Surgical robot calibration method and device, electronic equipment and storage medium

Abstract

The invention discloses a surgical robot calibration method and device, electronic equipment and a storage medium. The method comprises the following steps: for a plurality of to-be-calibrated mechanical structures associated with a to-be-calibrated surgical robot, in the movement process of the to-be-calibrated mechanical structures, acquiring a plurality of movement angles corresponding to the to-be-calibrated mechanical structures and first tail end pose information corresponding to each movement angle; determining structure compensation information corresponding to the to-be-calibrated mechanical structure according to the plurality of motion angles and the first tail end pose information corresponding to each motion angle; assembling the plurality of to-be-calibrated mechanical structures to obtain a to-be-calibrated surgical robot, and obtaining assembly deviation information corresponding to each to-be-calibrated mechanical structure; and calibrating the surgical robot to be calibrated according to the multiple pieces of structure compensation information and the multiple pieces of assembly deviation information. According to the technical scheme, the effect of effectively calibrating the surgical robot before the surgical robot is applied is achieved, and then the operation precision of the surgical robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a surgical robot calibration method, device, electronic equipment and storage medium. Background Art

[0002] With the advancement of technology, surgical robots are gradually being used in minimally invasive surgeries. Through clear imaging systems and flexible robotic arms, surgical robots assist medical staff in performing complex surgical operations in a minimally invasive manner, completing intraoperative positioning, cutting, puncture, hemostasis, suturing and other operations. When using surgical robots, in order to ensure the operating accuracy of the surgical robots, the surgical robots need to be calibrated.

[0003] In the related art, the traditional surgical robot calibration method is usually to perform kinematic calibration on the surgical robot before it leaves the factory, and save the calibration results for use. However, as the surgical robot is used for a long time, the mechanical structure will wear out. If the calibration results saved at the factory are continued to be used, the operation accuracy will be low and the operation requirements of the surgery will not be met. Summary of the invention

[0004] The present invention provides a surgical robot calibration method, device, electronic device and storage medium, so as to achieve the effect of disassembling and assembling the surgical robot before using it, and calibrating the surgical robot according to the structural compensation information and assembly deviation information of multiple disassembled mechanical structures, thereby achieving the effect of effectively calibrating the surgical robot before using it, thereby improving the operating accuracy of the surgical robot.

[0005] According to one aspect of the present invention, a surgical robot calibration method is provided, the method comprising:

[0006] For multiple mechanical structures to be calibrated associated with the surgical robot to be calibrated, during the movement of the mechanical structures to be calibrated, multiple motion angles corresponding to the mechanical structures to be calibrated and first terminal position and posture information corresponding to each of the motion angles are obtained, wherein the mechanical structure to be calibrated is a master-slave operating device on the surgical robot to be calibrated; the first terminal position and posture information is used to indicate the measured position and posture of the terminal of the mechanical structure to be calibrated in the reference coordinate system;

[0007] Determine the structural compensation information corresponding to the mechanical structure to be calibrated according to the plurality of motion angles and the first terminal posture information corresponding to each of the motion angles; wherein the structural compensation information includes posture compensation information and / or position compensation information;

[0008] Assembling a plurality of the mechanical structures to be calibrated to obtain the surgical robot to be calibrated, and obtaining assembly deviation information corresponding to each of the mechanical structures to be calibrated; wherein the assembly deviation information is used to characterize the posture deviation between the plane where the connection structure at the breakpoint connection of the mechanical structure to be calibrated is located and a preset horizontal reference plane;

[0009] The surgical robot to be calibrated is calibrated according to the structure compensation information and the assembly deviation information corresponding to the plurality of mechanical structures to be calibrated.

[0010] According to another aspect of the present invention, a surgical robot calibration device is provided, the device comprising:

[0011] A motion angle acquisition module, for obtaining, for a plurality of mechanical structures to be calibrated associated with a surgical robot to be calibrated, a plurality of motion angles corresponding to the mechanical structures to be calibrated and first terminal position and posture information corresponding to each of the motion angles during the movement of the mechanical structures to be calibrated, wherein the mechanical structures to be calibrated are master-slave operating devices on the surgical robot to be calibrated; and the first terminal position and posture information is used to indicate the measured position and posture of the terminal of the mechanical structure to be calibrated in a reference coordinate system;

[0012] A compensation information determination module, used to determine the structural compensation information corresponding to the mechanical structure to be calibrated according to the plurality of motion angles and the first terminal posture information corresponding to each of the motion angles; wherein the structural compensation information includes posture compensation information and / or position compensation information;

[0013] An assembly deviation determination module is used to assemble a plurality of the mechanical structures to be calibrated to obtain the surgical robot to be calibrated, and obtain assembly deviation information corresponding to each of the mechanical structures to be calibrated; wherein the assembly deviation information is used to characterize the posture deviation between the plane where the connection structure at the breakpoint connection of the mechanical structure to be calibrated is located and a preset horizontal reference plane;

[0014] A calibration module is used to calibrate the surgical robot to be calibrated according to the structural compensation information and the assembly deviation information corresponding to the multiple mechanical structures to be calibrated.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the surgical robot calibration method described in any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the surgical robot calibration method described in any embodiment of the present invention when executed.

[0020] The technical solution of the embodiment of the present invention is to obtain multiple motion angles corresponding to the mechanical structures to be calibrated and the first terminal posture information corresponding to each motion angle for multiple mechanical structures to be calibrated associated with the surgical robot to be calibrated during the movement of the mechanical structures to be calibrated; further, determine the structural compensation information corresponding to the mechanical structures to be calibrated according to the multiple motion angles and the first terminal posture information corresponding to each motion angle; further, assemble the multiple mechanical structures to be calibrated to obtain the surgical robot to be calibrated, and obtain the assembly deviation information corresponding to each mechanical structure to be calibrated; further, calibrate the surgical robot to be calibrated according to the structural compensation information and assembly deviation information corresponding to the multiple mechanical structures to be calibrated, thereby solving the problem in the related art that the surgical robot is calibrated before leaving the factory, thereby resulting in low accuracy of the calibration results used when the surgical robot is used and low operating accuracy of the surgical robot, and realizes the effect of disassembling and assembling the surgical robot before the surgical robot is used, and calibrating the surgical robot according to the structural compensation information and assembly deviation information of the multiple mechanical structures disassembled, thereby realizing the effect of effectively calibrating the surgical robot before the surgical robot is used, thereby improving the operating accuracy of the surgical robot.

[0021] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 is a flow chart of a surgical robot calibration method provided according to Embodiment 1 of the present invention;

[0024] Figure 2 is a flow chart of a surgical robot calibration method provided according to Embodiment 2 of the present invention;

[0025] Figure 3 is a schematic structural diagram of a surgical robot calibration device provided according to Embodiment 3 of the present invention;

[0026] Figure 4 It is a structural schematic diagram of an electronic device for implementing the surgical robot calibration method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any corresponding variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Embodiment 1

[0030] Figure 1 This is a flow chart of a surgical robot calibration method provided in the first embodiment of the present invention. This embodiment is applicable to the case where a surgical robot is calibrated before being used. The method can be executed by a surgical robot calibration device. The surgical robot calibration device can be implemented in the form of hardware and / or software. The surgical robot calibration device can be configured in a terminal and / or a server. Figure 1 As shown, the method includes:

[0031] S110. For a plurality of mechanical structures to be calibrated that are associated with the surgical robot to be calibrated, during the movement of the mechanical structures to be calibrated, obtain a plurality of movement angles corresponding to the mechanical structures to be calibrated and first terminal position and posture information corresponding to each movement angle.

[0032] Among them, the surgical robot to be calibrated may be a surgical robot that needs to be calibrated. The surgical robot to be calibrated may be any type of surgical robot, and optionally, it may be a master-slave heterogeneous surgical robot (e.g., a laparoscopic surgical robot). It can be understood that a master-slave heterogeneous surgical robot refers to a surgical robot system in which the master operating device (operated by the operating object) and the slave operating device (performing the surgical action) are not completely identical in structure, and a collaborative operation can be achieved through a specific control algorithm and mapping relationship. The master-slave heterogeneous surgical robot may include a master-end device and a slave-end device. In this embodiment, the surgical robot to be calibrated includes a console and a surgical platform. Among them, the console may be a master-end device, and the surgical platform may be a slave-end device. The mechanical structure to be calibrated may be a master-slave operating device on the surgical robot to be calibrated. In other words, the mechanical structure to be calibrated may be a mechanical structure on the surgical robot to be calibrated that can perform related operations. Optionally, in the case where the surgical robot to be calibrated includes a console and a surgical platform, the mechanical structure to be calibrated may include a left-hand operating device and a right-hand operating device associated with the console and a plurality of segmented robotic arms (robotic arm joints) associated with the surgical platform. The motion angle can be understood as the angle at which the mechanical structure to be calibrated rotates or swings during movement. Generally, the surgical robot is connected by a plurality of segmented mechanical arms, and each segmented mechanical arm can rotate or swing within a corresponding preset angle range. Thus, the effect of flexible movement of the segmented mechanical arms on the corresponding plane can be achieved. The first terminal posture information can be understood as the position and posture of the mechanical structure end in three-dimensional space. The first terminal posture information can be used to indicate the measured posture of the mechanical structure end to be calibrated in the reference coordinate system. In other words, the first terminal posture information can be the posture information measured by the space measurement device. Optionally, the first terminal posture information includes terminal position information and terminal posture information. The terminal position information can be understood as the coordinate position of the mechanical structure end to be calibrated in the reference coordinate system. The terminal position information can be expressed in the form of three-dimensional coordinates. The terminal posture information can be understood as the direction or rotation state of the mechanical structure end to be calibrated in the reference coordinate system. The terminal posture information can be expressed in the form of Euler angles or quaternions. Exemplarily, the first terminal posture information can be a terminal posture matrix composed of position coordinates and posture angles.

[0033] In practical applications, the calibration of surgical robots usually involves the overall calibration of the surgical robots. However, most surgical robots are master-slave heterogeneous robots, and there are certain differences in the structure of the master-end operating device and the slave-end operating device. During the master-slave operation process, when the master-end operating device and the slave-end operating device reach a point in the workspace, their error directions are different, which will increase the error of the end effectors of the master and slave robots. In addition, the distribution of the error directions of the matching master-end operating device and slave-end operating device in the operating space is quite different, which may affect the overall error level of the surgical robot and reduce the calibration accuracy of the end effector of the surgical robot.

[0034] In view of the above situation, in this embodiment, when calibrating the surgical robot to be calibrated, the surgical robot to be calibrated can be divided into sections to separate the operating device to be calibrated in the surgical robot to be calibrated, and multiple mechanical structures to be calibrated associated with the surgical robot to be calibrated are obtained. Further, the structural compensation information corresponding to each mechanical structure to be calibrated is determined respectively. Then, the surgical robot to be calibrated can be calibrated based on the structural compensation information corresponding to the multiple mechanical structures to be calibrated.

[0035] In this embodiment, when the surgical robot to be calibrated is determined, the surgical robot to be calibrated can be split to obtain multiple mechanical structures to be calibrated associated with the surgical robot to be calibrated. Furthermore, compensation information can be determined for each of the multiple mechanical structures to be calibrated.

[0036] Based on this, on the basis of the above-mentioned technical solutions, it also includes: disassembling the surgical robot to be calibrated according to preset disassembly standards to obtain multiple mechanical structures, and using the multiple mechanical structures as multiple mechanical structures to be calibrated associated with the surgical robot to be calibrated.

[0037] Among them, the preset splitting standard can be used to indicate the mechanical structures that need to be split in the surgical robot to be calibrated and the splitting method of the mechanical structures. Generally, the surgical robot may include multiple structures, including mechanical structures that need to be calibrated and other structures that do not need to be calibrated. Furthermore, when the surgical robot is split, the mechanical structure that needs to be calibrated can be split according to the preset splitting standard.

[0038] In this embodiment, when the surgical robot to be calibrated is determined, the multiple mechanical structures to be calibrated in the surgical robot to be calibrated and the corresponding splitting method of each mechanical structure can be confirmed according to the preset splitting standard. Further, the surgical robot to be calibrated can be split to obtain multiple mechanical structures. Then, the obtained multiple mechanical structures can be used as multiple mechanical structures to be calibrated associated with the surgical robot to be calibrated.

[0039] Exemplarily, it is assumed that the surgical robot to be calibrated is a laparoscopic surgical robot, and the laparoscopic surgical robot includes a console and a surgical platform. Further, the left-hand operating device and the right-hand operating device in the console can be separated as mechanical structures to be calibrated associated with the console, and each robotic arm included in the surgical platform can be segmented and split to obtain multiple segmented robotic arms as multiple mechanical structures to be calibrated associated with the surgical platform. Furthermore, the left-hand operating device, the right-hand operating device and the multiple segmented robotic arms can be used as multiple mechanical structures to be calibrated associated with the laparoscopic surgical robot.

[0040] In this embodiment, the motion angle can be acquired based on a photoelectric encoder arranged on the mechanical structure to be calibrated. The first end position information can be measured by a space measurement device.

[0041] As an optional implementation of this embodiment, when multiple mechanical structures to be calibrated associated with the surgical robot to be calibrated are obtained, for the multiple mechanical structures to be calibrated, the mechanical structures to be calibrated can be controlled to move within their corresponding working ranges, and during the movement, the angle of the photoelectric encoder set on the mechanical structure to be calibrated is collected according to a preset sampling frequency, and the angle is used as the movement angle. And, while collecting each movement angle, the position and posture of the end of the mechanical structure to be calibrated in the reference coordinate system is measured by a spatial measurement device, and the posture is used as the first end posture information corresponding to the movement angle. Further, multiple movement angles corresponding to the mechanical structure to be calibrated and the first end posture information corresponding to each movement angle can be obtained.

[0042] It should be noted that during the use of the surgical robot to be calibrated, in order to facilitate the replacement of faulty mechanical structures in the surgical robot to be calibrated, the process of disassembling the surgical robot to be calibrated also includes: obtaining a robot parameter file corresponding to the surgical robot to be calibrated, and splitting the robot parameter file according to multiple mechanical structures to be calibrated to obtain a structural parameter file corresponding to each mechanical structure to be calibrated.

[0043] When a fault occurs during use and needs to be replaced, you only need to determine the specific location of the fault first, then select a good spare part for replacement, and replace the parameter file corresponding to the spare part to complete the repair. It is also more convenient to transport and carry, thereby greatly reducing the time required for on-site maintenance and improving the efficiency of maintenance and replacement.

[0044] S120, determining structure compensation information corresponding to the mechanical structure to be calibrated according to the multiple motion angles and the first terminal posture information corresponding to each motion angle.

[0045] Among them, the structural compensation information can be used to correct the posture error of the corresponding mechanical structure to be calibrated. Optionally, the structural compensation information includes posture compensation information and / or position compensation information. It can be understood that the posture compensation information can be used to correct the posture error of the corresponding mechanical structure to be calibrated. The position compensation information can be used to correct the position error of the corresponding mechanical structure to be calibrated.

[0046] In this embodiment, for multiple mechanical structures to be calibrated, after obtaining multiple motion angles corresponding to the mechanical structures to be calibrated and the first terminal posture information corresponding to each motion angle, for multiple motion angles, the second terminal posture information corresponding to the motion angle can be determined according to the motion angle, and the posture information can be the posture information calculated based on the motion angle. Further, the structural compensation information corresponding to the mechanical structure to be calibrated can be determined according to the first posture information and the second posture information corresponding to the multiple motion angles.

[0047] It can be understood that the motion process of the surgical robot can be analyzed by kinematic modeling of the surgical robot. For each surgical robot, kinematic modeling can be performed on the surgical robot to obtain a kinematic model corresponding to the surgical robot. The kinematic model can be used to describe and analyze the surgical robot connecting rod and its motion process. There are many ways to establish the robot kinematic model, optional, screw theory, DH method, etc. In general, the DH method can be used to perform kinematic modeling on the surgical robot, and the obtained kinematic model is called a kinematic DH model. The DH model simplifies the forward and inverse kinematic calculations of the robotic arm through a set of standardized parameters and transformation matrices. The parameters in the DH model can be used to characterize the geometric relationship between the various connecting rods in the surgical robot. Optionally, the parameters of the DH model may include connecting rod length, joint offset, connecting rod rotation angle, and joint angle. In practical applications, the corresponding end position information of the corresponding robotic arm at each motion angle can be determined based on the kinematic DH model corresponding to the surgical robot.

[0048] As an optional implementation of this embodiment, kinematic modeling can be performed on the surgical robot to be calibrated to obtain a kinematic model corresponding to the surgical robot to be calibrated, and multiple sets of candidate compensation information can be deployed in the kinematic model. Furthermore, for multiple motion angles, the motion angles can be input into the kinematic model to obtain the second terminal pose information corresponding to the motion angle under each set of candidate compensation information. Furthermore, for multiple sets of candidate compensation information, the total compensation pose corresponding to the candidate compensation information is determined based on the multiple second terminal pose information and the multiple first terminal pose information corresponding to the multiple motion angles in the candidate compensation information; the structural compensation information corresponding to the mechanical structure to be calibrated is determined based on the total compensation pose corresponding to the multiple sets of candidate compensation information corresponding to the mechanical structure to be calibrated.

[0049] S130 , assembling multiple mechanical structures to be calibrated to obtain a surgical robot to be calibrated, and acquiring assembly deviation information corresponding to each mechanical structure to be calibrated.

[0050] The target surgical robot to be calibrated can be understood as the surgical robot obtained after assembly. It should be noted that the target surgical robot to be calibrated can be the surgical robot to be calibrated before disassembly.

[0051] The assembly deviation information may be the deviation generated during the assembly process of the mechanical structure to be calibrated. The assembly deviation information is used to characterize the deviation of the kinematic DH model parameters (including the connecting rod length, the connecting rod angle and the connecting rod offset) of each adjacent joint of the robotic arm due to assembly, that is, the deviation between the actual kinematic DH model parameters corresponding to the surgical robot and the theoretical kinematic DH model parameters obtained after the assembly of each adjacent joint of the robotic arm. The assembly deviation information includes the assembly deviation at the breakpoint. It can be understood that when the mechanical structure to be calibrated is disassembled from the surgical robot to be calibrated, there may be a breakpoint connection on the mechanical structure to be calibrated. Furthermore, when the mechanical structure to be calibrated is reconnected to obtain a complete surgical robot to be calibrated, a connection structure may be set at the breakpoint connection to connect multiple mechanical structures to be calibrated based on the connection structure. The connection structure may be understood as a structure that connects at least two independent mechanical structures together. The preset horizontal reference plane may be a pre-set horizontal plane used as a reference for measurement and positioning. It can be understood that the horizontal reference plane may be used to ensure that certain key dimensions and characteristics of the structure are parallel or perpendicular to the horizontal plane to achieve the accuracy and performance required by the design. In this embodiment, the assembly deviation information may be obtained by measuring with a measuring device.

[0052] In this embodiment, after the structural compensation information corresponding to each mechanical structure to be calibrated is determined, multiple mechanical structures to be calibrated can be connected and assembled to obtain an assembled surgical robot to be calibrated.

[0053] Optionally, multiple mechanical structures to be calibrated are assembled to obtain a surgical robot to be calibrated, including: for multiple mechanical structures to be calibrated, connecting the current mechanical structure to be calibrated with other robot structures according to a preset connection standard; when the connection of multiple mechanical structures to be calibrated is completed, using the connected robot as the surgical robot to be calibrated.

[0054] Among them, the preset connection standard can be used to indicate the connection position and / or connection method corresponding to the mechanical structure to be calibrated. The preset connection standard at least includes a preset connection structure adopted for the connection. The preset connection structure may be a predetermined connection structure for connecting the disassembled mechanical structures together. It should be noted that the preset connection structure may be a connection structure that is different from the original connection structure of the surgical robot to be calibrated; or, it may also be the original connection structure of the surgical robot to be calibrated, which is not specifically limited in this embodiment. The current mechanical structure to be calibrated may be the mechanical structure to be calibrated that is currently being connected. Other robot structures include other structures in the surgical robot to be calibrated except for multiple mechanical structures to be calibrated and / or other mechanical structures in multiple mechanical structures to be calibrated except for the current mechanical structure to be calibrated.

[0055] As an optional implementation of the present embodiment, for multiple mechanical structures to be calibrated, the connection position and connection method corresponding to the current mechanical structure to be calibrated can be determined. Furthermore, the current mechanical structure to be calibrated can be connected to other robot structures through a preset connection structure. Furthermore, when multiple mechanical structures to be calibrated are connected, a connected surgical robot can be obtained, and the connected surgical robot can be used as a surgical robot to be calibrated. Furthermore, for each mechanical structure to be calibrated, the posture deviation between the plane where the preset connection structure at the breakpoint connection of the mechanical structure to be calibrated is located and the preset horizontal reference plane can be measured by a measuring device, and the measured posture deviation is used as the assembly deviation information corresponding to the mechanical structure to be calibrated.

[0056] S140 , calibrating the surgical robot to be calibrated according to the structural compensation information and assembly deviation information corresponding to the multiple mechanical structures to be calibrated.

[0057] In this embodiment, when structural compensation information and assembly deviation information corresponding to multiple mechanical structures to be calibrated are obtained, and the multiple mechanical structures to be calibrated are connected and assembled to obtain a surgical robot to be calibrated, the surgical robot to be calibrated can be calibrated according to the obtained structural compensation information and assembly deviation information.

[0058] Optionally, the surgical robot to be calibrated is calibrated according to structural compensation information and assembly deviation information corresponding to multiple mechanical structures to be calibrated, including: adding multiple assembly deviation information to the kinematic model corresponding to the surgical robot to be calibrated, and updating multiple structural compensation information to the robot parameter file corresponding to the surgical robot to be calibrated; and calibrating the surgical robot to be calibrated based on the updated kinematic model and robot parameter file.

[0059] The kinematic model may be a parameter model obtained after kinematic modeling of the surgical robot to be calibrated. Exemplarily, the kinematic model may be a DH parameter model. The robot parameter file may be a file storing various technical parameters, configuration information, and structural parameters of each mechanical structure of the surgical robot to be calibrated. It can be understood that the robot parameter file is crucial to the operation, debugging, and maintenance of the surgical robot to be calibrated.

[0060] As an optional implementation of the first embodiment of this invention, a kinematic model and a robot parameter file corresponding to the surgical robot to be calibrated may be obtained. Furthermore, after obtaining the structural compensation information and assembly deviation information corresponding to the multiple mechanical structures to be calibrated, the multiple assembly deviation information may be added to the obtained kinematic model, and the multiple structural compensation information may be updated to the obtained robot parameter file, and the updated kinematic model and robot parameter file may be obtained. Furthermore, the updated kinematic model may be run and the updated robot parameter file may be applied to calibrate the surgical robot to be calibrated.

[0061] The technical solution of the embodiment of the present invention is to obtain multiple motion angles corresponding to the mechanical structures to be calibrated and the first terminal posture information corresponding to each motion angle for multiple mechanical structures to be calibrated associated with the surgical robot to be calibrated during the movement of the mechanical structures to be calibrated; further, determine the structural compensation information corresponding to the mechanical structures to be calibrated according to the multiple motion angles and the first terminal posture information corresponding to each motion angle; further, assemble the multiple mechanical structures to be calibrated to obtain the surgical robot to be calibrated, and obtain the assembly deviation information corresponding to each mechanical structure to be calibrated; further, calibrate the surgical robot to be calibrated according to the structural compensation information and assembly deviation information corresponding to the multiple mechanical structures to be calibrated, thereby solving the problem in the related art that the surgical robot is calibrated before leaving the factory, thereby resulting in low accuracy of the calibration results used when the surgical robot is used and low operating accuracy of the surgical robot, and realizes the effect of disassembling and assembling the surgical robot before the surgical robot is used, and calibrating the surgical robot according to the structural compensation information and assembly deviation information of the multiple mechanical structures disassembled, thereby realizing the effect of effectively calibrating the surgical robot before the surgical robot is used, thereby improving the operating accuracy of the surgical robot.

[0062] Embodiment 2

[0063] Figure 2It is a flowchart of a surgical robot calibration method provided in the second embodiment of the present invention. On the basis of the above-mentioned embodiment, according to multiple motion angles and the first terminal posture information corresponding to each motion angle, the structural compensation information corresponding to the mechanical structure to be calibrated is determined, including: for multiple motion angles, according to multiple groups of preset candidate compensation information and motion angles, the second terminal posture information corresponding to the motion angle under each group of candidate compensation information is determined; according to the second terminal posture information corresponding to each group of candidate compensation information of multiple motion angles and multiple first terminal posture information, the structural compensation information corresponding to the mechanical structure to be calibrated is determined. The specific implementation method can be referred to the technical solution of this embodiment. Among them, the technical terms that are the same or similar to those in the above-mentioned embodiments are not repeated here.

[0064] like Figure 2 As shown, the method includes:

[0065] S210. For a plurality of mechanical structures to be calibrated that are associated with the surgical robot to be calibrated, during the movement of the mechanical structures to be calibrated, obtain a plurality of motion angles corresponding to the mechanical structures to be calibrated and first terminal position and posture information corresponding to each motion angle.

[0066] S220. For multiple motion angles, the motion angles are processed according to a kinematic model corresponding to the surgical robot to be calibrated and containing multiple groups of candidate compensation information to obtain second terminal position information corresponding to the motion angle in each group of candidate compensation information.

[0067] Among them, the candidate compensation information can be predetermined structural compensation information to be applied. Each group of candidate compensation information can include posture compensation information and / or position compensation information. The kinematic model can be a model obtained after kinematic modeling of the surgical robot to be calibrated. Exemplarily, the kinematic model can be a DH model. The second terminal posture information can be understood as the position and posture of the end of the mechanical structure in three-dimensional space. The second terminal posture information is the terminal posture information calculated based on the corresponding motion angle.

[0068] In this embodiment, kinematic modeling can be performed on the surgical robot to be calibrated to obtain a kinematic model corresponding to the surgical robot to be calibrated, and multiple sets of candidate compensation information can be deployed in the kinematic model. Furthermore, for multiple motion angles, the motion angles can be input into the motion model to process the motion angles based on the kinematic model containing multiple sets of candidate compensation information. Then, the terminal posture information corresponding to the motion angle under each set of candidate compensation information can be obtained, and the terminal posture information can be used as the second terminal posture information.

[0069] S230, determining structure compensation information corresponding to the mechanical structure to be calibrated according to the second terminal posture information corresponding to the multiple motion angles under each set of candidate compensation information and the multiple first terminal posture information.

[0070] In this embodiment, the second terminal posture information is the terminal posture information obtained by calculation, and the acquired first terminal posture information is the measured posture information. The structural compensation information corresponding to the mechanical structure to be calibrated can be determined by determining the difference between the first terminal posture information and the second terminal posture information.

[0071] In this embodiment, when the second terminal posture information corresponding to multiple motion angles under each set of candidate compensation information is obtained, for each set of candidate compensation information, the total posture difference corresponding to the set of candidate compensation information can be determined according to the first terminal posture and the second terminal posture corresponding to the multiple motion angles. Further, according to the total posture difference corresponding to the multiple sets of candidate compensation information, the candidate compensation information that meets the preset standard can be determined from the multiple sets of candidate compensation information, and the determined candidate compensation information is used as the structural compensation information corresponding to the mechanical structure to be calibrated.

[0072] Optionally, the structural compensation information corresponding to the mechanical structure to be calibrated is determined according to the second terminal posture information corresponding to each group of candidate compensation information for multiple motion angles and the first terminal posture information corresponding to the multiple motion angles, including: for multiple groups of candidate compensation information, determining the total compensation posture corresponding to the candidate compensation information according to the second terminal posture information corresponding to the candidate compensation information for multiple motion angles and the first terminal posture information corresponding to the multiple motion angles; determining the structural compensation information corresponding to the mechanical structure to be calibrated according to the total compensation posture corresponding to the multiple groups of candidate compensation information corresponding to the mechanical structure to be calibrated.

[0073] The total compensation posture can be understood as the total posture difference between the plurality of first terminal posture information and the plurality of second terminal posture information. The structural compensation information can be a set of candidate compensation information among the plurality of sets of candidate compensation information.

[0074] In this embodiment, for multiple sets of candidate compensation information, the posture differences between the first terminal posture information and the second terminal posture information corresponding to multiple motion angles can be determined respectively to obtain multiple posture differences. Furthermore, the total posture difference corresponding to the candidate compensation information can be determined based on the multiple posture differences.

[0075] Optionally, a total compensation posture corresponding to the candidate compensation information is determined based on the second terminal posture information corresponding to the candidate compensation information for multiple motion angles and the first terminal posture information corresponding to the multiple motion angles, including: determining, for multiple motion angles, the difference between the second terminal posture information corresponding to the candidate compensation information and the first terminal posture information corresponding to the motion angle to obtain the compensation posture corresponding to the motion angle; and summing the compensation postures corresponding to the multiple motion angles to obtain the total compensation posture corresponding to the candidate compensation information.

[0076] Among them, the compensated pose can be understood as the difference between the measured pose and the calculated pose.

[0077] As an optional implementation of this embodiment, for multiple motion angles, the difference between the second terminal posture information corresponding to the motion angle in the candidate compensation information and the first terminal posture information corresponding to the motion angle can be determined, and the difference is used as the compensation posture corresponding to the motion angle. Further, in the case of obtaining compensation postures corresponding to multiple motion angles, the multiple compensation postures can be summed to obtain the posture sum, and the obtained posture sum can be used as the total compensation posture corresponding to the candidate compensation information. Further, in the case of obtaining the total compensation posture corresponding to multiple groups of candidate compensation information, the structural compensation information corresponding to the mechanical structure to be calibrated can be determined from the multiple groups of candidate compensation information based on the multiple total compensation postures.

[0078] Optionally, the structural compensation information corresponding to the mechanical structure to be calibrated is determined according to the total compensation posture corresponding to multiple groups of candidate compensation information corresponding to the mechanical structure to be calibrated, including: determining the total compensation posture corresponding to the minimum posture value from multiple total compensation postures, and using the candidate compensation information corresponding to the determined total compensation posture as the structural compensation information.

[0079] As an optional implementation of this embodiment, when the total compensation poses corresponding to multiple sets of candidate compensation information are obtained, the pose sizes of the multiple total compensation poses can be compared to determine the total compensation pose corresponding to the minimum pose value from the multiple total compensation poses. Furthermore, the candidate compensation information corresponding to the determined total compensation pose can be used as the structural compensation information corresponding to the structure to be calibrated.

[0080] S240 , assembling multiple mechanical structures to be calibrated to obtain a surgical robot to be calibrated, and acquiring assembly deviation information corresponding to each mechanical structure to be calibrated.

[0081] S250 , calibrating the surgical robot to be calibrated according to the structure compensation information and assembly deviation information corresponding to the multiple mechanical structures to be calibrated.

[0082] The technical solution of the embodiment of the present invention is to obtain multiple motion angles corresponding to the mechanical structures to be calibrated and the first terminal posture information corresponding to each motion angle for multiple mechanical structures to be calibrated associated with the surgical robot to be calibrated during the movement of the mechanical structures to be calibrated; further, determine the structural compensation information corresponding to the mechanical structures to be calibrated according to the multiple motion angles and the first terminal posture information corresponding to each motion angle; further, assemble the multiple mechanical structures to be calibrated to obtain the surgical robot to be calibrated, and obtain the assembly deviation information corresponding to each mechanical structure to be calibrated; further, calibrate the surgical robot to be calibrated according to the structural compensation information and assembly deviation information corresponding to the multiple mechanical structures to be calibrated, thereby solving the problem in the related art that the surgical robot is calibrated before leaving the factory, thereby resulting in low accuracy of the calibration results used when the surgical robot is used and low operating accuracy of the surgical robot, and realizes the effect of disassembling and assembling the surgical robot before the surgical robot is used, and calibrating the surgical robot according to the structural compensation information and assembly deviation information of the multiple mechanical structures disassembled, thereby realizing the effect of effectively calibrating the surgical robot before the surgical robot is used, thereby improving the operating accuracy of the surgical robot.

[0083] Embodiment 3

[0084] Figure 3 FIG. 1 is a schematic diagram of the structure of a surgical robot calibration device provided in Embodiment 3 of the present invention. Figure 3 As shown, the device includes: a motion angle acquisition module 310, a compensation information determination module 320, an assembly deviation determination module 330 and a calibration module 340.

[0085] Among them, the motion angle acquisition module 310 is used for obtaining, for multiple mechanical structures to be calibrated associated with the surgical robot to be calibrated, multiple motion angles corresponding to the mechanical structures to be calibrated and first terminal position and posture information corresponding to each of the motion angles during the movement of the mechanical structures to be calibrated, wherein the mechanical structure to be calibrated is a master-slave operating device on the surgical robot to be calibrated; the first terminal position and posture information is used to indicate the measured position and posture of the terminal of the mechanical structure to be calibrated in the reference coordinate system; the compensation information determination module 320 is used to determine the measured position and posture of the terminal of the mechanical structure to be calibrated in the reference coordinate system according to the multiple motion angles and the first terminal position and posture information corresponding to each of the motion angles. The present invention relates to a surgical robot to be calibrated, and a surgical robot to be calibrated is provided with structural compensation information corresponding to a certain mechanical structure; wherein the structural compensation information includes posture compensation information and / or position compensation information; an assembly deviation determination module 330 is used to assemble multiple mechanical structures to be calibrated to obtain the surgical robot to be calibrated, and obtain assembly deviation information corresponding to each mechanical structure to be calibrated; wherein the assembly deviation information is used to characterize the posture deviation between the plane where the connection structure at the breakpoint connection of the mechanical structure to be calibrated is located and a preset horizontal reference plane; a calibration module 340 is used to calibrate the surgical robot to be calibrated according to the structural compensation information and the assembly deviation information corresponding to the multiple mechanical structures to be calibrated.

[0086] The technical solution of the embodiment of the present invention is to obtain multiple motion angles corresponding to the mechanical structures to be calibrated and the first terminal posture information corresponding to each motion angle for multiple mechanical structures to be calibrated associated with the surgical robot to be calibrated during the movement of the mechanical structures to be calibrated; further, determine the structural compensation information corresponding to the mechanical structures to be calibrated according to the multiple motion angles and the first terminal posture information corresponding to each motion angle; further, assemble the multiple mechanical structures to be calibrated to obtain the surgical robot to be calibrated, and obtain the assembly deviation information corresponding to each mechanical structure to be calibrated; further, calibrate the surgical robot to be calibrated according to the structural compensation information and assembly deviation information corresponding to the multiple mechanical structures to be calibrated, thereby solving the problem in the related art that the surgical robot is calibrated before leaving the factory, thereby resulting in low accuracy of the calibration results used when the surgical robot is used and low operating accuracy of the surgical robot, and realizes the effect of disassembling and assembling the surgical robot before the surgical robot is used, and calibrating the surgical robot according to the structural compensation information and assembly deviation information of the multiple mechanical structures disassembled, thereby realizing the effect of effectively calibrating the surgical robot before the surgical robot is used, thereby improving the operating accuracy of the surgical robot.

[0087] Optionally, the compensation information determination module 320 includes: a posture information determination submodule and a compensation information determination submodule.

[0088] A posture information determination submodule is used to process the motion angles according to a kinematic model containing multiple groups of candidate compensation information corresponding to the surgical robot to be calibrated, and obtain the second terminal posture information corresponding to each group of candidate compensation information for the motion angle;

[0089] The compensation information determination submodule is used to determine the structural compensation information corresponding to the mechanical structure to be calibrated according to the second terminal posture information corresponding to the multiple motion angles under each group of the candidate compensation information and the multiple first terminal posture information.

[0090] Optionally, the compensation information determination submodule includes: a total compensation posture determination unit and a compensation information determination unit.

[0091] A total compensation posture determination unit is used to determine, for a plurality of sets of candidate compensation information, a total compensation posture corresponding to the candidate compensation information according to the second terminal posture information corresponding to the candidate compensation information at a plurality of motion angles and the first terminal posture information corresponding to the plurality of motion angles;

[0092] The compensation information determining unit is used to determine the structural compensation information corresponding to the mechanical structure to be calibrated according to the total compensation posture corresponding to the multiple groups of candidate compensation information corresponding to the mechanical structure to be calibrated.

[0093] Optionally, the total compensation posture determination unit includes: a compensation posture determination subunit and a total compensation posture determination subunit.

[0094] a compensation posture determination subunit, configured to determine, for a plurality of the motion angles, a difference between the second terminal information corresponding to the candidate compensation information and the first terminal posture information corresponding to the motion angle, so as to obtain a compensation posture corresponding to the motion angle;

[0095] The total compensation posture determination subunit is used to sum the compensation postures corresponding to the multiple motion angles to obtain the total compensation posture corresponding to the candidate compensation information.

[0096] Optionally, the compensation information determination unit is specifically used to determine the total compensation posture corresponding to the minimum posture value from multiple total compensation postures, and use the candidate compensation information corresponding to the determined total compensation posture as the structural compensation information.

[0097] Optionally, the assembly deviation determination module 330 includes: a structure assembly unit and a robot determination unit.

[0098] A structural assembly unit, for connecting the current mechanical structure to be calibrated with other robot structures according to a preset connection standard for the multiple mechanical structures to be calibrated; wherein the preset connection standard at least includes a preset connection structure adopted for the connection; the other robot structures include other structures of the surgical robot to be calibrated except the multiple mechanical structures to be calibrated and / or other mechanical structures of the multiple mechanical structures to be calibrated except the current mechanical structure to be calibrated;

[0099] The robot determination unit is used to use the surgical robot obtained by connection as the surgical robot to be calibrated when the connection of multiple mechanical structures to be calibrated is completed.

[0100] Optionally, the calibration module 340 includes: a parameter updating unit and a calibration unit.

[0101] A parameter updating unit, configured to add the plurality of assembly deviation information to a kinematic model corresponding to the surgical robot to be calibrated, and to update the plurality of structure compensation information to a robot parameter file corresponding to the surgical robot to be calibrated;

[0102] A calibration unit is used to calibrate the surgical robot to be calibrated based on the updated kinematic model and the robot parameter file.

[0103] The surgical robot calibration device provided in the embodiment of the present invention can execute the surgical robot calibration method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0104] Embodiment 4

[0105] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The structures shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0106] like Figure 4As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0107] A number of structures in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0108] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a surgical robot calibration method.

[0109] In some embodiments, the surgical robot calibration method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the surgical robot calibration method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the surgical robot calibration method in any other appropriate manner (e.g., by means of firmware).

[0110] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0111] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0112] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0113] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0114] The systems and techniques described herein can be implemented in a computing system that includes a backend structure (e.g., as a data server), or a computing system that includes a middleware structure (e.g., an application server), or a computing system that includes a frontend structure (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend structures, middleware structures, or frontend structures. The structures of the system can be interconnected by digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0115] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0116] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0117] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A surgical robot calibration method, characterized in that: include: For multiple mechanical structures to be calibrated associated with the surgical robot to be calibrated, during the movement of the mechanical structures to be calibrated, multiple motion angles corresponding to the mechanical structures to be calibrated and first terminal position and posture information corresponding to each of the motion angles are obtained, wherein the mechanical structure to be calibrated is a master-slave operating device on the surgical robot to be calibrated; the first terminal position and posture information is used to indicate the measured position and posture of the terminal of the mechanical structure to be calibrated in the reference coordinate system; Determine the structural compensation information corresponding to the mechanical structure to be calibrated according to the plurality of motion angles and the first terminal posture information corresponding to each of the motion angles; wherein the structural compensation information includes posture compensation information and / or position compensation information; Assembling a plurality of the mechanical structures to be calibrated to obtain the surgical robot to be calibrated, and obtaining assembly deviation information corresponding to each of the mechanical structures to be calibrated; wherein the assembly deviation information is used to characterize the posture deviation between the plane where the connection structure at the breakpoint connection of the mechanical structure to be calibrated is located and a preset horizontal reference plane; The surgical robot to be calibrated is calibrated according to the structure compensation information and the assembly deviation information corresponding to the plurality of mechanical structures to be calibrated.

2. The surgical robot calibration method according to claim 1, characterized in that: The determining, according to the plurality of motion angles and the first terminal posture information corresponding to each of the motion angles, the structural compensation information corresponding to the mechanical structure to be calibrated comprises: For the plurality of motion angles, the motion angles are processed according to a kinematic model corresponding to the surgical robot to be calibrated and including a plurality of sets of candidate compensation information, to obtain second terminal position information corresponding to each set of candidate compensation information for the motion angle; According to the second terminal posture information corresponding to the plurality of motion angles under each group of the candidate compensation information and the plurality of the first terminal posture information, the structure compensation information corresponding to the mechanical structure to be calibrated is determined.

3. The surgical robot calibration method according to claim 2, characterized in that: The determining, according to the second terminal posture information corresponding to the plurality of motion angles under each set of the candidate compensation information and the plurality of the first terminal posture information, the structure compensation information corresponding to the mechanical structure to be calibrated comprises: For the plurality of sets of candidate compensation information, determining a total compensation posture corresponding to the candidate compensation information according to the second terminal posture information corresponding to the plurality of motion angles in the candidate compensation information and the first terminal posture information corresponding to the plurality of motion angles; The structural compensation information corresponding to the mechanical structure to be calibrated is determined according to the total compensation poses corresponding to the multiple groups of candidate compensation information corresponding to the mechanical structure to be calibrated.

4. The surgical robot calibration method according to claim 3, characterized in that: The determining, according to the second terminal posture information corresponding to the candidate compensation information at the plurality of motion angles and the first terminal posture information corresponding to the plurality of motion angles, a total compensation posture corresponding to the candidate compensation information, comprises: For the plurality of motion angles, determining a difference between the second terminal information corresponding to the candidate compensation information and the first terminal posture information corresponding to the motion angle, so as to obtain a compensation posture corresponding to the motion angle; The compensation postures corresponding to the multiple motion angles are summed to obtain a total compensation posture corresponding to the candidate compensation information.

5. The surgical robot calibration method according to claim 3, characterized in that: The determining, according to the total compensation poses corresponding to the multiple groups of candidate compensation information corresponding to the mechanical structure to be calibrated, the structural compensation information corresponding to the mechanical structure to be calibrated comprises: The total compensation pose corresponding to the minimum pose value is determined from the multiple total compensation poses, and candidate compensation information corresponding to the determined total compensation pose is used as structural compensation information.

6. The surgical robot calibration method according to claim 1, characterized in that: The step of assembling the plurality of mechanical structures to be calibrated to obtain the assembled surgical robot to be calibrated comprises: For the plurality of mechanical structures to be calibrated, the current mechanical structure to be calibrated is connected to other robot structures according to a preset connection standard; wherein the preset connection standard at least includes a preset connection structure adopted for the connection; the other robot structures include other structures of the surgical robot to be calibrated except the plurality of mechanical structures to be calibrated and / or other mechanical structures of the plurality of mechanical structures to be calibrated except the current mechanical structure to be calibrated; When the connection of the plurality of mechanical structures to be calibrated is completed, the surgical robot obtained by the connection is used as the surgical robot to be calibrated.

7. The surgical robot calibration method according to claim 1, characterized in that: The step of calibrating the surgical robot to be calibrated according to the structural compensation information and the assembly deviation information corresponding to the plurality of mechanical structures to be calibrated comprises: Adding the plurality of assembly deviation information to a kinematic model corresponding to the surgical robot to be calibrated, and updating the plurality of structure compensation information to a robot parameter file corresponding to the surgical robot to be calibrated; The surgical robot to be calibrated is calibrated based on the updated kinematic model and the robot parameter file.

8. A surgical robot calibration device, characterized in that: include: A motion angle acquisition module, for obtaining, for a plurality of mechanical structures to be calibrated associated with a surgical robot to be calibrated, a plurality of motion angles corresponding to the mechanical structures to be calibrated and first terminal position and posture information corresponding to each of the motion angles during the movement of the mechanical structures to be calibrated, wherein the mechanical structures to be calibrated are master-slave operating devices on the surgical robot to be calibrated; and the first terminal position and posture information is used to indicate the measured position and posture of the terminal of the mechanical structure to be calibrated in a reference coordinate system; A compensation information determination module, used to determine the structural compensation information corresponding to the mechanical structure to be calibrated according to the plurality of motion angles and the first terminal posture information corresponding to each of the motion angles; wherein the structural compensation information includes posture compensation information and / or position compensation information; An assembly deviation determination module is used to assemble a plurality of the mechanical structures to be calibrated to obtain the surgical robot to be calibrated, and obtain assembly deviation information corresponding to each of the mechanical structures to be calibrated; wherein the assembly deviation information is used to characterize the posture deviation between the plane where the connection structure at the breakpoint connection of the mechanical structure to be calibrated is located and a preset horizontal reference plane; A calibration module is used to calibrate the surgical robot to be calibrated according to the structural compensation information and the assembly deviation information corresponding to the multiple mechanical structures to be calibrated.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the surgical robot calibration method described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the surgical robot calibration method according to any one of claims 1 to 7 when executed.

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