Method for leveling base of mechanical arm, robot system and storage medium

Abstract

The invention relates to the technical field of robots, and discloses a method for leveling a base of a mechanical arm, a robot system and a storage medium. The method for leveling the base of the mechanical arm comprises the steps that a plurality of rotating angles of the mechanical arm around a rotating shaft of a first joint are obtained, and the mechanical arm is connected with the base through the first joint; acquiring a plurality of joint torques of the mechanical arm around a rotating shaft of the first joint at a plurality of rotating angles; determining an inclination angle vector of the base relative to a reference plane based on the plurality of rotation angles and the plurality of joint torques; and adjusting the base to a reference plane based on the tilt angle vector of the base. The base of the mechanical arm can be automatically leveled through a standard process, and the leveling precision and the leveling efficiency can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a method for leveling a base of a robotic arm, a robot system, and a storage medium. Background Art

[0002] For robot systems, especially surgical robot systems, whether the base of the robot arm is leveled will affect the normal operation of the robot arm. For example, before applying the surgical robot system, the base of the main manipulator on the main control trolley side of the surgical robot system needs to be leveled. This is to avoid the main manipulator tilting due to the tilt of the base of the main manipulator during the operation, which in turn causes the manipulator arm on the operating trolley side to move unexpectedly, thereby affecting the operation and even causing harm to the patient during the operation.

[0003] However, for current surgical robot systems, technicians need to use a level to visually level the base of the main manipulator. Such leveling operations are cumbersome, time-consuming, and inefficient. In addition, this leveling process relies on human eye feedback, which is highly subjective and often difficult to achieve ideal accuracy. Summary of the invention

[0004] The embodiments of the present disclosure provide a method for leveling a base of a robotic arm, a robot system, and a storage medium, which are used to automatically level the base of the robotic arm using a standard process.

[0005] In some embodiments, the present disclosure provides a method for leveling a base of a robotic arm, comprising: obtaining multiple rotation angles of the robotic arm around a rotation axis of a first joint, wherein the robotic arm is connected to the base through the first joint; obtaining multiple joint torques of the robotic arm around the rotation axis of the first joint at multiple rotation angles; determining an inclination angle vector of the base relative to a reference plane based on the multiple rotation angles and the multiple joint torques; and adjusting the base to the reference plane based on the inclination angle vector of the base.

[0006] In some embodiments, the present disclosure provides a computer-readable storage medium for storing at least one instruction, which, when executed by a computer, causes the computer to execute any one of the methods for leveling a base of a robot arm in some embodiments of the present disclosure.

[0007] In some embodiments, the present disclosure provides a robot system, comprising: a base; at least one robotic arm, which is connected to the base through a first joint; a leveling device, which is used to level the base; and a control device, which is connected to at least one robotic arm and the leveling device, and is used to execute any method of leveling the base of the robotic arm in some embodiments of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. For ordinary technicians in this field, other embodiments can be obtained based on the contents of the embodiments of the present disclosure and these drawings without creative work.

[0009] Figure 1 A flow chart showing a method of leveling a base of a robotic arm according to some embodiments of the present disclosure;

[0010] Figure 2 A schematic structural block diagram of a robot system according to some embodiments of the present disclosure is shown;

[0011] Figure 3 A schematic diagram showing the connection structure of a mechanical arm, a base, and a leveling device according to some embodiments of the present disclosure;

[0012] Figure 4 A schematic diagram showing the structure of a mechanical arm according to some embodiments of the present disclosure is shown;

[0013] Figure 5a A structural schematic diagram showing the inclination angle of a base according to some other embodiments of the present disclosure;

[0014] Figure 5b A schematic structural diagram showing another inclination angle of a base according to some other embodiments of the present disclosure;

[0015] Figure 6 A flowchart of determining a tilt angle vector according to some embodiments of the present disclosure is shown;

[0016] Figure 7 A flowchart showing a method for determining a tilt angle vector according to yet other embodiments of the present disclosure;

[0017] Figure 8 A flowchart showing determination of an additional first parameter vector according to some embodiments of the present disclosure is shown;

[0018] Fig. 9 A flowchart showing determination of a tilt angle vector according to some further embodiments of the present disclosure is shown;

[0019] Fig.10 A flowchart for determining a first tilt angle and a second tilt angle according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0020] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the embodiments of the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0021] In the description of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "coupled" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. In the present disclosure, the end close to the operator (e.g., doctor) is defined as the proximal end, near part, or rear end, and the end close to the surgical patient is defined as the distal end, far end, or front end, or front part. Those skilled in the art will appreciate that the embodiments of the present disclosure may be used for medical instruments or surgical robots, and may also be used for other non-medical devices.

[0022] Figure 1 A flowchart showing a method 100 of leveling a base of a robotic arm according to some embodiments of the present disclosure is shown. Figure 2 1 shows a schematic block diagram of a robot system 200 according to some embodiments of the present disclosure. The method 100 may be implemented or executed at least in part by hardware, software, or firmware. In some embodiments, the method 100 may be implemented or executed at least in part by hardware, software, or firmware. Figure 2 The method 100 is performed by the control device 240 of the robot system 200 shown. In some embodiments, the method 100 can be implemented as computer-readable instructions. These instructions can be executed by a general-purpose processor or a special-purpose processor (e.g., Figure 2 For example, the control device 240 of the robot system 200 may include a processor configured to execute the method 100. In some embodiments, these instructions may be stored on a computer-readable storage medium.

[0023] In some embodiments, Figure 2As shown, the robot system 200 may include at least one base 210 , at least one robot arm 220 , at least one leveling device 230 , and a control device 240 . Figure 3 FIG. 2 is a schematic diagram showing the connection structure of the robot arm 220, the base 210 and the leveling device 230. Figure 3 As shown, the robot arm 220 ( Figure 3 Only a portion of the distal end of the robotic arm 220 is shown in the figure) is connected to the base 210 through a first joint 250. The leveling device 230 is used to level the base 210. Those skilled in the art will appreciate that in some embodiments, the robot system 200 may include multiple bases 210, multiple robotic arms 220, and multiple leveling devices 230, each of which may be connected to the base 210 through a first joint 250, and the base 210 may be mounted on the leveling device 230. In some embodiments, the robot system 200 may include a single base 210, multiple robotic arms 220, and a single leveling device 230, multiple robotic arms 220 may be connected to the base 210 through their respective first joints 250, and the base 210 may be mounted on the leveling device 230.

[0024] In some embodiments, Figure 2 As shown, the control device 240 is connected to at least one robotic arm 220 and a leveling device 230, and is used to execute any one of the methods for leveling the base of the robotic arm in some embodiments of the present disclosure.

[0025] In some embodiments, the leveling device 230 may include a leveling mechanism, which may be Figure 3 The leveling knob is shown. Figure 3 FIG. 2 shows a leveling device including two leveling knobs 231 . Those skilled in the art should understand that the leveling mechanism is not limited to the leveling knobs, and the leveling device may also include any other suitable adjustment mechanism.

[0026] In some embodiments, the control device 240 is connected to the leveling device 230 and controls the leveling device 230 to perform automatic adjustment. For example, the leveling device 230 may also include a motor for driving the leveling knob 231. The control device 240 may be connected to the motor and control the motor to drive and adjust the leveling knob 231.

[0027] The robot system provided by the present disclosure may include various suitable robot systems including a surgical robot system (eg, a laparoscopic surgical robot system). Suitable robot systems may include special or general robot systems used in other fields (eg, manufacturing, machinery, etc.).

[0028] like Figure 1 , in step 110, a plurality of rotation angles of the robot arm around the rotation axis of the first joint are obtained. Figure 4 Schematic diagram of the structure of the robot arm 400 in some embodiments of the present disclosure is shown. The robot arm 400 may be the main manipulator of the robot system. Those skilled in the art will appreciate that the robot arm to which the method 100 for leveling the base of the robot arm provided in the present disclosure can be applied is not limited to the main manipulator of the robot system, but also includes any applicable robot arm. The main manipulator of the robot allows the operator to perform master-slave remote control of the robot's operating arm or actuator, etc. Figure 4 The robot arm 400 may include a plurality of arms 410 (including a first arm 410-1, a second arm 410-2, a third arm 410-3, etc.), a plurality of joints 420 (including a first joint 420-1, a second joint 420-2, a third joint 420-3, etc.) connecting the plurality of arms 410, and a handle 430 disposed at the end. Those skilled in the art will appreciate that two adjacent arms 410 are connected via the joint 420, and the handle 430 is used for direct operation by an operator. The rotation axis of the first joint is as shown in FIG. Figure 4 As shown in 401.

[0029] In some embodiments, the method 100 may further include: rotating the mechanical arm around the rotation axis of the first joint. The mechanical arm is rotated around the rotation axis of the first joint, so that a plurality of rotation angles of the mechanical arm around the rotation axis of the first joint can be obtained.

[0030] In some embodiments, the rotation of the robotic arm around the rotation axis of the first joint may be achieved by the control device 240 of the robotic system 200 automatically controlling the robotic arm to rotate around the rotation axis of the first joint.

[0031] In some embodiments, the robotic arm is rotated around the rotation axis of the first joint, and the robotic arm can also be manually rotated around the rotation axis of the first joint.

[0032] In an embodiment where the mechanical arm includes other joints, when the mechanical arm is rotated around the rotation axis of the first joint, the joints of the mechanical arm except the first joint are fixed. This can prevent the mechanical arm from rotating around other joints and thus affecting the joint torque of the mechanical arm around the first joint, so that the change in the joint torque of the mechanical arm around the first joint during the rotation process is only related to the rotation of the mechanical arm around the first joint.

[0033] When all joints of the robot arm except the first joint are fixed, the robot arm can be equivalent to a connecting rod. In some embodiments, the connecting rod equivalent to the robot arm can be defined as a back plate (such as Figure 2211), the rotation angle of the robot arm around the rotation axis of the first joint is zero. Therefore, when the robot arm rotates to other positions around the rotation axis of the first joint, the rotation angle of the current position of the robot arm can be determined based on the angle between the current position of the equivalent connecting rod of the robot arm and the position when the rotation angle is zero. Based on this, multiple rotation angles of the robot arm around the rotation axis of the first joint can be determined. Those skilled in the art can understand that the equivalent connecting rod of the robot arm can be simplified to the first arm body of the robot arm.

[0034] like Figure 1 , step 120, obtaining multiple joint torques of the robotic arm around the rotation axis of the first joint at multiple rotation angles.

[0035] In step 120 , at each of a plurality of rotation angles of the robot arm around the rotation axis of the first joint, the joint torque of the robot arm around the rotation axis of the first joint is acquired, thereby acquiring a plurality of joint torques of the robot arm at the plurality of rotation angles.

[0036] Step 130 , determining a tilt angle vector of the base relative to a reference plane based on the multiple rotation angles and the multiple joint torques.

[0037] The joint torque of the robot arm around the rotation axis of the first joint is related to the gravity of the robot arm, the rotation angle of the robot arm around the rotation axis of the first joint, and the inclination of the base of the robot arm. The gravity of the robot arm is a fixed value. Based on this, in step 130, the inclination angle vector of the base of the robot arm can be determined based on multiple rotation angles around the rotation axis of the first joint and multiple joint torques.

[0038] Figure 5a A schematic structural diagram showing the inclination angle of the base according to some embodiments of the present disclosure, Figure 5b A schematic diagram showing another inclination angle of the base according to some embodiments of the present disclosure is shown. Figure 5a and Figure 5b The base coordinate system shown in FIG. Figure 5a and Figure 5b As shown, the origin of the base coordinate system is the intersection of the rotation axis 401 of the first joint of the robot 400 and the plane where the bottom surface of the base 210 of the robot is located, the z-axis is upward along the rotation axis 401 of the first joint 420-1, the x-axis is along the first arm body 410-1 of the robot 400 to the second joint 420-2, and the y-axis is determined based on the aforementioned x-axis and z-axis using the right-hand system definition.

[0039] based on Figure 5a and Figure 5b The coordinate system shown in FIG. 1 is a coordinate system in which the mass of the robot arm 400 is m1 and the gravitational acceleration is g. The center of mass position of the robot arm 400 is expressed as [p clx pcly p clz ]. The rotation angle of the robot arm 400 around the rotation axis 401 of the first joint 420 - 1 is q1, and when the x-axis is perpendicular to the back plate 211 of the base, the rotation angle q1 of the robot arm 400 around the first joint 420 - 1 is 0.

[0040] In some embodiments, the inclination angle vector of the base of the robot arm relative to the reference plane includes a first inclination angle and a second inclination angle. In some embodiments, the first inclination angle can be the angle β (e.g., Figure 5a The second tilt angle may be the angle α of the base 210 of the robot arm rotating around the x-axis (as shown in FIG. Figure 5b As shown), the inclination angle vector of the base 210 of the robot arm relative to the reference plane is Figure 5a and Figure 5b The first tilt angle α and the second tilt angle β shown in the figure are determined with the horizontal plane as the reference plane. Those skilled in the art will appreciate that the reference plane of the base of the robot arm may be, but is not limited to, a horizontal plane. In the following, the reference plane is taken as an example as a horizontal plane, and the case where the reference plane is a non-horizontal plane is similar and does not exceed the scope of the present disclosure.

[0041] When the reference plane is a horizontal plane, the joint torque τ1 of the robot arm 200 around the rotation axis 401 of the first joint 420-1 can be expressed as the following formula (1):

[0042] τ1=m1gp cly sinβcosq1+m1gp clx sinβsinq1+m1gp clx SinαCosβCosQ1-M1GP cly sinαcosβsinq1 (Formula 1)

[0043] Those skilled in the art will appreciate that m1, g, and p in the above formula (1) are clx 、p cly 、p clz All are known values.

[0044] In some embodiments, step 130 may include: determining the tilt angle vector of the base based on multiple rotation angles and multiple joint torques using a functional relationship between the rotation angles and the joint torques. The functional relationship between the rotation angles and the joint torques may be determined, for example, according to the above formula (1).

[0045] In some embodiments, two different rotation angles q1 around the rotation axis of the first joint and two joint torques τ1 of the robot arm around the rotation axis of the first joint under the two rotation angles q1 can be obtained, and then a set of two-variable linear equations with sinβ and sinαcosβ as unknowns can be obtained by using the functional relationship determined by formula (1), and then sinβ and sinαcosβ can be obtained by solving. Then, based on sinβ and sinαcosβ, the inclination angle vector of the base can be obtained by solving

[0046] In some embodiments, step 130 may include: step 131, based on multiple rotation angles and multiple joint torques, using the least square method to determine the inclination angle vector of the base. The rotation angle and joint torque obtained by steps 110 and 120 may often include certain errors. In some embodiments, using the least square method to determine the inclination angle vector of the base can take advantage of the least square method and effectively reduce the impact of the errors of the rotation angle and joint torque, thereby obtaining a more accurate inclination angle vector of the base.

[0047] Figure 6 FIG. 4 is a flowchart of determining the tilt angle vector in some embodiments of the present disclosure. Figure 6 , step 131 may include: step 1311, determining a first parameter vector using a least square method based on multiple rotation angles and multiple joint torques; step 1312, determining a tilt angle vector based on the first parameter vector.

[0048] The above formula (1) can be expressed as formula (2):

[0049]

[0050] by Represents the first parameter vector. Based on formula (2), the first parameter vector can be defined as the following formula (3):

[0051]

[0052] Based on formula (2) and formula (3), the following formula (4) can be obtained:

[0053]

[0054] Based on the above formula (4), in step 1311, based on multiple rotation angles q1 and multiple joint torques τ1, the first parameter vector is determined using the least squares method.

[0055] From formula (3), we can see that the first parameter vector With the tilt angle vector And the center of mass position of the robot arm [p clx p cly p clz ] is related. The center of mass position of the robot arm is a known quantity. Therefore, in step 1312, the tilt angle vector can be determined based on the first parameter vector.

[0056] The constant m1gp included in formula (3) cly Denoted as k1, the constant m1gp clx Denoted as k2, based on formula (3), the following formula (5) can be obtained:

[0057]

[0058] Based on the above formula (5), in some embodiments, step 1312 may include: based on the determined first parameter vector, obtaining a set of two-variable linear equations with sinβ and sinαcosβ as unknowns, and solving the set of two-variable linear equations to obtain sinβ and sinαcosβ. Then, based on sinβ and sinαcosβ, the inclination angle vector of the base can be obtained by solving

[0059] Figure 7 FIG. 3 is a flowchart of a method 300 for determining a tilt angle vector according to some embodiments of the present disclosure. Figure 7 As shown, method 300 may include:

[0060] Step 301: adjust the tilt angle vector to obtain a plurality of adjusted tilt angle vectors.

[0061] The inclination angle vector of the base of the robot arm is The adjustment of the tilt angle vector involved in step 301 may be based on the initial tilt angle vector Based on the adjustment, adjust the tilt angle vector

[0062] In some embodiments, step 301 may be performed by Figure 2 The control device 240 of the robot system 200 shown automatically adjusts the tilt angle vector of the base of the robot arm by multiple adjustment tilt angle vectors. In some embodiments, step 301 may be that a technician manually adjusts the tilt angle vectors of the base relative to the reference plane.

[0063] Step 302: for each adjusted tilt angle vector, determine an additional first parameter vector.

[0064] In step 302, for each adjusted tilt angle vector The inclination angle vector at the base of the robot is the initial inclination angle vector and adjust the tilt angle vector The sum of When , the additional first parameter vector is determined. Figure 8 A flow chart for determining an additional first parameter vector is shown. Figure 8 The flowchart shown can be used for each adjustment of the tilt angle vector All are executed. Figure 8 In step 3021, the mechanical arm is rotated around the rotation axis of the first joint. In the case where the mechanical arm includes multiple joints, when executing step 3021, the joints of the mechanical arm except the first joint are fixed to prevent the mechanical arm from rotating around other joints and affecting the joint torque of the mechanical arm around the first joint. In some embodiments, step 3021 is performed as follows Figure 2 The control device 240 of the robot system 200 is executed. In some embodiments, step 3021 can be performed manually.

[0065] In step 3022, a plurality of additional rotation angles of the robot arm around the rotation axis of the first joint are obtained.

[0066] The additional rotation angle involved in step 3022 is the inclination angle vector of the base of the robot arm is In the case of , the rotation angle q1 of the robot arm around the rotation axis of the first joint.

[0067] In step 3023, a plurality of additional joint torques of the robot arm around the rotation axis of the first joint at a plurality of additional rotation angles are obtained.

[0068] The additional joint torque involved in step 3023 is the joint torque τ1 of the robotic arm around the rotation axis of the first joint when the robotic arm rotates around the rotation axis of the first joint by each additional rotation angle.

[0069] In step 3024, an additional first parameter vector is determined based on the plurality of additional rotation angles and the plurality of additional joint torques using a least squares method.

[0070] The additional first parameter vector may be a first parameter vector determined based on the additional rotation angle and the additional joint torque. Based on the above formula (4), in step 3024, based on multiple additional rotation angles q1 and multiple additional joint torques τ1, the additional first parameter vector is determined using the least squares method.

[0071] Step 303: Determine the tilt angle vector by using the least square method based on the multiple adjusted tilt angle vectors and the multiple additional first parameter vectors respectively corresponding to the multiple adjusted tilt angle vectors.

[0072] like Figure 7In step 303, based on the multiple adjusted tilt angle vectors and the multiple additional first parameter vectors respectively corresponding to the multiple adjusted tilt angle vectors, the tilt angle vector is determined by using the least square method.

[0073] The tilt angle vector at the base of the robot is When, based on the above formula (5), the functional relationship between the additional first parameter vector and the tilt angle vector can be obtained as shown in the following formula (6):

[0074]

[0075] Based on the above formula (6), in step 303, based on multiple adjustment tilt angle vectors And with each The corresponding multiple additional first parameter vectors The tilt angle vector can be determined using the least squares method

[0076] Fig. 9 FIG. 4 is a flowchart showing a flow chart of determining a tilt angle vector in some embodiments of the present disclosure. Fig. 9 ,like Figure 7 The shown step 303 (determining the tilt angle vector using the least squares method based on multiple adjustment tilt angle vectors and multiple additional first parameter vectors corresponding to the multiple adjustment tilt angle vectors respectively) may include: step 3031, determining the second parameter vector using the least squares method based on multiple adjustment tilt angle vectors and multiple additional first parameter vectors corresponding to the multiple adjustment tilt angle vectors respectively; step 3032, determining the tilt angle vector based on the second parameter vector.

[0077] Based on the above formula (6), the following formula (7) can be obtained:

[0078]

[0079] Let p represent the second parameter vector. Based on formula (7), the second parameter vector can be defined as the following formula (8):

[0080]

[0081] Based on formula (7) and formula (8), the following formula (9) can be obtained:

[0082]

[0083] Based on formula (9), in step 3031, based on multiple adjustment tilt angle vectors and multiple The corresponding additional first parameter vectors The second parameter vector p can be determined using a least squares method.

[0084] It can be seen from formula (8) that the second parameter vector p and the tilt angle vector And the center of mass position of the robot arm. Wherein, the center of mass position of the robot arm is a known quantity. Therefore, in step 3032, the tilt angle vector can be determined based on the second parameter vector.

[0085] In some embodiments, step 3032 may include determining the tilt angle vector based on a trigonometric function relationship between different elements in the second parameter vector that satisfies the tilt angle vector.

[0086] Different elements in the second parameter vector satisfy the trigonometric function relationship of the tilt angle vector, which can be seen in the following formula (10) and formula (11):

[0087]

[0088]

[0089] Based on the above formula (10) and formula (11), in some embodiments, the trigonometric function values ​​of the tilt angle vector, namely tanα and tanβ, can be obtained by solving the equations. Then, the tilt angle vector can be obtained based on tanα and tanβ.

[0090] Those skilled in the art will appreciate that the mass of the robot arm (such as the mass of the robot arm 400 is m1) and the coordinates of the center of mass of the robot arm (such as the coordinates of the center of mass of the robot arm 400 in the base coordinate system [p clx p cly p clz ]) The data may be inaccurate sometimes. Based on the above formulas (10) and (11), the inclination angle vector of the robot base can be solved without obtaining the mass and center of mass coordinates of the robot arm.

[0091] The tilt angle vector includes a first tilt angle and a second tilt angle, Fig.10 FIG. 4 is a flowchart of determining the first tilt angle and the second tilt angle in some embodiments of the present disclosure. Fig.10 In step 30321, based on the trigonometric function relationship between the first group of elements and the second group of elements in the second parameter vector that satisfies the first tilt angle, the first tilt angle is determined using the least squares method; and in step 30322, based on the trigonometric function relationship between the third group of elements and the fourth group of elements in the second parameter vector that satisfies the second tilt angle, the second tilt angle is determined using the least squares method.

[0092] In some embodiments, the first tilt angle is α, and the second tilt angle is β. Based on formula (10), it can be known that [p5 p6 p11 p 12 ] and [p3 p4 p9 p 10 ] is the first group of elements, and the other group of elements is the second group of elements. Based on formula (10), in step 30321, the first tilt angle α can be determined by the least square method.

[0093] Based on formula (11), we can get [p2 p3 p5 p8 p9 p 11 ] and [p1 p4 p6 p7 p 10 p 12 ] one group of elements is the third group of elements, and the other group of elements is the fourth group of elements. Based on formula (11), in step 30322, the second tilt angle β can be determined using the least squares method.

[0094] In some embodiments, the reference plane is a horizontal plane, and the tilt angle vector is the angle between the plane perpendicular to the rotation axis of the first joint and the reference plane. For example, the main manipulator included in the surgical robot can use the horizontal plane as the reference plane to level the base. Figure 5a and Figure 5b In the tilted base coordinate system shown, the tilt angle vector of the robot arm is the angle between the plane perpendicular to the rotation axis of the first joint (or to the z-axis) (such as the plane where the x-axis and the y-axis are located) and the horizontal plane.

[0095] like Figure 1 As shown, at step 140, the base is adjusted to a reference plane based on the tilt angle vector of the base.

[0096] In some embodiments, the tilt angle vector of the base is The tilt angle vector of the base relative to the reference plane may include the base relative to a first rotation axis on the reference plane (eg Figure 5a The x-axis shown in FIG. 1 and the second rotation axis (shown in FIG. 1 ) Figure 5b In step 140, the base may be rotated around the first rotation axis by an angle -α, and the base may be rotated around the second rotation axis by an angle -β to adjust the base to the reference plane.

[0097] In some embodiments, the Figure 2 The control device 240 of the robot system 200 shown in the figure drives the leveling device 230 to automatically adjust the base to the reference plane based on the tilt angle vector of the base. In some embodiments, the base can be manually adjusted by relevant personnel based on the tilt angle vector of the base (for example, adjusting Figure 3 The adjustment knob 231 shown in the figure is used to adjust the base to the reference plane. It can be understood by those skilled in the art that if the base is manually leveled by relevant personnel, such as Figure 2In the robot system 200, there may be no connection between the leveling device 230 and the control system 240.

[0098] In some embodiments, the reference plane is not a horizontal plane, but a plane inclined relative to the horizontal plane. In some embodiments, the inclination angle vector of the reference plane relative to the horizontal plane can be determined as the target inclination angle vector of the base of the manipulator. Step 140 may include: adjusting the inclination angle vector of the base of the manipulator relative to the horizontal plane to the target inclination angle vector based on the inclination angle vector of the base of the manipulator relative to the horizontal plane determined by the technical solution disclosed in the aforementioned embodiment. In this way, the base of the manipulator can be easily adjusted to the reference plane.

[0099] In some embodiments, the present disclosure provides a computer-readable storage medium for storing at least one instruction, which, when executed by a computer, causes the computer to execute the method of leveling the base of a robot arm in any of the above embodiments.

[0100] In some embodiments, a computer readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination thereof.

[0101] In some embodiments, the computer-readable storage medium may include, but is not limited to, a portable computer disk, a hard disk, a read-only memory (ROM), a random access memory (RAM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), flash memory or other solid-state memory technology, a CD-ROM, a digital versatile disk (DVD), HD-DVD, a Blue-Ray or other optical storage device, a magnetic tape, a disk storage or other magnetic storage device, or any other medium that can be used to store the desired information and can be accessed by a computer, on which computer executable instructions are stored, which, when executed in a machine (e.g., a computer device), causes the machine to perform the control method of the present disclosure. It should be understood that the computer device may include a personal computer, a server, or a network device, etc.

[0102] In some embodiments of the present disclosure, it is possible to prevent the base of the main manipulator of the surgical robot system from tilting, causing the main manipulator to move unexpectedly during surgery and further causing the manipulator arm to move unexpectedly, thereby improving the safety of performing surgery using the surgical robot system.

[0103] In some embodiments of the present disclosure, for a robotic arm connected to a base via a first joint, based on the obtained multiple rotation angles of the robotic arm around the rotation axis of the first joint, and the multiple joint torques of the robotic arm around the rotation axis of the first joint at multiple rotation angles, the inclination angle vector of the base relative to the reference plane is efficiently and accurately determined. Thus, based on the determined inclination angle vector of the base, the base can be adjusted to the reference plane. In this way, the standardized operation of leveling the base of the robotic arm can be realized in a scientific, stable and reproducible automated manner, which is conducive to improving the accuracy and efficiency of leveling.

[0104] Some embodiments of the present disclosure use the least squares method to determine the inclination angle vector of the base of the robot arm based on the acquired rotation angle and joint torque. This can utilize the advantages of the least squares method to effectively reduce the impact of errors in the rotation angle and joint torque, thereby obtaining a more accurate inclination angle vector of the base.

[0105] In some embodiments of the present disclosure, the tilt angle vector of the base of the robotic arm can be obtained without knowing the mass and center of mass coordinates of the robotic arm, thereby avoiding the impact of inaccurate mass or center of mass coordinate data of the robotic arm.

[0106] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A method for leveling a base of a robotic arm, characterized in that: include: Acquire a plurality of rotation angles of the robotic arm around a rotation axis of a first joint, wherein the robotic arm is connected to the base through the first joint; Acquire a plurality of joint torques of the robotic arm around a rotation axis of the first joint at the plurality of rotation angles; determining a tilt angle vector of the base relative to a reference plane based on the plurality of rotation angles and the plurality of joint torques; and The base is adjusted to the reference plane based on the tilt angle vector of the base.

2. The method for leveling the base of a robotic arm according to claim 1, characterized in that: Also includes: The robotic arm is rotated around the rotation axis of the first joint.

3. The method for leveling the base of a robotic arm according to claim 1, characterized in that: Determining the tilt angle vector of the base relative to a reference plane based on the multiple rotation angles and the multiple joint torques comprises: Based on the multiple rotation angles and the multiple joint torques, determining the inclination angle vector of the base using a functional relationship between the rotation angles and the joint torques; or Based on the multiple rotation angles and the multiple joint torques, a tilt angle vector of the base is determined using a least square method.

4. The method for leveling the base of a robot arm according to claim 3, characterized in that: Determining the tilt angle vector of the base using the least square method based on the multiple rotation angles and the multiple joint torques includes: Determining a first parameter vector using a least square method based on the plurality of rotation angles and the plurality of joint torques; and Based on the first parameter vector, the tilt angle vector is determined.

5. The method for leveling the base of a robot arm according to claim 4, characterized in that: include: adjusting the tilt angle vector to obtain a plurality of adjusted tilt angle vectors; For each adjusted tilt angle vector, Rotating the robotic arm around the rotation axis of the first joint; Acquire a plurality of additional rotation angles of the robotic arm around the rotation axis of the first joint; Acquire a plurality of additional joint torques of the robotic arm around the rotation axis of the first joint at the plurality of additional rotation angles; as well as Based on the plurality of additional rotation angles and the plurality of additional joint torques, determining an additional first parameter vector using a least square method; as well as The tilt angle vector is determined by using a least square method based on the multiple adjusted tilt angle vectors and multiple additional first parameter vectors respectively corresponding to the multiple adjusted tilt angle vectors.

6. The method for leveling the base of a robot arm according to claim 5, characterized in that: The determining the tilt angle vector by using a least square method based on the multiple adjusted tilt angle vectors and multiple additional first parameter vectors respectively corresponding to the multiple adjusted tilt angle vectors includes: Determine a second parameter vector by using a least square method based on the multiple adjustment tilt angle vectors and the multiple additional first parameter vectors respectively corresponding to the multiple adjustment tilt angle vectors; Based on the second parameter vector, the tilt angle vector is determined.

7. The method for leveling a base of a robot arm according to claim 6, characterized in that: The determining the tilt angle vector based on the second parameter vector comprises: The tilt angle vector is determined based on a trigonometric function relationship between different elements in the second parameter vector that satisfies the tilt angle vector.

8. The method for leveling a base of a robot arm according to claim 7, characterized in that: The tilt angle vector includes a first tilt angle and a second tilt angle, Determining the tilt angle vector based on a trigonometric function relationship between different elements in the second parameter vector that satisfies the tilt angle vector comprises: Determine the first tilt angle by using a least square method based on a trigonometric function relationship between a first group of elements and a second group of elements in the second parameter vector that satisfies the first tilt angle; and Based on a trigonometric function relationship between a third group of elements and a fourth group of elements in the second parameter vector that satisfies the second tilt angle, the second tilt angle is determined using a least squares method.

9. The method for leveling a base of a robot arm according to any one of claims 1 to 8, characterized in that: The reference plane is a horizontal plane, The tilt angle vector is the angle between a plane perpendicular to the rotation axis of the first joint and the reference plane.

10. The method for leveling a base of a robot arm according to claim 9, characterized in that: The mechanical arm is the main manipulator of the robot, and includes a plurality of arm bodies, a plurality of joints connecting the plurality of arm bodies, and a handle arranged at the end.

11. A computer-readable storage medium, characterized in that: Used to store at least one instruction, which, when executed by a computer, causes the computer to perform the method for leveling a base of a robot arm according to any one of claims 1 to 10.

12. A robot system, characterized in that: include: at least one base; at least one mechanical arm, the mechanical arm being connected to the base via a first joint; at least one leveling device for leveling the at least one base; as well as A control device, connected to the at least one robot arm and the at least one leveling device, for executing the method for leveling a base of a robot arm as claimed in any one of claims 1 to 10.

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