Robot system and control method and storage medium for executing robot arm

Abstract

This patent relates to the field of robot control, and in particular to a robot system and a control method and storage medium for its execution robot arm. The execution robot arm includes a tandem arm and a micro-mobile platform connected to the tandem arm. The control method includes the following steps: obtaining a global image of the area to be processed; dividing the area to be processed into N sub-areas according to the operating area range of the micro-mobile platform, where N is a natural number greater than or equal to 1; obtaining the position of each target object in each sub-area in the global image, planning a first motion path for the micro-mobile platform to process each target object in each sub-area in turn, and a second motion path for the tandem arm to move between each sub-area; according to the second motion path, the tandem arm is moved to each sub-area in turn; according to the first motion path, the micro-mobile platform is caused to traverse each target object located in the corresponding sub-area when it is located on each sub-area. The robot system of this patent has higher efficiency for repetitive actions.

Description

Technical Field

[0001] This patent relates to the field of robot control, and in particular to a robot system and a control method for its execution robot arm. Background Art

[0002] In the prior art, there are many types of medical surgical robots. In order to perform high-precision procedures, these robots often require extremely high-precision positioning combined with visual servoing for motion control operations.

[0003] In the existing technology, most medical surgical robots, particularly those for head and neck procedures, utilize a single-arm design with a linear structure. While this type of robot offers excellent precision for common procedures and effectively achieves its intended purpose, it is inefficient for procedures requiring numerous repetitive movements, requiring significant time to perform. Summary of the Invention

[0004] In order to solve or at least partially solve the above technical problems, this patent provides a robot system and a control method and storage medium for its execution robot arm.

[0005] This patent provides a control method for an execution manipulator of a robot system, wherein the execution manipulator includes a tandem arm and a micro-mobility platform connected to the tandem arm. The method includes the following steps:

[0006] Obtain a global image of the area to be processed;

[0007] According to the operating area of ​​the micro-mobility platform, the area to be processed is divided into N sub-areas, where N is a natural number greater than or equal to 1;

[0008] Obtaining the position of each target object in each sub-region in the global image, planning a first motion path for the micro-mobile platform to sequentially process each target object in each sub-region, and a second motion path for the tandem arm to move between the sub-regions;

[0009] According to the second motion path, the tandem arm moves to each sub-area in sequence;

[0010] According to the first motion path, the micro-mobile platform is caused to traverse each target object located in the corresponding sub-area when located on each sub-area.

[0011] Optionally, the step of dividing the sub-regions further includes:

[0012] According to the operating area of ​​the micro-mobility platform and the number of targets in each sub-area, the area to be processed is divided into N sub-areas.

[0013] Optionally, the area to be treated is an area to be treated on a human or animal body.

[0014] Optionally, in the step of dividing the area to be processed into N sub-areas according to the operating area range of the micro-mobility platform, the range of the divided sub-areas is formed by equidistantly reducing the operable area of ​​the micro-mobility platform.

[0015] Optionally, in the step of traversing each target object located in the corresponding sub-area, the method further includes:

[0016] Obtaining a local image of the sub-region;

[0017] Based on the local image, determine the position of the next target object to be traversed.

[0018] Optionally, the local image is a local binocular image.

[0019] Optionally, in the step of determining the position of the next target object to be traversed based on the partial image, the following step is further included:

[0020] Use the image tracking algorithm to track the position of the target under two local cameras:

[0021] Get the posture of the target object at its current position;

[0022] Adjust the posture of the micro-mobility platform according to the current position and posture of the acquired target object.

[0023] Optionally, there are M execution robotic arms, where M is a natural number greater than or equal to 2;

[0024] The step of dividing the area to be processed into N sub-areas further includes:

[0025] Assign sub-areas to each execution robot;

[0026] In the step of moving the tandem arm to each sub-area in sequence according to the second motion path, the tandem arm moves between the allocated sub-areas.

[0027] Optionally, in the step of traversing each target object located in the corresponding sub-area, the method further includes:

[0028] Get the position and posture of other executive robotic arms;

[0029] Determine whether the current executing robot arm will interfere with other executing robot arms during the next movement;

[0030] If so, replan the motion path of the current execution robot arm, or wait for other execution robot arms to move to the next target object before adjusting the posture of the current execution robot arm.

[0031] Optionally, before the step of adjusting the posture of the micro-mobility platform according to the acquired position and posture of the target object, the method further includes:

[0032] Obtain the position and posture of the micro-mobile platform of other execution manipulators;

[0033] Determine whether the current micro-mobile platform will interfere with the micro-mobile platform of other executing robotic arms during the next movement operation;

[0034] If so, the motion path of the current micro-mobile platform is replanned, or the posture of the current micro-mobile platform is adjusted after the serial arm of the other execution robot arm moves to the next target object.

[0035] Optionally, before the step of adjusting the posture of the micro-mobility platform according to the acquired position and posture of the target object, the method further includes:

[0036] Determine whether the current micro-mobility platform is adjacent to the sub-areas where the micro-mobility platforms of other execution manipulators are located;

[0037] If not, skip the step of obtaining the position and posture of the micro-mobile platform of other execution manipulators.

[0038] Optionally, in the step of moving the tandem arm between the allocated sub-areas, the method further includes:

[0039] Determine whether the current micro-mobility platform is adjacent to the sub-areas where the micro-mobility platforms of other execution manipulators are located;

[0040] If not, skip the step of obtaining the position and posture of other execution robot arms.

[0041] Optionally, in the step of obtaining the position and posture of other execution robot arms, parameters of the movement operation planned for the next step by the other execution robot arms are obtained.

[0042] This patent also provides a robot system, including:

[0043] At least one execution robot arm, the execution robot arm comprising a tandem arm and a micro-movement platform connected to the tandem arm;

[0044] An image acquisition device, used to acquire a global image of the area to be processed;

[0045] A processing device is communicatively connected to the execution robot arm and the image acquisition device, and the processing device is used to:

[0046] According to the operating area of ​​the micro-mobility platform, the area to be processed is divided into N sub-areas, where N is a natural number greater than or equal to 1;

[0047] Obtaining the position of each target object in each sub-region in the global image, planning a first motion path for the micro-mobile platform to sequentially process each target object in each sub-region, and a second motion path for the tandem arm to move between the sub-regions;

[0048] The serial arm is moved to each sub-area in sequence according to the second motion path;

[0049] The micro-mobile platform is enabled to traverse each target object located in the corresponding sub-area when located on each sub-area according to the first motion path.

[0050] Optionally, the image acquisition device includes:

[0051] A global image acquisition mechanism, used for acquiring a global image of the area to be processed;

[0052] The local image acquisition mechanism is used to acquire a local image of the sub-area, and the processing device is used to determine the position of the next target object to be traversed based on the local image.

[0053] Optionally, the local image acquisition mechanism includes two local cameras arranged at the end of the execution robot arm;

[0054] The processing device is used to track the position of the target object under the two local cameras using an image tracking algorithm and obtain the posture of the target object at the current position;

[0055] The processing device is further configured to send an adjustment signal to the micro-mobile platform according to the acquired current position and posture of the target object to adjust the posture of the micro-mobile platform.

[0056] This patent also provides a computer-readable storage medium that stores a computer program. When the computer program is executed, it can implement the aforementioned control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] To more clearly illustrate the embodiments of this patent, the following briefly introduces the relevant drawings. It is understood that the drawings described below are only used to illustrate some embodiments of this patent, and those skilled in the art can also obtain many other technical features and connection relationships not mentioned herein based on these drawings.

[0058] Figure 1 It is a schematic diagram of a robot system in an application scenario according to an embodiment of the present patent;

[0059] Figure 2 yes Figure 1 A partial enlarged schematic diagram of the robot part;

[0060] Figure 3This is a flow chart of a method for controlling an execution manipulator arm of a robot system according to an embodiment of the present invention;

[0061] Figure 4 This is a schematic diagram of an execution robot arm and an area to be processed according to an embodiment of the present patent;

[0062] Figure 5 It is a flowchart of a control method for an execution manipulator arm of another robot system according to an embodiment of the present invention;

[0063] Figure 6 This is a flow chart of a control method for an execution manipulator arm of another robot system according to an embodiment of the present invention;

[0064] Figure 7 It is a three-dimensional schematic diagram of a tandem arm of an execution manipulator of a robotic system of an embodiment of the present patent at an angle;

[0065] Figure 8 This is a three-dimensional schematic diagram of another angle of a serial arm of an execution manipulator of a robotic system according to an embodiment of the present patent;

[0066] Figure 9 This is a three-dimensional schematic diagram of a serial arm of an execution manipulator arm of a robot system according to an embodiment of the present patent from another angle;

[0067] Figure 10 A three-dimensional schematic diagram of a surgical robot of a robotic system according to an embodiment of the present patent.

[0068] Description of reference numerals:

[0069] a. Tandem arm; 1. Support joint assembly; 2. Intermediate joint assembly; 21. First joint arm; 211. First joint segment; 212. Second joint segment; 22. Second joint arm; 221. Third joint segment; 222. Fourth joint segment; 3. End joint;

[0070] b. Image acquisition device;

[0071] c. Installation platform;

[0072] d. Micromobility platform;

[0073] r1, first rotation axis; r2, second rotation axis; r3, third rotation axis; r4, fourth rotation axis; r5, fifth rotation axis; r6, sixth rotation axis; r7, seventh rotation axis; f1, first connection surface; f2, second connection surface. DETAILED DESCRIPTION

[0074] The following is a detailed description of this patent in conjunction with the accompanying drawings.

[0075] In the existing technology, most medical surgical robots, particularly those for head and neck procedures, utilize a single-arm design with a linear structure. While this type of robot offers excellent precision for common procedures and effectively achieves its intended purpose, it is inefficient for procedures requiring numerous repetitive movements, requiring significant time to perform.

[0076] In view of this, the embodiments of this patent propose a robot system and a control method for an execution robot arm of the robot system to solve the above technical problems.

[0077] First embodiment

[0078] The first embodiment of this patent proposes a control method for an execution manipulator of a robot system, see Figure 1 and Figure 2 As shown, the execution robot arm includes a serial arm a and a micro-movement platform d connected to the serial arm a, see Figure 3 As shown, the method includes the following steps:

[0079] Obtain a global image of the area to be processed;

[0080] According to the operating area of ​​the micro-mobility platform d, the area to be processed is divided into N sub-areas, where N is a natural number greater than or equal to 1;

[0081] Obtaining the position of each target object in each sub-region of the global image, planning a first motion path for the micro-mobile platform d to sequentially process each target object in each sub-region, and a second motion path for the tandem arm a to move between the sub-regions;

[0082] According to the second motion path, the serial arm a is moved to each sub-area in sequence;

[0083] According to the first motion path, the micro-mobile platform d is made to traverse each target object located in the corresponding sub-area when it is located on each sub-area.

[0084] Based on the above control method, this embodiment also provides a robot system, see Figure 2 Shown, including:

[0085] At least one execution robot arm, the execution robot arm comprising a tandem arm a and a micro-movement platform d connected to the tandem arm a;

[0086] Image acquisition device b, used to acquire a global image of the area to be processed;

[0087] The processing device is in communication with the execution robot arm and the image acquisition device b, and the processing device is used to:

[0088] According to the operating area of ​​the micro-mobility platform d, the area to be processed is divided into N sub-areas, where N is a natural number greater than or equal to 1;

[0089] Obtaining the position of each target object in each sub-region of the global image, planning a first motion path for the micro-mobile platform d to sequentially process each target object in each sub-region, and a second motion path for the tandem arm a to move between the sub-regions;

[0090] The serial arm a moves to each sub-area in sequence according to the second motion path;

[0091] The micro-mobile platform d is set to follow the first motion path and traverse each target object located in the corresponding sub-area when it is located on each sub-area.

[0092] The processing device of this patent can be any chip, standalone computer, or computer cluster with computing and processing capabilities. It can be embedded as a component in a robotic system, or it can be installed separately or even in the cloud. This patent does not specifically limit the processing device itself.

[0093] In this embodiment, the image acquisition device b can be used as follows Figure 2 As shown, the global image acquisition mechanism that looks down from top to bottom can be, for example, a multi-camera with stereo vision capability, which obtains images in a top-down manner.

[0094] The serial arm a, also known as a serial manipulator, is a more traditional form of manipulator. A serial robot is an open kinematic chain manipulator, typically consisting of a series of connecting rods connected in series through rotating or moving joints. The serial arm a has the characteristics of a large range of motion, fast movement speed, and convenient posture adjustment. However, the movement of the end of the serial manipulator is affected by the movement of every joint in the entire arm, and errors are prone to occur, so the movement accuracy in a small scale range is not high enough. More importantly, the slightest posture change at the end of the serial arm requires the rotation of several joints at the front end, and in strange positions it will cause some joints to move rapidly over a large range, which can easily cause collisions with the environment or patients, and is an unsafe factor.

[0095] Micro-mobility platform d is a platform mounted on tandem arm a, providing high-precision movement over a small range. It can be implemented using a parallel robotic arm or a hybrid serial-parallel robotic arm. A micro-mobility platform typically consists of a moving platform and a fixed platform, connected by at least two independent kinematic chains. Compared to tandem arm a, micro-mobility platform d has a smaller range of motion and a less versatile range of adjustable postures. However, it excels in precise and compact applications, offering advantages in speed, repeatability, and dynamic performance.

[0096] In the control process of this patent, in order to give full play to the motion advantages of the execution robot arm with both the serial arm a and the micro-mobile platform d, the area to be processed is first divided into N sub-areas according to the operable area range of the micro-mobile platform d, where N is a natural number greater than or equal to 1. For example, see Figure 4 As shown in the figure, the patient's head is divided into six subregions. When the executing robot arm fixes the micro-mobile platform d above a subregion via the tandem arm a, there is no longer a need to drive the tandem arm a to change the position of the micro-mobile platform d, allowing the micro-mobile platform d to traverse all positions within the subregion. This process reduces the number of movements of the tandem arm a, thus controlling the robot arm's motion errors, reducing the need for coordinate calibration and lowering the computational complexity and difficulty. Furthermore, the tandem arm barely moves, with only the micro-platform making small, precise movements, greatly ensuring intraoperative safety.

[0097] As a preferred solution, in the aforementioned step of dividing the area to be processed into N sub-areas according to the operating area range of the micro-mobile platform d, the range of the divided sub-areas is formed by equidistantly reducing the operating area of ​​the micro-mobile platform d.

[0098] Generally speaking, the size of the operating area of ​​the micro-mobile platform d without moving is limited, and the maximum range of the sub-area can only be within the range of this area. However, when the area to be processed is the area to be processed on the human body or animal body. During the operation, the human body or animal body may undergo unconscious or difficult-to-control movements, which may easily cause a part of the target object within the sub-area to escape from the sub-area. Therefore, by setting the range of the divided sub-area to be equidistantly reduced from the operating area of ​​the micro-mobile platform d, a margin can be left for such movements or accidents.

[0099] Furthermore, in subsequent steps, through the positions of each target object in each sub-area in the global image, the first motion path of the micro-mobile platform d when processing each target object in each sub-area in turn, and the second motion path of the serial arm a when moving between each sub-area can be planned.

[0100] Thus, the tandem arm a can move to each sub-area in sequence according to the second motion path. Each time it moves to a sub-area, the micro-mobile platform d can perform an operation in that sub-area. After the micro-mobile platform d completes its operation, it moves to the next area.

[0101] When the micro-mobile platform d is operating, it can traverse each target object located in the corresponding sub-area in each sub-area according to the first motion path.

[0102] The term "traversal" as used in this patent refers to a computer program that sequentially visits each node in a tree (or graph) along a search path. It can also be considered as the micro-mobile platform d executing the robotic arm visiting the target object.

[0103] Preferably, the area to be treated is an area to be treated on a human or animal body. This embodiment is specifically described using the hair follicle extraction procedure in the field of hair transplantation as an example, and the steps are as follows:

[0104] 1. See Figure 1 As shown, after the patient is in place, the bed automatically rises and falls to the appropriate height, and the doctor pushes the mounting platform c carrying the execution robot arm to the appropriate position in front of or on the side of the bed;

[0105] 2. The doctor puts a marker on the patient, and the image acquisition device b is started after it is in place. The doctor can adjust his position and posture through the marker to ensure that the overall working area can be seen clearly.

[0106] 3. Image acquisition device b begins capturing a global image, and the processing device analyzes all the target objects, namely the target position information of the hair follicles. During this process, the doctor can screen and mask the hair follicles that do not need to be treated.

[0107] 4. The processing device divides the area to be processed into several sub-areas based on the operational range of the micro-mobile platform D. It then plans a single-stroke path (the second motion path) for each hair follicle in each sub-area. These sub-areas are then connected by another path (the first motion path). This completes the planning of the robot arm's movement path.

[0108] 5. Afterwards, the processing device can move the serial arm a and the micro-mobile platform d according to the planned paths at the appropriate time, so that the micro-mobile platform d traverses each hair follicle in sequence.

[0109] 6. As the micro-mobile platform d traverses the hair follicles, an end-use tool, such as a hair follicle extraction needle, mounted on the micro-mobile platform d can be used to extract the hair follicles. As will be appreciated, depending on the specific surgical procedure, the end-use tool can be a hair follicle extraction needle, a hair follicle implantation needle, or simply a camera to capture and monitor the health of the hair follicles.

[0110] However, it should be stated that the control method of the robotic arm that this patent needs to protect does not itself involve a method for controlling the motion of the end tool. Although the above description uses the operation of extracting hair follicles during the hair transplant process as an example. But first of all, this patent does not involve the specific operation of extracting or implanting hair follicles. It is only a method for controlling the motion of the robotic arm, not a method for treating diseases. Therefore, this patent does not involve methods for diagnosing and treating diseases. Secondly, although this patent has excellent advantages in the field of hair transplantation, it can obviously also be applied to other fields such as the head and neck that require high-precision and high-repeatability operations. Even outside of medical scenarios, the technical solution of this patent can also be applied in industrial scenarios. For example, the production of wigs can also adopt the technical solution of this patent. Therefore, the application of this patent should not be limited to hair transplant procedures.

[0111] In a hair transplant operation, the number of hair follicles extracted and planted is more than 2,500. That is to say, to complete the entire operation, the robot needs to repeat the extraction and planting of hair follicles at least 2,500 times and the transplantation of hair follicles 2,500 times. The traditional single-arm linear structure robot needs to continuously move its serial robotic arm during each action. The operation time is very long and the accuracy is difficult to guarantee. The robot that adopts the combination of serial arm a and micro-mobile platform d is often difficult to make a good overall plan because the range of operation of micro-mobile platform d is limited. The unique control method of the execution robotic arm provided by this patent can still meet the high-precision requirements under high repeatability and large-scale areas, which has great advantages.

[0112] Obviously, the control method of the execution robot arm of this patent is not limited to application in hair transplantation procedures, but can also be used in procedures for the head and neck, and even in procedures for wider applications.

[0113] Second embodiment

[0114] In the first embodiment, how to divide the area to be processed is not involved. In actual application, the area to be processed can be divided based on various criteria. For example, in simple terms, an average division method can be adopted.

[0115] However, when using equal division, its applicable application scenarios are limited. In view of this, the second embodiment further proposes a robot system and a control method for its execution manipulator, which divides the processing area according to the operating area range of the micro-mobile platform d and the number of target objects in each sub-area.

[0116] Taking hair transplantation as an example, it's easy to understand that the quality and quantity of hair follicles in different areas of the head vary from patient to patient. If the sub-area division is based solely on size, it's likely that too few follicles can be extracted in one area, while too many can be extracted in another. This hinders path planning and allocation. Therefore, when dividing the area to be treated, in addition to considering the operating range of the micro-mobility platform d, the number and even quality of the targets in each sub-area can also be considered.

[0117] By taking into account the number of targets in each sub-area, the time required for the micro-mobility platform d to traverse different sub-areas can be adjusted according to different requirements. For example, the number of targets in each sub-area can be kept as close as possible, so that the path traversal time in different areas is close to each other. Alternatively, by abandoning some sub-areas with fewer targets, the number of movements of the tandem arm a can be reduced, thereby reducing the number of coordinate recalibrations and improving accuracy.

[0118] Third embodiment

[0119] For many application scenarios, the control methods provided in the first and second embodiments are sufficient. However, the inventors of this patent further discovered that when the target object itself may be displaced or its shape may change, relying solely on the global image acquired by the image acquisition device b for path reconstruction, target compensation positioning, and anti-interference detection of the robotic arm may not be accurate enough. Moreover, when the robotic arm and the instrument intervene, they will block the field of view of the global camera, making it unable to detect and correct this error.

[0120] In view of this, the third embodiment of the present invention provides a control method for a robot system and its execution robot arm. The control method of the third embodiment is a further improvement of the control method of the first or second embodiment. The main improvement is that, see Figure 5 As shown, in the step of traversing each target object located in the corresponding sub-region, it also includes: obtaining a local image of the sub-region; and determining the position of the next target object to be traversed based on the local image.

[0121] That is to say, compared with the aforementioned embodiments, this embodiment adds the step of acquiring and analyzing the local image of the corresponding sub-area. During the local visual servo control process, the precisely calibrated camera system will continuously observe, estimate, and reconstruct the three-dimensional pose of the target object, feed it back to the control device, and adjust it step by step until the control target is achieved. Specifically, during the traversal of each sub-area, the position of the next target object that needs to be traversed can be determined more accurately by combining the first motion path and the local image. Moreover, when the position of the next target object shifts, the change in position on the local image is more obvious than the change on the global image, which helps to re-navigate a new first motion path and achieve motion compensation, thereby significantly improving the accuracy of the secondary positioning. Actual tests show that after adding the analysis of the local image, the control accuracy of the robotic arm can reach the micron level.

[0122] The local image can be a monocular image, or preferably, a local binocular image to obtain three-dimensional information. Accordingly, the image acquisition device b can optionally include two parts: a global image acquisition mechanism for acquiring a global image of the area to be processed; and a local image acquisition mechanism for acquiring local images of a sub-area. The processing device is used to determine the position of the next target object to be traversed based on the local image. These two parts can be arranged separately. In other words, the global image acquisition mechanism can be placed directly above the work area to obtain an overall view, while the local image acquisition mechanism can be placed at the end of the tandem arm a or on the micro-mobility platform d to track the position of each target object in the sub-area without obstruction.

[0123] When using local binocular images, not only the position of the next target object to be traversed can be determined, but also the posture of the next target object to be traversed can be determined, which is of great significance in some non-standard applications.

[0124] Therefore, optionally, in the step of determining the position of the next target object to be traversed according to the partial image, the following step is further included:

[0125] Use the image tracking algorithm to track the position of the target under two local cameras:

[0126] Get the posture of the target object at its current position;

[0127] The posture of the micro-mobile platform d is adjusted according to the current position and posture of the target object obtained.

[0128] Also optionally, the local image acquisition mechanism includes two local cameras disposed at the end of the execution robot arm;

[0129] The processing device is used to track the position of the target object under the two local cameras using an image tracking algorithm and obtain the posture of the target object at the current position;

[0130] The processing device is further configured to send an adjustment signal to the micro-mobile platform d according to the acquired current position and posture of the target object to adjust the posture of the micro-mobile platform d.

[0131] Taking hair transplant surgery as an example, while the orientation of hair in the same area of ​​the human scalp is generally consistent overall, individual hair may differ slightly. During hair follicle extraction, following the direction of the hair root or maintaining a small fixed angle with this direction results in a much higher survival rate than extracting hair follicles from other directions. However, due to slight positioning errors between the global camera and the robotic arm, the movement of the robotic arm itself can also introduce slight errors due to connecting rod deformation, reducer backlash, and encoder inaccuracies. With global camera observation, a single-step movement of the robotic arm cannot achieve ideal accuracy, and a slight gap will inevitably exist between the target position and the target posture. Unfortunately, the robotic arm and instruments will block the global camera's field of view, making it difficult for the global camera to correct this error. In contrast, in this embodiment, the robotic arm's posture can be adjusted in real time using the current position and posture of the acquired target object, thus meeting the requirements in this situation.

[0132] This embodiment continues to use the hair follicle extraction procedure in the field of hair transplantation as an example for specific description, and the steps are as follows:

[0133] 1. See Figure 1 As shown, after the patient is in place, the bed automatically rises and falls to the appropriate height, and the doctor pushes the mounting platform c carrying the execution robot arm to the appropriate position in front of or on the side of the bed;

[0134] 2. The doctor puts a marker on the patient, and the image acquisition device b is started after it is in place. The doctor can adjust his position and posture through the marker to ensure that the overall working area can be seen clearly.

[0135] 3. Image acquisition device b begins capturing a global image, and the processing device analyzes all the target objects, namely the target position information of the hair follicles. During this process, the doctor can screen and mask the hair follicles that do not need to be treated.

[0136] 4. The processing device divides the area to be processed into several sub-areas based on the operational range of the micro-mobile platform D. It then plans a single-stroke path (the second motion path) for each hair follicle in each sub-area. These sub-areas are then connected by another path (the first motion path). This completes the planning of the robot arm's movement path.

[0137] 5. The processing device directs tandem arm a along the second motion path, moving micro-mobile platform d to the top of the first sub-area. At this point, two local cameras mounted on micro-mobile platform d begin operating, capturing images of the sub-area. Using an image tracking algorithm, they track the position of the next target object as it traverses the first motion path, as seen by the two local cameras.

[0138] 6. While tracking the target, the target's current position and posture can be determined. Based on the end-of-line tooling's operational requirements, the micro-mobility platform D can fine-tune its posture to match the target's current position. Furthermore, if the target moves, posture adjustments can be used to compensate for the change.

[0139] 7. The end-use tool, or hair follicle extraction device, can perform hair follicle extraction. After extraction, the local camera continues tracking the next target (hair follicle) until the micro-mobile platform d has traversed all targets. Then, the tandem arm a can move the micro-mobile platform d to the next sub-area.

[0140] Fourth embodiment

[0141] In existing technologies, most medical robotic systems only have one robotic arm, which makes it difficult to improve efficiency in some special application scenarios, such as hair transplant surgery.

[0142] In view of this, the fourth embodiment of this patent proposes an improvement based on any one of the first to third embodiments, providing a robot system and a control method for its execution manipulator. The main improvement is that: the number of execution manipulators is greater than or equal to 2.

[0143] Clearly, simply increasing the number of manipulators will not solve the problem. This is because performing medical procedures in a compact area, such as the head and neck area, requires extremely high precision. When there are more than one manipulator, interference between them is likely to occur. In other words, dual-arm collaborative operation places extremely high demands on the manipulators' path planning. No mature control method exists in the existing technology to avoid interference.

[0144] Therefore, as an optional solution of this embodiment, in the step of dividing the area to be processed into two or more sub-areas, the following steps are further included:

[0145] Assign sub-areas to each execution robot;

[0146] In the step of moving the tandem arm a to each sub-area in sequence according to the second motion path, the tandem arm a moves between the allocated sub-areas.

[0147] In the process of allocating sub-areas, this embodiment fully considers the volume of the tandem arm a of different execution manipulators. By allocating respective sub-areas to different execution manipulators, the working areas of the two are separated, achieving a preliminary effect of preventing interference.

[0148] Further, see Figure 6 As shown, in the step of traversing each target object located in the corresponding sub-area, before each driving of the robot arm to perform movement, the following steps are further included:

[0149] Get the position and posture of other executive robotic arms;

[0150] Determine whether the current executing robot arm will interfere with other executing robot arms during the next movement;

[0151] If so, replan the motion path of the current execution robot arm, or wait for other execution robot arms to move to the next target object before adjusting the posture of the current execution robot arm.

[0152] Taking the micro-mobile platform d as an example, before adjusting the posture of the micro-mobile platform d according to the acquired position and posture of the target object, the following steps may also be included:

[0153] Obtain the position and posture of the other manipulator's micro-mobile platform d. Determine whether the current micro-mobile platform d will interfere with the other manipulator's micro-mobile platform d during the next movement. If so, replan the motion path of the current micro-mobile platform d or wait for the other manipulator's tandem arm a to move to the next target before adjusting the posture of the current micro-mobile platform d. Tandem arm a operates in a similar manner and is not described further here.

[0154] From the overall design perspective, a more intuitive idea is usually to fully consider the size, shape, and boundaries of the executing robots, as well as the collision volume when moving at each target point, the dwell time at each target point, etc., when designing the motion paths of the two executing robots, so as to plan a completely collision-free path for each robot.

[0155] This is relatively easy to implement for applications with fewer targets, but it is more difficult for scenarios like hair transplant surgery. This is because the amount of calculation increases dramatically as the number of targets increases. At the same time, due to mechanical errors caused by the deformation of each arm under pressure, the backlash of the motor reducer, the reading errors of the joint position sensor, and the tiny errors that cannot be eliminated by the control loop, these errors may suddenly occur in the scenario of delicate operations, thus rendering the original obstacle avoidance design ineffective.

[0156] To this end, in this embodiment, under the premise of planning the overall path, by re-acquiring and confirming the position and posture of other executing robotic arms before each driving of the executing robotic arm to move, it is possible to more effectively avoid other executing robotic arms, which can obviously better prevent interference in the movement of multiple robotic arms.

[0157] It's worth noting that, in addition to acquiring the current position and posture of the other robotic arms before each movement, the current position and posture of the other robotic arms can also be continuously acquired during the movement of the robotic arms. This continuous acquisition of the current position and posture provides greater redundancy than acquiring them only before the movement of the robotic arms.

[0158] In addition, in order to better prevent interference or collision, the step of determining whether the current robotic arm will interfere with other robotic arms in the next movement operation may also include: determining whether the current robotic arm will interfere with the environment.

[0159] The environment referred to in this patent is not limited to stationary objects in the environment, but can also include patients or other staff such as doctors and nurses. It is easy to understand that in different working environments, there may be different obstacles. This embodiment takes the position and shape of these obstacles into consideration when the robot moves, thereby better preventing interference or collision of the robot.

[0160] Specifically, in this embodiment, the "next movement of the execution robot arm" includes the separate movements of tandem arm a and micro-mobile platform d. Therefore, before either tandem arm a or micro-mobile platform d moves, the position and posture of the other execution robot arm can be analyzed.

[0161] like Figure 6 As shown in the figure, when the position and posture of other executing manipulators are obtained and may interfere with the executing manipulator, there are two strategies to choose from:

[0162] 1. Wait for the other execution robot to move to the next target. At this time, the execution robot will be in an idle state, which is suitable for situations where the remaining time of the current task of the execution robot that may interfere is short.

[0163] 2. Replan the current robot's second motion path, avoiding the movements of other executing robots. During the path planning process, you can change the target object or keep the original target object and only modify the path to reach it. This is suitable for situations where the remaining time of the current task is long and there is a possibility of interference with the executing robot.

[0164] In view of this, when it comes to choosing a specific strategy, you can take the following steps:

[0165] If the movement of tandem arm a interferes with the movement of other actuator arms according to the second motion path, the time required for the other actuator arms to move to the next target is obtained. If the required time is greater than the preset time, strategy 2 is selected; if the required time is less than the preset time, strategy 1 is selected.

[0166] The preset time can be set by the operator based on actual needs, for example, from 0.1s to 5s. For tandem arm a, due to its longer intervals between movements, this preset time can be appropriately relaxed, for example, from 1 to 5s. For micro-mobility platform d, due to its shorter intervals between movements, the preset time is typically within 1s.

[0167] Furthermore, to completely eliminate the possibility of interference, the parameters of the other manipulators' planned next moves can optionally be obtained during the step of acquiring the positions and postures of the other manipulators. By also factoring in the parameters of the other manipulators' planned next moves, this ensures that the manipulators' current and next steps will not interfere with each other, reduces the number of path recalculations, and achieves a better balance between computational effort and accuracy.

[0168] In this patent, there is no limitation on the specific data source for obtaining other robotic arms or environmental parameters. Typically, each robotic arm can be provided with its own controller. These controllers can request each other's posture and motion planning to make interference judgments. Alternatively, the processing device can be set on all robotic arms for global planning. The data of all robotic arms are collected to this processing device for unified deployment and judgment. When there are only two robotic arms, the difference between the two is not big, but when there are more robotic arms, the first method will waste a lot of repeated information retrieval actions and communication bandwidth, so the second method is more efficient. In addition, the analysis of the global image can also be used to detect possible collisions between multiple robotic arms. The global image can serve as a supplement to the collision prevention based on the robotic arm motion model, providing additional protection when the motion model is inaccurate.

[0169] This embodiment continues to use the hair follicle extraction procedure in the field of hair transplantation as an example for specific description, and the steps are as follows:

[0170] 1. See Figure 1 As shown, after the patient is in place, the bed automatically rises and falls to the appropriate height, and the doctor pushes the mounting platform c carrying the execution robot arm to the appropriate position in front of or on the side of the bed;

[0171] 2. The doctor puts a marker on the patient, and the image acquisition device b is started after it is in place. The doctor can adjust his position and posture through the marker to ensure that the overall working area can be seen clearly.

[0172] 3. Image acquisition device b begins capturing a global image, and the processing device analyzes all the target objects, namely the target position information of the hair follicles. During this process, the doctor can screen and mask the hair follicles that do not need to be treated.

[0173] 4. The processing device divides the area to be processed into several sub-areas according to the range of the operating area of ​​the micro-mobility platform d.

[0174] 5. These sub-regions are assigned to different actuator arms, and a single-stroke path, known as the second motion path, is planned for each hair follicle within each sub-region. Sub-regions belonging to the same actuator arm are connected using another path, known as the first motion path. This completes the movement path planning for each actuator arm.

[0175] 6. Each of the tandem arms a of the execution manipulators moves along the second motion path, delivering its own micro-mobile platform d to the top of its own first sub-area, and traverses the target object in the sub-area. The method is the same as that of the above embodiment, so it will not be repeated here.

[0176] 7. During the traversal process, the end-of-line tool, or the hair follicle extraction device, can perform hair follicle extraction. Before each execution arm is about to move, whether it is the tandem arm a or the micro-mobility platform d, it obtains the position and posture of the other execution arms and determines whether there is interference between the execution arms. If not, the action continues. If interference is likely, the path is replanned according to the preset strategy, or the execution arm that may interfere is allowed to complete its action.

[0177] Fifth embodiment

[0178] In the fourth embodiment, before each driving execution of the robot arm movement, interference judgment is performed again, which is a bit cumbersome.

[0179] In view of this, the fifth embodiment of this patent provides a robot system and a control method for its execution robot arm. The fifth embodiment is a further improvement of the fourth embodiment, and its main improvement is that the interference judgment in some cases is skipped.

[0180] Specifically, with respect to the movement of the micro-mobile platform d, before the step of adjusting the posture of the micro-mobile platform d according to the acquired position and posture of the target object, the following steps may also be included:

[0181] Determine whether the current micro-mobile platform d is adjacent to the sub-area where the micro-mobile platform d of other execution manipulators is located;

[0182] If not, skip the step of obtaining the position and posture of the micro-mobile platform d of the other execution robot arm.

[0183] Regarding the movement of the tandem arm a, optionally, in the step of moving the tandem arm a between the allocated sub-areas, the method further includes:

[0184] Determine whether the current micro-mobile platform d is adjacent to the sub-area where the micro-mobile platform d of other execution manipulators is located;

[0185] If not, skip the step of obtaining the position and posture of other execution robot arms.

[0186] When the sub-areas operated by two manipulators are not adjacent, this means that the two manipulators are relatively far apart. Under this premise, no matter how the micro-mobile platforms d of the two manipulators move, interference with one another is unlikely. Therefore, this configuration greatly reduces the computational complexity of interference determination, further improving the operating efficiency of the manipulators.

[0187] Sixth embodiment

[0188] The inventors of this patent discovered that existing actuator arms often utilize an anthropomorphic joint design with a linear structure. This type of linear joint, with its connection to the end effector, is bulky, and the hair removal / implantation needle is often coaxial with or only slightly offset from the observation / drive mechanism. This joint design, however, easily obscures the field of view of the image acquisition device during use due to the excessive space occupied by the joint.

[0189] In view of this, the sixth embodiment of this patent proposes a serial arm a of an execution manipulator of a robot system, see Figures 7 to 9 As shown, it includes:

[0190] Support joint assembly 1, used to fix the tandem arm a;

[0191] End joint 3, used for connecting the end effector;

[0192] The intermediate joint assembly 2 includes a first joint arm 21 and a second joint arm 22. The first joint arm 21 is rotatably connected to the supporting joint assembly 1 along a first rotation axis r1. The end joint 3 is rotatably arranged on the second joint arm 22.

[0193] The angle formed between the first rotation axis r1 and the height direction of the supporting joint assembly 1 is greater than 60 degrees and less than 120 degrees, and the angle formed between the length direction of the first articulated arm 21 and the first rotation axis r1 is greater than 60 degrees and less than 120 degrees, so that the first articulated arm 21 can rotate and be offset to one side of the supporting joint assembly 1;

[0194] The second joint arm 22 is rotatably connected to the first joint arm 21 so as to be able to move the end joint 3 to a position close to the supporting joint assembly 1 .

[0195] The first embodiment of this patent also provides a surgical robot, see Figure 1 As shown, the aforementioned series arm a is provided thereon.

[0196] In this embodiment, since the terminal joint 3 and the intermediate joint assembly 2 are connected via a rotating member, no universal joint structure is required. This provides excellent support for the entire intermediate joint assembly 2 and the terminal joint 3 mounted thereon. Furthermore, by rotatably connecting the second articulated arm 22 to the first articulated arm 21, this embodiment allows the position of the terminal joint 3 to be controlled solely through the rotational connection without requiring a multi-directional structure. This results in greater stability.

[0197] More importantly, in this embodiment, by making the first rotation axis r1 and the height direction of the support joint assembly 1 present an angle greater than 60 degrees and less than 120 degrees, the first joint arm 21 can rotate with the connection part with the support joint assembly 1 as the rotation center. On this basis, the angle between the length direction of the first joint arm 21 and the first rotation axis r1 is set to be greater than 60 degrees and less than 120 degrees, so that the first joint arm 21 can rotate approximately with its own length as the rotation radius. In this way, see Figure 1 As shown, the first articulated arm 21 can easily bend at any angle, either to the left or right of the terminal joint 3. This allows the main moving structure of the tandem arm a to remain positioned to one side of the terminal joint 3 during operation. Compared to the prior art, this design provides the tandem arm a with a considerable load-bearing capacity while occupying virtually no space on the other side of the tandem arm a and obstructing the field of view of the image acquisition device b, thereby improving visual positioning.

[0198] It is easy to understand that, as a preferred embodiment, the angle between the first rotation axis r1 and the height direction of the support joint assembly 1 can be 90 degrees, and the angle between the length direction of the first articulated arm 21 and the first rotation axis r1 is also preferably 90 degrees. When the main structure of the first articulated arm 21 is perpendicular to the support joint assembly 1, it occupies relatively less space and simplifies the positioning of the end joint 3.

[0199] Alternatively, see Figure 10 As shown, the surgical robot provided in this embodiment may include a mounting platform c and at least two of the aforementioned tandem arms a, wherein the two tandem arms a are disposed on the mounting platform c, one on the left and one on the right. The two robotic arms are symmetrical in configuration. In this embodiment, the symmetrical configuration refers to the fact that the two robotic arms may be structurally different or slightly different, but symmetrical in layout, or mirror images of each other.

[0200] It is easy to understand that the surgical robot disclosed in this embodiment is an anthropomorphic dual-arm robot, wherein the two tandem arms a, when symmetrical in configuration, are similar to human arms and can perform functions that are easy for humans to perform.

[0201] As a complete robotic system, the two arms of the anthropomorphic dual-arm robot are interdependent. They share sensor data and are forcefully coupled via a common communication link. Communication between the two arm controllers enables each arm to respond to the other's movements, trajectory planning, and decision-making. This coordinated relationship between the two arms enables the anthropomorphic robot to coordinate its movements, similar to a doctor's arms.

[0202] In this field, the two arms of an anthropomorphic dual-arm robot are subject to strict and dynamically changing constraints, requiring them to complete a collaborative task without colliding with each other. Therefore, the robot must strictly consider constraints such as the workspace, trajectory, degrees of freedom, and forces of the two arms, making control very difficult. In the medical field, where the life and health of patients are at stake, even higher requirements are placed on the obstacle avoidance algorithms and force position control of the two arms. Furthermore, multimodal information, such as preoperative and intraoperative images, force sensors, and even physician instructions, must be integrated to optimize planning and minimize operational errors.

[0203] Compared to two independently controlled robotic arms, the anthropomorphic dual-arm robot operates through a unified control plan. This provides the following advantages:

[0204] 1. In the absence of relative motion between the end effector and the manipulator, the control effect of the end effector is better than the corresponding operation of two separate robots;

[0205] 2. When there is relative motion between the end effector and the robotic arm, the flexible object can be controlled and operated through the good coordination between the two arms, which is difficult for two separate robotic arms to achieve;

[0206] 3. When the anthropomorphic dual-arm robot is working, it can more effectively avoid conflicts that would occur when two separate robots work together;

[0207] 4. An anthropomorphic dual-arm robot can more easily achieve orderly operation of multiple targets than two separate robots.

[0208] In complex surgical operation scenarios, the redundancy of the anthropomorphic dual-arm design can:

[0209] 1. Overcoming singularities, avoiding joint angle limits, improving flexibility, multi-arm obstacles, and obtaining minimum joint torque;

[0210] 2. It is reliable and can re-plan tasks in a timely manner.

[0211] Due to its anthropomorphic design, it can achieve integration with the medical team and patients in the surgical environment. Therefore, in the field of medical robots, anthropomorphic dual-arm robots are the development direction of the next generation of robots.

[0212] Because of the above requirements for anthropomorphic robots, new requirements are put forward for the design of the robotic arm itself. As mentioned above, in the prior art, the anthropomorphic robots disclosed are mostly limited to the appearance of humans, and the design and operation of their joints are restricted, so the operating range is not large and the field of view is not good. In contrast, in this embodiment, when the two tandem arms a are set on the mounting platform c, one on the left and one on the right, since the two tandem arms a can rotate in a direction away from each other, they can bend in the direction of one side of the terminal joint 3. Figure 10 As shown, this embodiment can leave a larger space between the two serial arms a, so that when the two serial arms a are compactly arranged together, a wide range of vision can be provided between the two arms.

[0213] Alternatively, see Figure 1 、 Figure 2 As shown, the surgical robot of this embodiment further includes: an image acquisition device b, which is arranged between the two serial arms a and is used to acquire an image of the area between the two serial arms a.

[0214] Surgical robots are used for head and neck surgeries. The surgical robot of this embodiment is particularly well-suited for head and neck surgeries. This is because the robot's operable space for head and neck surgeries is limited to the head and neck of the human or animal body, a very narrow area. However, due to the aforementioned structural design, the surgical robot of this embodiment is capable of performing high-precision operations in confined spaces.

[0215] according to Figure 1 and Figure 2As shown, in this embodiment, the image acquisition device b is located between the two tandem arms a. When viewed from above, it is completely unobstructed by the tandem arms a, providing an excellent field of view, which is very beneficial for path planning of the tandem arms a. Optionally, the image acquisition device b can be a binocular camera, thereby providing precise path guidance for the tandem arms a.

[0216] In particular, surgical robots can be used in hair transplant surgery where:

[0217] A scalp tensioner is provided on one serial arm a for tensioning the scalp; a hair follicle operating device is provided on the other serial arm a through a micro-mobile platform b for extracting or planting hair follicles.

[0218] or,

[0219] The surgical robot also includes: a scalp tensioner for tensioning the scalp, and hair follicle operating devices are provided on both serial arms a through a micro-movement platform b.

[0220] Because the tandem arms a provided in this embodiment are inherently offset, collision and collision between the two tandem arms a are unlikely. When simultaneously performing follicle manipulation operations, the two tandem arms a can each position two offset end effectors, such as follicle manipulation devices, on either side of the patient's head. Since collision between the two follicle manipulation devices is unlikely, this embodiment offers significant efficiency advantages over existing techniques for procedures like hair transplantation, which require extensive, repeated extraction and implantation operations.

[0221] The human arm is composed of bones, joints, and the muscles that connect them. Joints typically have one or more degrees of freedom. The human arm has seven degrees of freedom: three at the shoulder joint, one at the elbow joint, and one at the hand joint, making it redundant. This redundancy allows the arm to change its posture by rotating the elbow joint while maintaining fixed fingertip orientation and wrist position, enabling better obstacle avoidance.

[0222] Surgical robots can be designed with bionics to function like a human arm. However, if the human arm were to be completely replicated, the mechanical structure of the shoulder joint, which requires three degrees of freedom, would be extremely complex, costly, and have limited load-bearing capacity.

[0223] In view of this, this embodiment further proposes a series arm a, see Figure 10As shown, a slope is provided on the mounting platform c, with an angle of 30 to 60 degrees to the ground, oriented toward the patient. The support joint assembly 1 of the tandem arm a is positioned on the slope. This means that after the base joint is securely connected to the outside, the angle between the second rotation axis r2 and the ground is between 30 and 60 degrees.

[0224] By arranging the supporting joints of the tandem arm a on a slope, the tandem arm a can be arranged in a forward-leaning manner. This design is completely different from the orientation of the joints of the human body.

[0225] As previously cited in the prior art patents, they take a bionic approach and place the tandem arm a on the shoulder of the humanoid robot, extending to the left and right sides. This certainly allows the two tandem arms a to be arranged in a direction away from each other, but it significantly increases the complexity of the shoulder joint, increasing costs while reducing its load-bearing capacity. In this embodiment, since the tandem arm a is tilted forward, the rotational movement of the first articulated arm 21 relative to the supporting joint assembly 1 is sufficient to allow the entire intermediate joint assembly 2 to rotate on an inclined plane with the supporting joint assembly 1 as the center. This rotational space can cover the range required for most surgeries, providing great redundancy with a simple design, and reducing the structural complexity and cost of the tandem arm a.

[0226] Further, see Figure 8 As shown, the support joint assembly 1 includes:

[0227] Base joint for connecting the outside to fix the tandem arm a;

[0228] The root joint has one end connected to the first joint arm 21 and the other end rotatably connected to the base joint along the second rotation axis r2 . The extension direction of the second rotation axis r2 is consistent with the height direction of the supporting joint assembly 1 .

[0229] As a joint directly connected to the base, the root joint needs to bear the greatest weight. As a surgical robot, the volume of the joint itself should be as small as possible to reduce space occupation and improve the field of view. In this embodiment, the root joint is directly connected to the base joint in a rotatable manner, so that the load-bearing capacity of the joint is guaranteed. At the same time, when the rotatable root joint cooperates with the forward-tilted tandem arm a, combined with the rotation design of the first joint arm 21, the tandem arm a can perform high-precision and wide-coverage movements within the surgical area.

[0230] Further, see Figure 9 As shown, the root joint and the first joint arm 21 have a first connection surface f1, and the second rotation axis r2 passes through the first connection surface f1;

[0231] See also Figure 7 、 Figure 8 As shown, the neck of the root joint facing the first joint arm 21 is concave in a direction away from the first joint arm 21 , and the neck of the first joint arm 21 facing the root joint is concave in a direction away from the root joint to form an avoidance.

[0232] Since the first joint arm 21 and the root joint are both designed with a recessed avoidance, the first joint arm 21 can achieve a larger range of rotatable movement without reducing the size of the first connecting surface f1. This makes the serial arm a provided in this embodiment have a good load-bearing capacity while reducing space occupancy.

[0233] Furthermore, preferably, the first rotation axis r1 and the second rotation axis r2 can be perpendicular to each other, and the second rotation axis r2 can be coplanar with the first connection surface f1. By setting the first rotation axis r1 and the second rotation axis r2 perpendicular to each other, the plane in which the first articulated arm 21 rotates is approximately parallel to the support joint assembly 1. This significantly reduces the space occupied by the tandem arm a in the direction of the first rotation axis r1, improves the integration of the tandem arm a, and reduces the possibility of interference between the two tandem arms a on the operating table.

[0234] Optionally, the first joint arm 21 may further include a first joint segment 211 and a second joint segment 212 rotatably connected to each other along a third rotation axis r3;

[0235] like Figure 9 As shown, the first rotation axis r1 , the second rotation axis r2 , and the third rotation axis r3 intersect at one point.

[0236] When the second joint segment 212 is able to rotate relative to the first joint segment 211, the tandem arm a itself is sufficient to provide the second joint segment 212 with the ability to accurately position itself at any point within its reach. When the three rotation axes intersect at a single point, the position of the end of the second joint segment 212 can be precisely calculated. This, combined with the other joints, gives the surgical tandem arm a structure with even more redundant degrees of freedom.

[0237] The inventors have found that the existing tandem arm a structure often sets the rotation plane between the joint arms on the plane at the end of the joint arm, and the rotation plane often protrudes outside the joint arm. This is not a problem in the traditional tandem arm a structure, but it is not very suitable in medical scenarios that require miniaturization. In view of this, this embodiment further proposes a tandem arm a, see Figure 3 As shown, the first articulated arm 21 and the second articulated arm 22 are connected via a second connecting surface f2 , and the second connecting surface f2 is coplanar with a radial section surface of a middle portion of the first articulated arm 21 .

[0238] By setting the second connection surface f2 to be coplanar with the radial cross-sectional surface of the middle part of the first articulated arm 21, the rotation part of the second connection surface f2 is located in the middle part of the first articulated arm 21, thereby simplifying the calculation amount when planning the motion path of the serial arm a.

[0239] Furthermore, optionally, the portion of the first articulated arm 21 near the second connection surface f2 protrudes away from the second connection surface f2; and the portion of the second articulated arm 22 near the second connection surface f2 protrudes away from the second connection surface f2. Because the portion of the second connection surface f2 located on the tandem arm a is farthest from the surgical area, the protrusions at these two locations can increase the structural strength of the connection without affecting the surgical field of view, thereby extending the service life of the tandem arm a.

[0240] This embodiment also makes optional improvements to the second joint arm 22 .

[0241] Specifically, see Figure 7 、 Figure 8 and Figure 9 As shown, the second articulated arm 22 includes a third joint segment 221 and a fourth joint segment 222 rotatably connected to each other along the sixth rotation axis r6, the third joint segment 221 is connected to the first articulated arm 21, and the fourth joint segment 222 is connected to the end joint 3;

[0242] The portion of the fourth joint segment 222 close to the end joint 3 is bent away from the sixth rotation axis r6 and forms a lifting platform parallel to the sixth rotation axis r6. The end joint 3 is rotatably arranged on the lifting platform along the fourth rotation axis r4.

[0243] Through the above configuration, the tandem arm a of this embodiment provides a redundant structure with seven degrees of freedom for the terminal joint 3, achieving the functions of the arm portion of the anthropomorphic tandem arm a in a compact form factor. A key difference from the prior art is that the lifting platform is configured to rotate parallel to the sixth rotation axis r6. This allows for fine-tuning of the three-dimensional coordinates of the terminal joint 3 in space without changing the position of the supporting joint assembly 1 and the first articulated arm 21. This significantly improves the stability of the tandem arm a's movements, making it more suitable for use in high-precision surgical environments.

[0244] Furthermore, optionally, an interface can be provided on the end joint 3, and the end effector can be rotatably mounted on the end joint 3 along the fifth rotation axis r5 through the interface, and the fourth rotation axis r4, the fifth rotation axis r5 and the sixth rotation axis r6 intersect at one point.

[0245] The end effector, such as the further micro-mobility platform a and the end effector mounted thereon, can function as the wrist of an anthropomorphic robotic arm. By intersecting the fourth, fifth, and sixth rotational axes r4, r5, and r6 at a single point, the space between the second articulated arm 22 and the end effector can be reduced.

[0246] Alternatively, see Figure 9 As shown, when the supporting joint assembly 1 includes: a base joint, used to connect to the outside to fix the serial arm a; a root joint, one end of which is connected to the first joint arm 21, and the other end is rotatably connected to the base joint along the second rotation axis r2, and the extension direction of the second rotation axis r2 is consistent with the height direction of the supporting joint assembly 1, the second joint arm 22 is rotatably connected to the first joint arm 21 along the seventh rotation axis r7, and the distance from the seventh rotation axis r7 to the second rotation axis r2 is greater than the distance from the seventh rotation axis r7 to the fourth rotation axis r4.

[0247] As previously mentioned, in one application scenario of this embodiment, an image acquisition device b is positioned between the two tandem arms a. As a preferred option, the image acquisition device b can be configured to capture images of the tandem arm a from above. In this case, because the tandem arm a in this embodiment is offset, the only mechanisms that could obstruct the surgical area are the end effector and its associated end joint 3. By setting the distance from the seventh rotation axis r7 to the second rotation axis r2 to be greater than the distance from the seventh rotation axis r7 to the fourth rotation axis r4, the position of the end joint 3 and the end effector can be strictly limited, minimizing field of view obstruction.

[0248] In the prior art, articulated arms are often straight arms. When their direction needs to be changed, a ball joint is often installed at the end of the articulated arm. However, ball joints are susceptible to interference from the articulated arm itself. In view of this, as a further preferred embodiment of this embodiment, the portion of the third joint segment 221 near the first articulated arm 21 is curved in the direction of the first articulated arm 21.

[0249] The first articulated arm 21 includes a first joint segment 211 and a second joint segment 212 rotatably connected to each other along a third rotation axis r3, the first joint segment 211 being connected to the root joint, and the second joint segment 212 being connected to the third joint segment 221;

[0250] The second joint segment 212 is bent in an arc shape toward the second joint arm 22 , thereby intersecting with the third joint segment 221 on the seventh rotation axis r7 .

[0251] The root joint and the first joint arm 21 have a first connecting surface f1. The distance between the side of the first joint segment 211 facing away from the root joint and the plane where the first connecting surface f1 is located gradually decreases from the direction close to the root joint to the direction away from the root joint, thereby forming an arc-shaped transition surface.

[0252] The surface of the distal joint 3 facing the first joint segment 211 is also an arc-shaped surface.

[0253] The arc-shaped arrangement of the first articulated arm 21 and the second articulated arm 22 makes the articulated arm present a beautiful curved shape. This shape design not only improves the appearance of the tandem arm a, but also has practical value:

[0254] 1. First, during the operation, there may be doctors or nurses nearby practicing, supervising and operating. The curved tandem arm a avoids or reduces the threat to personal safety posed by the sharp and rigid edges of the tandem arm a.

[0255] 2. Secondly, the overall U-shaped tandem arm a has a smaller displacement at the end when rotating along the seventh rotation axis r7 by the same angle than the V-shaped tandem arm a in the prior art, thus achieving higher motion accuracy.

[0256] 3. Furthermore, since interference at the connection is avoided, the first articulated arm 21 and the second articulated arm 22 can move to an extreme position where they are close to each other, thereby reducing the storage volume of the series arm a and improving space utilization.

[0257] Optionally, it also includes:

[0258] Tensioner, used to fix and tension the soft surface of the target working area;

[0259] An end effector is provided on the micro-mobile platform, and the end effector is used to process a target object in a target working area;

[0260] The end effector is a hair follicle extraction device or a hair follicle implantation device;

[0261] In the robotic system, the number of executing manipulators is greater than or equal to two;

[0262] The tensioner is arranged on one of the execution mechanical arms, or the tensioner is relatively fixedly arranged through a bracket.

[0263] Seventh embodiment

[0264] The seventh embodiment of this patent also provides a computer-readable storage medium storing a computer program. When the computer program is executed, it can implement the control method mentioned in any one of the first to sixth embodiments.

[0265] Finally, it should be noted that those skilled in the art will appreciate that, in order to facilitate a better understanding of this patent, the embodiments of this patent set forth numerous technical details. However, even without these technical details and the various variations and modifications based on the aforementioned embodiments, the technical solutions claimed in the various claims of this patent can be substantially achieved. Therefore, in actual practice, various changes in form and detail may be made to the aforementioned embodiments without departing from the spirit and scope of this patent.

Claims

1. A method for controlling an execution manipulator of a robot system, characterized in that: The execution robot arm includes a tandem arm and a micro-movement platform connected to the tandem arm, and a local image acquisition mechanism provided at the end of the tandem arm or the micro-movement platform, and includes the following steps: Obtain a global image of the area to be processed; The area to be processed is divided into N sub-areas according to the operating area range of the micro-mobility platform and the number of targets in each sub-area; N is a natural number greater than or equal to 1, and each sub-area contains multiple targets; Obtaining the position of each target object in each sub-region in the global image, planning a first motion path for the micro-mobile platform to sequentially process each target object in each sub-region, and a second motion path for the tandem arm to move between the sub-regions; According to the second motion path, the series arm moves to each sub-area in sequence; According to the first motion path, the micro-mobile platform, when located on each sub-area, traverses each target object located in the corresponding sub-area; The step of traversing each target object located in the corresponding sub-area further includes: Acquiring a partial image of the sub-region using the partial image acquisition mechanism; Determining the position of the next target object to be traversed based on the local image; Obtaining the posture of the target object at the current position; Using image tracking algorithms, the position of the target object under the local image acquisition mechanism is tracked; The posture of the micro-mobility platform is adjusted according to the acquired current position and posture of the target object.

2. The control method according to claim 1, characterized in that: The area to be treated is an area to be treated on a human body or an animal body.

3. The control method according to claim 1, characterized in that: In the step of dividing the area to be processed into N sub-areas according to the operating area range of the micro-mobility platform, the range of the divided sub-areas is formed by equidistantly reducing the operable area of ​​the micro-mobility platform.

4. The control method according to claim 1, wherein: The local image is a local binocular image.

5. The control method according to claim 4, characterized in that: The step of tracking the position of the target object under the local image acquisition mechanism using an image tracking algorithm further includes: The image tracking algorithm is used to track the position of the target under two local cameras.

6. The control method according to any one of claims 1 to 5, characterized in that: There are M execution robotic arms, where M is a natural number greater than or equal to 2; In the step of dividing the area to be processed into N sub-areas, the method further includes: Assign sub-areas to each execution robot; In the step of moving the tandem arm to each sub-area in sequence according to the second motion path, the tandem arm moves between the allocated sub-areas.

7. The control method according to claim 6, characterized in that: The step of traversing each target object located in the corresponding sub-area further includes: Get the position and posture of other executive robotic arms; Determine whether the current executing robot arm will interfere with other executing robot arms during the next movement; If so, replan the motion path of the current execution robot arm, or wait for other execution robot arms to move to the next target object before adjusting the posture of the current execution robot arm.

8. The control method according to claim 7, characterized in that: Before the step of adjusting the posture of the micro-mobility platform according to the acquired position and posture of the target object, the method further includes: Obtain the position and posture of the micro-mobile platform of other execution manipulators; Determine whether the current micro-mobile platform will interfere with the micro-mobile platform of other executing robotic arms during the next movement operation; If so, the motion path of the current micro-mobile platform is replanned, or the posture of the current micro-mobile platform is adjusted after the serial arm of the other execution robot arm moves to the next target object.

9. The control method according to claim 8, characterized in that: Before the step of adjusting the posture of the micro-mobility platform according to the acquired position and posture of the target object, the method further includes: Determine whether the current micro-mobility platform is adjacent to the sub-areas where the micro-mobility platforms of other execution manipulators are located; If not, skip the step of obtaining the position and posture of the micro-mobile platform of the other execution robot arm.

10. The control method according to claim 6, characterized in that: In the step of moving the tandem arm between the allocated sub-areas, the method further includes: Determine whether the current micro-mobility platform is adjacent to the sub-areas where the micro-mobility platforms of other execution manipulators are located; If not, skip the step of obtaining the positions and postures of other execution robot arms.

11. The control method according to any one of claims 7 to 10, characterized in that: In the step of obtaining the position and posture of the other execution robot arm, the parameters of the next movement operation planned to be performed by the other execution robot arm are obtained.

12. A robot system, characterized in that: include: At least one execution robot arm, the execution robot arm comprising a tandem arm and a micro-movement platform connected to the tandem arm; An image acquisition device, used to acquire a global image of the area to be processed; The image acquisition device comprises: A global image acquisition mechanism, used for acquiring a global image of the area to be processed; A local image acquisition mechanism is provided at the end of the serial arm or on the micro-movement platform; a processing device, communicatively connected to the execution robot arm and the image acquisition device, the processing device being configured to: Divide the area to be processed into N sub-areas according to the operating area range of the micro-mobility platform and the number of targets in each sub-area, where N is a natural number greater than or equal to 1, and each sub-area contains multiple targets; Obtaining the position of each target object in each sub-region in the global image, planning a first motion path for the micro-mobile platform to sequentially process each target object in each sub-region, and a second motion path for the tandem arm to move between the sub-regions; enabling the serial arm to move to each sub-area in sequence according to the second motion path; Instructing the micro-mobile platform to traverse each target object located in the corresponding sub-area when located on each sub-area according to the first motion path; The processing device is further used for: Acquiring a partial image of the sub-region using the partial image acquisition mechanism; Determining the position of the next target object to be traversed based on the local image; Obtaining the posture of the target object at the current position; Using image tracking algorithms, the position of the target object under the local image acquisition mechanism is tracked; The posture of the micro-mobility platform is adjusted according to the acquired current position and posture of the target object.

13. The robot system according to claim 12, wherein: The local image acquisition mechanism includes two local cameras arranged at the end of the execution robot arm; The processing device is used to track the position of the target object under two local cameras using an image tracking algorithm, and obtain the posture of the target object at the current position.

14. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed, the control method according to any one of claims 1 to 11 can be implemented.

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