Mechanical arm positioning method, device and system

Abstract

The invention relates to a mechanical arm positioning method, device and system. The method comprises the following steps: acquiring images corresponding to a target physiological structure acquired under a plurality of mechanical arm point locations; constructing a three-dimensional model corresponding to the target physiological structure according to the collected images; according to the three-dimensional model, determining an operation positioning point coordinate corresponding to each target operation point for shooting the target physiological structure; and when it is determined that the mechanical arm can reach all the operation positioning point coordinates, the mechanical arm is moved to the operation positioning point coordinates, so that the target physiological structure is photographed at all the operation positioning point coordinates. By adopting the method, the mechanical arm can be quickly and accurately moved to the target position, other equipment is not interfered, and the positioning efficiency of the mechanical arm can be effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of surgical robots, and in particular to a method, device and system for positioning a robotic arm. Background Art

[0002] In traditional technology, when using a robotic arm to position a specific location for filming, it is necessary to manually drag the robotic arm to the appropriate position. It is inconvenient to drag the robotic arm over a large range, and there is no reference position for the positioning point, which needs to be determined manually. After the robotic arm is dragged to the positioning point, the current robotic arm posture may interfere with other equipment involved in the filming operation, resulting in inefficient positioning of the robotic arm. Summary of the invention

[0003] Based on this, it is necessary to provide a robot arm positioning method, device and system that can quickly and accurately move the robot arm to the target position without interfering with other equipment, which helps to effectively improve the efficiency of robot arm positioning.

[0004] In the first aspect, the present application provides a method for positioning a robot arm. The method comprises: acquiring images corresponding to a target physiological structure acquired at multiple robot arm positions; constructing a three-dimensional model corresponding to the target physiological structure according to each of the acquired images; determining the operation positioning point coordinates corresponding to each target operation point for filming the target physiological structure according to the three-dimensional model; and when it is determined that the robot arm can reach each of the operation positioning point coordinates, moving the robot arm to the operation positioning point coordinates to film the target physiological structure at each of the operation positioning point coordinates.

[0005] In one embodiment, the acquisition of images corresponding to the target physiological structure acquired at multiple robotic arm positions includes: acquiring a positioning image of the target physiological structure, inputting the positioning image into a robotic arm point generation model, and acquiring each acquisition point corresponding to the target physiological structure; and moving the robotic arm to each of the acquisition points in turn to acquire images corresponding to the target physiological structure.

[0006] In one embodiment, after acquiring the acquisition points corresponding to the target physiological structure, the method further includes: determining whether the robotic arm can reach the acquisition points; if there are acquisition points that the robotic arm cannot reach, generating a model based on the robotic arm points, and reacquiring the acquisition points corresponding to the target physiological structure.

[0007] In one embodiment, determining the operational setup point coordinates corresponding to each target operation point for filming the target physiological structure based on the three-dimensional model includes: calculating the initial setup point coordinates for filming the target physiological structure based on the three-dimensional model; verifying whether the robotic arm can reach each of the initial setup point coordinates; if the robotic arm can reach each of the initial setup point coordinates, controlling the robotic arm to move to any of the initial setup point coordinates; when the robotic arm is at the initial setup point coordinates, determining whether the initial setup point coordinates meet filming requirements; if so, using the initial setup point coordinates as the operational setup point coordinates; if not, correcting the initial setup point coordinates of the robotic arm until the corrected setup point coordinates meet the filming requirements, and using the corrected setup point coordinates as the operational setup point coordinates.

[0008] In one embodiment, the method further includes: if the robotic arm cannot reach any of the initial setup position coordinates, returning to execute the step of calculating the initial setup position coordinates for filming the target physiological structure according to the three-dimensional model until the robotic arm can reach the initial setup position coordinates; or, if the robotic arm cannot reach any of the initial setup position coordinates, calibrating the initial setup position coordinates according to the three-dimensional image display container until the robotic arm can reach the initial setup position coordinates.

[0009] In one embodiment, the initial setup point coordinates are calibrated according to the three-dimensional image display container until the robotic arm can reach each of the initial setup point coordinates, including: based on the three-dimensional image display container, obtaining each of the initial setup point coordinates and the position coordinates of the robotic arm in the same coordinate system; based on the coordinate system, adjusting the initial setup point coordinates according to the position coordinates of the robotic arm until the robotic arm can reach each of the initial setup point coordinates.

[0010] In one embodiment, the method further includes: at any of the operation setup point coordinates, if there is a situation where the robotic arm posture corresponding to the robotic arm interferes with the filming, adjusting the robotic arm posture to obtain an adjusted posture; and filming the target physiological structure according to the adjusted posture and the operation setup point coordinates.

[0011] In one embodiment, the adjusting the robot arm posture to obtain an adjusted posture includes: based on the same operation position coordinates, adjusting the robot arm posture according to preset robot arm posture data to obtain an adjusted posture; judging whether the adjusted posture interferes with filming; if the adjusted posture interferes with filming, returning to execute the adjusting the robot arm posture according to the preset robot arm posture data to obtain the adjusted posture, until the adjusted posture is obtained.

[0012] In the second aspect, the present application also provides a robot arm positioning device. The device includes: an image acquisition module for acquiring images corresponding to the target physiological structure acquired under multiple robot arm positions; a model construction module for constructing a three-dimensional model corresponding to the target physiological structure according to each of the acquired images; a coordinate determination module for determining the operation positioning point coordinates corresponding to each target operation point for filming the target physiological structure according to the three-dimensional model; a robot arm positioning module for moving the robot arm to the operation positioning point coordinates when it is determined that the robot arm can reach each of the operation positioning point coordinates, so as to film the target physiological structure at each of the operation positioning point coordinates.

[0013] In the third aspect, the present application also provides a robot arm positioning system. The system control center, the robot arm and the camera arranged on the robot arm; the camera arranged on the robot arm is used to obtain images corresponding to the target physiological structure collected at multiple robot arm positions; the control center is used to construct a three-dimensional model corresponding to the target physiological structure according to each of the collected images; the control center is also used to determine the operation positioning point coordinates corresponding to each target operation point for filming the target physiological structure according to the three-dimensional model; the control center is also used to move the robot arm to the operation positioning point coordinates when it is determined that the robot arm can reach each of the operation positioning point coordinates.

[0014] The above-mentioned robotic arm method, device and system obtain images corresponding to the target physiological structure collected at multiple robotic arm points; construct a three-dimensional model corresponding to the target physiological structure according to each collected image; determine the operation position coordinates corresponding to each target operation point for filming the target physiological structure according to the three-dimensional model; when it is determined that the robotic arm can reach each operation position coordinate, the robotic arm is moved to the operation position coordinate to film the target physiological structure at each operation position coordinate.

[0015] By using the target physiological structure directional navigation system control center software, after collecting images directly above the target physiological structure of the target object, several collection points are calculated; then, the robot arm carrying the structured light camera is controlled to move to these collection points for image collection, and the captured images are used to construct a three-dimensional model through an algorithm; finally, the appropriate operation placement point coordinates corresponding to each target operation point are calculated based on the three-dimensional model. Under the guidance of the operation placement point coordinates, the robot arm can be moved to the specified position to take an image of the target physiological structure. The robot arm can be moved to the target position quickly and accurately without interfering with other equipment, which helps to effectively improve the placement efficiency of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is an application environment diagram of a robot arm positioning method in an embodiment;

[0017] Figure 2 A schematic diagram of a process of a robot arm positioning method in an embodiment;

[0018] Figure 3 A schematic diagram of a flow chart of an image acquisition method corresponding to a target physiological structure in one embodiment;

[0019] Figure 4 It is a flowchart of a method for re-acquiring each collection point in one embodiment;

[0020] Figure 5 Schematic diagram of the process of the initial positioning point coordinate correction method in one embodiment;

[0021] Figure 6 Schematic diagram of the process of adjusting the coordinates of the initial positioning point in one embodiment;

[0022] Figure 7 A schematic diagram of a flow chart of a method for adjusting the coordinates of initial positioning points in another embodiment;

[0023] Figure 8 Schematic diagram of a process of adjusting the posture of a robot arm in one embodiment;

[0024] Fig. 9 A schematic diagram of a flow chart of a method for adjusting the posture of a robotic arm in another embodiment;

[0025] Fig.10 A schematic diagram of the distribution of various collection points in an embodiment;

[0026] Fig.11 A schematic diagram of a process of a three-dimensional model building method in one embodiment;

[0027] Fig.12A schematic flow chart of a method for obtaining the coordinates of the operation position points corresponding to each target operation point in an embodiment;

[0028] Fig.13 A schematic diagram of a display process of adjusting a three-dimensional image display container in one embodiment;

[0029] Fig.14 It is a flowchart of the robot arm posture adjustment logic in one embodiment;

[0030] Fig.15 is a structural block diagram of a robot arm positioning device in another embodiment;

[0031] Fig.16 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0033] A robot arm positioning method provided in an embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the robotic arm 102 communicates with the control center 104 through the network. The data storage system can store the data that the control center 104 needs to process. The data storage system can be integrated on the control center 104, or it can be placed on the cloud or other network control centers. The control center 104 obtains the images corresponding to the target physiological structure collected under multiple robotic arm points from the robotic arm 102; constructs a three-dimensional model corresponding to the target physiological structure according to each collected image; according to the three-dimensional model, determines the operation position coordinates corresponding to each target operation point for filming the target physiological structure; when it is determined that the robotic arm can reach each operation position coordinate, the robotic arm is moved to the operation position coordinate to film the target physiological structure at each operation position coordinate. Among them, the robotic arm 102 can be, but is not limited to, various Internet of Things devices and portable devices, and the control center 104 can be implemented with an independent control center or a control center cluster composed of multiple control centers.

[0034] In one embodiment, Figure 2 As shown, a method for positioning a robot arm is provided, and the method is applied to Figure 1 The control center in the example is used to illustrate, including the following steps:

[0035] Step 202, acquiring images corresponding to the target physiological structure collected at multiple robot arm positions.

[0036] The robot arm point position may be the position coordinates of the target object model photographed by the robot arm.

[0037] The target physiological structure may be a partial or complete physiological structure of the target object, such as the physiological structure of the spine of a human, the physiological structure of an organ of an animal, etc.

[0038] Specifically, a structured light camera is installed at the end of the robotic arm, and the pedal of the directional navigation system console is used to drag the robotic arm to the top of the specific position of the target object, so that the structured light camera is facing the specific position of the target object. When the structured light camera at the end of the robotic arm determines that it is facing the specific position of the target object, the specific position of the target object is photographed to obtain a positioning image of the target physiological structure. The positioning image of the target physiological structure is input into the robotic arm point generation model for calculating the acquisition points of the robotic arm, and the various acquisition points corresponding to the target physiological structure are obtained through the calculation of the model; and further based on the various acquisition points, the robotic arm is controlled to photograph the target physiological structure of the target object at each acquisition point in turn to obtain multiple images corresponding to the target physiological structure.

[0039] In one embodiment, Figure 3 As shown, obtaining images corresponding to target physiological structures collected at multiple robot arm positions includes the following steps:

[0040] Step 302, obtaining a positioning image of the target physiological structure, inputting the positioning image into the robot arm point generation model, and obtaining each acquisition point corresponding to the target physiological structure.

[0041] The positioning image may be an image captured by a structured light camera at the end of the robotic arm, and is used to calculate the point coordinates of each image captured of the target physiological structure of the target object.

[0042] The robot arm point generation model may be a robot arm point generation algorithm, which may calculate at least five image capture point coordinates based on the positioning image of the target physiological structure.

[0043] The acquisition point may be the point coordinates at which the robotic arm acquires images of the target physiological structure of the target object.

[0044] Specifically, click to take a photo in the console software of the control center, and the control center inputs the positioning image of the target physiological structure taken into the called robotic arm point generation model, and calculates at least 5 points for taking photos of the target physiological structure through the robotic arm point generation model, that is, various acquisition points, wherein at least 5 photo taking points are the minimum points for the robotic arm to take photos on the premise of ensuring the completeness of subsequent modeling. The approximate distribution of the various acquisition points in one embodiment is as follows: Fig.10 shown.

[0045] Step 304 , moving the robot arm to each acquisition point in sequence to acquire images corresponding to the target physiological structure.

[0046] Specifically, according to the preset shooting sequence, the foot pedal is pressed so that the control center controls the robotic arm to move to the coordinates corresponding to each acquisition point in turn. When the robotic arm reaches any acquisition point, the target physiological structure of the target object is photographed to obtain the image corresponding to the acquisition point; by completing the shooting of each acquisition point, the image corresponding to the target physiological structure is collected.

[0047] In this embodiment, the positioning image of the target physiological structure is input into the robotic arm point generation model to determine each acquisition point, and the robotic arm is controlled to acquire images of the target physiological structure at each acquisition point. This can ensure that there are sufficient and reasonable images corresponding to the target physiological structure when constructing a three-dimensional model, thereby ensuring the performance of the three-dimensional model.

[0048] In one embodiment, Figure 4 As shown, after obtaining the acquisition points corresponding to the target physiological structure, it also includes:

[0049] Step 402, determining whether the robot arm can reach each collection point.

[0050] Specifically, after calculating the various acquisition points corresponding to the target physiological structure through the robotic arm point generation model, the control center calculates the point coordinates of each acquisition point, and determines whether the robotic arm can reach the point coordinates corresponding to each acquisition point after moving based on the calculation results.

[0051] Step 404: if there are acquisition points that the robot arm cannot reach, a model is generated according to the robot arm points to reacquire the acquisition points corresponding to the target physiological structure.

[0052] Specifically, if there is at least one acquisition point among the point coordinates corresponding to each acquisition point that cannot be reached by the robotic arm, then based on the calculation results of the acquisition points corresponding to the target physiological structure last time, the positioning image of the target physiological structure is re-input into the robotic arm point generation model, and the acquisition points corresponding to the new target physiological structure are re-obtained through the calculation of the robotic arm point generation model.

[0053] In this embodiment, by judging whether the robotic arm can reach each acquisition point, and recalculating each acquisition point if it cannot reach any acquisition point, it can be ensured that each acquisition point can acquire an image of the target physiological structure, avoiding the situation where the robotic arm fails to reach the target physiological structure during the acquisition process, thereby improving the efficiency of image acquisition of the target physiological structure.

[0054] Step 204: construct a three-dimensional model corresponding to the target physiological structure according to each collected image.

[0055] The three-dimensional model may be a model showing the target physiological structure of the target object, and has direction vectors in three directions.

[0056] Specifically, based on the collected images corresponding to each collection point, the collected images corresponding to each collection point are input into the 3D model building algorithm, and the 3D model corresponding to the target physiological structure of the target object is built by the 3D model building algorithm. In the directional navigation system console software of the target physiological structure, the main process of 3D model building is as follows: Fig.11 shown.

[0057] Step 206, determining the operation position coordinates corresponding to each target operation point for imaging the target physiological structure according to the three-dimensional model.

[0058] The target operation point may be a point where the robot arm takes an image of the target physiological structure of the target object, such as the frontal position, lateral position, entrance position, exit position, etc. in medical imaging.

[0059] Among them, the operation position coordinates can be the coordinate information of the target operation point.

[0060] Specifically, according to the three-dimensional model's positioning point coordinate calculation algorithm, the operation positioning point coordinates corresponding to each target operation point for which the target physiological structure of the target object needs to be filmed are calculated. For example, each target positioning point is respectively the anteroposterior position, the lateral position, the entrance position, and the exit position, and each operation positioning point coordinate is respectively the coordinate corresponding to the anteroposterior position, the lateral position, the entrance position, and the exit position. In one embodiment, the main process of calculating the operation positioning point coordinates corresponding to each target operation point is as follows: Fig.12 shown.

[0061] In one embodiment, Figure 5 As shown, according to the three-dimensional model, determining the operation position coordinates corresponding to each target operation point for filming the target physiological structure includes the following steps:

[0062] Step 502, calculating the coordinates of each initial setting point for imaging the target physiological structure according to the three-dimensional model.

[0063] Among them, the initial posture position coordinate three-dimensional model calculates the posture position coordinates corresponding to each target posture position according to the target physiological structure, but the robotic arm is not used to verify whether it meets the usage conditions.

[0064] Specifically, based on the three-dimensional model's setup point coordinate calculation algorithm, the initial setup point coordinates corresponding to each target operation point for imaging the target physiological structure of the target object are preliminarily calculated, and preparation is made to verify whether each initial setup point coordinate meets the usage conditions.

[0065] Step 504, verify whether the robot arm can reach the coordinates of each initial positioning point.

[0066] Specifically, with the support of the control center, a 3D image display container is created, and the 3D model and the coordinates of each initial position are displayed based on the 3D image display container. The display process is as follows: Fig.13 Further check whether the robot arm can move to each initial swing position coordinate and output the check result.

[0067] Step 506, when the robot arm can reach the coordinates of each initial setting position, control the robot arm to move to any initial setting position coordinate.

[0068] Specifically, if the verification result indicates that the robot arm can smoothly move to each initial setup position coordinate, after selecting any reachable initial setup position coordinate, the control center drives the robot arm to move to the initial setup position coordinate.

[0069] Step 508, when the robot arm is at the initial setup position coordinates, determine whether the initial setup position coordinates meet the filming requirements.

[0070] The filming requirement may be whether the robot arm meets the requirements for image acquisition of the target physiological structure at the initial positioning position coordinates.

[0071] Specifically, when the control center can control the robot arm to move to the initial position coordinates of the target, it is determined whether the position of the robot arm at the initial position coordinates of the target can meet the requirements for image acquisition of the target physiological structure, that is, whether it can meet the requirements for filming the target physiological structure. For example: when the robot arm is at the initial position coordinates of the target, it is determined whether there is some deviation between the position of the robot arm and the doctor's expectation.

[0072] Step 510: If the filming requirements are met, the initial setup point coordinates are used as the operation setup point coordinates.

[0073] Specifically, if the position of the robot arm's initial setup point coordinates of the target can meet the requirements for image acquisition of the target physiological structure, the initial setup point coordinates of the target are determined as verified and can be used as setup point coordinates for image acquisition operations on the target physiological structure.

[0074] Step 512: If the filming requirements are not met, the initial setup point coordinates of the robot arm are corrected until the corrected setup point coordinates meet the filming requirements, and the corrected setup point coordinates are used as the operating setup point coordinates.

[0075] Specifically, if the position of the robot arm at the initial setting point coordinates of the target cannot meet the requirements for image acquisition of the target physiological structure, any method can be used to correct the initial setting point coordinates of the target.

[0076] Method 1: Return to the step of "preliminarily calculating the initial setup point coordinates corresponding to each target operation point for imaging the target physiological structure of the target object according to the setup point coordinate calculation algorithm of the three-dimensional model", until the corrected setup point coordinates meet the requirements for image acquisition of the target physiological structure, then the initial setup point coordinates of the target are determined as having passed the verification and can be used as the setup point coordinates for image acquisition operations on the target physiological structure.

[0077] Method 2: With the assistance of a three-dimensional image display container, the coordinates of the initial setup point coordinates are adjusted according to the filming requirements until the corrected setup point coordinates meet the requirements for image acquisition of the target physiological structure. The initial setup point coordinates of the target are then determined as the setup point coordinates that have passed verification and can be used as the image acquisition operation for the target physiological structure.

[0078] Method three: According to the filming requirements, the robotic arm is adjusted by a third party to enable the robotic arm to meet the filming requirements; the coordinate position of the adjusted robotic arm is further determined as the verified position coordinate that can be used for image acquisition operations on the target physiological structure.

[0079] In this embodiment, by further determining the operating position coordinates based on the verification result of whether the robot arm can meet the filming requirements at any initial position coordinate when the robot arm can reach the coordinates of each initial position, the initial position coordinates that do not meet the filming requirements can be corrected, ensuring that the film arrangement of the target physiological structure at each operating position coordinate meets the preset requirements, thereby improving the accuracy of the robot arm's positioning.

[0080] In one embodiment, Figure 6 As shown, the method also includes the following steps:

[0081] Step 602, if the robot arm cannot reach any of the initial setup position coordinates, return to the step of calculating the initial setup position coordinates for imaging the target physiological structure according to the three-dimensional model until the robot arm can reach the initial setup position coordinates.

[0082] Specifically, if the control center cannot control the robot arm to move to one of the initial setup position coordinates, it returns to execute the step of "preliminarily calculating the initial setup position coordinates corresponding to each target operation point for filming the target physiological structure of the target object according to the setup position coordinate calculation algorithm of the three-dimensional model" until the control center can control the robot arm to move to each initial setup position coordinate.

[0083] Further, if the control center can control the robot arm to move to each initial setup position coordinate, it returns to execute the step of "determining whether the position of the robot arm at the target's initial setup position coordinate can meet the requirement for image acquisition of the target physiological structure, that is, whether it can meet the requirement for filming the target physiological structure", until each initial setup position coordinate can meet the filming requirements, and each initial setup position coordinate is used as each operation setup position coordinate.

[0084] or,

[0085] Step 604: If the robot arm cannot reach any of the initial positioning point coordinates, the initial positioning point coordinates are calibrated according to the three-dimensional image display container until the robot arm can reach all the initial positioning point coordinates.

[0086] The three-dimensional image display container may be used to display the three-dimensional model and various positions of the target physiological structure.

[0087] Specifically, if the control center cannot control the robot arm to move to one of the initial setup position coordinates, the three-dimensional image display container is used to calibrate each initial setup position coordinate, that is, the three-dimensional image display container adjusts the initial setup position coordinates that the robot arm cannot move to until the control center can control the robot arm to move to each initial setup position coordinate.

[0088] Further, if the control center can control the robot arm to move to each initial setup position coordinate, it returns to execute the step of "determining whether the position of the robot arm at the target's initial setup position coordinate can meet the requirement for image acquisition of the target physiological structure, that is, whether it can meet the requirement for filming the target physiological structure", until each initial setup position coordinate can meet the filming requirements, and each initial setup position coordinate is used as each operation setup position coordinate.

[0089] In the present embodiment, when the robot arm cannot reach any of the initial setup point coordinates, the coordinates of the initial setup point that cannot be reached are adjusted until the robot arm can reach all of the initial setup point coordinates, thereby giving priority to ensuring the practicability of all of the initial setup point coordinates, thereby avoiding the failure of filming the target physiological structure due to the robot arm failing to reach any of the initial setup point coordinates, thereby improving the efficiency of filming the target physiological structure.

[0090] In one embodiment, Figure 7 As shown, according to the three-dimensional image display container, the initial swing position coordinates are calibrated until the robot arm can reach the initial swing position coordinates, including the following steps:

[0091] Step 702, based on the three-dimensional image display container, obtain the coordinates of each initial positioning point and the position coordinates of the robot arm in the same coordinate system.

[0092] The position coordinates may be real-time coordinate information of the robot arm in three-dimensional space.

[0093] Specifically, based on the support of the three-dimensional image display container, the three-dimensional model, the coordinates of each initial setup point and the coordinates of the three-dimensional space where the current robot is located are read, and the three-dimensional model, the coordinates of each initial setup point and the coordinates of the three-dimensional space where the current robot is located are converted into the same coordinate system for expression.

[0094] Step 704, based on the coordinate system, adjust the initial position coordinates according to the position coordinates of the robot arm until the robot arm can reach the initial position coordinates.

[0095] Specifically, on the basis of the same coordinate system, the coordinates of the initial position points that each robot arm cannot reach are adjusted and verified in the display area of ​​the three-dimensional image display container until the robot arm can reach the coordinates of each initial position point.

[0096] In this embodiment, the initial setup point coordinates are adjusted using a three-dimensional image display container on the basis of the same coordinate system to meet the requirement that the robot arm can reach the initial setup point coordinates. More adjustment methods can be provided for the selection of the three-dimensional model for calculating the initial setup point coordinates, so that the corresponding adjustment method can be selected according to actual conditions, thereby improving the redundancy value of the adjustment of the initial setup point coordinates.

[0097] Step 208, when it is determined that the robotic arm can reach the coordinates of each operation setting point, the robotic arm is moved to the coordinates of the operation setting point to take an X-ray of the target physiological structure at the coordinates of each operation setting point.

[0098] Specifically, it is judged whether the robotic arm can move to each operation setup position coordinate to obtain a judgment result. If the judgment result indicates that the robotic arm can reach each operation setup position coordinate, the robotic arm is moved to different operation setup position coordinates in sequence. When the robotic arm moves to any operation setup position coordinate, it is judged whether the robotic arm posture at the operation setup position coordinate interferes with the filming. If the robotic arm posture does not interfere with the filming, the target physiological structure of the target object is filmed at the operation setup position coordinate until the target physiological structure is filmed at each operation setup position coordinate.

[0099] In one embodiment, after constructing a three-dimensional model corresponding to the target physiological structure based on the collected images, a calibration target needs to be installed at the end of the robotic arm, and the calibration target is positioned between the target physiological structure and the C-arm, wherein the calibration target is used to assist in calibrating the target physiological structure, and the C-arm is a C-arm X-ray machine. When it is necessary to film the target physiological structure, the robotic arm is moved to the corresponding operation position coordinates, and the C-arm is used to film the target physiological structure.

[0100] In one embodiment, Figure 8 As shown, the method also includes the following steps:

[0101] Step 802, in any operation of the position coordinates, if there is a situation where the robot arm posture corresponding to the robot arm interferes with the filming, the robot arm posture is adjusted to obtain an adjusted posture.

[0102] The robot arm position and posture may be the position and posture of the robot arm in a specified coordinate system.

[0103] The adjusted posture may be a new position and posture of the robotic arm in a specified coordinate system that is obtained after adjustment based on the original posture of the robotic arm and that can eliminate interference from filming.

[0104] Specifically, based on any operation position coordinate, if the robot arm's posture has interfered with filming, the original robot arm posture is adjusted to maintain the operation position coordinate, and a new robot arm posture is obtained as the adjusted posture.

[0105] Step 804, taking an X-ray of the target physiological structure according to the adjusted posture and the coordinates of the operation position.

[0106] Specifically, based on the coordinates of the operation position, the target physiological structure of the target object is filmed according to the adjusted position of the robot arm that will not interfere with the filming. If other operation position coordinates also interfere with the filming, the same adjustment method is used to adjust the robot arm position until the target physiological structure is filmed at each operation position coordinate. In one embodiment, the main process of adjusting the robot arm position is as follows: Fig.14 Shown

[0107] In this embodiment, by adjusting the robot arm posture that causes interference in filming, and then using the adjusted posture to film the target physiological structure, it is possible to avoid interference of the robot arm posture in filming of the target physiological structure, thereby improving the imaging quality of the filming of the target physiological structure.

[0108] In one embodiment, Fig. 9 As shown, adjusting the posture of the robot arm to obtain the adjusted posture includes the following steps:

[0109] Step 902, based on the same operation position coordinates, the robot arm posture is adjusted according to preset robot arm posture data to obtain an adjusted posture.

[0110] The robot arm posture data may be various robot arm posture data existing in the control center, which can adjust the posture of the robot arm.

[0111] Among them, the adjusted posture is the position and posture of the new robotic arm in the specified coordinate system obtained after adjustment based on the original posture of the robotic arm, but no verification is performed whether there is interference.

[0112] Specifically, based on the same operation position coordinates, one of the preset robot arm posture data stored in the control center for adjusting the robot arm posture is selected, and the posture of the robot arm is adjusted to obtain the adjusted posture.

[0113] Step 904, determine whether the adjusted posture interferes with filming.

[0114] Specifically, the adjusted posture is used as the robot arm posture, and the step of "judging whether the robot arm posture at the operation position coordinates interferes with the filming" is performed again to obtain the posture judgment result.

[0115] Step 906, in the case where the adjusted posture interferes with the filming, return to execute to adjust the robot arm posture according to the preset robot arm posture data to obtain the adjusted posture, until the adjusted posture is obtained.

[0116] Specifically, if the posture judgment result indicates that the adjusted posture of the robot arm does not interfere with the filming, the adjusted posture is regarded as the adjusted posture.

[0117] If the posture judgment result indicates that the adjusted posture of the robot arm still interferes with the filming, then return to the step of "selecting one of the preset robot arm posture data stored in the control center for adjusting the robot arm posture, adjusting the robot arm posture, and obtaining the adjusted posture", until the posture judgment result indicates that the adjusted posture of the robot arm does not interfere with the filming, and the adjusted posture is used as the adjusted posture. The preset robot arm posture data for adjusting the posture of the robot arm is different each time.

[0118] In one embodiment, if all preset robot arm posture data for adjusting the robot arm's posture stored in the control center are used to adjust the robot arm's posture, and the posture judgment result still indicates that the adjusted posture of the robot arm still interferes with filming, a prompt message for manually adjusting the robot arm's posture is displayed on the display device.

[0119] Alternatively, return to execute the step of "using the pedal of the directional navigation system console to drag the robotic arm to the top of the specific position of the target object, so that the structured light camera is facing the specific position of the target object. When the structured light camera at the end of the robotic arm determines that it is facing the specific position of the target object, the specific position of the target object is photographed to obtain a positioning image of the target physiological structure. The positioning image of the target physiological structure is input into a robotic arm point generation model that calculates the acquisition points of the robotic arm, and the acquisition points corresponding to the target physiological structure are obtained through calculation of the model; and further based on the acquisition points, the robotic arm is controlled to photograph the target physiological structure of the target object at each acquisition point in turn to obtain multiple images corresponding to the target physiological structure" until the posture judgment result indicates that the adjusted posture of the robotic arm does not interfere with the filming.

[0120] In this embodiment, by using preset robot arm posture data to adjust the posture of the robot arm, the posture of the robot arm can be adjusted multiple times and quickly, the efficiency of adjusting the posture of the robot arm can be improved, and it can be ensured that the adjusted posture of the robot arm will not affect the imaging quality of the target physiological structure.

[0121] In the above-mentioned robotic arm positioning, images corresponding to the target physiological structure collected at multiple robotic arm points are obtained; a three-dimensional model corresponding to the target physiological structure is constructed according to each collected image; based on the three-dimensional model, the operation positioning point coordinates corresponding to each target operation point for filming the target physiological structure are determined; when it is determined that the robotic arm can reach each operation positioning point coordinate, the robotic arm is moved to the operation positioning point coordinate to film the target physiological structure at each operation positioning point coordinate.

[0122] By using the target physiological structure directional navigation system control center software, after collecting images directly above the target physiological structure of the target object, several collection points are calculated; then, the robot arm carrying the structured light camera is controlled to move to these collection points for image collection, and the captured images are used to construct a three-dimensional model through an algorithm; finally, the appropriate operation placement point coordinates corresponding to each target operation point are calculated based on the three-dimensional model. Under the guidance of the operation placement point coordinates, the robot arm can be moved to the specified position to take an image of the target physiological structure. The robot arm can be moved to the target position quickly and accurately without interfering with other equipment, which helps to effectively improve the placement efficiency of the robot arm.

[0123] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0124] Based on the same inventive concept, the embodiment of the present application also provides a robot arm positioning device for implementing the robot arm positioning method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more robot arm positioning device embodiments provided below can refer to the limitations of a robot arm positioning method above, and will not be repeated here. 。

[0125] In one embodiment, Fig.15 As shown, a robot arm positioning device is provided, including: an image acquisition module 1502, a model building module 1504, a coordinate determination module 1506 and a robot arm positioning module 1508, wherein:

[0126] An image acquisition module 1502 is used to acquire images corresponding to target physiological structures acquired at multiple robot arm positions;

[0127] A model building module 1504 is used to build a three-dimensional model corresponding to the target physiological structure according to each collected image;

[0128] A coordinate determination module 1506 is used to determine the coordinates of the operation position points corresponding to each target operation point for filming the target physiological structure according to the three-dimensional model;

[0129] The robot arm positioning module 1508 is used to move the robot arm to the operation positioning point coordinates when it is determined that the robot arm can reach the operation positioning point coordinates, so as to take an image of the target physiological structure at each operation positioning point coordinate.

[0130] In one embodiment, the image acquisition module 1502 is also used to obtain a positioning image of the target physiological structure, input the positioning image into the robotic arm point generation model, and obtain each acquisition point corresponding to the target physiological structure; move the robotic arm to each acquisition point in turn to acquire the image corresponding to the target physiological structure.

[0131] In one embodiment, the image acquisition module 1502 is also used to determine whether the robotic arm can reach each acquisition point; when there are acquisition points that the robotic arm cannot reach, a model is generated based on the robotic arm points to reacquire each acquisition point corresponding to the target physiological structure.

[0132] In one embodiment, the coordinate determination module 1506 is also used to calculate the coordinates of each initial setup point for filming the target physiological structure according to the three-dimensional model; verify whether the robotic arm can reach each initial setup point coordinate; when the robotic arm can reach each initial setup point coordinate, control the robotic arm to move to any initial setup point coordinate; when the robotic arm is at the initial setup point coordinate, determine whether the initial setup point coordinate meets the filming requirements; if the filming requirements are met, use the initial setup point coordinate as the operating setup point coordinate; if the filming requirements are not met, correct the initial setup point coordinate of the robotic arm until the corrected setup point coordinate meets the filming requirements, and use the corrected setup point coordinate as the operating setup point coordinate.

[0133] In one embodiment, the coordinate determination module 1506 is also used to return to the step of calculating the initial setup point coordinates for imaging the target physiological structure according to the three-dimensional model if the robotic arm cannot reach any of the initial setup point coordinates, until the robotic arm can reach each of the initial setup point coordinates; or, if the robotic arm cannot reach any of the initial setup point coordinates, calibrate the initial setup point coordinates according to the three-dimensional image display container until the robotic arm can reach each of the initial setup point coordinates.

[0134] In one embodiment, the coordinate determination module 1506 is also used to obtain the coordinates of each initial setup point and the position coordinates of the robotic arm in the same coordinate system based on the three-dimensional image display container; based on the coordinate system, the initial setup point coordinates are adjusted according to the position coordinates of the robotic arm until the robotic arm can reach the initial setup point coordinates.

[0135] In one embodiment, the robot arm positioning module 1508 is also used to adjust the robot arm posture to obtain an adjusted posture at any operation positioning site coordinates if the robot arm posture corresponding to the robot arm interferes with the filming; and film the target physiological structure according to the adjusted posture and the operation positioning site coordinates.

[0136] In one embodiment, the robot arm positioning module 1508 is also used to adjust the robot arm posture according to preset robot arm posture data based on the same operation positioning point coordinates to obtain an adjusted posture; determine whether the adjusted posture interferes with filming; if the adjusted posture interferes with filming, return to execute the adjustment of the robot arm posture according to the preset robot arm posture data to obtain the adjusted posture, until the adjusted posture is obtained.

[0137] Each module in the above-mentioned robot arm positioning device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0138] In one embodiment, a surgical robot system is provided, the system comprising a control center, a robotic arm, and a camera disposed on the robotic arm; wherein:

[0139] A camera disposed on the robotic arm is used to obtain images corresponding to the target physiological structure collected at multiple robotic arm positions;

[0140] A control center, used to construct a three-dimensional model corresponding to the target physiological structure based on each collected image;

[0141] The control center is also used to determine the coordinates of the operation position points corresponding to each target operation point for filming the target physiological structure according to the three-dimensional model;

[0142] The control center is also used to move the robotic arms to the operation position coordinates when it is determined that the robotic arms can reach the coordinates of each operation position.

[0143] In one embodiment, a computer device is provided. The computer device may be a control center, and its internal structure diagram may be as follows: Fig.16As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store control center data. The network interface of the computer device is used to communicate with an external robotic arm through a network connection. When the computer program is executed by the processor, a method for positioning a robotic arm is implemented.

[0144] Those skilled in the art will understand that Fig.16 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0145] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0146] In one embodiment, a computer-readable storage medium is provided, storing a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0147] In one embodiment, a computer program product or computer program is provided, the computer program product or computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps in the above-mentioned method embodiments.

[0148] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0149] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0150] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0151] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A robot arm positioning method, characterized in that: The method comprises: Acquire images corresponding to target physiological structures collected at multiple robot arm positions; Constructing a three-dimensional model corresponding to the target physiological structure according to each of the acquired images; Determine, according to the three-dimensional model, the coordinates of the operation position points corresponding to each target operation point for filming the target physiological structure; When it is determined that the robot arm can reach the coordinates of each of the operation setup point, the robot arm is moved to the coordinates of the operation setup point to take an X-ray of the target physiological structure at each of the coordinates of the operation setup point.

2. The method according to claim 1, characterized in that The step of acquiring images corresponding to target physiological structures acquired at multiple robot arm positions includes: Acquire a positioning image of the target physiological structure, input the positioning image into a mechanical arm point generation model, and acquire each acquisition point corresponding to the target physiological structure; The robotic arm is moved to each of the acquisition points in sequence to acquire images corresponding to the target physiological structure.

3. The method according to claim 2, characterized in that After acquiring each acquisition point corresponding to the target physiological structure, the method further includes: Determine whether the robotic arm can reach each of the collection points; In the case that there are acquisition points that the robot arm cannot reach, a model is generated according to the robot arm points to reacquire the acquisition points corresponding to the target physiological structure.

4. The method according to claim 1, characterized in that: Determining the operation position coordinates corresponding to each target operation point for filming the target physiological structure according to the three-dimensional model includes: Calculating the coordinates of each initial setting point for filming the target physiological structure according to the three-dimensional model; Verify whether the robotic arm can reach the coordinates of each of the initial swing position points; When the robot arm can reach the coordinates of each of the initial swing position points, control the robot arm to move to any of the initial swing position coordinates; When the robot arm is at the initial setting position coordinate, determining whether the initial setting position coordinate meets the filming requirements; If the filming requirements are met, the initial setup point coordinates are used as the operation setup point coordinates; If the filming requirements are not met, the initial setup point coordinates of the robot arm are corrected until the corrected setup point coordinates meet the filming requirements, and the corrected setup point coordinates are used as the operating setup point coordinates.

5. The method according to claim 4, characterized in that The method further comprises: If the robot arm cannot reach any of the initial setup position coordinates, return to the step of calculating the initial setup position coordinates for filming the target physiological structure according to the three-dimensional model until the robot arm can reach the initial setup position coordinates; or, If the robotic arm cannot reach any of the initial setup point coordinates, the initial setup point coordinates are calibrated according to the three-dimensional image display container until the robotic arm can reach each of the initial setup point coordinates.

6. The method according to claim 5, characterized in that The method of displaying the container in the three-dimensional image and calibrating the coordinates of the initial position of the container until the robot arm can reach the coordinates of each initial position of the container comprises: Based on the three-dimensional image display container, obtaining the coordinates of each of the initial positioning positions and the position coordinates of the robotic arm in the same coordinate system; Based on the coordinate system, the initial swing point coordinates are adjusted according to the position coordinates of the robotic arm until the robotic arm can reach the initial swing point coordinates.

7. The method according to claim 1, characterized in that The method further comprises: In any of the operation position coordinates, if there is a situation where the robot arm posture corresponding to the robot arm interferes with filming, the robot arm posture is adjusted to obtain an adjusted posture; The target physiological structure is filmed according to the adjusted posture and the operation position coordinates.

8. The method according to claim 7, characterized in that The step of adjusting the posture of the robot arm to obtain an adjusted posture includes: Based on the same operation position coordinate, adjusting the posture of the robotic arm according to preset robotic arm posture data to obtain an adjusted posture; Determining whether the adjusted posture interferes with filming; In the case where the adjusted posture interferes with filming, the step of adjusting the robotic arm posture according to the preset robotic arm posture data to obtain the adjusted posture is returned to the step of obtaining the adjusted posture, until the adjusted posture is obtained.

9. A robot arm positioning device, characterized in that: The device comprises: An image acquisition module, used to acquire images corresponding to target physiological structures acquired at multiple robot arm positions; A model building module, used to build a three-dimensional model corresponding to the target physiological structure according to each of the collected images; A coordinate determination module, used to determine the coordinates of the operation position points corresponding to each target operation point for filming the target physiological structure according to the three-dimensional model; The robot arm positioning module is used to move the robot arm to the operation positioning point coordinates when it is determined that the robot arm can reach the operation positioning point coordinates, so as to take an image of the target physiological structure at each of the operation positioning point coordinates.

10. A surgical robot system, characterized in that: The system includes a control center, a robotic arm, and a camera arranged on the robotic arm; The camera disposed on the robotic arm is used to obtain images corresponding to the target physiological structure collected at multiple robotic arm positions; The control center is used to construct a three-dimensional model corresponding to the target physiological structure according to each of the collected images; The control center is further used to determine the operation position coordinates corresponding to each target operation point for filming the target physiological structure according to the three-dimensional model; The control center is also used to move the robotic arms to the operation position coordinates when it is determined that the robotic arms can reach the operation position coordinates.

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