Positioning method of micro mechanical arm and electronic equipment

Abstract

The invention relates to a positioning method of a micro mechanical arm and electronic equipment. The method comprises the steps that when the micro mechanical arm is positioned, the center position of a visual mark of a target object coincides with the center position of a view, and the target object is an alignment object when the micro mechanical arm is positioned; the position relation between the visual mark of the micro mechanical arm and the visual mark of the target object is displayed in the view; and the visual mark of the micro mechanical arm is moved to the center position of the visual mark of the target object based on the position relation, and the micro mechanical arm is positioned. The technical problem that in the using process of a micro mechanical arm, operation is difficult, and the service time is prolonged is solved.

Description

Technical Field

[0001] The present application relates to the field of micro robot positioning, and in particular to a positioning method and electronic equipment for a micro robot arm. Background Art

[0002] Current surgical robot solutions generally use large robotic arms, which have the advantages of flexible joints, high degrees of freedom, and a large range of motion, but are expensive to use, complex to operate, and easily cause delays in surgery, which is not conducive to the widespread use of robotic surgeries. The emergence of micro-robots using local positioning technology can make up for the shortcomings of large robotic arms, which are complex to use and high in cost, but at the same time have the advantage of accurate positioning accuracy.

[0003] Compared with large robotic arms, micro robotic arms are generally used for local area positioning due to their small size, such as in the field of neurosurgery, which requires a relatively small positioning area and high positioning accuracy. Taking the application of micro robotic arms in traditional orthopedic surgery as an example, the user needs to first move the micro robot to a position near the surgical area, then fix the micro robot, and then start the micro robot for fine positioning, so as to achieve the purpose of precise positioning. During specific use, operational difficulties are prone to occur, resulting in extended use time, which increases the operation time and ultimately limits the scope of application of micro robotic arms. Summary of the invention

[0004] The embodiments of the present application provide a positioning method and electronic device for a micro-robotic arm, which at least solve the problem that the micro-robotic arm is prone to operating difficulties during use, resulting in prolonged use time.

[0005] According to one aspect of an embodiment of the present application, a method for positioning a micro-robotic arm is provided, comprising: when positioning the micro-robotic arm, aligning the center position of a visual mark of a target object with the center position of a view, wherein the target object is an alignment object when positioning the micro-robotic arm; displaying the positional relationship between the visual mark of the micro-robotic arm and the visual mark of the target object in the view; and moving the visual mark of the micro-robotic arm to the center position of the visual mark of the target object based on the positional relationship to position the micro-robotic arm.

[0006] Optionally, the target object includes a body surface device entry point and a target end point, and a visual mark of the target object is generated by the following method: taking the line between the body surface device entry point and the target end point as the normal vector to determine a plane in which the body surface device entry point is the origin; and drawing a visual mark of the target object on the plane with the body surface device entry point as the center.

[0007] Optionally, the visual mark of the micro-robotic arm is a three-dimensional figure that is complementary to the shape of the visual mark of the target object.

[0008] Optionally, the visual mark of the micro-robotic arm is moved to the center position of the visual mark of the target object based on the positional relationship, including: during the operation of the micro-robotic arm, displaying the posture angle of the visual mark of the micro-robotic arm in the view; and when the positional relationship between the visual mark of the micro-robotic arm and the visual mark of the target object changes, generating first prompt information, wherein the first prompt information includes at least one of the following: text prompt information, sound prompt information and sensor vibration prompt information.

[0009] Optionally, the visual mark of the micro-robotic arm is moved to the center position of the visual mark of the target object based on the positional relationship, including: using a probe device with a target to point to a reference moving direction of the micro-robotic arm in an optical positioning system, wherein the reference moving direction is any pre-set moving direction; collecting a direction vector of the reference moving direction; and setting the direction vector as an upward vector of the view.

[0010] Optionally, the visual mark of the micro-robotic arm is moved to the center position of the visual mark of the target object based on the positional relationship, including: detecting the height of the micro-robotic arm from the center position of the visual mark of the target object; when the height exceeds a preset distance threshold, blurring the visual mark of the target object displayed in the view, and generating second prompt information, wherein the second prompt information includes at least one of the following: text prompt information, sound prompt information, and sensor vibration prompt information.

[0011] Optionally, displaying the positional relationship between the visual mark of the micro-robotic arm and the visual mark of the target object in the view includes: determining a target area that can be covered in the plane when the micro-robotic arm is in the current position; determining all target objects located in the target area; and highlighting the visual marks corresponding to all target objects located in the target area in the view.

[0012] Optionally, the method also includes: when it is detected that there is a target object that needs to be aligned in the target area that can be covered by the micro-robotic arm, fixing the micro-robotic arm at the current position, and automatically triggering the micro-robotic arm to perform fine-tuning in a countdown manner to complete the final positioning of the micro-robotic arm.

[0013] Optionally, the method further comprises: detecting whether a visual mark of the micro-robotic arm overlaps with a visual mark of the target object; and determining that the micro-robotic arm is successfully positioned when it is detected that the visual mark of the micro-robotic arm overlaps with the visual mark of the target object.

[0014] According to another aspect of an embodiment of the present application, there is also provided an electronic device, including: a processor, and a memory for storing a program, wherein the program includes instructions, and when the instructions are executed by the processor, the processor executes the above method.

[0015] According to another aspect of an embodiment of the present application, a non-transitory machine-readable medium storing computer instructions is also provided, where the computer instructions are used to enable a computer to execute the above method.

[0016] According to another aspect of the embodiments of the present application, a computer program product is provided, including a computer program, which is used to enable the computer to execute the above method when the computer program is executed by a processor of the computer.

[0017] Beneficial effects of the embodiments of the present application:

[0018] In an embodiment of the present application, the micro-robotic arm and the target object are defined as visual marks respectively, and the positional relationship between the visual mark of the micro-robotic arm and the visual mark of the target object is displayed in a view, and the micro-robotic arm is operated based on the positional relationship to achieve the positioning of the micro-robotic arm, thereby achieving the technical effect of speeding up the operation process of positioning the micro-robotic arm.

[0019] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can be obtained based on these drawings without creative work.

[0021] Figure 1 is a flow chart of a positioning method of a micro-mechanical arm according to an embodiment of the present application;

[0022] Figure 2 is a schematic diagram of a visual marking of a micro-manipulator and a target object according to an embodiment of the present application;

[0023] Figure 3 is a schematic diagram of a visual marking of a micro-manipulator and a target object according to an embodiment of the present application;

[0024] Figure 4 Schematic diagram of the structure of the electronic device of this embodiment. DETAILED DESCRIPTION

[0025] Embodiments of the present embodiment will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present embodiment are shown in the accompanying drawings, it should be understood that the present embodiment can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein, which are instead provided for a more thorough and complete understanding of the present embodiment. It should be understood that the drawings and embodiments of the present embodiment are only for exemplary purposes and are not intended to limit the scope of protection of the present embodiment.

[0026] In the related art, when using the micro-manipulator, it is easy to encounter operational difficulties, resulting in extended use time, which increases the operation time and ultimately limits the application scope of the micro-manipulator. In order to solve this problem, the embodiments of the present application provide relevant solutions, which are described in detail below.

[0027] Figure 1 is a flow chart of a positioning method of a micro-mechanical arm according to an embodiment of the present application, such as Figure 1 As shown, the method comprises the following steps:

[0028] Step S102 : when positioning the micro-robotic arm, align the center position of the visual mark of the target object with the center position of the view, wherein the target object is the alignment object when positioning the micro-robotic arm.

[0029] The micro-manipulator arm is a component of a micro-robot, wherein the micro-manipulator arm includes but is not limited to a lower actuator arm and an upper actuator arm, and the lower actuator arm is provided with an instrument clamping front end and a position mark, etc. The target object is a positioning and alignment object of the micro-manipulator arm, and the number of the target objects is one or more, and the target objects are located in a local area with a smaller area. In the specific implementation process, the micro-manipulator arm in the retracted state can be placed above the area where multiple target objects are located.

[0030] According to an optional embodiment of the present application, the target object includes a body surface device entry point and a target end point, and a visual mark of the target object is generated by the following method: using the line between the body surface device entry point and the target end point as a normal vector to determine a plane in which the body surface device entry point is the origin; and drawing a visual mark of the target object on the plane with the body surface device entry point as the center.

[0031] In the embodiment of the present application, each target object is represented by these two points, namely, the body surface instrument entry point and the target end point. Taking the body surface instrument entry point of each target object as the origin, and the line between the body surface instrument entry point and the target end point as the normal vector, a plane is determined. The normal vector is a concept in spatial analytic geometry, and the vector represented by the straight line perpendicular to the plane is the normal vector of the plane.

[0032] After determining the above plane, define the visual mark of the target object with the above origin as the center. In the embodiment of the present application, the visual mark of the target object is defined as a ring. Other shapes can also be used. The radius of the ring is the maximum distance that the micro-manipulator can move in parallel from the initial position (to facilitate the clear positional relationship with the manipulator when displayed). According to the above definition of the ring of the target object, when there are multiple target objects, the rings of multiple target objects can be drawn in space.

[0033] When locating and aligning a specific target object, the camera focus is moved to the center of the ring of the target object, and the camera is completely perpendicular to the ring of the target object, so that the ring of the target object is located at the center of the view. It should be noted that the view here can be an interactive interface displayed on the display screen.

[0034] Step S104: displaying the positional relationship between the visual mark of the micro-robotic arm and the visual mark of the target object in the view.

[0035] According to an optional embodiment of the present application, the visual mark of the micro-robotic arm is a three-dimensional figure that is complementary to the shape of the visual mark of the target object.

[0036] In an embodiment of the present application, the visual mark of the micro-robotic arm is defined as a three-dimensional shape that is complementary to the shape of the visual mark of the target object to reflect its posture (mentioned above, the visual mark of the target object is defined as a ring, therefore, the visual mark of the micro-robotic arm is defined as a cylinder). As the visual mark of the micro-robotic arm in the view, its diameter is the same as the inner diameter of the ring of the target object (in order to match the ring of the target object at the time of rendering). When the micro-robotic arm moves in space, its corresponding position and posture are rendered in real time, and its correspondence with the ring of the target object can be observed.

[0037] According to the position of the visual mark of the micro-robotic arm displayed in real time, the user can observe the positional relationship between the visual mark of the micro-robotic arm (cylinder) and the visual mark of the target object (ring) (the cylinder is within the range of the ring, the cylinder is close to the ring, and the cylinder is not within the range of the ring), thereby guiding the user to place the micro-robotic arm within the reachable range more quickly.

[0038] Step S106 , moving the visual mark of the micro-robotic arm to the center position of the visual mark of the target object based on the position relationship, so as to position the micro-robotic arm.

[0039] In this step, the micro-robotic arm is moved based on the defined visual markers of the micro-robotic arm and the target object to achieve accurate positioning of the micro-robotic arm.

[0040] The above method provided in the embodiment of the present application defines the micro-robotic arm and the target object as visual marks respectively, displays the positional relationship between the visual mark of the micro-robotic arm and the visual mark of the target object in the view, and operates the micro-robotic arm based on the positional relationship to achieve the positioning of the micro-robotic arm, thereby achieving the technical effect of speeding up the operation process of positioning the micro-robotic arm.

[0041] According to an optional embodiment of the present application, step S106 is executed to move the visual mark of the micro-robotic arm to the center position of the visual mark of the target object based on the position relationship, including: during the operation of the micro-robotic arm, displaying the posture angle of the visual mark of the micro-robotic arm in the view; and when the positional relationship between the visual mark of the micro-robotic arm and the visual mark of the target object changes, generating a first prompt information, wherein the first prompt information includes at least one of the following: text prompt information, sound prompt information and sensor vibration prompt information.

[0042] Since the range of motion of the micro-manipulator is also limited by the maximum angle, the actual angle posture of the visual mark (cylinder) of the micro-manipulator is displayed in real time, which can also provide users with a reference for the corresponding posture. In the overall operation process, in addition to highlighting the corresponding display mark, corresponding text prompts can be given (for example, the actual angle posture of the cylinder is displayed in text in the view).

[0043] In some optional embodiments, when the positional relationship between the micro-robotic arm and the target object changes, a prompt in the form of sound, text, or sensor vibration may be given to prompt the user to pay attention.

[0044] According to another optional embodiment of the present application, executing step S106 to move the visual mark of the micro-robotic arm to the center position of the visual mark of the target object based on the positional relationship also includes: using a probe device with a target to point to a reference moving direction of the micro-robotic arm in the optical positioning system, wherein the reference moving direction is any pre-set moving direction; collecting a direction vector of the reference moving direction; and setting the direction vector as the upward vector of the view.

[0045] When operating the micro-robotic arm, the direction of moving the micro-robotic arm is not necessarily the same as the direction of movement of the visual mark of the micro-robotic arm displayed on the screen, which may mislead or cause difficulties in the placement of the micro-robotic arm.

[0046] One solution provided by an embodiment of the present application is that, under an optical positioning system, a probe device with a target is used to point to a certain reference moving direction of the micro-robotic arm (for example, the reference moving direction is defined as forward). At this time, the corresponding direction vector can be collected by the optical positioning system, and the corresponding direction vector is set to the upward vector (View Up) of the view, which can ensure that the direction of moving the micro-robotic arm at this time is consistent with the moving direction of the visible mark of the micro-robotic arm in the view.

[0047] The system can also be designed to achieve the same purpose by calibrating the upward vector of the view through the initial installation position and orientation of other targets or by having the micro-manipulator capture by moving in a specific direction.

[0048] In other positioning systems such as electromagnetic navigation, similar methods can be used, or the instantaneous movement of the sensor can be captured to achieve the same purpose.

[0049] In some optional embodiments of the present application, executing step S106 to move the visual mark of the micro-robotic arm to the center position of the visual mark of the target object based on the positional relationship also includes: detecting the height of the micro-robotic arm from the center position of the visual mark of the target object; when the height exceeds a preset distance threshold, blurring the visual mark of the target object displayed in the view, and generating a second prompt information, wherein the second prompt information includes at least one of the following: text prompt information, sound prompt information, and sensor vibration prompt information.

[0050] When calculating the coverage of the micro-manipulator corresponding to the target, it is mainly based on the intersection of the micro-manipulator motion plane and each target object (the extension line of the line segment connected by two points of the target object). In actual situations, based on the above conditions, when placing the micro-manipulator, it is still necessary to consider the distance (generally height) between the micro-manipulator and the center of the visual mark of the target object. In an embodiment of the present application, a distance threshold between the micro-manipulator and the center of the visual mark of the target object can be defined. When it is detected that the distance of the micro-manipulator is too far (the height of the micro-manipulator from the center of the visual mark of the target object exceeds the above distance threshold), the visual mark of the corresponding target object can be fuzzy processed in a corresponding proportion in the visual effect, and the user can be warned with sound, vibration, and text prompts, so that the user considers the optimal height when placing the micro-manipulator.

[0051] In some optional embodiments of the present application, step S104 is executed to display the positional relationship between the visual mark of the micro-robotic arm and the visual mark of the target object in the view, which is achieved by the following method: determining the target area that can be covered in the plane when the micro-robotic arm is in the current position; determining all target objects located in the target area; and highlighting the visual marks corresponding to all target objects located in the target area in the view.

[0052] When the micro-manipulator is operated to move, the target area that the current micro-manipulator can cover is calculated. For target objects that can be covered in the target area, the corresponding visual mark (circle) is given an appropriate highlighting method (such as highlighting) to indicate the target range that the current micro-manipulator can cover.

[0053] As an optional embodiment of the present application, the target area that can be covered by the micro-manipulator is determined according to the initial position of the micro-manipulator and the center positions of multiple target objects, which specifically includes the following steps: obtaining the maximum moving radius of the micro-manipulator; determining the intersection of the motion plane of the micro-manipulator and multiple target extension lines, wherein the target extension line is the extension line of the line segment connecting the surface instrument entry point and the target end point of the target object; determining the distance between the initial position of the micro-manipulator and each intersection; taking the target objects whose distance is less than or equal to the maximum moving radius as reachable target objects, and recording them in a list; taking the intersection corresponding to the reachable target object as the center and the maximum moving radius as the radius, generating a circular area of ​​all reachable target objects in the list on the motion plane; generating a common intersection area based on the circular areas of all reachable target objects on the motion plane, and taking the common intersection area as the target area.

[0054] The above maximum moving radius is the maximum moving distance of the micro-manipulator from the stowed state to the unfolded state in a single direction under fixed conditions; the above list is used to save the reachable targets.

[0055] Figure 2 is a schematic diagram of a micro-manipulator and a visual mark of a target object according to an embodiment of the present application, such as Figure 2 As shown in the figure, there are 6 target objects, and the visual mark of each target object is a ring. The brightest ring is the target object that needs to be aligned at the moment, and the other two highlighted rings are the target objects that can be covered at the same time at the current position. The visual mark of the micro-manipulator is defined as a cylinder, and its real-time position and posture can be seen in the figure (from the three-dimensional shape of the cylinder, it can be seen that there is an obvious angle relationship between it and the target object).

[0056] As an optional embodiment of the present application, when it is detected that there is a target object that needs to be aligned in the target area that can be covered by the micro-robotic arm, the micro-robotic arm is fixed at the current position, and a countdown method is used to automatically trigger the micro-robotic arm to perform fine adjustments to complete the final positioning of the micro-robotic arm.

[0057] When the micro-robotic arm is finally placed according to the reality of the interactive image and information and can cover the currently positioned target object, the automatic positioning process of the micro-robotic arm can be triggered automatically or in a countdown manner based on the detection of the current position stability of the micro-robotic arm and the reachable range of the target to complete the final positioning of the target object.

[0058] It should be noted that the entire micro-manipulator positioning process can be divided into two stages. The first stage is that the micro-manipulator covers the target object, and in this stage, the position of the micro-manipulator needs to be moved relatively significantly. The second stage is that the micro-manipulator accurately aligns with the target object. After the first stage is completed, the micro-manipulator is fixed, and then the manipulator is fine-tuned to finally achieve accurate alignment with the target object, that is, to achieve final positioning.

[0059] In some other optional embodiments of the present application, the above method also includes: detecting whether the visual mark of the micro-robotic arm coincides with the visual mark of the target object; when it is detected that the visual mark of the micro-robotic arm coincides with the visual mark of the target object, determining that the micro-robotic arm is successfully positioned.

[0060] After the micro-manipulator completes the final positioning, if the positioning is completely accurate, the visual mark of the micro-manipulator will eventually move to the center of the visual mark of the target object in the view, and the visual marks of the two will overlap. Although the visual mark of the micro-manipulator is a three-dimensional structure, after successful positioning, it should be displayed consistent with the visual mark of the target object in a planar state. Through the above scheme, it is possible to detect whether accurate positioning is completed.

[0061] Figure 3 is a schematic diagram of a micro-manipulator and a visual mark of a target object according to an embodiment of the present application, such as Figure 3 As shown in the figure, when the micro-manipulator completes positioning, the cylinder representing the visual mark of the micro-manipulator is located at the center of the circle representing the visual mark of the current target object. The shapes of the two match and there is no gap, which represents the accuracy of positioning. The cylinder can only be seen in a round shape but not in a three-dimensional structure, which means that there is no angle difference between it and the target object after positioning.

[0062] The above technical solution proposed in the present application can speed up the operation process of positioning the micro-robotic arm, shorten the operation time, and thus achieve the technical effect of expanding the application scope of the micro-robotic arm.

[0063] The embodiment of the present application also provides an electronic device, comprising: at least one processor; and a memory connected to the at least one processor in communication. The memory stores a computer program executable by the at least one processor, and the computer program is used to enable the electronic device to perform the method of the embodiment of the present application when executed by the at least one processor.

[0064] An embodiment of the present application also provides a non-transitory machine-readable medium storing a computer program, wherein the computer program, when executed by a processor of a computer, is used to cause the computer to execute the method of the embodiment of the present application.

[0065] An embodiment of the present application also provides a computer program product, including a computer program, wherein the computer program, when executed by a processor of a computer, is used to cause the computer to execute the method of the embodiment of the present application.

[0066] refer to Figure 4 , the structural block diagram of the electronic device that can be used as the server or client of the embodiment of the present application will now be described, which is an example of the hardware device that can be applied to various aspects of the present application. The electronic device is intended to represent various forms of digital electronic computer equipment, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples, and are not intended to limit the implementation of the present application described and / or required herein.

[0067] like Figure 4 As shown, the electronic device includes a computing unit 401, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 402 or a computer program loaded from a storage unit 408 into a random access memory (RAM) 403. In RAM 403, various programs and data required for the operation of the electronic device can also be stored. The computing unit 401, ROM 402, and RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0068] Multiple components in the electronic device are connected to the I / O interface 405, including: an input unit 406, an output unit 407, a storage unit 408, and a communication unit 409. The input unit 406 can be any type of device that can input information to the electronic device, and the input unit 406 can receive input digital or character information, and generate key signal input related to user settings and / or function control of the electronic device. The output unit 407 can be any type of device that can present information, and can include but is not limited to a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 408 can include but is not limited to a disk, an optical disk. The communication unit 409 allows the electronic device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include but is not limited to a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0069] The computing unit 401 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, a CPU, a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 401 performs the various methods and processes described above. For example, in some embodiments, the method embodiments of the present application may be implemented as a computer program, which is tangibly contained in a machine-readable medium, such as a storage unit 408. In some embodiments, part or all of the computer program may be loaded and / or installed on an electronic device via ROM 402 and / or a communication unit 409. In some embodiments, the computing unit 401 may be configured to perform the above method in any other appropriate manner (e.g., by means of firmware).

[0070] The computer program for implementing the method of the embodiment of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program can be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0071] In the context of the present application embodiment, machine-readable medium can be a tangible medium that can contain or store a program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable signal medium can include but is not limited to electronic, magnetic, optical, electromagnetic or infrared systems, devices or equipment, or any suitable combination of the above. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above.

[0072] It should be noted that the term "including" and its variations used in the embodiments of the present application are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". The modifications of "one" and "multiple" mentioned in the embodiments of the present application are illustrative and not restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0073] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the embodiments of the present application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0074] The various steps described in the method implementation methods provided in the embodiments of the present application can be performed in different orders and / or in parallel. In addition, the method implementation methods may include additional steps and / or omit the steps shown. The scope of protection of the present application is not limited in this respect.

[0075] The term "embodiment" in this specification refers to specific features, structures or characteristics described in conjunction with the embodiment that can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. The various embodiments in this specification are described in a related manner, and the same or similar parts between the various embodiments refer to each other. In particular, for the device, equipment, and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts refer to the partial description of the method embodiment.

[0076] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of patent protection. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the attached claims.

Claims

1. A positioning method for a micro-manipulator, characterized in that: include: When positioning the micro-mechanical arm, aligning the center position of the visual mark of the target object with the center position of the view, wherein the target object is the alignment object when positioning the micro-mechanical arm; Displaying in the view a positional relationship between a visual mark of the micro-mechanical arm and a visual mark of the target object; The visual mark of the micro-mechanical arm is moved to the center position of the visual mark of the target object based on the positional relationship to position the micro-mechanical arm.

2. The method according to claim 1, characterized in that The target object includes a body surface device entry point and a target end point, and the visual mark of the target object is generated by the following method: Using the line between the body surface device entry point and the target end point as a normal vector, a plane is determined, wherein the body surface device entry point is the origin; And a visual mark of the target object is drawn on the plane with the instrument entry point as the center.

3. The method according to claim 1 or 2, characterized in that: The visual mark of the micro-mechanical arm is a three-dimensional figure that is complementary to the visual mark of the target object.

4. The method according to claim 1, characterized in that Moving the visual mark of the micro-mechanical arm to the center position of the visual mark of the target object based on the position relationship includes: During the operation of the micro-mechanical arm, displaying the posture angle of the visual mark of the micro-mechanical arm in the view; and When the positional relationship between the visual mark of the micro-robotic arm and the visual mark of the target object changes, first prompt information is generated, wherein the first prompt information includes at least one of the following: text prompt information, sound prompt information, and sensor vibration prompt information.

5. The method according to claim 1, characterized in that Moving the visual mark of the micro-mechanical arm to the center position of the visual mark of the target object based on the position relationship includes: In the optical positioning system, a probe device with a target is used to point to a reference moving direction of the micro-manipulator, wherein the reference moving direction is any pre-set moving direction; Acquiring a direction vector of the reference moving direction; Set the direction vector to be the view's up vector.

6. The method according to claim 1, characterized in that Moving the visual mark of the micro-mechanical arm to the center position of the visual mark of the target object based on the position relationship includes: detecting a height of the micro-mechanical arm from a center position of a visual mark of the target object; When the height exceeds a preset distance threshold, the visual mark of the target object displayed in the view is blurred and a second prompt information is generated, wherein the second prompt information includes at least one of the following: text prompt information, sound prompt information and sensor vibration prompt information.

7. The method according to claim 2, characterized in that Displaying the positional relationship between the visual mark of the micro-manipulator and the visual mark of the target object in the view includes: Determining a target area that can be covered in the plane when the micro-mechanical arm is at a current position; Determining all target objects located in the target area; Visual marks corresponding to all target objects within the target area are highlighted in the view.

8. The method according to claim 7, characterized in that The method further comprises: When it is detected that there is a target object that needs to be aligned in the target area that can be covered by the micro-robotic arm, the micro-robotic arm is fixed at the current position and the micro-robotic arm is automatically triggered to perform fine adjustment in a countdown manner to complete the final positioning of the micro-robotic arm.

9. The method according to any one of claims 1 to 8, characterized in that The method further comprises: Detecting whether the visual mark of the micro-robotic arm coincides with the visual mark of the target object; When it is detected that the visual mark of the micro-mechanical arm coincides with the visual mark of the target object, it is determined that the micro-mechanical arm is positioned successfully.

10. An electronic device, comprising: A processor, and a memory storing a program, wherein the program comprises instructions, which, when executed by the processor, cause the processor to perform the method according to any one of claims 1 to 9.

11. A non-transitory machine-readable medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 9.

12. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor of a computer, the computer is used to cause the computer to execute the method according to any one of claims 1 to 9.

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