Remote diagnosis system, mechanical arm control method and device, equipment and storage medium

Abstract

The embodiment of the application provides a mechanical arm control method and device, equipment and a storage medium of a remote diagnosis system, and belongs to the technical field of intelligent medical treatment. The method comprises the following steps: receiving a control instruction sent by a leading terminal, and acquiring current position information of a first mechanical arm pair according to the control instruction; performing motion angle prediction according to the control instruction and the current position information, and obtaining a motion prediction angle of the first mechanical arm pair; if the motion prediction angle is located in a preset protection angle range, controlling the first mechanical arm pair to act on a target object according to the control instruction; collecting reaction data generated by the first mechanical arm pair acting on the target object; and sending the reaction data to the leading terminal, so that the leading terminal controls motion parameters of a second mechanical arm pair according to the reaction data, and synchronizes the second mechanical arm pair with the first mechanical arm pair. The embodiment of the application can reduce the probability of the patient being injured by mistake during remote examination or rehabilitation training.

Description

Technical Field

[0001] This application relates to the field of intelligent medical technology, and in particular to a robotic arm control method, device, equipment, and storage medium for a remote consultation system. Background Technology

[0002] With the development of smart healthcare, remote consultation systems have emerged. These systems provide remote consultation services for elderly, disabled, and other patients, as well as those living far away or suffering from infectious diseases. Through these systems, medical staff can remotely inquire about patients' conditions and examine their physical status. To enable remote examinations, these systems typically include robotic arms at both ends, which are then simultaneously controlled to examine the patient. However, due to the limitations of remote examinations, medical staff cannot accurately assess the patient's physical condition and rely solely on remote video feeds to control the robotic arms. This increases the risk of accidental injury and hinders the provision of more accurate or effective treatment. Therefore, reducing the probability of accidental injury has become a pressing technical challenge. Summary of the Invention

[0003] The main objective of this application is to provide a robotic arm control method, device, equipment, and storage medium for a remote consultation system, aiming to reduce the probability of patients being accidentally injured during remote examinations or rehabilitation training.

[0004] To achieve the above objectives, a first aspect of this application proposes a robotic arm control method for a remote medical consultation system, applied at an execution end, wherein the execution end is equipped with a first robotic arm pair, and the method includes:

[0005] Receive control commands sent by the master end, and obtain the current position information of the first robotic arm pair according to the control commands;

[0006] Based on the control command and the current position information, the motion angle is predicted to obtain the predicted motion angle of the first robotic arm pair.

[0007] If the motion prediction angle is within the preset protection angle range, the first robotic arm is controlled to act on the target object according to the control command;

[0008] Collect data on the reaction of the first robotic arm to the target object;

[0009] The reaction data is sent to the master end so that the master end can control the motion parameters of the second robotic arm pair according to the reaction data, so that the second robotic arm pair and the first robotic arm pair are synchronized.

[0010] In some embodiments, the first robotic arm pair includes: a first main robotic arm and a first auxiliary robotic arm, wherein the point acted by the first main robotic arm is the point to be measured, and the point acted by the first auxiliary robotic arm is the moving point to be measured; the current position information includes: a first angle matrix, a second angle matrix, a first distance, and a second distance; the first angle matrix is ​​the angle formed by combining the angles of each joint of the first main robotic arm; the second angle matrix is ​​the angle change when the first auxiliary robotic arm changes; the first distance is the distance between the bases of the first robotic arm pair, and the second distance is the length of the target object being acted upon; the control command includes: an activity angle; the step of predicting the motion angle of the first robotic arm pair based on the control command and the current position information includes:

[0011] A motion angle prediction model is constructed using the first angle matrix, the second angle matrix, the first distance, and the second distance; wherein, the motion angle prediction model represents the relationship between the activity angle and the motion angle;

[0012] The activity angle is input into the motion angle prediction model to obtain the motion prediction angle.

[0013] In some embodiments, the reaction data includes force data and torque data; the acquisition of reaction data generated by the first robotic arm acting on the target object includes:

[0014] Force data of the force exerted by the first robotic arm on the target object is collected by a force sensor;

[0015] The torque data generated by the first robotic arm acting on the target object is collected by a torque sensor.

[0016] In some embodiments, before manipulating the first robotic arm to act on the target object according to the control command if the motion prediction angle is within a preset protection angle range, the method further includes:

[0017] The motion parameters of the first robotic arm pair are obtained according to the control command, and the current motion parameters are obtained.

[0018] Based on the control command and the current motion parameters, the force is predicted to obtain the predicted force.

[0019] If the predicted force is less than the preset protection force range, the first robotic arm is controlled to act on the target object according to the control command;

[0020] If the predicted force exceeds the range of the protective force, a force warning message is generated.

[0021] To achieve the above objectives, a second aspect of this application proposes a robotic arm control method for a remote consultation system, applied to a controlling end, wherein a second robotic arm pair is provided at the controlling end, and the method includes:

[0022] Send control commands to the execution end so that the execution end controls the first robotic arm to act on the target object according to the control commands;

[0023] The actuator receives force data fed back from the execution end; wherein the force data is the force generated by the first robotic arm acting on the target object, collected by the execution end.

[0024] The motion parameters of the second robotic arm pair are adjusted according to the force data to synchronize the second robotic arm pair with the second robotic arm pair.

[0025] In some embodiments, the force data includes force data and torque data, wherein the force data includes vertical force and horizontal force, and the torque data includes vertical torque and horizontal torque; adjusting the motion parameters of the second robotic arm pair according to the force data to synchronize the second robotic arm pair includes:

[0026] Convert the vertical force and the horizontal force into velocity change data;

[0027] Convert the vertical torque and the horizontal torque into rotational variation data;

[0028] The speed of the second robotic arm pair is adjusted according to the speed change data, and the rotation angle of the second robotic arm pair is adjusted according to the rotation change data.

[0029] In some embodiments, after adjusting the motion parameters of the second robotic arm pair based on the force data to synchronize the second robotic arm pair, the method further includes:

[0030] Based on the force data, obtain the corresponding motion parameters to obtain the current motion parameters;

[0031] The force data and the current motion parameters are combined to form the current motion record;

[0032] The current motion record is stored in a preset storage database.

[0033] To achieve the above objectives, a third aspect of this application provides a robotic arm control device for a remote consultation system, applied at the execution end, wherein the execution end is equipped with a first robotic arm pair, and the device includes:

[0034] The instruction receiving module is used to receive control instructions sent by the master end and obtain the current position information of the first robotic arm pair according to the control instructions.

[0035] Angle prediction module is used to predict the motion angle based on the control command and the current position information to obtain the motion prediction angle of the first robotic arm pair;

[0036] The control module is used to control the first robotic arm to act on the target object according to the control command if the motion prediction angle is within the preset protection angle range.

[0037] The data acquisition module is used to collect data on the reaction of the first robotic arm to the target object.

[0038] The data transmission module is used to send the reaction data to the master end, so that the master end can control the motion parameters of the second robotic arm pair according to the reaction data, so that the second robotic arm pair and the first robotic arm pair are synchronized.

[0039] To achieve the above objectives, a fourth aspect of the present application provides an electronic device, the electronic device including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method described in the first aspect or the method described in the second aspect.

[0040] To achieve the above objectives, a fifth aspect of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect or the method described in the second aspect.

[0041] The robotic arm control method, device, equipment, and storage medium of the remote consultation system proposed in this application collect the reaction force of the first robotic arm pair after it acts on the target object, obtain reaction data, and feed the reaction data back to the master end to synchronously control the motion parameters of the second robotic arm pair on the master end. This allows the medical staff at the master end to synchronously feel the force on the patient, control the force of the first robotic arm pair more safely, and reduce the accidental injury rate of the patient during examination or rehabilitation training. Attached Figure Description

[0042] Figure 1 This is a system framework diagram of the remote consultation system provided in the embodiments of this application;

[0043] Figure 2 This is a flowchart of the robotic arm control method of the remote consultation system provided in this application embodiment;

[0044] Figure 3(a) is a schematic diagram of the first robotic arm acting on the target object in an embodiment of this application;

[0045] Figure 3(b) is a schematic diagram of the structure of the first robotic arm pair in the embodiment of this application;

[0046] Figure 4 yes Figure 2 The flowchart of step S202 in the text;

[0047] Figure 5 This is a flowchart of a robotic arm control method for a remote consultation system provided in another embodiment of this application;

[0048] Figure 6 yes Figure 2 The flowchart of step S204 in the process;

[0049] Figure 7(a) is a schematic diagram of the torque generated by the first robotic arm in an embodiment of this application;

[0050] Figure 7(b) is a schematic diagram of the torque exerted by the first robotic arm on the target part of the target object in an embodiment of this application;

[0051] Figure 8 This is a flowchart of the robotic arm control method of the remote consultation system provided in this application embodiment;

[0052] Figure 9 yes Figure 8 The flowchart of step S803 in the process;

[0053] Figure 10 This is a flowchart of a robotic arm control method for a remote consultation system provided in another embodiment of this application;

[0054] Figures 11(a), 11(b), 11(c) and 11(d) are schematic diagrams of the first robotic arm performing rehabilitation training on the target object in the robotic arm control method of the remote consultation system provided in the embodiments of this application.

[0055] Figure 12 This is a schematic diagram of the structure of the robotic arm control device of the remote consultation system provided in this application embodiment;

[0056] Figure 13 This is a schematic diagram of the structure of the robotic arm control device of a remote consultation system provided in another embodiment of this application;

[0057] Figure 14 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0059] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0061] With the development of smart healthcare, remote consultation systems have become a trend in the medical field. These systems are particularly beneficial for elderly, infirm, disabled, and patients with mobility issues, those living far away, and those suffering from infectious diseases. The typical process of a remote consultation system involves: a real-time video meeting between medical staff and the patient; the patient describing their symptoms; the medical staff examining the patient (the examination is limited to observation and consultation) to determine the cause and condition; and the patient picking up medication in person or receiving it by mail. However, traditional remote consultation systems cannot address situations requiring in-person contact to determine the cause and condition, or when rehabilitation training is needed. In some related technologies, robots are used to remotely examine patients and collect data on the medical staff's movements. A host computer then fuses this data with motion information collected by an inertial measurement unit to determine the final training movements, which the robot then applies to the patient. However, during treatment, the patient generates a reaction force, which is not directly fed back to the medical staff. Therefore, the medical staff are unaware of the force exerted on the patient, making it difficult to control the intensity of the movements and potentially causing injury, thus hindering rehabilitation training.

[0062] Based on this, embodiments of this application provide a robotic arm control method, device, equipment, and storage medium for a remote consultation system. The aim is to collect reaction force data from a first robotic arm pair acting on a target object, and then feed this reaction data back to the controlling end. Simultaneously, the motion parameters of a second robotic arm pair on the controlling end are adjusted, allowing medical personnel at the controlling end to simultaneously sense the force exerted on the patient. This facilitates safer control of the force applied by the first robotic arm pair and reduces the risk of injury to the patient during examinations or rehabilitation training.

[0063] The robotic arm control method, apparatus, device, and storage medium of the remote consultation system provided in this application are specifically described through the following embodiments. First, the robotic arm control method of the remote consultation system in this application is described.

[0064] The embodiments of this application can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence (AI) refers to the theories, methods, technologies, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results.

[0065] Foundational technologies for artificial intelligence generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing, operating / interactive systems, and mechatronics. AI software technologies mainly encompass computer vision, robotics, biometrics, speech processing, natural language processing, and machine learning / deep learning.

[0066] The robotic arm control method for a remote consultation system provided in this application relates to the field of intelligent medical technology. This robotic arm control method for a remote consultation system can be applied to a terminal, a server, or software running on either the terminal or the server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, etc.; the server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application implementing the robotic arm control method for the remote consultation system, but is not limited to the above forms.

[0067] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0068] It should be noted that in all specific embodiments of this application, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user location information, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards. In addition, when embodiments of this application require access to sensitive personal information of users, separate permission or consent from the user is obtained through pop-ups or redirection to confirmation pages. Only after obtaining the user's separate permission or consent is the necessary user-related data required for the proper functioning of these embodiments acquired.

[0069] Please refer to Figure 1 , Figure 1 This is a system structure diagram of the remote consultation system provided in this application embodiment. The remote consultation system includes a master end and an execution end, and the master end and the execution end transmit data through a communication module. The communication module includes any one of the following: GPRS module, WIFI module, 5G module, Bluetooth module, and there is no specific limitation on the communication module. The master end is provided with a second robotic arm pair, and the execution end is provided with a first robotic arm pair. The first robotic arm pair includes: a first main robotic arm 6 and a second auxiliary robotic arm 6'. The second robotic arm pair includes: a second main robotic arm 1 and a second auxiliary robotic arm 1'. The first main robotic arm acts on the point to be measured, the first auxiliary robotic arm acts on the moving point to be measured, and the second main robotic arm acts on a preset point. The second auxiliary robotic arm is controlled by the master end, and the moving point to be measured will change according to the movement of the second auxiliary robotic arm, so that the second auxiliary robotic arm and the first robotic arm are controlled synchronously. Figure 1It is understood that a bionic simulated limb 3 is placed on the placement platform. The second main robotic arm and the second auxiliary robotic arm act on the bionic simulated limb 3, and the medical staff 2 controls the second main robotic arm and the second auxiliary robotic arm by sending commands to the master end. At the same time, the master end generates control commands based on the movement of the second main robotic arm and the second auxiliary robotic arm and feeds them back to the execution end. The execution end then controls the first main robotic arm and the first auxiliary robotic arm to act on the target object 7 according to the control commands from the master end, so as to achieve remote synchronous examination. For example, in the process of rehabilitation training, if the medical staff can control the second robotic arm pair to make the first robotic arm pair act synchronously on the target object 7, remote rehabilitation training can be achieved, bringing convenience to patients with limited mobility.

[0070] Figure 2 This is an optional flowchart of the robotic arm control method for the remote consultation system provided in this application embodiment. Figure 2 The robotic arm control method of the remote consultation system shown is applied to the execution end. Figure 2 The method may include, but is not limited to, steps S201 to S205.

[0071] Step S201: Receive the control command sent by the master end, and obtain the current position information of the first robotic arm pair according to the control command;

[0072] Step S202: Based on the control command and current position information, predict the motion angle to obtain the predicted motion angle of the first robotic arm pair;

[0073] Step S203: If the motion prediction angle is within the preset protection angle range, the first robotic arm is controlled to act on the target object according to the control command.

[0074] Step S204: Collect data on the reaction of the first robotic arm to the target object;

[0075] Step S205: Send the reaction data to the master end so that the master end can control the motion parameters of the second robotic arm pair according to the reaction data, so that the second robotic arm pair and the first robotic arm pair are synchronized.

[0076] In steps S201 to S205 of this embodiment, when the execution terminal receives a control command, it first collects the current position information of the first robotic arm pair according to the control command, and then predicts the motion angle after executing the control command based on the current position information and the control command, thus obtaining the motion prediction angle. If the motion prediction angle is within the preset protection angle range, it means that the first robotic arm pair will not affect the target object after executing the control command, reducing the direct impact of the first robotic arm pair on the target object and reducing the probability of damage to the target object. When the first robotic arm pair is manipulated to act on the target object according to the control command, the target object will generate a reaction force on the first robotic arm pair, so the reaction data is obtained by collecting the action on the first robotic arm pair. The execution end feeds back the reaction data to the master end, so that the master end can control the motion data of the second robotic arm pair based on the reaction data. In other words, the second robotic arm pair will react, allowing medical staff to feel the feedback from the target object. This allows medical staff to more accurately control the force of the second robotic arm pair, and synchronize the force of the first robotic arm pair to better match the force situation of the target object. This reduces the risk of accidental injury due to a lack of understanding of the force situation of the target object, and improves the safety of patients during remote examinations or rehabilitation training.

[0077] In step S201 of some embodiments, the control command sent by the master end is the control command for the master end to control the second robotic arm pair. It should be noted that before the master end and the execution end operate synchronously, the positions and postures of the first and second robotic arm pairs need to be calibrated to synchronize the motion parameters between them. When medical personnel input control commands on the master end, the master end first sends the control commands to the execution end, waits for the execution end to verify them and then provides feedback on the pass information before controlling the second robotic arm pair according to the control commands. It should be further noted that the master end sends control commands to the execution end in real time, and the execution end predicts the pass of each control command it receives before synchronizing execution with the master end. The time required for prediction and verification is minimal and does not affect the smoothness of control between the execution end and the master end. The synchronous operation between the first and second robotic arm pairs is continuous and does not experience any pause due to prediction and verification.

[0078] In some embodiments, the first robotic arm pair includes a first main robotic arm and a first auxiliary robotic arm. The point acted by the first main robotic arm is the point to be measured, and the point acted by the first auxiliary robotic arm is the moving point to be measured. Current position information includes a first angle matrix, a second angle matrix, a first distance, and a second distance. The first angle matrix is ​​the angle formed by combining the angles of each joint of the first main robotic arm; the second angle matrix is ​​the angle change when the first auxiliary robotic arm changes position; the first distance is the distance between the bases of the first robotic arm pair; the second distance is the length of the target object being acted upon; and the control command includes: the angle of movement.

[0079] As shown in Figures 3(a) and 3(b), the working end of the first main robotic arm 6 is the point to be measured, A, and the working end of the first auxiliary robotic arm 6' is the moving point to be measured, B. Because when examining or rehabilitating a target object, the first main robotic arm is used to fix the joints of the target object, and then the second auxiliary robotic arm moves the other end of the target object's limb to complete the examination. The control command is to control the movement of the first robotic arm pair, so there will be a movement angle, which is the movement angle between the point to be measured and the moving point to be measured. As shown in Figure 3(a), the movement angle between the first main robotic arm and the first auxiliary robotic arm directly affects the limb of the target object. However, the movement angle of different target objects' limbs is limited. It is necessary to predict whether the movement angle between the first main robotic arm and the first auxiliary robotic arm exceeds the angle limit based on the movement angle to reduce the damage to the target object caused by the movement between the first main robotic arm and the first auxiliary robotic arm. The first distance is the distance between the bases of the first main robotic arm pair. As shown in Figure (b), the base of the first main robotic arm is O. global If the base of the first robotic arm is OB, then the first distance is... The second distance is the length of the target object that is affected, as shown in Figure 3(b).

[0080] Please see Figure 4 In some embodiments, step S202 may include, but is not limited to, steps S401 to S402:

[0081] Step S401: Construct a motion angle prediction model using the first angle matrix, the second angle matrix, the first distance, and the second distance; wherein, the motion angle prediction model represents the relationship between the activity angle and the motion angle;

[0082] Step S402: Input the activity angle into the motion angle prediction model to obtain the motion prediction angle.

[0083] In steps S401 to S402 of some embodiments, as shown in Figure 3(b), there is a vector balance relationship between the base of the first main robotic arm, the base of the first auxiliary robotic arm, the point to be measured, the moving point to be measured, the length of the target object being acted upon, and the distance between the point to be measured and the moving point to be measured. Therefore, by constructing a motion angle prediction model based on the first angle matrix, the second angle matrix, the first distance, and the second distance, and the motion angle prediction model characterizes the relationship between the activity angle and the motion angle, the motion angle between the first main robotic arm and the first auxiliary robotic arm at the next time point can be predicted according to the activity angle in the control command, so as to determine whether the angle acted upon by the target object exceeds the protection angle range.

[0084] Specifically, the process of constructing the motion angle prediction model is as follows:

[0085] By applying the law of conservation of vectors, we can obtain formula (1):

[0086]

[0087] In the formula, The vector to which the target object is acted. Let be the vector between the bases of the first main robotic arm and the first auxiliary robotic arm. Let be the vector between the moving point to be measured and the base of the first robotic arm. Let be the vector between the point to be measured and the base of the first main robotic arm. It should be noted that... These are the variables received by the execution end.

[0088] Furthermore, based on the vector conservation transformation into an angular distance relationship, we obtain formula (2).

[0089]

[0090] In the formula, The length of the target object that is affected, and The first distance, that is θ1 is the angle matrix of the point A to be measured, also known as the first angle matrix, and θ1 is a fixed value. θ2 is the angle matrix of the moving point B to be measured, also known as the second angle matrix, and θ2 changes according to the moving angle θ of the part of the target object being acted upon. J1 and J2 are the Jacobian matrices. Jacobian matrix, i.e., joint position (Independent variable) and terminal Cartesian position The Jacobian matrix is ​​a function relating (function values). It should be noted that the Jacobian matrix is ​​a matrix of first-order partial derivatives arranged in a specific way, similar to the derivative of a multivariate function. The Jacobian matrix is ​​a commonly used matrix in robot kinematics. Joint positions are obtained by the robot's encoder, and Cartesian positions are the product of the Jacobian matrix and the angle matrix. In other words, the Jacobian matrix is ​​a function relating joint positions and Cartesian positions.

[0091] The formula (2) is obtained by substituting the relevant variables into formula (1).

[0092] We can obtain AB and O. global O B The included angle between them is determined as shown in formula (3):

[0093]

[0094] AB and O can be calculated using formula (3). global O B The angle between them is also known as the angle of movement θ.

[0095] Based on formulas (2) and (3), substituting formula (2) into formula (3) yields formula (4):

[0096]

[0097]

[0098] The motion angle prediction model can be obtained through formula (5). In other words, by inputting the second distance (limb length) and the movement angle θ, the output angle of the moving point to be measured can be obtained, which is the motion prediction angle. The motion prediction angle is used to detect and ensure that the movement of the first robotic arm pair at the execution end does not exceed the movement limit of the affected part. This allows for the prediction in advance of whether the movement angle of the first robotic arm pair acting on the target limb at a later time point exceeds the limit angle range. Only when it is ensured that the range is not exceeded can the first robotic arm pair be operated, reducing the risk of damage to the target object due to excessive movement of the first robotic arm pair.

[0099] In steps S401 to S402 of this embodiment, the relationship between the activity angle and the motion angle is determined based on the interaction between the first main robotic arm, the first auxiliary robotic arm, and the target object. The motion angle is the output angle of the moving point to be measured. By predicting the output angle of the moving point to be measured, it is possible to anticipate whether the range of motion of the first main robotic arm and the first auxiliary robotic arm in coordinating their operation on the target object exceeds the range limit. This allows for real-time prediction before manipulation, reducing the probability of accidental injury to the limbs of the target object caused by the first robotic arm.

[0100] In some embodiments, please refer to Figure 5 Before step S102, the robotic arm control method of the remote consultation system may also include, but is not limited to, steps S501 to S504:

[0101] Step S501: Obtain the motion parameters of the first robotic arm pair according to the control command to obtain the current motion parameters;

[0102] Step S502: Based on the control command and current motion parameters, predict the force to obtain the predicted force;

[0103] Step S503: If the predicted force is less than the preset protection force range, the first robotic arm is controlled to act on the target object according to the control command.

[0104] Step S504: If the predicted force exceeds the protection force range, generate a force prompt message.

[0105] In steps S501 to S502 of some embodiments, when a control command is received, it is necessary to determine the magnitude of the force that will be generated on the target object after the execution of the control command, in order to determine whether the generated force exceeds the force that the target object can withstand. It should be noted that a protection force range is set in advance for each target object's force condition or the force limitations of different parts of the target object. If the force exceeds the protection force range, that is, the force exceeds the upper and lower limits of the force on the affected part of the target object. Because the force generated by the first robotic arm on the target object is affected by the current motion parameters, the current motion parameters are obtained, and the force will be predicted for the affected part of the target object based on the current motion parameters and the control force in the control command, thus obtaining the predicted force. Predicting the magnitude of the force that the first robotic arm will generate on the affected part of the target object in advance based on the control command prevents direct damage to the target object when the first robotic arm is directly manipulated, reducing the possibility of accidental injury to the target object.

[0106] In step S503 of some embodiments, by comparing the predicted force with the protective force range, if the predicted force is within the protective force range, it means that the force generated by the first robotic arm acting on the target object according to the control command is within the force range that the target object can withstand. Therefore, the first robotic arm is controlled to act on the target part of the target object according to the control command.

[0107] In step S504 of some embodiments, if the predicted force exceeds the protective force range, it indicates that the force exerted on the target object by the first robotic arm according to the control command is beyond the target object's tolerance and may easily cause damage to the target object. Therefore, force warning information is generated and fed back to the controlling end, allowing the medical personnel at the controlling end to see that the action will affect the safety of the target object, so that the controlling end can modify the control command to reduce the force on the target object and improve the safety of the target object during examinations or rehabilitation training.

[0108] In steps S501 to S504 of this embodiment, the magnitude of the force that the control command will exert on the target part of the target object is predicted in advance, and then it is determined whether the force exceeds the upper and lower limits of the force on the target part of the target object. The control command is only executed when the force does not exceed these limits, thus improving the safety of the target object during examinations or rehabilitation training. Simultaneously, if the force exceeds the upper and lower limits, a warning message is sent to the controlling end, causing the controlling end to reduce the control force on the second robotic arm. This ensures that the force exerted by the first robotic arm on the target part of the target object is within the upper and lower limits, reducing the possibility of accidental injury to the target object during examinations or rehabilitation training.

[0109] In step S203 of some embodiments, after the predicted motion angle is within the protection angle range and the predicted force is within the protection force range, the first robotic arm is manipulated according to the control command to act on the target part of the target object. It should be noted that the protection angle range and protection force range are set differently for different parts of the target object to achieve targeted protection for different parts. For example, as shown in Figure 3(a), when the first robotic arm acts on the lower leg of the target object, the protection angle range is limited according to the movable angle of the lower leg, and the protection force range is set according to the force limit of the lower leg of different patients, so as to be suitable for patients in different situations to perform examinations or rehabilitation training, and improve the safety of remote rehabilitation training.

[0110] It should be noted that if the predicted motion angle exceeds the protection angle range, the system will disengage from the first robotic arm pair and send an angle prompt to the master end, prompting it to adjust the motion angle. It should also be noted that because the master end uses a bionic simulated limb, and the target object at the execution end differs in size from the bionic simulated limb, even with synchronization between the first and second robotic arm pairs, errors in angle and force are inevitable. That is, the angle and force applied by the second robotic arm pair to the bionic simulated limb may be appropriate. However, the force and angle applied by the first robotic arm pair to the target part of the target object may exceed the limit. Therefore, predicting the force and motion angle before executing control commands improves the safety of the target object during remote examination or rehabilitation training, reducing the possibility of accidental injury to the target object by the second robotic arm pair.

[0111] Please see Figure 6 In some embodiments, step S204 may include, but is not limited to, steps S601 to S602:

[0112] Step S601: Collect force data generated by the first robotic arm acting on the target object through a force sensor;

[0113] Step S602: The torque data generated by the first robotic arm acting on the target object is collected by the torque sensor.

[0114] In step S601 of some embodiments, a force sensor is provided on the first robotic arm to collect force data by acquiring the reaction force received by the first robotic arm. It should be noted that the execution end is also provided with an execution end industrial control computer, and the force sensor is communicatively connected to the execution end industrial control computer and feeds back the force data to the execution end industrial control computer.

[0115] In step S602 of some embodiments, a torque sensor is also provided on the first robotic arm pair. The torque sensor detects the reaction torque received by the first robotic arm pair to obtain torque data, and transmits the torque data to the execution end industrial control computer.

[0116] It should be noted that, as shown in Figures 7(a) and 7(b), the force data includes: vertical force f z and horizontal force f xy The torque data includes: vertical torque τ1 and horizontal torque τ xy . Specifically:

[0117]

[0118]

[0119]

[0120] in, The absolute value of the torque detected by the torque sensor at the actuator end of the first main robotic arm 6, where the point to be measured, is A. τ is the absolute value of the torque detected by the torque sensor at the actuator end of the first robotic arm 6', where the moving point B to be measured is located. body The torque sensor at the actuator end detects the force torque applied to the part of the target object that is being acted upon. To limit the maximum force applied, The application of force is restricted by the medical staff at the primary level, with the target group being differentiated.

[0121] In steps S601 to S602 of this embodiment, the force data of the first robotic arm is collected by a force sensor, and the torque data of the first robotic arm is collected by a torque sensor, so as to achieve rapid acquisition of force data and torque data.

[0122] Please see Figure 8 Furthermore, embodiments of this invention also disclose a robotic arm control method for a remote consultation system, applied to the master end, wherein a second robotic arm pair is configured on the master end. Figure 8 This may include, but is not limited to, steps S801 to S803:

[0123] Step S801: Send control commands to the execution end so that the execution end can control the first robotic arm to act on the target object according to the control commands;

[0124] Step S802: Receive force data fed back from the execution end; wherein, the force data is the force generated by the first robotic arm on the target object collected by the execution end;

[0125] Step S803: Adjust the motion parameters of the second robotic arm pair according to the force data to synchronize the second robotic arm pair with the second robotic arm pair.

[0126] In step S801 of some embodiments, the controlling end receives the control command generated by the medical staff. Before controlling the second robotic arm pair according to the control command, the control command needs to be sent to the executing end. The executing end predicts the force and motion angle based on the control command and the current motion parameters and current position information of the first robotic arm pair. If the predicted force and motion angle are within the specified range, it will provide feedback with a verification pass information. After receiving the verification pass information, the controlling end controls the second robotic arm pair to act on the bionic simulated limb 3 according to the control command. At the same time, the executing end will control the first robotic arm pair to act on the target part of the target object according to the control command.

[0127] It should be noted that the specific steps for predicting and verifying the force and motion angle at the execution end are as described above and will not be repeated here.

[0128] In steps S802 to S803 of some embodiments, when the execution end manipulates the first robotic arm to act on the target part of the target object, the reaction data received by the first robotic arm is collected by sensors. Therefore, the reaction data is fed back by the execution end. It should be noted that the execution end is equipped with a control computer, which analyzes and processes the reaction data and controls the motion parameters of the second robotic arm based on the reaction data. This provides remote medical personnel with a realistic tactile sensation of the action on the target object, allowing them to determine the force applied to the patient and make more appropriate controls to suit patients with different force conditions.

[0129] In steps S801 to S803 of this embodiment, when the first robotic arm is manipulated by the execution end to act on the target object, the reaction data of the target object's reaction to the first robotic arm is collected. The control end can control the motion parameters of the second robotic arm pair according to the reaction data, more realistically simulating face-to-face contact between the two parties remotely, so as to better carry out activities such as remote contact diagnosis and rehabilitation training, and effectively avoid accidental injury to the target object of the execution end.

[0130] Please see Figure 9 In some embodiments, the force data includes force data and torque data, where the force data includes vertical force and horizontal force, and the torque data includes vertical torque and horizontal torque; step S803 includes, but is not limited to, steps S901 to S903:

[0131] Step S901: Convert the vertical force and horizontal force into velocity change data;

[0132] Step S902: Convert the vertical torque and horizontal torque into rotational variation data;

[0133] Step S903: Adjust the speed of the second robotic arm pair according to the speed change data, and adjust the rotation angle of the second robotic arm pair according to the rotation change data.

[0134] In step S901 of some embodiments, the vertical force and horizontal force are converted into speed change data, which is the speed change of the first robotic arm pair.

[0135] In step S902 of some embodiments, the vertical torque and horizontal torque are converted into rotational variation data, and the rotational variation data is the rotational variation of the first robotic arm pair.

[0136] In step S903 of some embodiments, in order to enable medical personnel at the controlling end to experience the target object in an immersive way, the speed of the second robotic arm pair is adjusted according to speed change data so that the speed change of the second robotic arm pair is synchronized with that of the first robotic arm pair. Simultaneously, the rotation of the second robotic arm pair is adjusted according to rotation change data so that the rotation change of the second robotic arm pair is synchronized with that of the first robotic arm pair.

[0137] In steps S901 to S903 of this embodiment, the vertical and horizontal forces are converted into velocity changes, and the velocity changes of the second robotic arm pair are adjusted. Simultaneously, the vertical and horizontal torques are converted into rotational change data, and the rotation of the second robotic arm pair is adjusted based on this data. Therefore, the velocity and rotation changes of the first and second robotic arm pairs are synchronized, allowing medical personnel at the control end to experience a more immersive experience when examining or training the target patient.

[0138] Specifically, after adjusting the speed and rotation of the second robotic arm, when the master end continues to control the second robotic arm, the first robotic arm on the execution end moves synchronously, and the operation after generating reaction data is as follows:

[0139] ①. The medical staff 2 at the dominant end controls the second robotic arm 1 to complete the intention of the medical staff 2. The first robotic arm 6 reproduces the intention of the medical staff 2 on the target object 7. The target object 7 generates a reaction force due to conditioned reflex.

[0140] ②. The first robotic arm at position 6 collects the reaction force and obtains the corresponding reaction data through analysis and calculation; the first robotic arm at position 6 sends the reaction data to the second robotic arm at position 1;

[0141] ③. The second robotic arm generates corresponding resistance based on the reaction data, and the medical staff 2 senses the resistance.

[0142] Furthermore, the second robotic arm responds to the reaction data from component 1.

[0143] Fsensed=Fext+Fgravity+Finertial,

[0144] Fgravity = m·g·sin(θ),

[0145] Finertial=k(θ-θ0)+c·(θ′(t))│θ=θ0,

[0146] Where Fsensed is the absolute value of the torque in the reaction data received by the second robotic arm relative to 1, Fext is the external torque of the part of the target object 7 that is acted upon, measured by the force sensor, Fgravity is the vertical mass torque of the part of the target object 7 that is acted upon, which is the gravity acting on the part of the target object 7 according to the real-time posture of the first robotic arm relative to 6, m is the mass of the part of the target object 7 that is acted upon, and g is the acceleration due to gravity, g = 9.8 m / s². 2 Finertial represents inertia; k is the spring constant; c is the damping constant; θ′(t) is the angular velocity of the moving angle θ; and θ0 is the initial angle of the robotic arm.

[0147] The Fext is fed back to the second robotic arm pair 1, which in turn feeds back the reaction force to the medical staff 2 based on the Fext. The medical staff 2 then senses the reaction force of the target object groove 7 through the second robotic arm pair 1.

[0148] Please see Figure 10 In some embodiments, after step S803, the robotic arm control method of the remote consultation system may also include, but is not limited to, steps S1001 to S1003:

[0149] Step S1001: Obtain the corresponding motion parameters based on the force data to obtain the current motion parameters;

[0150] Step S1002: Combine the force data and current motion parameters to form the current motion record;

[0151] Step S1003: Store the current motion record in a preset storage database.

[0152] In steps S1001 to S1003 of this embodiment, the master end adjusts the motion parameters of the second robotic arm pair after each received reaction data. Therefore, the motion parameters corresponding to each reaction data are obtained as the current motion parameters. By combining the current motion parameters and force data to record the current motion of the Southwest Project, and storing the current motion record in a storage database, it can be retrieved from the storage database when needed later to determine the force situation of the target object in the execution end, thus enabling a more comprehensive record of the target object's condition.

[0153] Please refer to Figures 11(a), 11(b), 11(c), and 11(d). Figures 11(a), 11(b), 11(c), and 11(d) show the rehabilitation training performed by the first main robotic arm and the first auxiliary robotic arm on the target object. Each movement has a corresponding protective angle range, which includes a minimum and a maximum angle. The protective angle range is set according to the rehabilitation training of different parts of the body, so as to carry out targeted rehabilitation training, reduce accidental injuries during rehabilitation training, and improve the effectiveness of rehabilitation training.

[0154] Please see Figure 12 This application also provides a robotic arm control device for a remote consultation system, applied at the execution end. The execution end is equipped with a first robotic arm pair, which can realize the robotic arm control method of the above-mentioned remote consultation system. The device includes:

[0155] The instruction receiving module 1201 is used to receive the control instructions sent by the master end and obtain the current position information of the first robotic arm pair according to the control instructions.

[0156] Angle prediction module 1202 is used to predict the motion angle based on the control command and the current position information to obtain the motion prediction angle of the first robotic arm pair.

[0157] The control module 1203 is used to control the first robotic arm to act on the target object according to the control command if the motion prediction angle is within the preset protection angle range.

[0158] Data acquisition module 1204 is used to acquire data on the reaction of the first robotic arm to the target object;

[0159] The data transmission module 1205 is used to send reaction data to the master end, so that the master end can control the motion parameters of the second robotic arm pair according to the reaction data, so that the second robotic arm pair and the first robotic arm pair are synchronized.

[0160] The specific implementation of the robotic arm control device of the remote consultation system is basically the same as the specific embodiment of the robotic arm control method of the remote consultation system described above, and will not be repeated here.

[0161] Please see Figure 13 This application also provides a robotic arm control device for a remote consultation system, applied to the master end, wherein a second robotic arm pair is provided at the master end, which can realize the robotic arm control method of the above-mentioned remote consultation system. The device includes:

[0162] The instruction sending module 1301 is used to send control instructions to the execution end, so that the execution end controls the first robotic arm to act on the target object according to the control instructions.

[0163] The data receiving module 1302 is used to receive force data fed back from the execution end; wherein, the force data is the force generated by the first robotic arm on the target object collected by the execution end;

[0164] The parameter adjustment module 1303 is used to adjust the motion parameters of the second robotic arm pair according to the force data, so that the second robotic arm pair is synchronized with the second robotic arm pair.

[0165] The specific implementation of the robotic arm control device of the remote consultation system is basically the same as the specific embodiment of the robotic arm control method of the remote consultation system described above, and will not be repeated here.

[0166] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the robotic arm control method of the remote consultation system applied at the execution end, or the robotic arm control method of the remote consultation system applied at the control end. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0167] Please see Figure 14 , Figure 14 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes:

[0168] The processor 1401 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0169] The memory 1402 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 1402 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1402, and the processor 1401 calls and executes the robotic arm control method of the remote consultation system in the execution end application of the embodiments of this application, or the robotic arm control method of the remote consultation system in the master end application.

[0170] The input / output interface 1403 is used to implement information input and output;

[0171] The communication interface 1404 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0172] Bus 1405 transmits information between various components of the device (e.g., processor 1401, memory 1402, input / output interface 1403, and communication interface 1404);

[0173] The processor 1401, memory 1402, input / output interface 1403 and communication interface 1404 are connected to each other within the device via bus 1405.

[0174] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the robotic arm control method of the remote consultation system applied at the execution end, or the robotic arm control method of the remote consultation system applied at the control end.

[0175] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0176] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0177] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0178] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0179] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0180] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application 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 this application 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 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.

[0181] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0182] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0183] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0184] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0185] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0186] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A method for controlling a robotic arm in a remote medical consultation system, characterized in that, Applied to the execution end, wherein the execution end is equipped with a first robotic arm pair, the method includes: Receive control commands sent by the master end, and obtain the current position information of the first robotic arm pair according to the control commands; Based on the control command and the current position information, the motion angle is predicted to obtain the predicted motion angle of the first robotic arm pair. If the motion prediction angle is within the preset protection angle range, the first robotic arm is controlled to act on the target object according to the control command; Collect data on the reaction of the first robotic arm to the target object; The reaction data is sent to the master end so that the master end can control the motion parameters of the second robotic arm pair according to the reaction data, so that the second robotic arm pair and the first robotic arm pair are synchronized. The first robotic arm pair includes: a first main robotic arm and a first auxiliary robotic arm. The point acted by the first main robotic arm is the point to be measured, and the point acted by the first auxiliary robotic arm is the moving point to be measured. The current position information includes: a first angle matrix, a second angle matrix, a first distance, and a second distance. The first angle matrix is ​​the angle formed by combining the angles of each joint of the first main robotic arm. The second angle matrix is ​​the angle change when the first auxiliary robotic arm changes. The first distance is the distance between the bases of the first robotic arm pair, and the second distance is the length of the target object being acted upon. The control command includes: the angle of movement. The step of predicting the motion angle of the first robotic arm based on the control command and the current position information includes: A motion angle prediction model is constructed using the first angle matrix, the second angle matrix, the first distance, and the second distance; wherein, the motion angle prediction model represents the relationship between the activity angle and the motion angle; The activity angle is input into the motion angle prediction model to obtain the motion prediction angle.

2. The method according to claim 1, characterized in that, The reaction data includes force data and torque data; the acquisition of the reaction data generated by the first robotic arm acting on the target object includes: Force data of the force exerted by the first robotic arm on the target object is collected by a force sensor; The torque data generated by the first robotic arm acting on the target object is collected by a torque sensor.

3. The method according to claim 1, characterized in that, Before the first robotic arm is manipulated to act on the target object according to the control command if the motion prediction angle is within a preset protection angle range, the method further includes: The motion parameters of the first robotic arm pair are obtained according to the control command, and the current motion parameters are obtained. Based on the control command and the current motion parameters, the force is predicted to obtain the predicted force. If the predicted force is less than the preset protection force range, the first robotic arm is controlled to act on the target object according to the control command; If the predicted force exceeds the range of the protective force, a force warning message is generated.

4. A method for controlling a robotic arm in a remote medical consultation system, characterized in that, Applied to the master end, wherein the master end is equipped with a second robotic arm pair, the method includes: Sending control commands to the execution end, so that the execution end controls the first robotic arm to act on the target object according to the control commands; wherein, the execution end is applied to the robotic arm control method of the remote consultation system according to any one of claims 1 to 3; The actuator receives force data fed back from the execution end; wherein the force data is the force generated by the first robotic arm acting on the target object, collected by the execution end. The motion parameters of the second robotic arm pair are adjusted according to the force data to synchronize the second robotic arm pair with the second robotic arm pair.

5. The method according to claim 4, characterized in that, The force data includes force data and torque data, wherein the force data includes vertical force and horizontal force, and the torque data includes vertical torque and horizontal torque; adjusting the motion parameters of the second robotic arm pair according to the force data to synchronize the second robotic arm pair includes: Convert the vertical force and the horizontal force into velocity change data; Convert the vertical torque and the horizontal torque into rotational variation data; The speed of the second robotic arm pair is adjusted according to the speed change data, and the rotation angle of the second robotic arm pair is adjusted according to the rotation change data.

6. The method according to claim 4, characterized in that, After adjusting the motion parameters of the second robotic arm pair according to the force data to synchronize the second robotic arm pair, the method further includes: Based on the force data, obtain the corresponding motion parameters to obtain the current motion parameters; The force data and the current motion parameters are combined to form the current motion record; The current motion record is stored in a preset storage database.

7. A robotic arm control device for a remote medical consultation system, characterized in that, Applied to the execution end, the execution end is equipped with a first robotic arm pair, and the device includes: The instruction receiving module is used to receive control instructions sent by the master end and obtain the current position information of the first robotic arm pair according to the control instructions. Angle prediction module is used to predict the motion angle based on the control command and the current position information to obtain the motion prediction angle of the first robotic arm pair; The control module is used to control the first robotic arm to act on the target object according to the control command if the motion prediction angle is within the preset protection angle range. The data acquisition module is used to collect data on the reaction of the first robotic arm to the target object. The data transmission module is used to send the reaction data to the master end, so that the master end can control the motion parameters of the second robotic arm pair according to the reaction data, so that the second robotic arm pair and the first robotic arm pair are synchronized. The first robotic arm pair includes: a first main robotic arm and a first auxiliary robotic arm. The point acted by the first main robotic arm is the point to be measured, and the point acted by the first auxiliary robotic arm is the moving point to be measured. The current position information includes: a first angle matrix, a second angle matrix, a first distance, and a second distance. The first angle matrix is ​​the angle formed by combining the angles of each joint of the first main robotic arm. The second angle matrix is ​​the angle change when the first auxiliary robotic arm changes. The first distance is the distance between the bases of the first robotic arm pair, and the second distance is the length of the target object being acted upon. The control command includes: the angle of movement. The step of predicting the motion angle of the first robotic arm based on the control command and the current position information includes: A motion angle prediction model is constructed using the first angle matrix, the second angle matrix, the first distance, and the second distance; wherein, the motion angle prediction model represents the relationship between the activity angle and the motion angle; The activity angle is input into the motion angle prediction model to obtain the motion prediction angle.

8. An electronic device, characterized in that, The electronic device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the robotic arm control method of the remote consultation system according to any one of claims 1 to 3, or any one of claims 4 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the robotic arm control method of the remote consultation system according to any one of claims 1 to 3, or any one of claims 4 to 6.

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