so that the acquisition range of the pose acquisition device can cover the entire surgical area, including the probes in the surgical area, the robot's base, the end effector flange on the robotic arm, and the end effector tool connected to the end effector flange. The probe is a handheld tool used to calibrate position and orientation. The target object can hold the probe and place it at the desired position for the end effector tool to reach, causing the end effector tool to move to the position calibrated by the probe and rotate to the orientation calibrated by the probe. Probes can have various shapes. For example, the probe shape can be, but is not limited to, that of a pen, tweezers, or a flagpole with a pennant. After the surgery begins, the position and orientation of the pose acquisition device remain unchanged. The advantage of this setup is that it allows for more accurate pose information acquisition, and keeping the pose acquisition device stationary reduces the need to determine the pose changes of the device itself when determining the pose information of objects in the surgical area, thus saving computational resources and improving the efficiency of pose information determination.

[0019] Specifically, at the start of surgery, a controller for temporarily moving the end effector can be activated. During surgery, if the patient desires the end effector to perform a temporary action beyond its planned movement, this can be triggered using any of several triggering methods. For example, the patient can trigger the temporary action by pressing a button or stepping on a pedal. The button can be mounted anywhere on the operating table or on the probe. During surgery, if the temporary action triggered by the patient is detected, the robot's base is captured by a pose acquisition device, and the probes in the surgical area are unlocked. This allows the patient to adjust the probes' poses to reach the desired position and orientation of the end effector, thus enabling the surgeon to perform the temporary action without leaving the surgical area.

[0020] For example, if a near-infrared optical positioning camera is used as the pose acquisition device, the probe in the surgical area needs to be pre-equipped with multiple optical positioning balls, and the end effector also needs to be pre-equipped with multiple optical positioning balls. For instance, an optical positioning ball can be installed at the end of the probe, and another optical positioning ball can be installed at each end extending to both sides of the probe end. In this case, the three optical positioning balls form a triangle at the probe end, allowing the near-infrared optical positioning camera to determine the pose information of the probe based on the positional relationship of the three optical positioning balls. The near-infrared optical positioning camera can acquire the position information of each optical positioning ball within its illumination range, and by combining the determined position information of each optical positioning ball, it can deduce the pose information of each object equipped with an optical positioning ball.

[0021] S120. If a probe pose locking operation triggered by the target object under the target probe pose is detected, then the second pose information of the probe relative to the pose acquisition device is determined.

[0022] The target probe pose can refer to the final pose in which the target object places the probe, i.e., the target object needs the end effector to move to the target pose. The second pose information can refer to the position and attitude information of the probe relative to the pose acquisition device in a pre-constructed spatial coordinate system. Figure 2 An example diagram is provided for calibrating the target probe pose after probe unlocking. See also... Figure 2 The near-infrared optical positioning camera's field of view encompasses the entire surgical area, including the probe, robot, and target object within it. The probe is shaped like a flagpole with a pennant attached. The robot-controlled end effector remains stationary, while the target object holds the probe to determine the desired position and orientation of the end effector. If the target object completes the temporary calibration of the end effector's movement, the probe can be held in the target probe orientation, triggering a probe orientation lock operation. Once the controller has recorded the target probe orientation, the probe can be returned to its initial position.

[0023] Specifically, during surgery, when the target object places the probe in the pose required for the end effector to move, the target object can trigger a probe pose locking operation, which records the target probe pose at the current moment in the controller. The method of triggering the probe pose locking operation corresponds to the method of triggering temporary addition operations. For example, the triggering method of the probe pose locking operation can be, but is not limited to, pressing a trigger button for probe pose locking operation on the operating table or pressing a trigger button for probe pose locking operation on the probe. During surgery, if a probe pose locking operation triggered by the target object in the target probe pose is detected, the second pose information of the probe relative to the pose acquisition device is determined and recorded in the controller for retrieval when a temporary action corresponding to that end effector needs to be performed.

[0024] For example, before the surgery begins, the target user binds each pre-set planned action to an action execution button. During the surgery, when a planned action is needed, the target user can press the action execution button bound to that planned action to execute the planned action using the robot in the surgical area. The temporary actions corresponding to the end effector added in this application also have a temporary execution button, allowing the target user to add temporary actions to the planned actions. This eliminates the need for the target user to leave the surgical area or go to the computer used for planning actions to add temporary actions; instead, the target user can directly add temporary actions using a probe within the surgical area. This simplifies the addition of temporary movements for the end effector, improves the efficiency of adding temporary movements, and further enhances surgical efficiency. The temporary action is a temporary action corresponding to the end effector added by the target user through temporary operations when encountering unexpected situations. For example, an unexpected situation may be, but is not limited to, situations requiring multi-angle suturing and simultaneous closure. In this case, the end effector may be forceps used to fix the suture ends, and the temporary action may be fixing the suture near the closure position.

[0025] S130. Determine the third pose information of the probe relative to the base based on the first pose information and the second pose information.

[0026] Specifically, since the first pose information and the second pose information share a common reference point, namely the pose acquisition device, the third pose information of the probe relative to the base can be determined based on the first pose information and the second pose information without coordinate changes.

[0027] S140. Determine the fourth pose information of the end flange relative to the end tool, and based on the fourth pose information and the third pose information, determine the target motion trajectory corresponding to the end flange, and control the end flange to move based on the target motion trajectory so as to drive the end tool connected to the end flange to move to the target probe pose.

[0028] In this context, the end effector flange can refer to the flange located at the end of a robot's manipulator. The end effector tool is mounted on the end effector flange, meaning the end effector flange and the end effector tool are connected. The end effector tool can be used to assist in surgery on a target object. For example, the end effector tool can be, but is not limited to, a sleeve tool. Changes in the pose of the end effector flange itself can cause corresponding changes in the pose of the connected end effector tool. The target motion trajectory can refer to the motion trajectory corresponding to the end effector flange.

[0029] Specifically, the fourth pose information of the end flange relative to the end tool can be determined by using the pre-calibrated installation position information of the end flange mounted on the robotic arm and the pre-calibrated installation position information of the end tool mounted on the end flange. Based on the fourth pose information and the third pose information, the target motion trajectory corresponding to the end flange is determined, and the end flange is controlled to move according to the target motion trajectory to drive the end tool connected to the end flange to move to the target probe pose. This allows the target object to complete the addition of temporary movements in the surgical area, thereby simplifying the addition of temporary movements of the end tool, improving the efficiency of adding temporary movements, and further improving surgical efficiency.

[0030] For example, Figure 3 An example diagram showing the end-effector moving to the target probe pose is provided. See also... Figure 3 The probe has been returned to its initial position. The robot controls the manipulator to move the end effector flange according to the target motion trajectory. It can first move to the position that the end effector flange needs to reach, so that the end effector tool connected to the end effector flange moves to the position corresponding to the target probe pose. Then, by rotating the end effector tool driven by the end effector flange, the end effector tool connected to the end effector flange can be rotated to the pose corresponding to the target probe pose, thereby making the end effector tool move to the target probe pose.

[0031] The technical solution of this invention, by detecting a temporary addition operation triggered by the target object, determines the first pose information of the robot's base relative to the pose acquisition device, and unlocks the probe located in the surgical area to allow the target object to change the probe pose. This avoids the target object accidentally touching the probe, resulting in the addition of invalid temporary actions, ensuring the accurate addition of temporary actions. Furthermore, the target object can directly add temporary actions in the surgical area, avoiding secondary contamination of the surgical area while improving the efficiency of adding temporary actions. If a probe pose locking operation triggered by the target object under the target probe pose is detected, the second pose information of the probe relative to the pose acquisition device is determined. Thus, when it is detected that the target object places the probe in the desired position and adjusts it to the desired pose, the pose information of the target object placing the probe is recorded, and the relative pose information can be determined based on the pose acquisition device. This involves determining the first and second pose information, and then directly determining the third pose information of the probe relative to the base based on the first and second pose information without the need for pose information transition. The fourth pose information of the end flange relative to the end tool is then determined. Based on the fourth and third pose information, the target motion trajectory corresponding to the end flange is determined, and the end flange is controlled to move according to the target motion trajectory, thereby driving the end tool connected to the end flange to move to the target probe pose. This allows for the addition of temporary actions to the original operation plan corresponding to the entire surgery, enabling the robot to perform temporary actions to control the end flange, so that the end flange drives the end tool to automatically move to the position marked by the probe and achieve a pose synchronized with the probe. This simplifies the addition of temporary movements to the end tool, improves the efficiency of adding temporary movements, and further improves surgical efficiency.

[0032] Based on the above technical solution, the pose information includes a homogeneous transformation matrix, which is determined based on the position information and the pose information.

[0033] The homogeneous transformation matrix can be, but is not limited to, a 4x4 homogeneous matrix. For example, the first pose information includes the first homogeneous transformation matrix of the robot's base relative to the pose acquisition device. In the first homogeneous transformation matrix, the elements in the first row of the fourth column represent the position information of the base relative to the pose acquisition device on the x-axis; the elements in the second row of the fourth column represent the position information of the base relative to the pose acquisition device on the y-axis; the elements in the third row of the fourth column represent the position information of the base relative to the pose acquisition device on the z-axis; and the elements in the first three rows of the first three columns represent the pose information of the base relative to the pose acquisition device, which includes rotation angle and direction. The elements in the fourth row are 0, 0, 0, and 1 from the first to the fourth column, respectively. The advantage of this setup is that the elements in the first three rows of the first three columns can be understood as a 3x3 pose matrix to describe the pose of the target object, such as the rotation angle and direction of the target object in three-dimensional space, thereby controlling the orientation and rotation of the target object through the pose matrix. The elements in the first three rows of the fourth column can also be understood as a 3*1 position matrix, which describes the relative position of the target object. By combining the position matrix and the attitude matrix, the relative position and relative direction of the target object can be determined, so that the motion trajectory of the target object can be planned and the target object can move automatically according to the planned trajectory.

[0034] Based on the above technical solution, S130 may include: inverting the first homogeneous transformation matrix in the first pose information, and performing matrix multiplication based on the inverted first homogeneous transformation matrix and the second homogeneous transformation matrix in the second pose information to obtain the third homogeneous transformation matrix in the third pose information of the probe relative to the base.

[0035] The first homogeneous transformation matrix can be used as follows: The second homogeneous transformation matrix can be represented as follows. The first homogeneous transformation matrix after the contravariance can be represented as... It can also be expressed as... This can be understood as follows: the first homogeneous transformation matrix before inversion is the first homogeneous transformation matrix of the robot's base relative to the pose acquisition device; the first homogeneous transformation matrix after inversion is the first homogeneous transformation matrix of the pose acquisition device relative to the robot's base.

[0036] Specifically, matrix multiplication is performed based on the first homogeneous transformation matrix after inversion and the second homogeneous transformation matrix in the second pose information to obtain the third homogeneous transformation matrix in the third pose information of the probe relative to the base, i.e. * The obtained third homogeneous transformation matrix can be used... express.

[0037] Example 2 Figure 4 This is a flowchart of a control method for temporary movement of an end-effector provided in Embodiment 2 of the present invention. Based on the above embodiments, this embodiment describes in detail the process of determining the first pose information. Explanations of terms that are the same as or corresponding to those in the above embodiments are not repeated here. Figure 4 As shown, the method includes: S210. If a temporary addition operation triggered by the target object is detected, the fifth pose information of the positioning ball of the end effector relative to the pose collector is obtained from the pose collector; the sixth pose information of the positioning ball relative to the robot's base is obtained from the robot.

[0038] Using the same format as the homogeneous transformation matrix in the previous example, the fifth homogeneous transformation matrix in the fifth pose information can be expressed as follows: The fifth homogeneous transformation matrix in the sixth pose information can be represented as follows. express.

[0039] S220. Based on the fifth and sixth pose information, determine the first pose information of the base relative to the pose acquisition device, and unlock the probe located in the surgical area to change the probe pose of the target object.

[0040] Specifically, the inverse of the sixth homogeneous transformation matrix is ​​used to obtain the contravariant sixth homogeneous transformation matrix. or The representation is as follows: Based on the matrix multiplication of the sixth homogeneous transformation matrix and the fifth homogeneous transformation matrix after inversion, the first homogeneous transformation matrix of the base relative to the pose acquisition device is determined, i.e. This allows the base to determine its first pose information relative to the pose acquisition device and unlock the probe located in the surgical area to change the probe pose of the target object.

[0041] S230. If a probe pose locking operation triggered by the target object under the target probe pose is detected, then the second pose information of the probe relative to the pose acquisition device is determined.

[0042] S240. Determine the third pose information of the probe relative to the base based on the first pose information and the second pose information.

[0043] S250. Determine the fourth pose information of the end flange relative to the end tool, and based on the fourth pose information and the third pose information, determine the target motion trajectory corresponding to the end flange, and control the end flange to move based on the target motion trajectory so as to drive the end tool connected to the end flange to move to the target probe pose.

[0044] The technical solution of this invention involves obtaining the fifth pose information of the positioning ball of the end effector relative to the pose collector from the pose collector if a temporary addition operation triggered by the target object is detected; obtaining the sixth pose information of the positioning ball relative to the robot's base from the robot; determining the first pose information of the base relative to the pose collector based on the fifth and sixth pose information; and unlocking the probe located in the surgical area to change the probe pose of the target object. This allows for the conversion of pose information through the positioning ball, rather than directly using the pose information of the base relative to the pose collector acquired by the pose collector for subsequent processing. This is because there are many factors that interfere with the accuracy of pose acquisition during the actual acquisition process, such as mechanical vibration or light scattering. In this application, the pose information of the positioning ball of the end effector relative to the pose acquisition device and the pose information of the positioning ball relative to the robot base are determined by a common reference point. Based on the common reference point, the fifth pose information and the sixth pose information, the first pose information of the base relative to the pose acquisition device can be determined more accurately, which further simplifies the addition of temporary motion of the end effector, improves the efficiency of adding temporary motion, and further improves the efficiency of surgery.

[0045] Based on the above technical solution, S210 "obtaining the sixth pose information of the positioning ball relative to the robot's base from the robot" may include: obtaining the seventh pose information of the positioning ball relative to the end flange from the pose sensor; obtaining the eighth pose information of the end flange relative to the robot's base from the pose sensor; and determining the sixth pose information of the positioning ball relative to the base based on the seventh pose information and the eighth pose information.

[0046] Here, the pose sensor can refer to a sensor installed in the robot to determine the pose information between various components of the robot. Continuing the representation of the homogeneous transformation matrix from the previous example, the seventh homogeneous transformation matrix in the seventh pose information can be... The eighth homogeneous transformation matrix in the eighth pose information can be represented as follows: This is represented by multiplying the eighth homogeneous transformation matrix with the seventh homogeneous transformation matrix. * The multiplication result is determined as the fifth homogeneous transformation matrix in the sixth pose information of the positioning ball relative to the base, i.e. This reduces the adverse effects of various factors that interfere with the accuracy of pose acquisition during the operation, thereby determining more accurate sixth pose information.

[0047] For example, the pose sensor can determine the mounting position of the positioning ball relative to the end flange using mechanical dimensions, and it can also determine the mounting position of the end tool relative to the positioning ball using mechanical dimensions. For instance, the mechanical dimensions can be a pre-set relative distance between the end flange and the positioning ball, or between the end tool and the positioning ball, for different types of end flanges or different types of end tools. The relative positional relationship between the positioning ball and the end flange can be determined based on the mechanical dimensions, and then the mounting position of the positioning ball relative to the end flange can be determined based on the positioning ball's pose and the relative positional relationship at the current moment. Alternatively, another relative positional relationship between the positioning ball and the end tool can be determined based on the mechanical dimensions, and then the mounting position of the end tool relative to the positioning ball can be determined based on the positioning ball's pose and the other relative positional relationship at the current moment.

[0048] Based on the above technical solution, "determining the fourth pose information of the end flange relative to the end tool" in S250 may include: obtaining the ninth pose information of the end tool relative to the positioning ball from the pose sensor; and determining the fourth pose information of the end flange relative to the end tool based on the seventh pose information and the ninth pose information.

[0049] Here, the homogeneous transformation matrix representation from the previous example is used. The ninth homogeneous transformation matrix in the ninth pose information can be expressed as follows: The fourth homogeneous transformation matrix in the fourth pose information can be represented as follows: express.

[0050] Specifically, the seventh homogeneous transformation matrix in the seventh pose information and the ninth homogeneous transformation matrix in the ninth pose information are multiplied together, i.e. * The multiplication result is then inverted to obtain the homogeneous transformation matrix after inversion. This homogeneous transformation matrix is ​​then used as the fourth homogeneous transformation matrix in the fourth pose information of the end flange relative to the end tool, thereby obtaining the fourth pose information of the end flange relative to the end tool. This reduces the adverse effects of various factors that interfere with the accuracy of pose acquisition during the operation, and thus determines a more accurate fourth pose information.

[0051] Based on the above technical solution, S250, "determining the target motion trajectory corresponding to the end flange based on the fourth pose information and the third pose information" can include: determining the target pose information corresponding to the end flange based on the fourth pose information and the third pose information; determining the target movement trajectory corresponding to the end flange based on the position information corresponding to the target pose information; determining the target rotation trajectory corresponding to the end flange based on the attitude information corresponding to the target pose information; and determining the target motion trajectory corresponding to the end flange based on the target movement trajectory and the target rotation trajectory.

[0052] The target movement trajectory refers to the movement path of the end effector flange when the robot performs a newly added temporary action, i.e., the movement path of the end effector flange during temporary motion. The target rotation trajectory refers to the rotation angle of the end effector flange when the robot performs a newly added temporary action, i.e., the rotation angle of the end effector flange during temporary motion. The end effector flange can rotate according to the target rotation trajectory from its initial position and then move according to the target movement trajectory; alternatively, it can move according to the target movement trajectory first and then rotate according to the target rotation trajectory; or it can perform movement and rotation simultaneously to more quickly complete the temporary motion corresponding to the end effector tool, further simplifying the addition of temporary motions for the end effector tool, improving the efficiency of adding temporary motions, and thus improving surgical efficiency.

[0053] The following are embodiments of the control device for temporary movement of the end-effector provided in this invention. This device and the control method for temporary movement of the end-effector in the above embodiments belong to the same inventive concept. For details not described in detail in the embodiments of the control device for temporary movement of the end-effector, please refer to the embodiments of the control method for temporary movement of the end-effector described above.

[0054] Example 3 Figure 5 This is a schematic diagram of a control device for the temporary movement of an end-effector provided in Embodiment 3 of the present invention. Figure 5 As shown, the device includes: a first pose information determination module 310, a second pose information determination module 320, a third pose information determination module 330, and a target motion trajectory determination module 340.

[0055] The first pose information determination module 310 is used to determine the first pose information of the robot's base relative to the pose acquisition device if a temporary addition operation triggered by the target object is detected, and to unlock the probe located in the surgical area so that the target object changes the probe pose; the second pose information determination module 320 is used to determine the second pose information of the probe relative to the pose acquisition device if a probe pose locking operation triggered by the target object under the target probe pose is detected; the third pose information determination module 330 is used to determine the third pose information of the probe relative to the base based on the first pose information and the second pose information; the target motion trajectory determination module 340 is used to determine the fourth pose information of the end flange relative to the end tool, and based on the fourth pose information and the third pose information, to determine the target motion trajectory corresponding to the end flange, and to control the end flange to move based on the target motion trajectory so as to drive the end tool connected to the end flange to move to the target probe pose.

[0056] The technical solution of this invention, by detecting a temporary addition operation triggered by the target object, determines the first pose information of the robot's base relative to the pose acquisition device, and unlocks the probe located in the surgical area to allow the target object to change the probe pose. This avoids the target object accidentally touching the probe, resulting in the addition of invalid temporary actions, ensuring the accurate addition of temporary actions. Furthermore, the target object can directly add temporary actions in the surgical area, avoiding secondary contamination of the surgical area while improving the efficiency of adding temporary actions. If a probe pose locking operation triggered by the target object under the target probe pose is detected, the second pose information of the probe relative to the pose acquisition device is determined. Thus, when it is detected that the target object places the probe in the desired position and adjusts it to the desired pose, the pose information of the target object placing the probe is recorded, and the relative pose information can be determined based on the pose acquisition device. This involves determining the first and second pose information, and then directly determining the third pose information of the probe relative to the base based on the first and second pose information without the need for pose information transition. The fourth pose information of the end flange relative to the end tool is then determined. Based on the fourth and third pose information, the target motion trajectory corresponding to the end flange is determined, and the end flange is controlled to move according to the target motion trajectory, thereby driving the end tool connected to the end flange to move to the target probe pose. This allows for the addition of temporary actions to the original operation plan corresponding to the entire surgery, enabling the robot to perform temporary actions to control the end flange, so that the end flange drives the end tool to automatically move to the position marked by the probe and achieve a pose synchronized with the probe. This simplifies the addition of temporary movements to the end tool, improves the efficiency of adding temporary movements, and further improves surgical efficiency.

[0057] Optionally, the first pose information determination module 310 may include: The fifth pose information determination submodule is used to obtain the fifth pose information of the positioning ball of the end effector relative to the pose collector from the pose collector; The sixth pose information determination submodule is used to obtain the sixth pose information of the positioning ball relative to the robot's base from the robot; The first pose information determination submodule is used to determine the first pose information of the base relative to the pose acquisition device based on the fifth pose information and the sixth pose information.

[0058] Optionally, the sixth pose information determination submodule is specifically used to: obtain the seventh pose information of the positioning ball relative to the end flange from the pose sensor; obtain the eighth pose information of the end flange relative to the robot's base from the pose sensor; and determine the sixth pose information of the positioning ball relative to the base based on the seventh pose information and the eighth pose information.

[0059] Optionally, the target motion trajectory determination module 340 may include: The ninth pose information determination submodule is used to obtain the ninth pose information of the end effector relative to the positioning ball from the pose sensor; The fourth pose information determination submodule is used to determine the fourth pose information of the end flange relative to the end tool based on the seventh pose information and the ninth pose information.

[0060] Optionally, the target motion trajectory determination module 340 may include: The target pose information determination submodule is used to determine the target pose information corresponding to the end flange based on the fourth pose information and the third pose information; The target movement trajectory determination submodule is used to determine the target movement trajectory corresponding to the end flange based on the position information corresponding to the target pose information. The target rotation trajectory determination submodule is used to determine the target rotation trajectory corresponding to the end flange based on the attitude information corresponding to the target pose information. The target motion trajectory determination submodule is used to determine the target motion trajectory corresponding to the end flange based on the target movement trajectory and the target rotation trajectory.

[0061] Optionally, the third pose information determination module 330 is specifically used to: invert the first homogeneous transformation matrix in the first pose information, and perform matrix multiplication based on the inverted first homogeneous transformation matrix and the second homogeneous transformation matrix in the second pose information to obtain the third homogeneous transformation matrix in the third pose information of the probe relative to the base.

[0062] The control device for temporary movement of the end-effector provided in the embodiments of the present invention can execute the control method for temporary movement of the end-effector provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the control method for temporary movement of the end-effector.

[0063] It is worth noting that in the embodiments of the control device for temporary movement of the end tool described above, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0064] Example 4 Figure 6 This is a schematic diagram of a control system for temporary movement of an end-effector provided in Embodiment 4 of the present invention. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the invention described and / or claimed herein.

[0065] like Figure 6As shown, the control system for the temporary motion of the end-effector includes: a robot, a probe, a pose acquisition device, and a controller; wherein the robot includes: a base, an end flange on the manipulator, and an end-effector connected to the end flange.

[0066] The controller is used to implement the control method for temporary movement of the end-effector as provided in any embodiment of the present invention.

[0067] The end-effector temporary motion control system provided in this embodiment determines the robot's base's first pose information relative to the pose acquisition device when a temporary addition operation triggered by the target object is detected. It then unlocks the probe located in the surgical area to allow the target object to change the probe's pose, thus preventing the target object from accidentally touching the probe and adding invalid temporary actions. This ensures accurate addition of temporary actions, and the target object can directly add temporary actions in the surgical area, avoiding secondary contamination and improving the efficiency of adding temporary actions. If a probe pose locking operation triggered by the target object under the target probe's pose is detected, the second pose information of the probe relative to the pose acquisition device is determined. When the target object places the probe in the desired position and adjusts it to the desired pose, the pose information of the target object placing the probe is recorded, and the phase can be determined based on the pose acquisition device. The robot can directly determine the third pose of the probe relative to the base based on the first and second pose information, without the need for pose information transition. It can also determine the fourth pose of the end flange relative to the end tool, and based on the fourth and third pose information, determine the target motion trajectory corresponding to the end flange. The robot then controls the end flange to move according to the target motion trajectory, thereby moving the end tool connected to the end flange to the target probe pose. This allows for the addition of temporary actions to the original surgical procedure plan, enabling the robot to perform these temporary actions to control the end flange, allowing the end flange to automatically move the end tool to the position marked by the probe and achieve a synchronized posture with the probe. This simplifies the addition of temporary movements to the end tool, improves the efficiency of adding temporary movements, and further enhances surgical efficiency.

[0068] Example 5 Figure 7A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0069] like Figure 7 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0070] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0071] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as methods for controlling the temporary movement of an end-effector.

[0072] In some embodiments, the method for controlling the temporary movement of an end-effector may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the control method for the temporary movement of an end-effector described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the control method for the temporary movement of an end-effector by any other suitable means (e.g., by means of firmware).

[0073] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0074] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0075] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0076] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0077] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0078] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0079] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0080] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A control system for temporary movement of an end-effector tool, characterized in that, The system includes: a robot, a probe, a pose acquisition device, and a controller; wherein the robot includes: a base, an end flange on the robotic arm, and an end tool connected to the end flange; The controller is used to implement a control method for the temporary movement of the end-effector. The method for controlling the temporary movement of the end-effector includes: If a temporary addition operation triggered by the target object is detected, the first pose information of the robot's base relative to the pose acquisition device is determined, and the probe located in the surgical area is unlocked to change the probe pose of the target object. If a probe pose locking operation triggered by the target object under the target probe pose is detected, then the second pose information of the probe relative to the pose acquisition device is determined; The third pose information of the probe relative to the base is determined based on the first pose information and the second pose information; The fourth pose information of the end flange relative to the end tool is determined, and based on the fourth pose information and the third pose information, the target motion trajectory corresponding to the end flange is determined, and the end flange is controlled to move based on the target motion trajectory so as to drive the end tool connected to the end flange to move to the target probe pose.

2. The system according to claim 1, characterized in that, The determination of the robot's base relative to the pose acquisition device includes: Obtain the fifth pose information of the positioning ball of the end effector relative to the pose collector from the pose collector; Obtain the sixth pose information of the positioning ball relative to the robot's base from the robot; Based on the fifth pose information and the sixth pose information, the first pose information of the base relative to the pose acquisition device is determined.

3. The system according to claim 2, characterized in that, The step of obtaining the sixth pose information of the positioning ball relative to the robot's base from the robot includes: The seventh pose information of the positioning ball relative to the end flange is obtained from the pose sensor; The eighth pose information of the end flange relative to the robot's base is obtained from the pose sensor; Based on the seventh pose information and the eighth pose information, the sixth pose information of the positioning ball relative to the base is determined.

4. The system according to claim 3, characterized in that, The determination of the fourth pose information of the end flange relative to the end tool includes: Obtain the ninth pose information of the end effector relative to the positioning ball from the pose sensor; The fourth pose information of the end flange relative to the end tool is determined based on the seventh pose information and the ninth pose information.

5. The system according to claim 1, characterized in that, Determining the target motion trajectory corresponding to the end flange based on the fourth pose information and the third pose information includes: Based on the fourth pose information and the third pose information, the target pose information corresponding to the end flange is determined; Based on the position information corresponding to the target pose information, the target movement trajectory corresponding to the end flange is determined; Based on the attitude information corresponding to the target pose information, the target rotation trajectory corresponding to the end flange is determined; Based on the target movement trajectory and the target rotation trajectory, the target movement trajectory corresponding to the end flange is determined.

6. The system according to claim 1, characterized in that, Determining the third pose information of the probe relative to the base based on the first pose information and the second pose information includes: The first homogeneous transformation matrix in the first pose information is inverted, and matrix multiplication is performed between the inverted first homogeneous transformation matrix and the second homogeneous transformation matrix in the second pose information to obtain the third homogeneous transformation matrix in the third pose information of the probe relative to the base.

7. A control device for the temporary movement of an end-effector tool, characterized in that, include: The first pose information determination module is used to determine the first pose information of the robot's base relative to the pose acquisition device if a temporary addition operation triggered by the target object is detected, and to unlock the probe located in the surgical area so that the target object changes the probe pose. The second pose information determination module is used to determine the second pose information of the probe relative to the pose acquisition device if a probe pose locking operation triggered by the target object under the pose of the target probe is detected. The third pose information determination module is used to determine the third pose information of the probe relative to the base based on the first pose information and the second pose information; The target motion trajectory determination module is used to determine the fourth pose information of the end flange relative to the end tool, and based on the fourth pose information and the third pose information, determine the target motion trajectory corresponding to the end flange, and control the end flange to move based on the target motion trajectory so as to drive the end tool connected to the end flange to move to the target probe pose.

8. An electronic device, characterized in that, The electronic device includes: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement a method for controlling the temporary movement of the end effector. The method for controlling the temporary movement of the end-effector includes: If a temporary addition operation triggered by the target object is detected, the first pose information of the robot's base relative to the pose acquisition device is determined, and the probe located in the surgical area is unlocked to change the probe pose of the target object. If a probe pose locking operation triggered by the target object under the target probe pose is detected, then the second pose information of the probe relative to the pose acquisition device is determined; The third pose information of the probe relative to the base is determined based on the first pose information and the second pose information; The fourth pose information of the end flange relative to the end tool is determined, and based on the fourth pose information and the third pose information, the target motion trajectory corresponding to the end flange is determined, and the end flange is controlled to move based on the target motion trajectory so as to drive the end tool connected to the end flange to move to the target probe pose.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, This program implements a method for controlling the temporary movement of the end-effector when executed by the processor. The method for controlling the temporary movement of the end-effector includes: If a temporary addition operation triggered by the target object is detected, the first pose information of the robot's base relative to the pose acquisition device is determined, and the probe located in the surgical area is unlocked to change the probe pose of the target object. If a probe pose locking operation triggered by the target object under the target probe pose is detected, then the second pose information of the probe relative to the pose acquisition device is determined; The third pose information of the probe relative to the base is determined based on the first pose information and the second pose information; The fourth pose information of the end flange relative to the end tool is determined, and based on the fourth pose information and the third pose information, the target motion trajectory corresponding to the end flange is determined, and the end flange is controlled to move based on the target motion trajectory so as to drive the end tool connected to the end flange to move to the target probe pose.

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