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

Abstract

The application discloses a surgical robot calibration method and device, electronic equipment and storage medium. Among them, the method comprises: for a plurality of to-be-calibrated mechanical structures associated with a to-be-calibrated surgical robot, in the process of movement of the to-be-calibrated mechanical structure, a plurality of movement angles corresponding to the to-be-calibrated mechanical structure and first end pose information corresponding to each movement angle are obtained; according to the plurality of movement angles and the first end pose information corresponding to each movement angle, the structure compensation information corresponding to the to-be-calibrated mechanical structure is determined; the plurality of to-be-calibrated mechanical structures are assembled to obtain the to-be-calibrated surgical robot, and the assembly deviation information corresponding to each to-be-calibrated mechanical structure is obtained; and the to-be-calibrated surgical robot is calibrated according to the plurality of structure compensation information and the plurality of assembly deviation information. The technical scheme realizes the effective calibration of the surgical robot before the application of the surgical robot, and further improves the operation precision of the surgical robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, and in particular to a surgical robot calibration method and device, an electronic device, and a storage medium. BACKGROUND

[0002] With the advancement of technology, surgical robots are gradually applied to minimally invasive surgery. Surgical robots assist medical staff in implementing complex surgical operations through clear imaging systems and flexible mechanical arms in the form of minimally invasive surgery, completing intraoperative positioning, cutting, puncturing, hemostasis, and suturing operations. In the case of applying a surgical robot, in order to ensure the operation accuracy of the surgical robot, the surgical robot needs to be calibrated.

[0003] In related technologies, the traditional surgical robot calibration method is usually to calibrate the kinematics of the surgical robot before it is shipped, and save the calibration results for use. However, as the use time of the surgical robot accumulates, the mechanical structure will wear out, and if the calibration results saved at the time of shipment are continued to be used, there will be low operation accuracy, which cannot meet the operation requirements of the surgery. SUMMARY

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

[0005] According to an aspect of the present application, a surgical robot calibration method is provided, which comprises:

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

[0007] According to the multiple movement angles and the first end pose information corresponding to each movement angle, structure compensation information corresponding to the to-be-calibrated mechanical structure is determined; wherein the structure compensation information includes attitude compensation information and / or position compensation information;

[0008] Assemble the plurality of 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 represent the pose deviation between the plane where the connecting structure of the breakpoint connection of the mechanical structure to be calibrated is located and the preset horizontal reference surface;

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

[0010] According to another aspect of the present application, a surgical robot calibration device is provided, which comprises:

[0011] The motion angle acquisition module is configured to, for a plurality of mechanical structures to be calibrated associated with a surgical robot to be calibrated, acquire a plurality of motion angles corresponding to the mechanical structures to be calibrated and first end pose information corresponding to each motion angle during the motion 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 end pose information is used to indicate the measured pose of the end of the mechanical structure to be calibrated in the reference coordinate system.

[0012] The compensation information determination module is configured to determine structure compensation information corresponding to the mechanical structures to be calibrated according to the plurality of motion angles and the first end pose information corresponding to each motion angle; wherein the structure compensation information comprises attitude compensation information and / or position compensation information.

[0013] The assembly deviation determination module is configured to assemble the plurality of 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 represent the pose deviation between the plane where the connecting structure of the breakpoint connection of the mechanical structure to be calibrated is located and the preset horizontal reference surface.

[0014] The calibration module is configured to calibrate the surgical robot to be calibrated according to the structure compensation information corresponding to the plurality of mechanical structures to be calibrated and the assembly deviation information.

[0015] According to another aspect of the present application, an electronic device is provided, which comprises:

[0016] at least one processor; and

[0017] a memory in communication with the at least one processor; wherein

[0018] 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 to enable the at least one processor to perform the surgical robot calibration method according to any one of the embodiments of the application.

[0019] According to another aspect of the application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to implement the surgical robot calibration method according to any one of the embodiments of the application when executed by the processor.

[0020] The technical scheme of the embodiment of the application is as follows: for a plurality of to-be-calibrated mechanical structures associated with a to-be-calibrated surgical robot, during movement of the to-be-calibrated mechanical structures, a plurality of movement angles corresponding to the to-be-calibrated mechanical structures and first end pose information corresponding to each movement angle are acquired; further, structure compensation information corresponding to the to-be-calibrated mechanical structures is determined according to the plurality of movement angles and the first end pose information corresponding to each movement angle; further, the plurality of to-be-calibrated mechanical structures are assembled to obtain the to-be-calibrated surgical robot, and assembly deviation information corresponding to each to-be-calibrated mechanical structure is acquired; further, the to-be-calibrated surgical robot is calibrated according to the structure compensation information and the assembly deviation information corresponding to the plurality of to-be-calibrated mechanical structures, thereby solving the problem that the surgical robot is calibrated when it is shipped in the related art, which in turn leads to low accuracy of the calibration result used when the surgical robot is applied and low operation precision of the surgical robot, and achieving the effect of splitting and assembling the surgical robot before it is applied, and calibrating the surgical robot according to the structure compensation information and the assembly deviation information of the plurality of mechanical structures split, thereby achieving the effect of effectively calibrating the surgical robot before it is applied, and further improving the operation precision of the surgical robot.

[0021] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the application, nor is it used to limit the scope of the application. Other features of the application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort.

[0023] Figure 1 is a flowchart of a surgical robot calibration method provided by the first embodiment of the application;

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

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

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

[0027] In order to make the personnel in the technical field better understand the present application scheme, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0028] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any corresponding variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0029] Embodiment One

[0030] Figure 1 is a flow chart of a surgical robot calibration method according to Embodiment One of the present application. The present embodiment can be applicable to the case of calibrating a surgical robot before the surgical robot is applied. The method can be executed by a surgical robot calibration device, which can be realized in the form of hardware and / or software, and can be configured in a terminal and / or a server. As shown in the figure, the method comprises: Figure 1

[0031] S110, for a plurality of to-be-calibrated mechanical structures associated with a to-be-calibrated surgical robot, acquiring a plurality of motion angles corresponding to the to-be-calibrated mechanical structures and first end pose information corresponding to each motion angle in the process of motion of the to-be-calibrated mechanical structures.​

[0032] The surgical robot to be calibrated can be any type of surgical robot, and optionally, a master-slave heterogeneous surgical robot (e.g., an endoscopic surgical robot). It can be understood that the master-slave heterogeneous surgical robot refers to a surgical robot system in which a master operating device (operated by an operating object) and a slave operating device (performing surgical actions) are not completely identical in structure, and can work cooperatively through a specific control algorithm and mapping relationship. The master-slave heterogeneous surgical robot can 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. The console can be the master end device, and the surgical platform can be the slave end device. The mechanical structure to be calibrated can be the master-slave operating device on the surgical robot to be calibrated. In other words, the mechanical structure to be calibrated can 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 can include left and right hand operating devices associated with the console and a plurality of segmented mechanical arms (mechanical arm joints) associated with the surgical platform. The motion angle can be understood as the angle of rotation or swing of the mechanical structure to be calibrated during movement. Generally, the surgical robot is connected by a plurality of segmented mechanical arms, each of which can rotate or swing within a corresponding preset angle range. In turn, the effect of flexible movement of the segmented mechanical arms in the corresponding plane can be achieved. The first end pose information can be understood as the position and attitude of the end of the mechanical structure in the three-dimensional space. The first end pose information can be used to indicate the measured pose of the end of the mechanical structure to be calibrated in the reference coordinate system. That is, the first end pose information can be the pose information measured by the spatial measurement device. Optionally, the first end pose information includes end position information and end attitude information. The end position information can be understood as the coordinate position of the end of the mechanical structure to be calibrated in the reference coordinate. The end position information can be represented in the form of three-dimensional coordinates. The end attitude information can be understood as the direction or rotation state of the end of the mechanical structure to be calibrated in the reference coordinate system. The end attitude information can be represented in the form of Euler angles or quaternions. Exemplarily, the first end pose information can be an end pose matrix composed of position coordinates and attitude angles.

[0033] In practical applications, the calibration of the surgical robot is usually the overall calibration of the surgical robot. However, the surgical robot is mostly a master-slave heterogeneous robot, and the master operating device and the slave operating device have certain differences in structure. In the master-slave operation process, when the master operating device and the slave operating device reach a point in the workspace, their error directions are different, and thus the error of the master-slave robot end effector is increased. Moreover, the error directions of the matched master operating device and the slave operating device have large differences in the distribution in the operation space, which may affect the overall error level of the surgical robot and reduce the calibration accuracy of the surgical robot end effector.

[0034] In view of the above, in the embodiment, when calibrating the surgical robot to be calibrated, the surgical robot to be calibrated can be segmented and split to split the operating device to be calibrated in the surgical robot to be calibrated, and a plurality of mechanical structures to be calibrated associated with the surgical robot to be calibrated are obtained. Further, the structure 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 structure compensation information corresponding to the plurality of mechanical structures to be calibrated.

[0035] In the embodiment, when the surgical robot to be calibrated is determined, the surgical robot to be calibrated can be split to obtain a plurality of mechanical structures to be calibrated associated with the surgical robot to be calibrated. Then, the compensation information of the plurality of mechanical structures to be calibrated can be determined respectively.

[0036] Based on the above technical solutions, the surgical robot to be calibrated is split according to the preset splitting standard to obtain a plurality of mechanical structures, and the plurality of mechanical structures are taken as a plurality of mechanical structures to be calibrated associated with the surgical robot to be calibrated.

[0037] The preset splitting standard can be used to indicate the mechanical structures to be split in the surgical robot to be calibrated and the splitting mode of the mechanical structures. Generally, the surgical robot can include a plurality of structures, and the structures include mechanical structures to be calibrated and other structures not to be calibrated. Then, when the surgical robot is split, the mechanical structures to be calibrated can be split according to the preset splitting standard.

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

[0039] For example, assuming that the surgical robot to be calibrated is a laparoscope surgical robot, the laparoscope surgical robot comprises 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 the to-be-calibrated mechanical structure associated with the console, and each mechanical arm included in the surgical platform can be segmented to obtain a plurality of segmented mechanical arms as a plurality of to-be-calibrated mechanical structures associated with the surgical platform. Further, the left-hand operating device, the right-hand operating device, and the plurality of segmented mechanical arms can be regarded as a plurality of to-be-calibrated mechanical structures associated with the laparoscope surgical robot.

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

[0041] As an optional implementation of the embodiment, in the case where a plurality of to-be-calibrated mechanical structures associated with the surgical robot to be calibrated are obtained, for the plurality of to-be-calibrated mechanical structures, the to-be-calibrated mechanical structure can be controlled to move within its corresponding working range, and the angle of the photoelectric encoder arranged on the to-be-calibrated mechanical structure can be acquired according to a preset sampling frequency during the movement, and the angle is taken as the motion angle. Meanwhile, the pose of the end of the to-be-calibrated mechanical structure in the reference coordinate system is measured by the spatial measurement device when each motion angle is acquired, and the pose is taken as the first end pose information corresponding to the motion angle. Further, a plurality of motion angles corresponding to the to-be-calibrated mechanical structure and the first end pose information corresponding to each motion angle can be obtained.

[0042] It should be noted that, in the use of the surgical robot to be calibrated, in order to facilitate the replacement of the mechanical structure that fails in the surgical robot to be calibrated, in the process of disassembling the surgical robot to be calibrated, the robot parameter file corresponding to the surgical robot to be calibrated is acquired, and the robot parameter file is disassembled according to the plurality of to-be-calibrated mechanical structures to obtain the structure parameter file corresponding to each to-be-calibrated mechanical structure.

[0043] When a failure occurs in the use process and needs to be replaced, only the specific position of the failure needs to be determined, then the intact spare part is selected for replacement, and the parameter file corresponding to the spare part is replaced to complete the maintenance, which is also more convenient for transportation and carrying, and thus the time required for on-site maintenance is greatly reduced and the efficiency of maintenance and replacement is improved.

[0044] S120, determining the structure compensation information corresponding to the to-be-calibrated mechanical structure according to the plurality of motion angles and the first end pose information corresponding to each motion angle.

[0045] The structure compensation information can be used to correct the pose error of the corresponding mechanical structure to be calibrated. Optionally, the structure compensation information comprises attitude compensation information and / or position compensation information. It can be understood that the attitude compensation information can be used to correct the attitude 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 a plurality of mechanical structures to be calibrated, after obtaining a plurality of motion angles corresponding to the mechanical structures to be calibrated and first end pose information corresponding to each motion angle, for the plurality of motion angles, the second end pose information corresponding to the motion angle can be determined according to the motion angle. The pose information can be calculated based on the motion angle. Further, the structure compensation information corresponding to the mechanical structure to be calibrated can be determined according to the first pose information and the second pose information corresponding to the plurality of 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, the surgical robot can be kinematically modeled to obtain a kinematic model corresponding to the surgical robot. The kinematic model can be used to describe and analyze the surgical robot link and its motion process. There are various ways to establish a robot kinematic model. Optionally, the screw theory, D-H method, etc. In general, the D-H method can be used to kinematically model the surgical robot, and the obtained kinematic model is referred to as a kinematic DH model. The DH model simplifies the forward and inverse kinematics calculation of the mechanical arm through a set of standardized parameters and transformation matrices. The parameters in the DH model can be used to represent the geometric relationship between the various links in the surgical robot. Optionally, the parameters of the DH model can include link length, joint offset, link rotation angle, and joint angle. In actual application, the corresponding end pose information of the corresponding mechanical 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, the mechanical structure to be calibrated can be kinematically modeled to obtain a kinematic model corresponding to the mechanical structure to be calibrated, and a plurality of sets of candidate compensation information can be deployed in the kinematic model. Further, for a plurality of motion angles, the motion angle can be input into the kinematic model to obtain second end pose information corresponding to the motion angle under each set of candidate compensation information. Further, for a plurality of sets of candidate compensation information, the total compensation pose corresponding to the candidate compensation information is determined according to the plurality of second end pose information and the plurality of first end pose information corresponding to the plurality of motion angles under the candidate compensation information. The structure compensation information corresponding to the mechanical structure to be calibrated is determined according to the total compensation poses corresponding to the plurality of sets of candidate compensation information corresponding to the mechanical structure to be calibrated.

[0049] S130, assemble the plurality of to-be-calibrated mechanical structures to obtain a to-be-calibrated surgical robot, and obtain assembly deviation information corresponding to each to-be-calibrated mechanical structure.

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

[0051] The assembly deviation information can be a deviation generated by the to-be-calibrated mechanical structure during assembly. The assembly deviation information is used to represent the deviation of the kinematics DH model parameters (including link length, link rotation angle, and link offset) of each adjacent joint of the mechanical arm caused by assembly, that is, the deviation between the actual kinematics DH model parameters corresponding to the surgical robot and the theoretical kinematics DH model parameters of each adjacent joint of the mechanical arm after assembly. The assembly deviation information includes the assembly deviation at the breakpoint. It can be understood that there can be a breakpoint connection on the to-be-calibrated mechanical structure when the to-be-calibrated mechanical structure is split from the to-be-calibrated surgical robot. Further, when the to-be-calibrated mechanical structure is reconnected to obtain a complete to-be-calibrated surgical robot, a connecting structure can be arranged at the breakpoint connection to connect the plurality of to-be-calibrated mechanical structures based on the connecting structure. The connecting structure can be understood as a structure for connecting at least two independent mechanical structures. The preset horizontal reference plane can be a horizontal plane that is pre-set as a reference for measurement and positioning. It can be understood that the horizontal reference plane can be used to ensure that certain key dimensions and characteristics of the structure are parallel or perpendicular to the horizontal plane to achieve the required accuracy and performance of the design. In this embodiment, the assembly deviation information can be measured by a measuring device.

[0052] In this embodiment, after determining the structure compensation information corresponding to each to-be-calibrated mechanical structure, the plurality of to-be-calibrated mechanical structures can be connected and assembled to obtain a to-be-calibrated surgical robot that is assembled.

[0053] Optionally, assembling the plurality of to-be-calibrated mechanical structures to obtain a to-be-calibrated surgical robot comprises: for the plurality of to-be-calibrated mechanical structures, connecting a current to-be-calibrated mechanical structure with other robot structures according to a preset connection standard; and in a case where the plurality of to-be-calibrated mechanical structures are all connected, connecting the obtained robot as a to-be-calibrated surgical robot.

[0054] The preset connection standard can be used to indicate a connection position and / or a connection mode corresponding to the mechanical structure to be calibrated. The preset connection standard at least includes a preset connection structure used for connection. The preset connection structure can be a connection structure used for connecting the split mechanical structures together in advance. It should be noted that the preset connection structure can be a connection structure different from an original connection structure of the surgical robot to be calibrated, or can also be the original connection structure of the surgical robot to be calibrated, which is not limited in the embodiment. The current mechanical structure to be calibrated can be a mechanical structure to be calibrated that is currently being connected. The other robot structure includes other structures in the surgical robot to be calibrated except for the plurality of mechanical structures to be calibrated, and / or other mechanical structures in the plurality of mechanical structures to be calibrated except for the current mechanical structure to be calibrated.

[0055] As an optional implementation manner of the embodiment, for the plurality of mechanical structures to be calibrated, the connection position and the connection mode corresponding to the current mechanical structure to be calibrated can be determined. Then, the current mechanical structure to be calibrated can be connected to the other robot structure through the preset connection structure. Further, when the plurality of mechanical structures to be calibrated are all connected, a connected surgical robot can be obtained, and the connected surgical robot can be used as the surgical robot to be calibrated. Further, for each mechanical structure to be calibrated, the pose 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 the measuring device, and the measured pose deviation can be used as the assembly deviation information corresponding to the mechanical structure to be calibrated.

[0056] In the embodiment, when the structure compensation information and the assembly deviation information corresponding to the plurality of mechanical structures to be calibrated are obtained, and the plurality of mechanical structures to be calibrated are connected and assembled to obtain the surgical robot to be calibrated, the surgical robot to be calibrated can be calibrated according to the obtained structure compensation information and assembly deviation information.

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

[0058] Optionally, calibrating the surgical robot to be calibrated according to the structure compensation information and the assembly deviation information corresponding to the plurality of mechanical structures to be calibrated includes: adding the plurality of assembly deviation information to a kinematics 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; and calibrating the surgical robot to be calibrated based on the updated kinematics model and robot parameter file.

[0059] The kinematics model can be a parameter model obtained by kinematics modeling of the surgical robot to be calibrated. For example, the kinematics model can be a DH parameter model. The robot parameter file can 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 for the operation, debugging, and maintenance of the surgical robot to be calibrated.

[0060] As an optional implementation of the embodiment, the kinematics model and the robot parameter file corresponding to the surgical robot to be calibrated can be obtained. Then, after obtaining the structural compensation information and the assembly deviation information corresponding to each of the plurality of mechanical structures to be calibrated, the plurality of assembly deviation information can be added to the obtained kinematics model, the plurality of structural compensation information can be updated to the obtained robot parameter file, and the updated kinematics model and the updated robot parameter file can be obtained. Further, the updated kinematics model can be run and the updated robot parameter file can be applied to calibrate the surgical robot to be calibrated.

[0061] The technical solution of the embodiment of the application, by obtaining the plurality of motion angles corresponding to the mechanical structure to be calibrated and the first end pose information corresponding to each motion angle in the process of motion of the mechanical structure to be calibrated, and further determining the structural compensation information corresponding to the mechanical structure to be calibrated according to the plurality of motion angles and the first end pose information corresponding to each motion angle, and further assembling the plurality of mechanical structures to be calibrated to obtain the surgical robot to be calibrated and obtaining the assembly deviation information corresponding to each mechanical structure to be calibrated, and further 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, solves the problem that the surgical robot is calibrated when it is shipped in the related art, and further results in that the accuracy of the calibration result used when the surgical robot is applied is low and the operation precision of the surgical robot is low, and achieves the effect that the surgical robot is split and assembled before it is applied, and the surgical robot is calibrated according to the structural compensation information and the assembly deviation information of the plurality of mechanical structures split, and achieves the effect that the surgical robot is effectively calibrated before it is applied, and further improves the operation precision of the surgical robot.

[0062] Embodiment two

[0063] Figure 2is a flowchart of a surgical robot calibration method provided by Embodiment Two of the present application. On the basis of the foregoing embodiment, according to a plurality of motion angles and first end pose information corresponding to each motion angle, structure compensation information corresponding to the mechanical structure to be calibrated is determined, comprising: for a plurality of motion angles, according to a plurality of groups of preset candidate compensation information and motion angles, second end pose information corresponding to the motion angle under each group of candidate compensation information is determined; according to the second end pose information corresponding to the plurality of motion angles under each group of candidate compensation information and the plurality of first end pose information, structure compensation information corresponding to the mechanical structure to be calibrated is determined. The specific implementation can be referred to in the technical solution of the present embodiment. Among them, the same or similar technical terms as the above embodiments are not repeated here.

[0064] As shown in Figure 2 , the method comprises:

[0065] S210, for a plurality of mechanical structures to be calibrated associated with the surgical robot to be calibrated, a plurality of motion angles corresponding to the mechanical structure to be calibrated and first end pose information corresponding to each motion angle are obtained in the process of motion of the mechanical structure to be calibrated.

[0066] S220, for a plurality of motion angles, the motion angles are processed according to the kinematic model corresponding to the surgical robot to be calibrated containing a plurality of groups of candidate compensation information, to obtain second end pose information corresponding to the motion angle under each group of candidate compensation information.

[0067] Among them, the candidate compensation information can be the structure compensation information to be applied. Each group of candidate compensation information can include attitude 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 end pose information can be understood as the position and attitude of the mechanical structure end in the three-dimensional space. The second end pose information is the end pose information calculated based on the corresponding motion angle.

[0068] In the present embodiment, the surgical robot to be calibrated can be kinematically modeled to obtain a kinematic model corresponding to the surgical robot to be calibrated, and a plurality of groups of candidate compensation information can be deployed in the kinematic model. Further, for a plurality of motion angles, the motion angles can be input into the kinematic model to process the motion angles based on the kinematic model containing a plurality of groups of candidate compensation information. In turn, the end pose information corresponding to the motion angle under each group of candidate compensation information can be obtained, which can be taken as the second end pose information.

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

[0070] In the embodiment, the second end pose information is the calculated end pose information, the acquired first end pose information is the measured pose information, and the structure compensation information corresponding to the mechanical structure to be calibrated can be determined by determining the difference between the first end pose information and the second end pose information.

[0071] In the embodiment, in the case where the second end pose information corresponding to each set of candidate compensation information under the plurality of motion angles is obtained, for each set of candidate compensation information, the total pose difference corresponding to the set of candidate compensation information can be determined according to the first end pose and the second end pose corresponding to the plurality of motion angles. Furthermore, the candidate compensation information meeting the preset standard can be determined from the plurality of sets of candidate compensation information according to the total pose differences corresponding to the plurality of sets of candidate compensation information, and the determined candidate compensation information is taken as the structure compensation information corresponding to the mechanical structure to be calibrated.

[0072] Optionally, the structure compensation information corresponding to the mechanical structure to be calibrated is determined according to the second end pose information corresponding to each set of candidate compensation information under the plurality of motion angles and the plurality of first end pose information, including: for the plurality of sets of candidate compensation information, determining the total compensation pose corresponding to the candidate compensation information according to the second end pose information corresponding to the candidate compensation information under the plurality of motion angles and the first end pose information corresponding to the plurality of motion angles; and determining the structure compensation information corresponding to the mechanical structure to be calibrated according to the total compensation poses corresponding to the plurality of sets of candidate compensation information corresponding to the mechanical structure to be calibrated.

[0073] The total compensation pose can be understood as the total pose difference between the plurality of first end pose information and the plurality of second end pose information. The structure compensation information can be one set of candidate compensation information in the plurality of sets of candidate compensation information.

[0074] In the embodiment, for the plurality of sets of candidate compensation information, the pose difference between the first end pose information and the second end pose information corresponding to the plurality of motion angles can be determined respectively to obtain a plurality of pose differences. Furthermore, the total pose difference corresponding to the candidate compensation information can be determined according to the plurality of pose differences.

[0075] Optionally, the total compensation pose corresponding to the candidate compensation information is determined according to the second end pose information corresponding to the candidate compensation information and the first end pose information corresponding to the plurality of motion angles, including: for the plurality of motion angles, determining a difference value between the second end pose information corresponding to the candidate compensation information and the first end pose information corresponding to the motion angle, to obtain a compensation pose corresponding to the motion angle; and summing the compensation poses corresponding to the plurality of motion angles to obtain the total compensation pose corresponding to the candidate compensation information.

[0076] The compensation pose can be understood as a difference value between the measured pose and the calculated pose.

[0077] As an optional implementation of the first embodiment, for the plurality of motion angles, the difference value between the second end pose information corresponding to the candidate compensation information and the first end pose information corresponding to the motion angle can be determined, and the difference value is taken as the compensation pose corresponding to the motion angle. Further, in the case where the compensation poses corresponding to the plurality of motion angles are obtained, the plurality of compensation poses can be summed to obtain a pose sum, and the obtained pose sum is taken as the total compensation pose corresponding to the candidate compensation information. Further, in the case where the total compensation poses corresponding to the plurality of candidate compensation information are obtained, the structure compensation information corresponding to the mechanical structure to be calibrated can be determined from the plurality of candidate compensation information according to the plurality of total compensation poses.

[0078] Optionally, the structure compensation information corresponding to the mechanical structure to be calibrated is determined according to the total compensation poses corresponding to the plurality of candidate compensation information corresponding to the mechanical structure to be calibrated, including: determining the total compensation pose corresponding to the minimum value from the plurality of total compensation poses, and taking the candidate compensation information corresponding to the determined total compensation pose as the structure compensation information.

[0079] As an optional implementation of the first embodiment, in the case where the total compensation poses corresponding to the plurality of candidate compensation information are obtained, the plurality of total compensation poses can be compared in pose size to determine the total compensation pose corresponding to the minimum value from the plurality of total compensation poses. Further, the candidate compensation information corresponding to the determined total compensation pose can be taken as the structure compensation information corresponding to the mechanical structure to be calibrated.

[0080] S240, assembling the plurality of mechanical structures to be calibrated to obtain a surgical robot to be calibrated, and obtaining 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 the assembly deviation information corresponding to the plurality of mechanical structures to be calibrated.

[0082] The technical scheme of the embodiment of the present application, by aiming at a plurality of to-be-calibrated mechanical structures associated with a to-be-calibrated surgical robot, in the process of movement of the to-be-calibrated mechanical structures, a plurality of movement angles corresponding to the to-be-calibrated mechanical structures and first end pose information corresponding to each movement angle are obtained; further, according to the plurality of movement angles and the first end pose information corresponding to each movement angle, structure compensation information corresponding to the to-be-calibrated mechanical structures is determined; further, the plurality of to-be-calibrated mechanical structures are assembled to obtain the to-be-calibrated surgical robot, and assembly deviation information corresponding to each to-be-calibrated mechanical structure is obtained; further, the to-be-calibrated surgical robot is calibrated according to the structure compensation information and the assembly deviation information corresponding to the plurality of to-be-calibrated mechanical structures, which solves the problem in the related art that the surgical robot is calibrated when it is shipped, and thus the accuracy of the calibration result used when the surgical robot is applied is low and the operation precision of the surgical robot is low, realizes the effect that the surgical robot is split and assembled before it is applied, and the surgical robot is calibrated according to the structure compensation information and the assembly deviation information of the plurality of mechanical structures split, realizes the effect that the surgical robot is effectively calibrated before it is applied, and thus the operation precision of the surgical robot is improved.

[0083] Embodiment three

[0084] Figure 3 is a structural schematic diagram of a surgical robot calibration device provided by the embodiment three of the present application. As shown in the figure, Figure 3 The device comprises a movement angle acquisition module 310, a compensation information determination module 320, an assembly deviation determination module 330, and a calibration module 340.

[0085] The motion angle acquisition module 310 is configured to, for a plurality of to-be-calibrated mechanical structures associated with a to-be-calibrated surgical robot, acquire a plurality of motion angles corresponding to the to-be-calibrated mechanical structures and first end pose information corresponding to each of the motion angles in a process in which the to-be-calibrated mechanical structures move, wherein the to-be-calibrated mechanical structures are master-slave operating devices on the to-be-calibrated surgical robot; and the first end pose information is used to indicate a measured pose of an end of the to-be-calibrated mechanical structure in a reference coordinate system.

[0086] The technical scheme of the embodiment of the present application solves the problem that the surgical robot is calibrated when it is shipped, which leads to low accuracy of the calibration result used when the surgical robot is applied and low operation precision of the surgical robot, and achieves the effect of effectively calibrating the surgical robot before it is applied, thereby improving the operation precision of the surgical robot.

[0087] Optionally, the compensation information determination module 320 comprises a pose information determination submodule and a compensation information determination submodule.

[0088] The pose information determination sub-module is configured to process the motion angles according to a kinematics model corresponding to the surgical robot to be calibrated and containing multiple sets of candidate compensation information, to obtain second end pose information of the motion angles corresponding to each set of the candidate compensation information.

[0089] The compensation information determination sub-module is configured to determine structural compensation information corresponding to the mechanical structure to be calibrated according to the second end pose information corresponding to each set of the candidate compensation information under the multiple motion angles and the first end pose information corresponding to the multiple motion angles.

[0090] Optionally, the compensation information determination sub-module comprises a total compensation pose determination unit and a compensation information determination unit.

[0091] The total compensation pose determination unit is configured to determine a total compensation pose corresponding to each set of the candidate compensation information according to the second end pose information of the multiple motion angles corresponding to the candidate compensation information and the first end pose information corresponding to the multiple motion angles.

[0092] The compensation information determination unit is configured to determine the structural compensation information corresponding to the mechanical structure to be calibrated according to the total compensation poses corresponding to the multiple sets of the candidate compensation information corresponding to the mechanical structure to be calibrated.

[0093] Optionally, the total compensation pose determination unit comprises a compensation pose determination sub-unit and a total compensation pose determination sub-unit.

[0094] The compensation pose determination sub-unit is configured to determine a difference between the second end information of the motion angles corresponding to the candidate compensation information and the first end pose information corresponding to the motion angles, to obtain a compensation pose corresponding to the motion angles.

[0095] The total compensation pose determination sub-unit is configured to sum the compensation poses corresponding to the multiple motion angles, to obtain the total compensation pose corresponding to the candidate compensation information.

[0096] Optionally, the compensation information determination unit is specifically configured to determine the total compensation pose corresponding to the minimum value from the multiple total compensation poses, and determine the candidate compensation information corresponding to the determined total compensation pose as the structural compensation information.

[0097] Optionally, the assembly deviation determination module 330 comprises a structural assembly unit and a robot determination unit.

[0098] The structural assembly unit is configured to connect the current to-be-calibrated mechanical structure with other robot structures according to a preset connection standard for a plurality of the to-be-calibrated mechanical structures, wherein the preset connection standard at least includes a preset connection structure adopted for connection, and the other robot structures include other structures in the to-be-calibrated surgical robot except the plurality of to-be-calibrated mechanical structures and / or other mechanical structures in the plurality of to-be-calibrated mechanical structures except the current to-be-calibrated mechanical structure.

[0099] The robot determination unit is configured to determine the connected surgical robot as the to-be-calibrated surgical robot when the plurality of to-be-calibrated mechanical structures are all connected.

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

[0101] The parameter updating unit is configured to add the plurality of assembly deviation information to a kinematics model corresponding to the to-be-calibrated surgical robot, and update the plurality of structure compensation information to a robot parameter file corresponding to the to-be-calibrated surgical robot.

[0102] The calibration unit is configured to calibrate the to-be-calibrated surgical robot based on the updated kinematics model and the robot parameter file.

[0103] The surgical robot calibration device provided by the embodiments of the present application can perform the surgical robot calibration method provided by any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0104] Embodiment four

[0105] Figure 4 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The structure shown, their connections, and the relationship of the structures to each other, and their functions, as illustrated, are merely for example and are not intended to limit the implementations of the present application described and / or claimed herein.

[0106] As Figure 4As shown, the electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., communicatively connected to the at least one processor 11, where the memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. 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 plurality 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, a speaker, etc., a storage unit 18, such as a magnetic 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 can be various general and / or special-purpose 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-purpose 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 performs various methods and processes described above, such as the surgical robot calibration method.

[0109] In some embodiments, the surgical robot calibration method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto 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 can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the surgical robot calibration method by any other appropriate means, such as by means of firmware.

[0110] The various embodiments of the systems and techniques described above can be implemented in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a load programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0111] Computer programs used to implement the processes of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program

[0112] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0113] To provide for interaction with a user, the systems and techniques described here can 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 a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0114] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (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] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can 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 large management difficulty and weak business scalability in traditional physical host and VPS service.

[0116] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be executed in parallel, executed in sequence, or executed in a different order, as long as the desired results of the present disclosure are achieved, and the present disclosure is not limited herein.

[0117] The specific embodiments described above are not intended to be limiting, and persons skilled in the art will appreciate that various modifications, combinations, sub-combinations and alternatives can be made to the specific embodiments without departing from the spirit and principles of the disclosure. Accordingly, the disclosure is not limited to the specific embodiments described above, but only by the scope of the appended claims.

Claims

1. A surgical robot calibration method characterized by, The method comprises the following steps: For a plurality of to-be-calibrated mechanical structures associated with a to-be-calibrated surgical robot, during movement of the to-be-calibrated mechanical structures, a plurality of movement angles corresponding to the to-be-calibrated mechanical structures are obtained, and first end position information corresponding to each of the movement angles is obtained, wherein the to-be-calibrated mechanical structures are master-slave operating devices on the to-be-calibrated surgical robot; the first end position information is used to indicate a measured position and posture of an end of the to-be-calibrated mechanical structure in a reference coordinate system; According to the plurality of movement angles and the first end position information corresponding to each of the movement angles, structure compensation information corresponding to the to-be-calibrated mechanical structures is determined; wherein the structure compensation information comprises attitude compensation information and / or position compensation information; The plurality of to-be-calibrated mechanical structures are assembled to obtain the to-be-calibrated surgical robot, and assembly deviation information corresponding to each of the to-be-calibrated mechanical structures is obtained; wherein the assembly deviation information is used to represent a position and posture deviation between a plane of a connecting structure at a breakpoint of the to-be-calibrated mechanical structure and a preset horizontal reference surface; The to-be-calibrated surgical robot is calibrated according to the structure compensation information and the assembly deviation information corresponding to the plurality of to-be-calibrated mechanical structures.

2. The surgical robot calibration method of claim 1, wherein, The method comprises the following steps: For a plurality of to-be-calibrated mechanical structures associated with a to-be-calibrated surgical robot, during movement of the to-be-calibrated mechanical structures, a plurality of movement angles corresponding to the to-be-calibrated mechanical structures are obtained, and first end position information corresponding to each of the movement angles is obtained, wherein the to-be-calibrated mechanical structures are master-slave operating devices on the to-be-calibrated surgical robot; the first end position information is used to indicate a measured position and posture of an end of the to-be-calibrated mechanical structure in a reference coordinate system; According to the plurality of movement angles and the first end position information corresponding to each of the movement angles, structure compensation information corresponding to the to-be-calibrated mechanical structures is determined; wherein the structure compensation information comprises attitude compensation information and / or position compensation information; 3. The surgical robot calibration method of claim 2, wherein, The plurality of to-be-calibrated mechanical structures are assembled to obtain the to-be-calibrated surgical robot, and assembly deviation information corresponding to each of the to-be-calibrated mechanical structures is obtained; wherein the assembly deviation information is used to represent a position and posture deviation between a plane of a connecting structure at a breakpoint of the to-be-calibrated mechanical structure and a preset horizontal reference surface; The to-be-calibrated surgical robot is calibrated according to the structure compensation information and the assembly deviation information corresponding to the plurality of to-be-calibrated mechanical structures. The method comprises the following steps:

4. The surgical robot calibration method of claim 3, wherein, For a plurality of to-be-calibrated mechanical structures associated with a to-be-calibrated surgical robot, during movement of the to-be-calibrated mechanical structures, a plurality of movement angles corresponding to the to-be-calibrated mechanical structures are obtained, and first end position information corresponding to each of the movement angles is obtained, wherein the to-be-calibrated mechanical structures are master-slave operating devices on the to-be-calibrated surgical robot; the first end position information is used to indicate a measured position and posture of an end of the to-be-calibrated mechanical structure in a reference coordinate system; According to the plurality of movement angles and the first end position information corresponding to each of the movement angles, structure compensation information corresponding to the to-be-calibrated mechanical structures is determined; wherein the structure compensation information comprises attitude compensation information and / or position compensation information; The plurality of to-be-calibrated mechanical structures are assembled to obtain the to-be-calibrated surgical robot, and assembly deviation information corresponding to each of the to-be-calibrated mechanical structures is obtained; wherein the assembly deviation information is used to represent a position and posture deviation between a plane of a connecting structure at a breakpoint of the to-be-calibrated mechanical structure and a preset horizontal reference surface; The to-be-calibrated surgical robot is calibrated according to the structure compensation information and the assembly deviation information corresponding to the plurality of to-be-calibrated mechanical structures. The method comprises the following steps: For a plurality of to-be-calibrated mechanical structures associated with a to-be-calibrated surgical robot, during movement of the to-be-calibrated mechanical structures, a plurality of movement angles corresponding to the to-be-calibrated mechanical structures are obtained, and first end position information corresponding to each of the movement angles is obtained, wherein the to-be-calibrated mechanical structures are master-slave operating devices on the to-be-calibrated surgical robot; the first end position information is used to indicate a measured position and posture of an end of the to-be-calibrated mechanical structure in a reference coordinate system; According to the plurality of movement angles and the first end position information corresponding to each of the movement angles, structure compensation information corresponding to the to-be-calibrated mechanical structures is determined; wherein the structure compensation information comprises attitude compensation information and / or position compensation information; The plurality of to-be-calibrated mechanical structures are assembled to obtain the to-be-calibrated surgical robot, and assembly deviation information corresponding to each of the to-be-calibrated mechanical structures is obtained; wherein the assembly deviation information is used to represent a position and posture deviation between a plane of a connecting structure at a breakpoint of the to-be-calibrated mechanical structure and a preset horizontal reference surface; The to-be-calibrated surgical robot is calibrated according to the structure compensation information and the assembly deviation information corresponding to the plurality of to-be-calibrated mechanical structures. For a plurality of the motion angles, a difference value of the motion angle between the second end pose information corresponding to the candidate compensation information and the first end pose information corresponding to the motion angle is determined to obtain a compensation pose corresponding to the motion angle; The compensation poses corresponding to a plurality of the motion angles are summed to obtain a total compensation pose corresponding to the candidate compensation information.

5. The surgical robot calibration method of claim 3, wherein, The structure compensation information corresponding to the to-be-calibrated mechanical structure is determined according to a plurality of the total compensation poses corresponding to a plurality of the candidate compensation information corresponding to the to-be-calibrated mechanical structure, and the structure compensation information corresponding to the to-be-calibrated mechanical structure. The total compensation pose corresponding to the minimum value of the pose is determined from a plurality of the total compensation poses, and the candidate compensation information corresponding to the determined total compensation pose is taken as the structure compensation information.

6. The surgical robot calibration method of claim 1, wherein, The plurality of to-be-calibrated mechanical structures are assembled to obtain the assembled to-be-calibrated surgical robot, including: For a plurality of the to-be-calibrated mechanical structures, a current to-be-calibrated mechanical structure is connected with other robot structures according to a preset connection standard; wherein the preset connection standard at least includes a preset connection structure adopted for connection; the other robot structures include other structures in the to-be-calibrated surgical robot except the plurality of to-be-calibrated mechanical structures and / or other mechanical structures in the plurality of to-be-calibrated mechanical structures except the current to-be-calibrated mechanical structure; In a case where the plurality of to-be-calibrated mechanical structures are all connected, the connected surgical robot is taken as the to-be-calibrated surgical robot.

7. The surgical robot calibration method of claim 1, wherein, The to-be-calibrated surgical robot is calibrated according to the structure compensation information corresponding to the plurality of to-be-calibrated mechanical structures and the assembly deviation information, including: A plurality of the assembly deviation information is added to a kinematics model corresponding to the to-be-calibrated surgical robot, and a plurality of the structure compensation information is updated to a robot parameter file corresponding to the to-be-calibrated surgical robot; The to-be-calibrated surgical robot is calibrated based on the updated kinematics model and the robot parameter file.

8. A surgical robot calibration device, characterized by, including: A motion angle acquisition module is configured to, for a plurality of to-be-calibrated mechanical structures associated with a to-be-calibrated surgical robot, acquire a plurality of motion angles corresponding to the to-be-calibrated mechanical structures and first end pose information corresponding to each of the motion angles in a process in which the to-be-calibrated mechanical structures move, wherein the to-be-calibrated mechanical structures are master-slave operating devices on the to-be-calibrated surgical robot, and the first end pose information is used to indicate a measured pose of an end of the to-be-calibrated mechanical structure in a reference coordinate system; A compensation information determination module is configured to determine structure compensation information corresponding to the to-be-calibrated mechanical structures according to a plurality of the motion angles and the first end pose information corresponding to each of the motion angles, wherein the structure compensation information includes attitude compensation information and / or position compensation information; An assembly deviation determination module is configured to assemble a plurality of the to-be-calibrated mechanical structures to obtain the to-be-calibrated surgical robot, and obtain assembly deviation information corresponding to each of the to-be-calibrated mechanical structures; wherein the assembly deviation information is used to represent a pose deviation between a plane where a connecting structure at a breakpoint of the to-be-calibrated mechanical structure is located and a preset horizontal reference surface; A calibration module is configured to calibrate the to-be-calibrated surgical robot according to the structure compensation information and the assembly deviation information corresponding to the plurality of to-be-calibrated mechanical structures.

9. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected to the at least one processor in communication; wherein 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 to enable the at least one processor to execute the surgical robot calibration method of 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 the processor to execute the surgical robot calibration method of any one of claims 1-7 when executed.

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