Robotic arm control methods, devices, equipment and media

Abstract

This disclosure relates to a robotic arm control method, apparatus, device, and medium. The method includes: in response to the robotic arm reaching a target pose, detecting the interference state between a robotic arm reference frame and a surgical area reference frame; if interference exists, acquiring the external torque of the robotic arm; using the alignment of the robotic arm's tool axis direction with the bone tunnel direction as a constraint, calculating the rotation angle of the robotic arm based on the external torque; determining the joint angle of the robotic arm based on the rotation angle, and controlling the rotation of the robotic arm according to the joint angle. According to the technical solution of this disclosure, the problem of intraoperative reference frame interference can be solved.

Description

Technical Field

[0001] This disclosure relates to the field of robotic arm technology, and in particular to a robotic arm control method, device, equipment and medium. Background Technology

[0002] With the development of robotics, robotic arms are widely used to assist in surgical procedures. The robotic arm-assisted anterior cruciate ligament reconstruction surgery robot uses an optical navigation system for positioning and the robotic arm to drill for bone tunneling. Landmarks are placed on both the robotic arm and the surgical area. The optical navigation system identifies and processes these landmarks (hereinafter referred to as reference frames) to obtain the pose of the bone tunnel in the surgical area.

[0003] Currently, in relevant surgical scenarios, if interference occurs between reference frames, it is often necessary to remove the reference frames and then re-fix them, which affects the normal progress and efficiency of the surgery. How to solve the problem of reference frame interference during surgery is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] To address the aforementioned technical problems, this disclosure provides a robotic arm control method, apparatus, device, and medium.

[0005] In a first aspect, embodiments of this disclosure provide a robotic arm control method, including:

[0006] In response to the robotic arm reaching the target pose, the interference state between the robotic arm reference frame and the surgical area reference frame is detected;

[0007] If the interference state indicates that interference exists, then the external torque of the robotic arm is obtained;

[0008] With the constraint that the tool axis direction of the robotic arm is consistent with the bone tunnel direction, the rotation angle of the robotic arm is calculated based on the external torque.

[0009] The joint angle of the robotic arm is determined based on the rotation angle, so as to control the rotation of the robotic arm according to the joint angle.

[0010] Secondly, embodiments of this disclosure provide a robotic arm control device, comprising:

[0011] The detection module is used to detect the interference state between the robotic arm reference frame and the surgical area reference frame in response to the robotic arm reaching the target pose.

[0012] The acquisition module is used to acquire the external torque of the robotic arm if the interference state is that interference exists;

[0013] The determination module is used to calculate the rotation angle of the robotic arm based on the external torque, with the tool axis direction of the robotic arm being consistent with the bone channel direction as a constraint.

[0014] A control module is used to determine the joint angle of the robotic arm based on the rotation angle, so as to control the rotation of the robotic arm according to the joint angle.

[0015] Thirdly, embodiments of this disclosure provide an electronic device, including: a processor; a memory for storing executable instructions of the processor; the processor being configured to read the executable instructions from the memory and execute the instructions to implement the robotic arm control method described in the first aspect above.

[0016] Fourthly, embodiments of this disclosure provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the robotic arm control method described in the first aspect.

[0017] Compared with the prior art, the technical solution provided in this disclosure has the following advantages: In response to the robotic arm reaching the target pose, if there is interference between the robotic arm reference frame and the surgical area reference frame, the external torque of the robotic arm is obtained, and the rotation angle of the robotic arm is calculated based on the external torque, with the alignment of the tool axis direction of the robotic arm with the bone tunnel direction as a constraint. Then, the joint angle of the robotic arm is determined based on the rotation angle, and the rotation of the robotic arm is controlled according to the joint angle. Thus, the problem of reference frame interference during surgery can be solved. When controlling the robotic arm based on the external torque, the rotation angle is calculated with the alignment of the tool axis direction of the robotic arm with the bone tunnel direction as a constraint, so that the robotic arm rotates around the tool axis direction. This adjusts the relative position of the robotic arm reference frame and the surgical area reference frame during bone tunnel drilling. While avoiding mutual interference between the robotic arm reference frame and the surgical area reference frame, there is no need for the robotic arm to reposition the target pose, simplifying the surgical procedure. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0019] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart illustrating a robotic arm control method provided in an embodiment of this disclosure;

[0021] Figure 2 This is a schematic diagram of a robotic arm provided in an embodiment of the present disclosure;

[0022] Figure 3This is a schematic diagram of the structure of a robotic arm control device provided in an embodiment of the present disclosure. Detailed Implementation

[0023] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0024] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0025] Figure 1 This is a flowchart illustrating a robotic arm control method provided in an embodiment of the present disclosure. The method provided in this embodiment can be executed by a robotic arm control device, which can be implemented using software and / or hardware and can be integrated into any electronic device with computing capabilities.

[0026] like Figure 1 As shown, the robotic arm control method provided in this disclosure embodiment may include:

[0027] Step 101: In response to the robotic arm reaching the target pose, detect the interference state between the robotic arm reference frame and the surgical area reference frame.

[0028] The method of this disclosure can be applied to control the robotic arm in robotic arm-assisted surgery scenarios, such as controlling the robotic arm to reach the target pose in orthopedic surgery, and then using the robotic arm to perform bone tunnel drilling operations.

[0029] In this embodiment, a tool is provided at the end of the robotic arm. When the tool axis of the robotic arm is aligned with the bone tunnel direction, and the distance between the tool and the bone tunnel entry point is a preset distance, the robotic arm is determined to have reached the target pose. When the robotic arm reaches the target pose, the interference state between the robotic arm reference frame and the surgical area reference frame is detected.

[0030] In robotic-assisted surgery, markers are placed on both the robotic arm and the surgical area. Positioning systems, such as infrared optical navigation systems, identify these markers and perform coordinate transformations based on the identification results to allow the robotic arm to acquire the pose of the bone tunnel in the surgical area. The robotic arm reference frame is a marker fixed to the robotic arm, and the surgical area reference frame is a marker fixed to the surgical area. The interference state between the robotic arm reference frame and the surgical area reference frame includes the presence of interference and the absence of interference. Interference exists when either side of the robotic arm reference frame collides with either side of the surgical area reference frame; the absence of interference occurs when neither side of the robotic arm reference frame collides with either side of the surgical area reference frame.

[0031] The following example illustrates how to detect the interference state between the robotic arm reference frame and the surgical area reference frame.

[0032] In one embodiment of this disclosure, a positioning system can be used to identify the robotic arm reference frame and the surgical area reference frame, and then the interference state between the robotic arm reference frame and the surgical area reference frame can be determined based on the identification result of the positioning system. In this embodiment, detecting the interference state between the robotic arm reference frame and the surgical area reference frame includes: acquiring first position information of a first side in the positioning coordinate system and second position information of a second side in the positioning coordinate system; establishing parametric equations for the first side and the second side based on the first position information and the second position information; determining whether the first side and the second side intersect based on the parametric equations; if the first side and the second side intersect, the interference state is determined to exist; otherwise, the interference state is determined to not exist.

[0033] The positioning coordinate system includes an optical navigation coordinate system. The first position information includes the coordinates of the first side in the positioning coordinate system, and the second position information includes the coordinates of the second side in the positioning coordinate system. The first side can be any side of the robotic arm reference frame, and the second side can be any side of the surgical area reference frame. Furthermore, based on the actual installation situation, when interference occurs between the robotic arm reference frame and the surgical area reference frame, it is usually because a specific side of the robotic arm reference frame intersects with a specific side of the surgical area reference frame. Therefore, the first side can be a specific side of the robotic arm reference frame, and the second side can be a specific side of the surgical area reference frame.

[0034] As an example, let the first side be denoted as AB and the second side as EF. The interference state between the robotic arm reference frame and the surgical area reference frame is determined by whether line segments AB and EF intersect. If AB and EF intersect, interference exists; if they do not intersect, interference does not exist. The relative positions of A and B are known quantities; that is, when the coordinates of point A are (0, 0, 0), the coordinates of point B are (k, m, n). The relative positions of E and F are also known quantities; that is, when the coordinates of point E are (0, 0, 0), the coordinates of point F are (d, e, f). EF is parallel to the tool axis of the robotic arm. In the optical navigation coordinate system, if the coordinates of point A are (x1, y1, z1), then the coordinates of point B are (x1+k, y1+m, z1+n), denoted as B(x2, y2, z2). If the coordinates of point E are (x3, y3, z3), then the coordinates of point F are (x3+d, y3+e, z3+f), denoted as F(x4, y4, z4). Based on the coordinates of points A, B, E, and F, establish the parametric equations:

[0035]

[0036] Wherein, formula (1) is the parametric equation of line segment AB, and formula (2) is the parametric equation of line segment EF. If a T If a is not invertible, then line segment AB and line segment EF do not intersect; T a is invertible. Calculate t1 and t2, and substitute them into t1 and t2. Determine whether x, y, and z in formula (1) and formula (2) are equal. If they are equal, then line segment AB intersects line segment EF. If they are not equal, then line segment AB does not intersect line segment EF.

[0037] It should be noted that the above method of determining the interference state between the robotic arm reference frame and the surgical area reference frame using linear equations is only one implementation method. Other methods besides linear equations can also be used to observe the interference state between the robotic arm reference frame and the surgical area reference frame. No specific restrictions are imposed here.

[0038] Step 102: If the interference state is that interference exists, then obtain the external torque of the robotic arm.

[0039] In this embodiment, after the robotic arm reaches the target pose, if interference is detected between the robotic arm reference frame and the surgical area reference frame, the external torque of the robotic arm is acquired. If there is no interference between the robotic arm reference frame and the surgical area reference frame, the step of acquiring the external torque of the robotic arm is not required. Optionally, a prompt message is generated based on the interference state. When interference exists, the prompt message indicates the presence of interference, and an external force is applied to the robotic arm according to the prompt message, at which point the external torque of the robotic arm is acquired. When interference does not exist, the prompt message indicates the absence of interference, and the normal surgical procedure is performed according to the prompt message. The implementation methods of the prompt message include, but are not limited to, voice prompts and text prompts.

[0040] The following explains how to obtain the external torque of the robotic arm.

[0041] In one embodiment of this disclosure, a force sensor is provided at the end effector of the robotic arm. The coordinate system of the robotic arm includes: a robotic arm flange coordinate system, a robotic arm tool coordinate system, a robotic arm base coordinate system, and a sensor coordinate system. Force and torque are collected by the force sensor. The torque collected by the force sensor is recorded as a first torque. A first transformation matrix is ​​determined based on the rotational and translational transformation relationships between the robotic arm base coordinate system and the robotic arm tool coordinate system. This first transformation matrix is ​​used to map the first torque from the robotic arm base coordinate system to the robotic arm tool coordinate system. Therefore, the first torque is transformed according to the first transformation matrix to obtain a second torque in the robotic arm tool coordinate system, and the external torque is determined based on the second torque.

[0042] Optionally, the end effector of the robotic arm is equipped with a load. When determining the external torque of the robotic arm, gravity compensation can be performed on the collected torque. The coordinate system of the robotic arm also includes a load centroid coordinate system. Determining the external torque based on the second torque includes: acquiring the first gravity and the first gravitational torque of the load in the load centroid coordinate system; determining a second transformation matrix based on the rotational and translational transformation relationships between the load centroid coordinate system and the robotic arm tool coordinate system; this second transformation matrix is ​​used to map the first gravity and the first gravitational torque to the robotic arm tool coordinate system; thereby, the first gravity and the first gravitational torque are transformed according to the second transformation matrix to obtain the second gravitational torque in the robotic arm tool coordinate system; and gravity compensation is performed on the second torque to obtain the external torque.

[0043] As an example, the coordinate system of the robotic arm flange is denoted as flange, the coordinate system of the robotic arm tool is denoted as tool, the coordinate system of the robotic arm base is denoted as base, the gravity of the load is denoted as G, and the coordinate system of the load center of mass is denoted as ct. The following explanation is combined with the calculation process. It should be noted that, for ease of description, the following description describes the force collected by the force sensor and the external force in the calculation results. This should not be taken as a limitation of this scheme.

[0044] In this example, the force and torque data collected by the force sensor built into the end effector of the robotic arm are denoted as follows: Among them, f base n represents the force collected by the force sensor. base The first torque is collected by the force sensor.

[0045]

[0046] in, This defines the translational transformation relationship between the robot arm base coordinate system and the robot arm tool coordinate system. This represents the rotational transformation relationship between the robot arm base coordinate system and the robot arm tool coordinate system. It is the coordinate transformation relationship between the robot arm flange coordinate system and the robot arm tool coordinate system, which is a known quantity; It can be read through the robotic arm interface and is a known quantity; F tool Including n tool n tool This is the second torque.

[0047]

[0048] in, This represents the rotational transformation relationship between the load's center of mass coordinate system and the robot arm's tool coordinate system. The translational transformation relationship between the load center of mass coordinate system and the robot arm tool coordinate system is given by f. cct_G Let n be the first gravitational force of the load in the load's center-of-mass coordinate system. ct_G Let F be the first gravitational torque of the load in the load's center-of-mass coordinate system. tool_G F represents the gravitational force and gravitational torque generated by the load in the robotic arm tool coordinate system. tool_G Including n tiol_G n tool_G This is the second gravitational torque.

[0049] The relative orientation between the load center of mass coordinate system and the robot arm base coordinate system is known, such as... Figure 2 As shown, Figure 2 The solid lines represent the robotic arm flange, robotic arm tools, robotic arm base, and load. The dashed lines represent the coordinate system of the robotic arm base and the coordinate system of the load's center of mass. For ease of calculation, the load's center of mass coordinate system and the robotic arm base coordinate system are oriented in the same direction.

[0050]

[0051] in, Given quantities This describes the rotational transformation between the robot arm base coordinate system and the robot arm flange coordinate system. In the tool coordinate system, the external forces and torques sensed by the robot arm are... ext =F tool -F tool_G .

[0052] Step 103: Using the alignment of the tool axis direction of the robotic arm with the bone channel direction as a constraint, calculate the rotation angle of the robotic arm based on the external torque.

[0053] In this embodiment, the rotation angle of the robotic arm is calculated based on the external torque. This rotation angle is then used to control the robotic arm's rotation around the tool axis, while maintaining the position of the tool tip. Under this constraint, the torque component of the external torque along the tool axis is obtained, and control is performed based on this torque component. It can be understood that by controlling the robotic arm to rotate around the tool axis while maintaining the position of the tool tip—rather than keeping its posture constant—the flexibility during surgery is increased.

[0054] Optionally, the torque component of the external torque along the tool axis is obtained, and admittance control is performed based on the torque component to obtain the rotation angle of the robotic arm. It should be noted that in this embodiment, the robotic arm can be controlled using the admittance formula or a variation thereof, or other algorithms with similar functions can be used for robotic arm control.

[0055] The calculation process for the rotation angle is explained below.

[0056] As an example, external force and external torque F ext as follows:

[0057]

[0058] Where, n x_ext n y_ext n z_ext These represent the torque components of the external torque in the x, y, and z directions, respectively. For example, when the y-direction of the robotic arm's tool coordinate system is aligned with the bone tunnel direction, the formula is as follows:

[0059]

[0060] Where B and M are fixed coefficients, and Δθ is the rotation angle.

[0061] Step 104: Determine the joint angle of the robotic arm based on the rotation angle, so as to control the rotation of the robotic arm according to the joint angle.

[0062] In this embodiment, after calculating the rotation angle of the robotic arm based on the external torque, the coordinate transformation relationship between the robotic arm tool coordinate system and the robotic arm base coordinate system is determined after the robotic arm rotates around the tool axis at that rotation angle. The coordinate transformation relationship includes rotation transformation relationship and translation transformation relationship. Then, the joint angle of the robotic arm is obtained by solving the coordinate transformation relationship between the robotic arm tool coordinate system and the robotic arm base coordinate system after rotation.

[0063] As an example,

[0064]

[0065] Transform the required rotation angle into the coordinate system of the robotic arm base to obtain:

[0066]

[0067] in, This describes the coordinate transformation relationship between the tool coordinate system and the base coordinate system of the robotic arm after rotation. This describes the rotational transformation relationship between the tool coordinate system and the base coordinate system of the robotic arm after rotation. Based on... The inverse solution yields q, where q represents the joint angle of the robotic arm. If q has a solution, the robotic arm is reachable; if q has no solution, the robotic arm is not reachable. Therefore, based on the solved joint angle of the robotic arm, the robotic arm is controlled to rotate around the tool axis until there is no interference between the robotic arm reference frame and the surgical area reference frame.

[0068] In one embodiment of this disclosure, a maximum rotatable angle can be preset. After calculating the rotation angle of the robotic arm based on the external torque, it is determined whether the target angle of the robotic arm after rotation exceeds the preset angle in the current rotation direction. If the target angle exceeds the preset angle in the current rotation direction, a prompt message is generated. The preset angle indicates the maximum rotatable angle in the current rotation direction, and the prompt message prompts adjustment of the rotation direction. The prompt message includes, but is not limited to, voice prompts and text prompts. By changing the direction of the external force applied to the robotic arm through the prompt message, the rotation direction can be adjusted.

[0069] In one embodiment of this disclosure, if there is no solution after solving the joint angles of the robotic arm, it is determined that the robotic arm is unreachable, and a prompt message is generated. This prompt message is used to indicate that the robotic arm is unreachable, and the direction of the external force applied to the robotic arm is changed by changing the direction of rotation through the prompt message.

[0070] In one embodiment of this disclosure, after controlling the rotation of the robotic arm according to the joint angle, the interference state between the robotic arm reference frame and the surgical area reference frame is detected, and a prompt message is generated based on the interference state. This prompt message indicates the current interference state between the robotic arm reference frame and the surgical area reference frame. For example, after controlling the rotation of the robotic arm according to the joint angle, if interference still exists between the robotic arm reference frame and the surgical area reference frame, an indication of interference is given, and an external force is applied to the robotic arm according to the prompt message. The aforementioned steps of obtaining the external torque, calculating the rotation angle, and control are repeated. If there is no interference between the robotic arm reference frame and the surgical area reference frame, an indication of no interference is given, and the application of external force to the robotic arm is stopped, and the rotation of the robotic arm is no longer controlled.

[0071] According to the technical solution of this disclosure, in response to the robotic arm reaching the target pose, if there is interference between the robotic arm reference frame and the surgical area reference frame, the external torque of the robotic arm is acquired. Using the alignment of the robotic arm's tool axis direction with the bone tunnel direction as a constraint, the rotation angle of the robotic arm is calculated based on the external torque. Furthermore, the joint angle of the robotic arm is determined based on the rotation angle, and the robotic arm rotation is controlled according to the joint angle. This solves the problem of reference frame interference during surgery. When controlling the robotic arm based on the external torque, the rotation angle is calculated using the alignment of the robotic arm's tool axis direction with the bone tunnel direction as a constraint, causing the robotic arm to rotate around the tool axis direction. This adjusts the relative position of the robotic arm reference frame and the surgical area reference frame during bone tunnel drilling. While avoiding mutual interference between the robotic arm reference frame and the surgical area reference frame, there is no need for the robotic arm to reposition the target pose, simplifying the surgical procedure. Furthermore, real-time detection of the robotic arm's reachability ensures surgical safety.

[0072] Figure 3 This is a schematic diagram of the structure of a robotic arm control device provided in an embodiment of the present disclosure, as shown below. Figure 3 As shown, the robotic arm control device includes: a detection module 31, an acquisition module 32, a determination module 33, and a control module 34.

[0073] Detection module 31 is used to detect the interference state between the robotic arm reference frame and the surgical area reference frame in response to the robotic arm reaching the target pose;

[0074] The acquisition module 32 is used to acquire the external torque of the robotic arm if the interference state is that interference exists;

[0075] The module 33 is used to calculate the rotation angle of the robotic arm based on the external torque, with the tool axis direction of the robotic arm being consistent with the bone channel direction as a constraint.

[0076] The control module 34 is used to determine the joint angle of the robotic arm based on the rotation angle, so as to control the rotation of the robotic arm according to the joint angle.

[0077] In one embodiment of this disclosure, the detection module 31 is specifically used for:

[0078] Obtain the first position information of the first side in the positioning coordinate system and the second position information of the second side in the positioning coordinate system; wherein, the first side is any side of the robotic arm reference frame and the second side is any side of the surgical area reference frame;

[0079] Based on the first position information and the second position information, establish the parametric equations of the first side and the second side, and determine whether the first side and the second side intersect based on the parametric equations;

[0080] If the first side and the second side intersect, then the interference state is determined to be interference.

[0081] In one embodiment of this disclosure, a force sensor is provided on the robotic arm, and the acquisition module 32 is specifically used for:

[0082] Acquire the first torque collected by the force sensor;

[0083] The first transformation matrix is ​​determined based on the rotational and translational transformation relationships between the robot arm base coordinate system and the robot arm tool coordinate system;

[0084] The first torque is transformed according to the first transformation matrix to obtain the second torque in the tool coordinate system of the robotic arm, so as to determine the external torque based on the second torque.

[0085] In one embodiment of this disclosure, the end effector of the robotic arm is provided with a load, and the acquisition module 32 is specifically used for:

[0086] Obtain the first gravitational force and first gravitational torque of the load in the load's center of mass coordinate system;

[0087] The second transformation matrix is ​​determined based on the rotational and translational transformation relationships between the load centroid coordinate system and the robotic arm tool coordinate system;

[0088] The first gravity and the first gravitational torque are transformed according to the second transformation matrix to obtain the second gravitational torque in the tool coordinate system of the robotic arm;

[0089] The external torque is obtained by compensating the second torque with gravity based on the second gravitational torque.

[0090] In one embodiment of this disclosure, the determining module 33 is specifically used for:

[0091] Obtain the torque component of the external torque along the tool axis;

[0092] Admittance control is performed based on the torque component to obtain the rotation angle of the robotic arm.

[0093] In one embodiment of this disclosure, the device further includes:

[0094] The first prompt module is used to determine whether the target angle of the robotic arm after rotation exceeds the preset angle in the current rotation direction based on the rotation angle; if the target angle exceeds the preset angle in the current rotation direction, a first prompt message is generated; the first prompt message is used to prompt adjustment of the rotation direction.

[0095] In one embodiment of this disclosure, the device further includes:

[0096] The second prompting module is used to detect the interference state between the robotic arm reference frame and the surgical area reference frame; generate a second prompting message; the second prompting message is used to indicate the current interference state between the robotic arm reference frame and the surgical area reference frame.

[0097] The robotic arm control device provided in this disclosure can execute any robotic arm control method provided in this disclosure, and has the corresponding functional modules and beneficial effects for executing the method. Content not described in detail in the device embodiments of this disclosure can be referred to the description in any method embodiment of this disclosure.

[0098] This disclosure also provides an electronic device including one or more processors and a memory. The processor may be a central processing unit (CPU) or other processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions. The memory may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor may execute the program instructions to implement the methods of the embodiments of this disclosure above and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0099] In one example, the electronic device may also include input and output devices, which are interconnected via a bus system and / or other forms of connection. Furthermore, the input device may include, for example, a keyboard, a mouse, etc. The output device can output various information to the outside, including determined distance information, direction information, etc. The output device may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc. In addition, depending on the specific application, the electronic device may include any other suitable components such as a bus, input / output interfaces, etc.

[0100] In addition to the methods and apparatus described above, embodiments of this disclosure may also be computer program products, including computer program instructions that, when executed by a processor, cause the processor to perform any of the methods provided in the embodiments of this disclosure.

[0101] Computer program products can be written in any combination of one or more programming languages ​​to perform the operations of embodiments of this disclosure. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on a user's computing device, partially on a user's computing device, as a standalone software package, partially on a user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0102] Furthermore, embodiments of this disclosure may also be computer-readable storage media storing computer program instructions that, when executed by a processor, cause the processor to perform any of the methods provided in the embodiments of this disclosure.

[0103] Computer-readable storage media may take the form of any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0104] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0105] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robotic arm control method, characterized in that, include: In response to the robotic arm reaching the target pose, the interference state between the robotic arm reference frame and the surgical area reference frame is detected; If the interference state indicates that interference exists, then the external torque of the robotic arm is obtained; With the constraint that the tool axis direction of the robotic arm is consistent with the bone tunnel direction, the rotation angle of the robotic arm is calculated based on the external torque. The joint angle of the robotic arm is determined based on the rotation angle, so as to control the rotation of the robotic arm according to the joint angle.

2. The method as described in claim 1, characterized in that, The detection of the interference state between the robotic arm reference frame and the surgical area reference frame includes: Obtain the first position information of the first side in the positioning coordinate system and the second position information of the second side in the positioning coordinate system; wherein, the first side is any side of the robotic arm reference frame and the second side is any side of the surgical area reference frame; Based on the first position information and the second position information, establish the parametric equations of the first edge and the second edge, and determine whether the first edge and the second edge intersect based on the parametric equations; If the first side and the second side intersect, then the interference state is determined to be interference.

3. The method as described in claim 1, characterized in that, The robotic arm is equipped with a force sensor, and the acquisition of the external torque of the robotic arm includes: The first torque collected by the force sensor is obtained; The first transformation matrix is ​​determined based on the rotational and translational transformation relationships between the robot arm base coordinate system and the robot arm tool coordinate system; The first torque is transformed according to the first transformation matrix to obtain the second torque in the tool coordinate system of the robotic arm, so as to determine the external torque based on the second torque.

4. The method as described in claim 3, characterized in that, The end of the robotic arm is provided with a load, and the determination of the external torque based on the second torque includes: Obtain the first gravitational force and the first gravitational torque of the load in the load's centroid coordinate system; The second transformation matrix is ​​determined based on the rotational and translational transformation relationships between the load centroid coordinate system and the robotic arm tool coordinate system; The first gravity and the first gravitational torque are transformed according to the second transformation matrix to obtain the second gravitational torque in the tool coordinate system of the robotic arm; The external torque is obtained by performing gravity compensation on the second torque based on the second gravitational torque.

5. The method as described in claim 1, characterized in that, The calculation of the rotation angle of the robotic arm based on the external torque, using the alignment of the tool axis direction of the robotic arm with the bone tunnel direction as a constraint, includes: Obtain the torque component of the external torque in the direction of the tool axis; Admittance control is performed based on the torque component to obtain the rotation angle of the robotic arm.

6. The method as described in claim 1, characterized in that, After calculating the rotation angle of the robotic arm based on the external torque, the method further includes: Based on the rotation angle, determine whether the target angle of the robotic arm after rotation exceeds a preset angle in the current rotation direction; If the target angle exceeds a preset angle in the current rotation direction, a first prompt message is generated; the first prompt message is used to prompt adjustment of the rotation direction.

7. The method as described in claim 1, characterized in that, After controlling the rotation of the robotic arm according to the joint angle, the method further includes: Detect the interference state between the robotic arm reference frame and the surgical area reference frame; A second prompt message is generated; the second prompt message is used to indicate the current interference state between the robotic arm reference frame and the surgical area reference frame.

8. A robotic arm control device, characterized in that, include: The detection module is used to detect the interference state between the robotic arm reference frame and the surgical area reference frame in response to the robotic arm reaching the target pose. The acquisition module is used to acquire the external torque of the robotic arm if the interference state is that interference exists; The determination module is used to calculate the rotation angle of the robotic arm based on the external torque, with the tool axis direction of the robotic arm being consistent with the bone channel direction as a constraint. A control module is used to determine the joint angle of the robotic arm based on the rotation angle, so as to control the rotation of the robotic arm according to the joint angle.

9. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the robotic arm control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the robotic arm control method according to any one of claims 1-7.

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