Catheter robot, detection method thereof, and computer readable storage medium

Abstract

This invention provides a catheter robot, its detection method, and a computer-readable storage medium. The control device of the catheter robot is coupled to a robotic arm and configured to: acquire the working stroke of the robotic arm's end effector in a first direction; acquire a first pose of the robotic arm's end effector in the robotic arm's base coordinate system in response to alignment of the robotic arm's end effector with a guide for connecting to a human body; determine a second pose of the robotic arm's end effector in the robotic arm's base coordinate system based on the first pose and the working stroke; determine target joint variables of the joints in the robotic arm based on the second pose; and determine whether the pose relationship between the catheter robot and the guide meets requirements based on the relationship between the target joint variables and their range of motion. The technical solution provided by this invention can solve the technical problem in the prior art of inconveniently detecting the placement angle of the catheter robot's base.

Description

Technical Field

[0001] This invention relates to the field of medical device operation methods, and more specifically, to a catheter robot and its detection method, and a computer-readable storage medium. Background Technology

[0002] Currently, existing catheter robots generally include a base and a robotic arm. In actual operation, the robotic arm of the catheter robot will move relative to the base to enable the robotic arm to operate medical devices or perform medical operations.

[0003] Before performing surgical procedures using a catheterization robot, it needs to be properly positioned relative to the patient. However, doctors or assistants typically need to use a trial-and-error approach to position the robot, relying on their experience. Even so, this experience-based positioning can still result in inappropriate placement of the robot relative to the patient.

[0004] Therefore, there is an urgent need to provide a means to accurately detect whether the placement of the catheter robot relative to the patient is appropriate. Summary of the Invention

[0005] The main objective of this invention is to provide a catheter robot and its detection method, as well as a computer-readable storage medium, to solve the technical problem in the prior art that it is inconvenient to detect the pose relationship between the catheter robot and the guide.

[0006] To achieve the above objectives, according to one aspect of the present invention, a catheterization robot is provided, comprising: a base; a robotic arm connected to the base, the robotic arm being used for mounting and manipulating catheter instruments; and a control device coupled to the robotic arm and configured to: acquire a working stroke of the end effector of the robotic arm in a first direction, the first direction being the feed direction of the catheter instrument; in response to alignment of the end effector of the robotic arm with a guide for connecting to a human body, acquire a first pose of the end effector of the robotic arm in a base coordinate system of the robotic arm, the first pose being the pose of the end effector of the robotic arm at a first end of the working stroke; based on the first pose and the working stroke, determine a second pose of the end effector of the robotic arm in a base coordinate system of the robotic arm, the second pose being the pose of the end effector of the robotic arm at a second end of the working stroke; based on the second pose, determine target joint variables of joints in the robotic arm; and based on the relationship between the target joint variables of joints in the robotic arm and their range of motion, determine whether the pose relationship between the catheterization robot and the guide meets the requirements.

[0007] Furthermore, based on the relationship between the target joint variables and their range of motion of the joints in the robotic arm, it is determined whether the pose relationship between the duct robot and the guide meets the requirements, including: comparing the size of the target joint variables and their range of motion of the joints in the robotic arm; determining that the pose relationship between the duct robot and the guide meets the requirements when the target joint variables of any joint in the robotic arm do not exceed their range of motion; or, determining that the pose relationship between the duct robot and the guide does not meet the requirements when the target joint variables of one or more joints in the robotic arm exceed their range of motion.

[0008] Furthermore, the control device is also configured to generate prompt sounds and / or prompt interfaces to prompt the user based on whether the pose relationship between the duct robot and the guide meets the requirements.

[0009] Furthermore, when it is determined that the pose relationship between the duct robot and the guide does not meet the requirements, the control device is also configured to: obtain the transformation relationship between the base coordinate system of the robotic arm and the reference coordinate system of the base; and, based on the first pose and the transformation relationship, determine the deflection angle between the end effector of the robotic arm and the base, wherein the deflection angle is the angle between the end effector of the robotic arm and the base on the support plane of the supporting base.

[0010] Furthermore, the robotic arm includes a first robotic arm and a second robotic arm that are linked together. Both the first and second robotic arms are mounted on a base, and the second robotic arm cooperates with a guide. Determining the deflection angle includes: establishing a first coordinate system with the operating end position of the second robotic arm as the origin, the extension direction of the outer sheath of the second robotic arm, and the extension direction perpendicular to the second robotic arm as references; establishing a second coordinate system with the center point of the guide's inlet hole as the origin, and the extension direction of the guide's inlet hole and the extension direction perpendicular to the inlet hole as references; driving the operating end position of the second robotic arm to the alignment position aligned with the guide, so that the coordinate extension direction of the first coordinate system is the same as the coordinate extension direction of the second coordinate system; calculating the angle between the first coordinate system and the base coordinate system, and using the calculated angle as the deflection angle.

[0011] Furthermore, the method for calculating the angle between the first coordinate system and the base coordinate system includes: determining the relationship between the first coordinate system and the base coordinate system based on the joint variables of the second robotic arm; and calculating the angle between the first coordinate system and the reference coordinate system of the base based on the relationship between the first coordinate system and the base coordinate system.

[0012] Furthermore, after using the calculated included angle as the placement angle of the base, the process includes: comparing the included angle with a preset angle, and making adaptive adjustments to the base based on the comparison result.

[0013] Furthermore, the method for adaptively adjusting the base based on the comparison results includes: when the included angle is greater than or equal to a preset angle, controlling the base to adjust the angle according to the included angle; when the included angle is less than the preset angle, controlling the position of the base to remain unchanged.

[0014] Furthermore, the method for adaptively adjusting the base based on the comparison results includes: controlling the base to be adjusted in the opposite direction to the offset direction of the included angle, based on the offset direction of the included angle.

[0015] Furthermore, the method of driving the end effector of the second robotic arm to an alignment position aligned with the guide includes: determining the extended position of the second robotic arm as an initial position; and driving the second robotic arm from the initial position to the alignment position in a zero-force drag mode.

[0016] Furthermore, the method for driving the end effector of the second robotic arm to an alignment position aligned with the guide includes: detecting whether the end effector of the second robotic arm abuts against the positioning part of the guide; when it is detected that the end effector of the second robotic arm abuts against the positioning part of the guide, determining that the second robotic arm is in the alignment position and stopping driving the second robotic arm; when it is detected that the end effector of the second robotic arm does not abut against the positioning part of the guide, detecting the relative positional relationship between the end effector of the second robotic arm and the positioning part of the guide according to a vision detection device, and adaptively adjusting the position of the end effector of the second robotic arm according to the detection result of the vision detection device.

[0017] Furthermore, the method for driving the end effector of the second robotic arm to move to the alignment position with the guide further includes: detecting the distance between the end effector of the second robotic arm and the positioning part of the guide; when the distance between the end effector of the second robotic arm and the positioning part of the guide is less than or equal to a preset distance, controlling the electromagnetic component at the positioning part to be energized so that the end effector of the second robotic arm is attracted under the electromagnetic force of the electromagnetic component at the positioning part; when the distance between the end effector of the second robotic arm and the positioning part of the guide is greater than the preset distance, controlling the electromagnetic component at the positioning part to remain de-energized.

[0018] Furthermore, the base has a caster assembly and a retractable support column at its bottom, with the support column located at the center of the base and the caster assembly surrounding it. A method for adaptively adjusting the base based on comparison results includes: controlling the support column to extend to a supporting position; controlling the base to rotate around the support column as a rotation axis, ensuring the rotation angle of the base is the same as the included angle. Alternatively, the base has multiple casters at its bottom, each of which has an unlocked state and a locked state. A method for adaptively adjusting the base based on comparison results includes: controlling one caster to be locked and controlling the remaining casters to be unlocked; converting the calculated included angle into a rotation angle in the locked state; controlling the base to rotate around the locked caster as a reference, ensuring the rotation angle of the base is the same as the rotation angle.

[0019] Furthermore, obtaining the working stroke of the robotic arm's end effector in the first direction includes: obtaining an anatomical structure model corresponding to the anatomical structure within the patient's body; planning a target path from the entrance of the anatomical structure model to the lesion based on the anatomical structure model; determining the actual first length from the entrance of the anatomical structure to the lesion based on the length of the target path; and determining the working stroke based on the first length.

[0020] Furthermore, based on the path length, the working stroke is determined, including: obtaining a second length from the alignment position of the guide and the end of the robotic arm to the entrance of the anatomical structure model; and combining the first length and the second length to determine the working stroke.

[0021] According to another aspect of the present invention, a detection method is provided, applicable to a catheter robot. The catheter robot includes a base, a robotic arm, and a control device. The robotic arm is connected to the base and is used for installing and operating catheter instruments. The control device is coupled to the robotic arm. The detection method includes: acquiring the working stroke of the end effector of the robotic arm in a first direction, the first direction being the feed direction of the catheter instrument; in response to the alignment of the end effector of the robotic arm with a guide for connecting to a human body, acquiring a first pose of the end effector of the robotic arm in the base coordinate system of the robotic arm, the first pose being the pose of the end effector of the robotic arm at the first end of the working stroke; determining a second pose of the end effector of the robotic arm in the base coordinate system of the robotic arm based on the first pose and the working stroke, the second pose being the pose of the end effector of the robotic arm at the second end of the working stroke; determining target joint variables of the joints in the robotic arm based on the second pose; and determining whether the pose relationship between the catheter robot and the guide meets the requirements based on the relationship between the target joint variables of the joints in the robotic arm and their joint range of motion.

[0022] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a program that employs the control method of the control device for the catheter robot provided above.

[0023] By applying the technical solution of this invention, in practical use, the first pose of the end effector of the robotic arm in the base coordinate system is obtained by the control device, and the second pose of the end effector in the polar coordinate system of the robotic arm is determined based on the first pose and the working stroke. The second pose is combined with the target joint variables and the joint motion range, which can facilitate the effective determination of the pose relationship between the duct robot and the guide, so as to ensure that the duct robot and the guide have a suitable positioning relationship, thereby facilitating the accuracy of the duct robot in actual operation. Attached Figure Description

[0024] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0025] Figure 1 A schematic diagram of the robotic arm of the catheter robot provided according to an embodiment of the present invention during non-contact alignment is shown;

[0026] Figure 2 A comparative schematic diagram of the robotic arm of the catheter robot provided according to an embodiment of the present invention at different positions with a distance L is shown;

[0027] Figure 3 A schematic diagram of the structure of the catheter robot provided according to an embodiment of the present invention is shown when the positioning does not meet the requirements;

[0028] Figure 4 It shows Figure 3 A comparative diagram of the structure at different positions at a distance of L2;

[0029] Figure 5 A schematic diagram of the structure of the robotic arm when it is fully extended, according to an embodiment of the present invention, is shown.

[0030] Figure 6 A schematic diagram illustrating the adjustment of the base according to an embodiment of the present invention is shown;

[0031] Figure 7 It shows Figure 6 The diagram shows the adjusted base.

[0032] The above figures include the following reference numerals:

[0033] 10. Base;

[0034] 20. Robotic arm; 21. First robotic arm; 22. Second robotic arm;

[0035] 30. Bootloader;

[0036] 40. Casters;

[0037] 50. Locking components. Detailed Implementation

[0038] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0039] like Figures 1 to 7 As shown, Embodiment 1 of the present invention provides a catheter robot, which includes a base 10, a robotic arm 20, and a control device. The robotic arm 20 is connected to the base 10 and is used for installing and manipulating catheter instruments. The control device is coupled to the robotic arm 20 and configured to: acquire the working stroke of the end effector of the robotic arm 20 in a first direction, the first direction being the feeding direction of the catheter instrument; in response to the alignment of the end effector of the robotic arm 20 with a guide 30 for connecting to the human body, acquire a first pose of the end effector of the robotic arm 20 in the base coordinate system of the robotic arm 20, the first pose being the pose of the end effector of the robotic arm 20 at the first end of the working stroke; based on the first pose and the working stroke, determine a second pose of the end effector of the robotic arm 20 in the base coordinate system of the robotic arm 20, the second pose being the pose of the end effector of the robotic arm 20 at the second end of the working stroke; based on the second pose, determine the target joint variables of the joints in the robotic arm 20; and based on the relationship between the target joint variables of the joints in the robotic arm 20 and their joint parameters and range of motion, determine whether the pose relationship between the catheter robot and the guide 30 meets the requirements. This method can determine whether the pose relationship between the duct robot and the guide 30 meets the requirements without the need for additional sensors.

[0040] Using the catheter robot provided in this embodiment, in practical use, the control device obtains the first pose of the end effector of the robotic arm 20 in the base coordinate system of the robotic arm 20, and determines the second pose of the end effector of the robotic arm 20 in the polar coordinate system based on the first pose and the working stroke. Combining the second pose with the target joint variables and joint range of motion facilitates the effective determination of the pose relationship between the catheter robot and the guide 30, ensuring a suitable positioning relationship between them. Especially when the positioning relationship is determined to be appropriate, there is no need to repeatedly adjust the pose of the catheter robot relative to the guide, which helps ensure smooth surgical procedures. Since the guide is connected to the patient's body, determining whether the positioning of the catheter robot relative to the guide is reasonable and appropriate also determines whether the positioning of the catheter robot relative to the patient's body is reasonable and appropriate. Furthermore, additional sensors are needed to detect the positioning of the catheter robot relative to the patient's body; however, the detection of the reasonableness of the positioning can be completed solely through the control device of the catheter robot.

[0041] In some embodiments, the robotic arm 20 includes a first robotic arm 21 and a second robotic arm 22. In some embodiments, the first robotic arm 21 can be configured to install only one of an internal catheter device (sometimes called an internal sheath device) and an external catheter device (sometimes called an external sheath device), and the second robotic arm 22 can be configured to install only the other of the internal and external catheter devices. In some embodiments, the first robotic arm 21 can be configured to install either the internal or external catheter device, and the second robotic arm 22 can be configured to install either the internal or external catheter device; that is, the internal and external catheter devices can be configured to be interchangeably installed on either the first robotic arm 21 or the second robotic arm 22. The internal catheter device includes a flexible catheter (sometimes called an internal sheath), and the external catheter device also includes a flexible catheter (sometimes called an external sheath). The external sheath is hollow, and the internal sheath is inserted into the external sheath for use.

[0042] In some embodiments, the first robotic arm 21 and the second robotic arm 22 can be configured to have a specific linkage relationship. For example, one of the first robotic arm 21 and the second robotic arm 22 can be configured as the active arm, and the other as the driven arm. The driven arm moves following the movement of the active arm to achieve the feeding movement of the catheter instrument. In some embodiments, the first robotic arm 21 and the second robotic arm 22 equipped with an external catheter instrument can be configured as the active arm, and the first robotic arm 21 and the second robotic arm 22 equipped with an internal catheter instrument can be configured as the driven arm.

[0043] The term "alignment" here can refer to either contact alignment or non-contact alignment. Non-contact alignment may involve contact with a small gap rather than complete contact. Alignment can be detected using contact sensors such as distance sensors, pressure sensors, or magnetic sensors, and the alignment status can be determined based on the sensor readings. In practical use, alignment can be executed based on received user confirmation commands, which can be voice commands, button commands, or other similar instructions. For non-contact alignment, a laser emitter can be installed on the external catheter device 21, and a laser receiver can be installed on the guide 30. When the laser light emitted by the laser emitter is accurately received by the laser receiver, it indicates that the two are aligned.

[0044] In some embodiments, the pose relationship between the duct robot and the guide 30 is determined based on the relationship between the target joint variables of the joints in the robotic arm 20 and their joint range of motion. This includes: comparing the target joint variables of the joints in the robotic arm 20 with their joint range of motion; determining that the pose relationship between the duct robot and the guide 30 meets the requirements when the target joint variable of any joint in the robotic arm 20 does not exceed its joint range of motion; or determining that the pose relationship between the duct robot and the guide 30 does not meet the requirements when the target joint variables of one or more joints in the robotic arm 20 exceed their joint range of motion. This configuration allows the control device to more accurately determine whether the relationship between the duct robot and the guide 30 meets the requirements.

[0045] When the robotic arm 20 has no redundant degrees of freedom (e.g., 6 or fewer), only one set of target joint variables is typically calculated. However, when the robotic arm 20 has redundant degrees of freedom (e.g., 7 or more), one or more sets of target joint variables can be calculated. If any one set of target joint variables is valid (still compared with its corresponding joint range of motion), the positioning can be determined to be appropriate; if all sets of target joint variables are invalid, the positioning can be determined to be inappropriate.

[0046] In some embodiments, the control device is also configured to generate a prompt sound and / or a prompt interface to alert the user based on whether the pose relationship between the catheter robot and the guide 30 meets the requirements. This configuration allows the user to quickly determine whether the pose relationship between the catheter robot and the guide 30 meets the requirements, facilitating subsequent adaptive adjustments.

[0047] In some embodiments, when the pose relationship between the duct robot and the guide 30 is determined to be unsatisfactory, the control device is further configured to: acquire the transformation relationship between the base coordinate system of the robotic arm 20 and the reference coordinate system of the base 10; and, based on the first pose and the transformation relationship, determine the deflection angle between the end effector of the robotic arm 20 and the base 10, wherein the deflection angle is the angle between the end effector of the robotic arm 20 and the base 10 on the support plane of the supporting base 10. This facilitates adaptive adjustments to the robotic arm 20 and / or the base 10 based on the deflection angle between the end effector of the robotic arm 20 and the base 10, to ensure that the pose relationship between the duct robot and the guide 30 meets the requirements, thereby improving the accuracy of subsequent robotic arm 20 operations.

[0048] In some embodiments, the robotic arm 20 includes a second robotic arm 22 and a first robotic arm 21 that are linked together. Both the second robotic arm 22 and the first robotic arm 21 are mounted on the base 10. The second robotic arm 21 cooperates with the guide 30. Determining the deflection angle includes: establishing a first coordinate system with the operating end position of the first robotic arm 21 as the origin, the extension direction of the outer sheath of the first robotic arm 21 and the extension direction perpendicular to the first robotic arm 21 as the reference; establishing a second coordinate system with the center point of the guide hole of the guide 30 as the origin, the extension direction of the guide hole of the guide 30 and the extension direction perpendicular to the guide hole as the reference; driving the operating end position of the first robotic arm 21 to the alignment position aligned with the guide 30, so that the coordinate extension direction of the first coordinate system is the same as the coordinate extension direction of the second coordinate system; calculating the angle between the first coordinate system and the base coordinate system, and using the calculated angle as the deflection angle. This configuration facilitates the accurate calculation of the angle between the robotic arm 20 and the base, allowing for adaptive adjustments to the robotic arm 20 or the base 10 using this angle as a deflection angle. This ensures that the pose relationship between the catheter robot and the guide 30 meets the requirements. For example, the first robotic arm 21 is used to install the outer sheath instrument, and the second robotic arm 22 is used to install the inner catheter instrument.

[0049] In some embodiments, the method for calculating the angle between the first coordinate system and the base coordinate system includes: determining the relationship between the first coordinate system and the base coordinate system based on the joint variables of the first robotic arm 21 and, possibly, in conjunction with forward kinematics; and calculating the angle between the first coordinate system and the reference coordinate system of the base 10 based on the relationship between the first coordinate system and the base coordinate system. With this setup, since the first robotic arm 21 generally has multiple joints, the transformation between multiple shutdown parameters facilitates a better determination of the angle between the first coordinate system and the base coordinate system, improving the accuracy of the calculation. In this application, joint variables include joint angles and / or joint displacements, specifically determined by whether the joints constituting the robotic arm 20 are rotational or translational joints.

[0050] In this embodiment, when the pose relationship between the duct robot and the guide 30 does not meet the requirements, the executive robot can be adjusted to a proper position by using the relationship between the first coordinate system and the base coordinate system. For example, a "proper position" can correspond to the state where the X-axis of the base 10 is parallel to the X-axis of the end of the robotic arm 20.

[0051] For example, after using the calculated included angle as the placement angle of the base 10, the following steps are taken: comparing the included angle with a preset angle, and making adaptive adjustments to the base 10 based on the comparison result, so as to improve the placement accuracy of the base 10, thereby facilitating the adjustment of the pose relationship between the duct robot and the guide 30 to a state that meets the usage requirements, so as to improve the accuracy of subsequent operations.

[0052] In some embodiments, the method for adaptively adjusting the base 10 based on the comparison results includes: when the included angle is greater than or equal to a preset angle, controlling the base 10 to adjust its angle according to the included angle; when the included angle is less than the preset angle, controlling the position of the base 10 to remain unchanged. With this setting, adaptive adjustments can be easily made based on the aforementioned adjustment benchmark. It should be noted that the preset angle value can be extremely small, for example, any value between 0.1° and 1°, such as 0.1°, 0.2°, 0.3°, etc., and can also be smaller than 0.1°, such as 0.01°, 0.02°, etc. The preset angle corresponds to an error range, therefore the required error range is also extremely small to effectively ensure operational accuracy.

[0053] For example, in this embodiment, the method for adaptively adjusting the base 10 based on the comparison result includes: controlling the base 10 to adjust in the opposite direction to the offset direction of the included angle, according to the offset direction of the included angle. This method effectively ensures the accuracy of the adjustment in the event of an error in the adjustment result.

[0054] For example, positive angle values ​​can be associated with clockwise rotation, and negative angle values ​​with counterclockwise rotation.

[0055] In some embodiments, the method of driving the end effector of the first robotic arm 21 to an alignment position aligned with the guide 30 includes: determining the extended position of the first robotic arm 21 as the initial position; and driving the first robotic arm 21 from the initial position to the alignment position in a zero-force drag mode. Driving the first robotic arm 21 from the initial position to the alignment position includes the doctor or assistant manually dragging the first robotic arm 21 from the initial position to the alignment position. In some embodiments, if the robotic arm 20 is in a zero-force drag mode, the direction of the driven arm's coordinate system will always be consistent with the direction of the active arm's coordinate system, and a certain distance will always be maintained between the driven arm and the active arm. For example, one arm can be designated as the active arm and the other as the driven arm. In the zero-force drag mode, the active arm can be aligned with the guide 30, and in the aligned state, the direction of the end effector's coordinate system will be the same as the direction of the guide 30's coordinate system. For example, the first robotic arm 21 can be designated as the active arm. In some embodiments, when driving the end effector of the first robotic arm 21 to the alignment position aligned with the guide 30, it may not be necessary to configure an active arm and a driven arm. For example, when the robotic arm 20 is in zero-force drag mode, it is sufficient to drive the first robotic arm 21 from its initial position to the alignment position. At this time, the second robotic arm 22 maintains its current pose. For example, the method of driving the end effector of the first robotic arm 21 to the alignment position aligned with the guide 30 in this embodiment includes: detecting whether the end effector of the first robotic arm 21 abuts against the positioning part of the guide 30; when it is detected that the end effector of the first robotic arm 21 abuts against the positioning part of the guide 30, determining that the first robotic arm 21 is in the alignment position, and stopping driving the first robotic arm 21; when it is detected that the end effector of the first robotic arm 21 does not abut against the positioning part of the guide 30, detecting the relative positional relationship between the end effector of the first robotic arm 21 and the positioning part of the guide 30 according to a vision detection device, and adaptively adjusting the position of the end effector of the first robotic arm 21 according to the detection result of the vision detection device. This configuration allows the end effector of the first robotic arm 21 to move quickly and accurately to the alignment position. In some embodiments, the positioning part of the guide 30 may include a bayonet, and the end effector includes a locking block adapted to the bayonet.

[0056] In some embodiments, the method for driving the end effector of the first robotic arm 21 to move to the alignment position with the guide 30 further includes: detecting the distance between the end effector of the first robotic arm 21 and the positioning part of the guide 30; when the distance between the end effector of the first robotic arm 21 and the positioning part of the guide 30 is less than or equal to a preset distance, controlling the electromagnetic component at the positioning part to be energized, so that the end effector of the first robotic arm 21 is attracted to the alignment position under the electromagnetic force of the electromagnetic component at the positioning part; when the distance between the end effector of the first robotic arm 21 and the positioning part of the guide 30 is greater than the preset distance, controlling the electromagnetic component at the positioning part to remain de-energized. The end effector is provided with a magnetic component, such as a magnet or iron, that cooperates with the electromagnetic component. The design of magnetic adsorption where the magnetic component and the on / off electromagnetic component can be detached facilitates adaptive control of the first robotic arm 21 by the electromagnetic component, so as to accurately and quickly align the end effector of the first robotic arm 21 with the positioning part, thereby improving the degree of automation of the adjustment.

[0057] In some embodiments, when the control device energizes the electromagnetic component, it can use a constant current or voltage to control the energization of the electromagnetic component to generate a constant magnetic field. Simple on / off control is sufficient.

[0058] In some embodiments, when the control device energizes the electromagnetic component, it can use varying current or voltage to control the energization of the electromagnetic component, thereby generating a varying magnetic field. This allows for better control of the magnetic field changes in accordance with distance variations, ensuring smooth alignment.

[0059] For example, if the preset distance includes a first preset distance and a second preset distance, and the first preset distance is greater than the second preset distance, a stepped current or voltage can be used to control the energization of the electromagnetic component. For instance, when the distance between the operating end of the first robotic arm 21 and the positioning part of the guide 30 reaches the first preset distance, a first current or a first voltage is used to control the energization of the electromagnetic component to generate a first magnetic field; when the distance between the operating end of the first robotic arm 21 and the positioning part of the guide 30 reaches the second preset distance, a second current or a second voltage is used to control the energization of the electromagnetic component to generate a second magnetic field. The first current is greater than the second current, or the first voltage is greater than the second voltage, and the first magnetic field is greater than the second magnetic field.

[0060] For example, a non-stepwise type, such as linearly varying current or voltage, can also be used to control the energization of the electromagnetic component. For instance, when the distance between the operating end of the first robotic arm 21 and the positioning part of the guide 30 reaches a preset distance, the electromagnetic component is energized with a rated current or voltage. As the distance between the operating end of the first robotic arm 21 and the positioning part of the guide 30 decreases, the output current or voltage can be determined based on the ratio between the remaining distance and the preset distance, and the electromagnetic component is then energized using the output current or voltage. Here, the output current or voltage has this proportional relationship with the rated current or voltage.

[0061] In one embodiment, the base 10 has a caster assembly and a retractable support column at its bottom, with the support column located at the center of the base 10 and the caster assembly surrounding the support column. A method for adaptively adjusting the base 10 based on comparison results includes: controlling the support column of the base 10 to extend to a supporting position; controlling the base 10 to rotate about the support column as a rotation axis, ensuring that the rotation angle of the base 10 is the same as the included angle. This configuration facilitates adjustment of the control base 10, has a simple structure, and provides stable adjustment results.

[0062] Alternatively, in another embodiment, the base 10 has multiple casters 40 at its bottom, each of which has an unlocked state and a locked state. A method for adaptively adjusting the base 10 based on comparison results includes: controlling one caster to be in a locked state and controlling the remaining casters 40 to be in an unlocked state; converting the calculated included angle into a rotation angle in the locked state; controlling the base 10 to rotate around the locked caster as a reference, and controlling the rotation angle of the base 10 to be the same as the rotation angle. This configuration facilitates adjustment of the base 10, has a simple structure, and provides stable adjustment results. Locking elements can also be provided on the casters 40 for mechanical locking or unlocking.

[0063] In some embodiments, when adjusting the base 10, for example, the already aligned outer sheath manipulator arm 21 can be fixedly connected to the guide 30, for example, by setting pins, retaining rings, magnetic connections, or other methods to achieve a rigid connection between the two, and then the base 10 can be adjusted. In this way, the adjustment of the catheter robot can be completed in one step, without repeating the two steps of aligning the outer sheath manipulator arm 21 with the guide 30 and adjusting the base 10. When the adjustment operation of the base 10 is required, a rigid connection can be established according to the input command or by driving the corresponding components during alignment; after the adjustment operation of the base 10 is completed, the rigid connection is disconnected.

[0064] For example, when the first robotic arm 21 is fixedly connected to the guide 30, the base 10 can be used as the distal end (i.e., the end cap) of the first robotic arm 21, and the end of the first robotic arm 21 that is fixedly connected to the guide 30 can be used as the proximal end of the first robotic arm 21. That is, a base coordinate system can be established at the proximal end of the first robotic arm 21, and the movement of the distal end of the first robotic arm 21, i.e., the base 10, relative to the base coordinate system established at the proximal end of the first robotic arm 21 can be controlled. For example, a target rotation angle that the doctor or assistant desires to move the base 10 in this base coordinate system can be obtained, for example, through a user configuration interface, physical buttons, or voice configuration. Based on this target rotation angle, for example, combined with inverse kinematics, target joint variables of the joints in the first robotic arm 21 can be determined, and then the movement of the first robotic arm 21 can be controlled according to the target joint variables so that the base 10 moves to achieve the target rotation angle. For example, the target rotation angle may include the aforementioned deflection angle. This design allows the catheter robot to be positioned in an appropriate pose relative to the guide. In this embodiment, the casters of the base 10 can be controlled to be in an unlocked state.

[0065] In some implementations, obtaining the working stroke of the end effector of the robotic arm 20 in a first direction includes: acquiring an anatomical model corresponding to the anatomical structure within the patient's body; planning a target path from the entrance of the anatomical model to the lesion based on the anatomical model; determining the actual first length from the entrance of the anatomical structure to the lesion based on the length of the target path; and determining the working stroke based on the first length. This allows for the determination of different working strokes of the catheter robot based on different individuals, ensuring the smooth implementation of surgery for that individual.

[0066] For example, determining the working stroke based on the path length includes: obtaining a second length from the alignment position of the guide 30 when it is aligned with the end of the robotic arm 20 to the entrance of the anatomical structure model; and combining the first length and the second length to determine the working stroke. This setup facilitates more accurate determination of the working stroke.

[0067] In some embodiments, the working distance can be determined through big data statistical analysis. For example, the working distances of hundreds, thousands, or even tens of thousands of different individual patients can be obtained. Based on these obtained working distances, a reasonable working distance that can accommodate the vast majority of individual patients can be determined. For example, assuming that these working distances are between 300mm and 650mm, a uniform working distance such as 700mm can be set.

[0068] Taking the first robotic arm as an example, the process of determining the offset angle based on the working distance is as follows: Based on forward kinematics, determine the position P1 of the end effector of the first robotic arm in the reference coordinate system T2; based on the position P1 (i.e., the position of the first end of the working stroke) of the end effector of the first robotic arm when aligned in the reference coordinate system T2 and the working stroke L, determine the target position P2 (i.e., the position of the second end of the working stroke) of the end effector of the first robotic arm in the farthest end of the reference coordinate system T2 in the feed direction, where P1 + L = P2 in the reference coordinate system T2. Based on P2 and using inverse kinematics, determine the target joint quantities of each joint in the arm; compare each target joint quantity with the range of motion of each joint. If it is effective, then the offset angle at this time is reasonable.

[0069] When the anatomical structure is a lung bronchus model, the target path can include one or more, and different lengths can be determined for different target paths, or the longest length can be selected. The working distance is determined based on the target path. For example, the target path can also be a path along the centerline of the anatomical structure. The length of the path in the anatomical structure has a certain proportional relationship with the model of the structure. After determining the length in the anatomical structure model, the actual working distance can be determined.

[0070] For example, for robotic arm 20, controlling a corresponding joint in the target joint to be in a zero-force state requires, for example, controlling the corresponding joint to be able to substantially compensate for (or balance) the gravity of its distal load and / or overcome the friction of its own joint. Of course, this principle also applies to controlling the corresponding joint of the target joint to be in a zero-force state as described later.

[0071] In some embodiments, controlling a corresponding joint in a target joint to be in a zero-force state may include: obtaining the joint position of at least the corresponding joint and the joints distal to it; determining a compensation torque corresponding to the output of the corresponding joint by combining the joint position and a dynamic model associated with the corresponding joint; and then controlling the corresponding joint to output the compensation torque.

[0072] The joints of the drive arm typically include position sensors for detecting their joint position, such as encoders. The joints also typically include drive mechanisms, such as motors, to control the corresponding joints to a zero-force state, for example, by controlling the associated motor to output compensating torque.

[0073] The dynamic model required for this application is typically constructed for the corresponding joint; for example, the dynamic model constructed for different corresponding joints is usually different. Generally, the dynamic model is associated with the corresponding joint and the joint distal to it.

[0074] For example, the dynamic model for the corresponding joint can be constructed as follows:

[0075] Obtain the link parameters of the corresponding joint and its distal joint, and establish a link coordinate system based on these link parameters. A joint includes the joint itself and the link connected to it. Link parameters (i.e., DH parameters) include joint angles and / or joint displacements, link lengths, and other parameters.

[0076] Based on the link coordinate system, a first dynamic model associated with the corresponding joint is constructed. This first dynamic model is typically represented in symbolic form (i.e., a formula with unknown parameters), and is a fuzzy dynamic model (i.e., the dynamic parameters are temporarily uncertain). For example, this first dynamic model is expressed as the following formula:

[0077]

[0078] Where τ is the actual torque of the joint, and θ is the joint position. It is the speed of the joint ( (It is the first derivative of θ) It is the speed of the joint ( M(θ) is the second derivative of θ, and M(θ) is the inertia matrix. It includes Coriolis force and centrifugal force, and G(θ) is the gravitational torque of the joint.

[0079] Determine the unknown dynamic parameters in the first dynamic model. The first dynamic model typically includes at least one unknown dynamic parameter. Generally, all unknown dynamic parameters involved in formula (1) can be determined to obtain an accurate second dynamic model. In one embodiment, the contribution of some unknown dynamic parameters to the joint torque can be ignored depending on the actual situation. For example, the mass, center of mass, and friction torque of the joint can be the main focus. In some embodiments, the mass, center of mass, and friction torque of the joint may be affected by the drive mechanism that drives the joint and / or the transmission mechanism that connects the drive mechanism and the joint to achieve transmission. For example, when the structure of the drive arm is relatively regular, at least some of the dynamic parameters such as the mass, center of mass, and friction torque of the joint can be obtained directly without identification. Of course, at least some of the dynamic parameters such as the mass, center of mass, and friction torque of the joint can also be obtained by identification. For example, the mass of the joint can be obtained by weighing, and the center of mass and friction torque of the joint can be obtained by identification. For example, it is assumed that M(θ) and... The contribution to the joint torque is acceptable in one example of the invention, and therefore, formula (1) can be simplified as follows:

[0080] τ=G(θ) Formula (2)

[0081] The determined dynamic parameters are substituted into the first dynamic model to obtain the second dynamic model. This second dynamic model is a well-defined dynamic model (i.e., one with determined dynamic parameters). Furthermore, when determining the expected compensation torque of the drive mechanism corresponding to the respective joint by combining these joint positions and the dynamic models associated with those joints, the dynamic model used refers to this second dynamic model.

[0082] In some embodiments, considering the adverse effects of frictional torque, the frictional torque can be excluded from the actual torque of the joint. Specifically:

[0083] Based on the principle of dynamic equilibrium, a torque balance model for the joint can be constructed, which can be expressed by the following formula:

[0084]

[0085] Where τ is the actual torque of the joint, and θ is the joint position. Here, k1 and k2 are the gravitational torque parameters, and f is the frictional torque of the joint. Indicates the direction of velocity.

[0086] Furthermore, the frictional torque of a joint can be determined through identification methods. For example, a single joint can be controlled to move at a low, uniform speed, traversing the entire range of motion, collecting the actual torque of the joint and the corresponding joint position. This single joint refers to the joint corresponding to the given joint. During uniform motion, the frictional torque is approximately constant and is generally considered a fixed value. Therefore, based on the collected actual torque and corresponding joint position, and using methods such as least squares, the frictional torque of the joint can be identified. Understandably, the actual torque of a joint is output by the drive mechanism that drives its movement.

[0087] Furthermore, when determining the unknown dynamic parameters (e.g., the gravitational torque in formula (2)) in the first dynamic model through identification methods, each joint can be controlled to move at a low speed in a uniform manner, traversing the entire range of motion, collecting the actual torque of the corresponding joint, as well as the joint position corresponding to the corresponding joint and its distal joint. Combining the actual torque of the corresponding joint, the frictional torque of the corresponding joint, and the joint position corresponding to the corresponding joint and its distal joint, the unknown dynamic parameters (e.g., the gravitational torque in formula (2)) of the joint can be identified using methods such as least squares. For example, in formula (2), the identified unknown dynamic parameters are mainly the gravitational torque parameters (including mass and center of mass, etc.). Therefore, a second dynamic model that relates the joint position of the corresponding joint and its distal joint to the compensation torque of the corresponding joint can be effectively constructed.

[0088] Embodiment 2 of the present invention provides a detection method applicable to a catheter robot. The catheter robot includes a base 10, a robotic arm 20, and a control device. The robotic arm 20 is connected to the base 10 and is used to install and operate catheter instruments. The control device is coupled to the robotic arm 20. The detection method includes: acquiring the working stroke of the end effector of the robotic arm 20 in a first direction, where the first direction is the feeding direction of the catheter instrument; in response to the alignment of the end effector of the robotic arm 20 with the guide 30 for connecting to the human body, acquiring the first pose of the end effector of the robotic arm 20 in the base coordinate system of the robotic arm 20, where the first pose is the pose of the end effector of the robotic arm 20 at the first end of the working stroke; based on the first pose and the working stroke, determining the second pose of the end effector of the robotic arm 20 in the base coordinate system of the robotic arm 20, where the second pose is the pose of the end effector of the robotic arm 20 at the second end of the working stroke; based on the second pose, determining the target joint variables of the joints in the robotic arm 20; and based on the relationship between the target joint variables of the joints in the robotic arm 20 and their range of motion, determining whether the pose relationship between the catheter robot and the guide 30 meets the requirements.

[0089] Embodiment 3 of the present invention provides a computer-readable storage medium, which includes a program that employs the control method of the control device for the catheter robot provided in the above embodiments.

[0090] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0091] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0092] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0093] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0094] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0095] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A catheter robot, characterized in that, include: Base (10); A robotic arm (20) is connected to the base (10) and is used to install and manipulate catheter instruments. A control device, coupled to the robotic arm (20), is configured to: The working stroke of the end effector of the robotic arm (20) in a first direction is obtained, wherein the first direction is the feed direction of the catheter instrument; In response to the alignment of the end of the robotic arm (20) with the guide (30) for connecting the human body, the first pose of the end of the robotic arm (20) in the base coordinate system of the robotic arm (20) is obtained, the first pose being the pose of the end of the robotic arm (20) at the first end of the working stroke. Based on the first pose and the working stroke, the second pose of the end of the robotic arm (20) in the base coordinate system of the robotic arm (20) is determined, and the second pose is the pose of the end of the robotic arm (20) at the second end of the working stroke; Based on the second pose, the target joint variables of the joints in the robotic arm (20) are determined; Based on the relationship between the target joint variables and their joint range of motion in the robotic arm (20), determine whether the pose relationship between the duct robot and the guide (30) meets the requirements; When it is determined that the pose relationship between the duct robot and the guide (30) does not meet the requirements, the transformation relationship between the base coordinate system of the robotic arm (20) and the reference coordinate system of the base (10) is obtained; Based on the first pose and the transformation relationship, the deflection angle between the end of the robotic arm (20) and the base (10) is determined. The deflection angle is the angle between the end of the robotic arm (20) and the base (10) on the support plane supporting the base (10). The included angle is compared with a preset angle, and the base (10) is adjusted adaptively according to the comparison result.

2. The catheter robot according to claim 1, characterized in that, The determination of whether the pose relationship between the duct robot and the guide (30) meets the requirements based on the relationship between the target joint variables and their joint range of motion in the robotic arm (20) includes: Compare the target joint variables of the joints in the robotic arm (20) with the size of their joint range of motion; When the target joint variable of any joint in the robotic arm (20) does not exceed its joint range of motion, the pose relationship between the duct robot and the guide (30) is determined to meet the requirements; or, When the target joint variables of one or more joints in the robotic arm (20) exceed their joint range of motion, it is determined that the pose relationship between the duct robot and the guide (30) does not meet the requirements.

3. The catheter robot according to claim 1, characterized in that, The control device is also configured to: Based on whether the pose relationship between the catheter robot and the guide (30) meets the requirements, a prompt sound and / or a prompt interface are generated to prompt the user.

4. The catheter robot according to claim 1, characterized in that, The robotic arm (20) includes a first robotic arm and a second robotic arm that are linked together. Both the first robotic arm and the second robotic arm are mounted on the base (10). The second robotic arm cooperates with the guide (30). Determining the deflection angle includes: A first coordinate system is established with the operating end position of the second robotic arm as the origin, the extension direction of the outer sheath of the second robotic arm and the extension direction perpendicular to the second robotic arm as the reference; a second coordinate system is established with the center point of the inlet hole of the guide (30) as the origin, the extension direction of the inlet hole of the guide (30) and the extension direction perpendicular to the inlet hole as the reference. The operating end of the second robotic arm is driven to the alignment position aligned with the guide (30) so that the coordinate extension direction of the first coordinate system is the same as the coordinate extension direction of the second coordinate system; Calculate the angle between the first coordinate system and the base coordinate system, and use the calculated angle as the deflection angle.

5. The catheter robot according to claim 4, characterized in that, A method for calculating the angle between the first coordinate system and the base coordinate system includes: Based on the joint variables of the second robotic arm, determine the relationship between the first coordinate system and the base coordinate system; Calculate the angle between the first coordinate system and the reference coordinate system of the base (10) based on the relationship between the first coordinate system and the base coordinate system.

6. The catheter robot according to claim 1, characterized in that, A method for adaptively adjusting the base (10) based on the comparison results includes: When the included angle is greater than or equal to the preset angle, the base (10) is controlled to adjust the angle according to the size of the included angle; When the included angle is less than the preset angle, the position of the base (10) is kept unchanged.

7. The catheter robot according to claim 6, characterized in that, A method for adaptively adjusting the base (10) based on the comparison results includes: According to the offset direction of the included angle, the base (10) is controlled to be adjusted in the opposite direction to the offset direction of the included angle.

8. The catheter robot according to claim 4, characterized in that, A method for driving the end effector of the second robotic arm to an alignment position aligned with the guide (30) includes: The extended position of the second robotic arm is determined as the initial position; In zero-force drag mode, the second robotic arm is driven to move from the initial position to the alignment position.

9. The catheter robot according to claim 8, characterized in that, A method for driving the end effector of the second robotic arm to an alignment position aligned with the guide (30) includes: Detect whether the operating end of the second robotic arm abuts against the positioning part of the guide (30); When it is detected that the operating end of the second robotic arm abuts against the positioning part of the guide (30), it is determined that the second robotic arm is in the alignment position, and the driving of the catheter instrument mounted on the second robotic arm is stopped; When it is detected that the operating end of the second robotic arm does not contact the positioning part of the guide (30), the relative positional relationship between the operating end of the second robotic arm and the positioning part of the guide (30) is detected by the vision detection device, and the position of the operating end of the second robotic arm is adaptively adjusted according to the detection result of the vision detection device.

10. The catheter robot according to claim 9, characterized in that, The method of driving the end effector of the second robotic arm to a position aligned with the guide (30) further includes: Detect the distance between the operating end of the second robotic arm and the positioning part of the guide (30); When it is detected that the distance between the operating end of the second robotic arm and the positioning part of the guide (30) is less than or equal to a preset distance, the electromagnetic component at the positioning part is energized so that the operating end of the second robotic arm is attracted under the electromagnetic force of the electromagnetic component at the positioning part. When it is detected that the distance between the operating end of the second robotic arm and the positioning part of the guide (30) is greater than the preset distance, the electromagnetic component at the positioning part is controlled to remain de-energized.

11. The catheter robot according to claim 1, characterized in that, The base (10) is provided with a caster wheel assembly and a retractable support column at its bottom. The support column is located at the center of the base (10), and the caster wheel assembly is arranged around the support column. A method for adaptively adjusting the base (10) based on the comparison results includes: Control the support column of the base (10) to extend to the support position; Control the base (10) to rotate about the support column as the rotation axis, and make the rotation angle of the base (10) the same as the included angle; or, The base (10) is provided with a plurality of casters at its bottom, each of which has an unlocked state and a locked state; the method for adaptively adjusting the base (10) based on the comparison results includes: Control one omnidirectional wheel to be in the locked state, and control the remaining omnidirectional wheels of the plurality of omnidirectional wheels to be in the unlocked state; The calculated included angle is converted into a rotation angle under the locked state; The base (10) is controlled to rotate with reference to the caster wheel in the locked state, and the rotation angle of the base (10) is controlled to be the same as the rotation angle.

12. The catheter robot according to claim 1, characterized in that, The process of obtaining the working stroke of the end effector of the robotic arm (20) in a first direction includes: Obtain anatomical models of the patient's internal structures that correspond to the anatomical structures. Based on the anatomical model, a target path is planned from the entrance of the anatomical model to the lesion; Based on the length of the target path, determine the first actual length from the entrance of the anatomical structure to the lesion; The working stroke is determined based on the first length.

13. The catheter robot according to claim 12, characterized in that, Determining the work trip based on the length of the path includes: The second length from the alignment position of the guide (30) when it is aligned with the end of the robotic arm (20) to the entrance of the anatomical structure model is obtained; The working stroke is determined by combining the first length and the second length.

14. A detection method, characterized in that, The detection method is applicable to catheter robots, which include a base, a robotic arm, and a control device. The robotic arm is connected to the base and is used for installing and operating catheter instruments. The control device is coupled to the robotic arm. The detection method includes: The working stroke of the end effector of the robotic arm is obtained in a first direction, where the first direction is the feed direction of the catheter instrument; In response to the alignment of the end effector of the robotic arm with the guide for connecting the human body, the first pose of the end effector of the robotic arm in the base coordinate system of the robotic arm is obtained, the first pose being the pose of the end effector of the robotic arm at the first end of the working stroke. Based on the first pose and the working stroke, the second pose of the end effector of the robotic arm in the base coordinate system of the robotic arm is determined, and the second pose is the pose of the end effector of the robotic arm at the second end of the working stroke. Based on the second pose, the target joint variables of the joints in the robotic arm are determined; Based on the relationship between the target joint variables and their joint range of motion in the robotic arm, determine whether the pose relationship between the duct robot and the guide meets the requirements. When it is determined that the pose relationship between the duct robot and the guide (30) does not meet the requirements, the transformation relationship between the base coordinate system of the robotic arm (20) and the reference coordinate system of the base (10) is obtained; Based on the first pose and the transformation relationship, the deflection angle between the end of the robotic arm (20) and the base (10) is determined. The deflection angle is the angle between the end of the robotic arm (20) and the base (10) on the support plane supporting the base (10). The included angle is compared with a preset angle, and the base (10) is adjusted adaptively according to the comparison result.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a program capable of executing the detection method of claim 14.

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