A machine arm control method and device, electronic equipment and readable storage medium

Abstract

This application provides a robotic arm control method, apparatus, electronic device, and readable storage medium. The method is applied to a robotic arm, the end of which is equipped with a puncture needle. The method includes: after the puncture needle completes puncturing, controlling the robotic arm to move a preset distance in the opposite direction to the target insertion direction of the puncture needle, and determining a first position of the puncture needle tip; controlling the robotic arm to move to a preset safe position; after replacing the puncture needle with an injection microneedle, controlling the robotic arm to adjust the position of the injection microneedle tip to a second position; controlling the robotic arm to adjust the injection microneedle tip from the second position to the first position; and controlling the robotic arm to move a preset distance along the target insertion direction so that the insertion position of the injection microneedle is consistent with the insertion position of the puncture needle. Thus, by controlling the movement of the robotic arm, the insertion position before and after changing the surgical needle can be kept consistent, improving the accuracy of the insertion position control.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to a robotic arm control method, device, electronic device, and readable storage medium. Background Technology

[0002] The procedure of puncturing and inserting a needle in the eye refers to the process in ophthalmic surgery where a puncture needle is first used to create a puncture hole at a specific location on the eyeball, and then a microneedle is inserted through the puncture hole for injection. It is necessary to ensure that the insertion position of the microneedle is consistent with the insertion position (position and angle) of the puncture needle so that the microneedle can accurately enter the eyeball through the puncture hole, thereby reducing damage to the eye tissues during the surgical procedure.

[0003] Existing methods for puncturing and inserting needles are often performed manually, which is highly susceptible to human error, precision limitations, and operator fatigue. This can lead to inconsistencies between the microneedle insertion position and the puncture needle insertion position, resulting in multiple injuries to the eye tissues and low accuracy in controlling the insertion position. Summary of the Invention

[0004] In view of this, embodiments of this application provide at least one robotic arm control method, device, electronic device, and readable storage medium. By controlling the movement of the robotic arm, the needle insertion posture before and after changing the surgical needle can be kept consistent, thereby improving the accuracy of needle insertion posture control.

[0005] This application mainly includes the following aspects:

[0006] In a first aspect, embodiments of this application provide a robotic arm control method applied to a robotic arm, wherein a through-hole needle is installed at the end of the robotic arm; the method includes:

[0007] After the piercing needle completes the piercing, the robotic arm is controlled to move a preset distance in the opposite direction to the target insertion direction of the piercing needle, and the first position of the piercing needle tip is determined.

[0008] The robotic arm is controlled to move to a preset safe position. After the puncture needle is replaced with an injection microneedle, the robotic arm is controlled to move to adjust the position of the injection microneedle tip to a second position. The second position is the position of the injection microneedle tip after the first position of the puncture needle is replaced with the injection microneedle, which is determined based on the shape of the puncture needle and the injection microneedle.

[0009] Control the movement of the robotic arm to adjust the tip of the injection microneedle from the second position to the first position;

[0010] The robotic arm is controlled to move a preset distance along the target needle insertion direction so that the insertion posture of the injection microneedle is consistent with the insertion posture of the puncture needle.

[0011] Secondly, embodiments of this application also provide a robotic arm control device, applied to a robotic arm, wherein a through-hole needle is installed at the end of the robotic arm; the robotic arm control device includes:

[0012] The determination module is used to control the robotic arm to move a preset distance in the opposite direction to the target insertion direction of the piercing needle after the piercing needle has finished piercing, and to determine the first pose of the tip of the piercing needle.

[0013] The first execution module is used to control the movement of the robotic arm to a preset safe position. After the puncture needle is replaced with an injection microneedle, the robotic arm is controlled to move to adjust the position of the injection microneedle tip to a second position. The second position is the position of the injection microneedle tip after the first position of the puncture needle is replaced with the injection microneedle, which is determined based on the shape of the puncture needle and the injection microneedle.

[0014] The second execution module is used to control the movement of the robotic arm and adjust the tip of the injection microneedle from the second position to the first position.

[0015] The third execution module is used to control the robotic arm to move the preset distance along the target needle insertion direction so that the insertion posture of the injection microneedle is consistent with the insertion posture of the puncture needle.

[0016] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory through the bus, and the machine-readable instructions are executed by the processor to perform the steps of the robotic arm control method as described above.

[0017] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the robotic arm control method described above.

[0018] This application provides a robotic arm control method, device, electronic device, and readable storage medium. The robotic arm control method is applied to a robotic arm with a puncture needle mounted at its end. The method includes: after the puncture needle completes puncturing, controlling the robotic arm to move a preset distance in the opposite direction to the target insertion direction of the puncture needle, and determining a first pose of the puncture needle tip; controlling the robotic arm to move to a preset safe position; after replacing the puncture needle with an injection microneedle, controlling the robotic arm to adjust the pose of the injection microneedle tip to a second pose; the second pose is the pose of the injection microneedle tip after replacing the puncture needle with the injection microneedle, determined based on the shapes of the puncture needle and the injection microneedle; controlling the robotic arm to adjust the injection microneedle tip from the second pose to the first pose; and controlling the robotic arm to move a preset distance along the target insertion direction so that the insertion pose of the injection microneedle is consistent with the insertion pose of the puncture needle. Thus, by controlling the movement of the robotic arm, the insertion pose before and after changing the surgical needle can be kept consistent, improving the accuracy of the insertion pose control.

[0019] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A flowchart of a robotic arm control method provided in an embodiment of this application is shown;

[0022] Figure 2 This illustration shows a schematic diagram of the joints of the robotic arm when the puncture needle is in the first position according to an embodiment of this application.

[0023] Figure 3 A schematic diagram of the joints of a robotic arm at a preset safe position is shown in an embodiment of this application;

[0024] Figure 4 A schematic diagram of the robotic arm joints is shown in the second pose of the embodiment of this application;

[0025] Figure 5 This illustration shows a schematic diagram of the robotic arm joints when the microneedle tip is adjusted from the second position to the first position in an embodiment of this application.

[0026] Figure 6This paper shows a functional block diagram of a robotic arm control device provided in an embodiment of this application;

[0027] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0029] To facilitate understanding of this application, the technical solutions provided in this application will be described in detail below with reference to specific embodiments.

[0030] Please see Figure 1 , Figure 1 This is a flowchart illustrating a robotic arm control method provided in an embodiment of this application. The embodiment itself provides a robotic arm control method applicable to a robotic arm, wherein a through-hole needle is installed at the end of the robotic arm. Figure 1 As shown in the embodiments of this application, the robotic arm control method includes the following steps:

[0031] S101, after the piercing needle finishes piercing, the robotic arm is controlled to move a preset distance in the opposite direction to the target insertion direction of the piercing needle, and the first position of the piercing needle tip is determined.

[0032] In this embodiment, to address the issue of low accuracy in needle insertion posture control due to manual operation, this application ensures accurate needle insertion posture control by controlling the movement of a robotic arm. Specifically, a puncture needle is mounted at the end of the robotic arm, and the arm can be moved via master-slave control to allow the puncture needle to complete the insertion process at the eyeball position.

[0033] In this step, after the puncture needle is inserted, the needle body is positioned inside the eyeball. The robotic arm is moved a preset distance in the opposite direction to the target insertion direction of the puncture needle. The position of the needle tip after moving the preset distance is used as the key point for needle insertion, and is determined as the first position of the needle tip. This ensures that after replacing the surgical needle, the tip position of the new surgical microneedle is adjusted to this first position. Then, after moving the preset distance along the target insertion direction, the new surgical microneedle can be inserted with the same position as the original puncture needle, thus ensuring the accuracy of needle insertion position control. The preset distance is set according to actual needs, taking into account the length of each surgical needle, the distance from the eyeball, and control precision. This ensures that the needle tip will not be too close to the eyeball after withdrawal, which could pose a safety hazard, nor too far from the eyeball, which could affect the insertion precision. No specific limitations are imposed here.

[0034] S102, control the robotic arm to move to a preset safe position. After replacing the puncture needle with an injection microneedle, control the robotic arm to move to adjust the position of the injection microneedle tip to a second position. The second position is the position of the injection microneedle tip after replacing the puncture needle in the first position with an injection microneedle, determined based on the shape of the puncture needle and the injection microneedle.

[0035] In this embodiment of the application, after determining the first pose, it is necessary to replace the puncture needle that has completed the puncture task with an injection microneedle. Since the first pose is relatively close to the eyeball, it is very dangerous to replace the surgical needle at this time. Therefore, the robotic arm is first controlled to move to a preset safe position. The preset safe position is a position that is far away from the eyeball and convenient for replacing the surgical needle. It can be set according to the actual situation and is not limited here.

[0036] In this step, after replacing the puncture needle with an injection microneedle, the robotic arm is controlled to adjust the position of the injection microneedle tip to the second position. Here, because the puncture needle and injection microneedle differ in shape and size (surgical microneedles are typically thinner and smaller), their installation methods at the end of the robotic arm also differ, resulting in a difference in how the robotic arm controls the insertion of the surgical microneedle compared to the puncture needle. To ensure accurate insertion position, firstly, based on the shape calculations of the puncture needle and injection microneedle, the position of the injection microneedle tip after directly replacing the puncture needle (in the first position) with the injection microneedle is used as the second position. The robotic arm is then controlled to coarsely adjust the position of the injection microneedle tip, now located in a preset safe position, to the second position.

[0037] S103, control the movement of the robotic arm to adjust the tip of the injection microneedle from the second position to the first position.

[0038] In this step, after coarsely adjusting the position of the injection microneedle tip, which is located in the preset safe position, to the second position, fine adjustment is made to change the injection microneedle tip from the second position to the first position, so that the injection microneedle and the puncture needle maintain the same insertion position.

[0039] S104, control the robotic arm to move the preset distance along the target needle insertion direction so that the insertion posture of the injection microneedle is consistent with the insertion posture of the puncture needle.

[0040] In this step, the robotic arm is controlled to move a preset distance along the target needle insertion direction, so that the replaced injection microneedle is inserted in the same needle insertion posture and method as the previous through-hole needle in S101, thereby improving the accuracy of needle insertion posture control.

[0041] In one possible implementation, the robotic arm is a multi-axis robotic arm, and controlling the robotic arm to move a preset distance in the opposite direction to the target insertion direction of the piercing needle, and determining the first pose of the piercing needle tip, includes:

[0042] Step a1: After controlling the robotic arm to move a preset distance in the opposite direction to the needle insertion direction of the through hole target, for any joint of the robotic arm, determine the forward kinematic transformation matrix corresponding to the joint based on the forward kinematic transformation and multiple target parameters of the joint; the target parameters include link length, link torsion angle, link offset and joint angle.

[0043] In this embodiment, the robotic arm is a multi-axis robotic arm; specifically, a five-axis robotic arm is used as an example. Please refer to... Figure 2 , Figure 2 This is a schematic diagram of the joints of the robotic arm when the through-hole needle is in the first position, as shown in the embodiment of this application. Figure 2 As shown, in order to determine the first pose of the needle tip after the robotic arm moves a preset distance in the opposite direction to the needle insertion direction of the through-hole as a subsequent reference pose, the pose coordinates of the first pose need to be fixed. However, since the end effector coordinate system of the robotic arm changes continuously with the movement of the robotic arm, the pose coordinates of the needle tip in the end effector coordinate system also cannot be fixed. Therefore, it is necessary to represent the pose coordinates through a fixed coordinate system. The base coordinate system of the robotic arm is a fixed coordinate system. Therefore, it is necessary to convert the pose coordinates of the needle tip in the end effector coordinate system into the pose coordinates of the base coordinate system of the robotic arm.

[0044] In this step, for any joint of the robotic arm, the forward kinematics transformation matrix corresponding to that joint is first determined based on the forward kinematics transformation and multiple target parameters of that joint.

[0045] Specifically, forward kinematics (FK) is used to calculate the position and orientation of the robotic arm's end effector after a given joint angle, i.e., its pose. Multiple target parameters are Denavit-Hartenberg (DH) parameters, used to describe the geometric and kinematic relationships between each joint and link, specifically including four parameters: link length a. i , connecting rod torsion angle α i Linkage offset d i and joint angle θ i For a five-axis robotic arm, these parameters correspond to each joint of the arm, with i ranging from 1 to 5. Using the DH parameters, a positive kinematic transformation matrix T can be established for each pair of adjacent joints and links. i It is used for coordinate transformation between various joint coordinate systems.

[0046] Wherein, each positive kinematic transformation matrix T i It can be represented as:

[0047]

[0048] Step a2: Determine the total transformation matrix from the end coordinate system of the robotic arm to the base coordinate system of the robotic arm based on the positive kinematic transformation matrix corresponding to each joint.

[0049] In this step, by multiplying the positive kinematic transformation matrices corresponding to each joint for coordinate transfer, the total transformation matrix T0 can be obtained from the end coordinate system of the robotic arm to the base coordinate system of the robotic arm; where T0 = T1·T2·T3·T4·T5.

[0050] Step a3: Based on the pose coordinates of the needle tip of the piercing needle in the end coordinate system and the total transformation matrix, calculate the first pose coordinates of the needle tip of the piercing needle in the base coordinate system, and determine the first pose coordinates as the first pose of the needle tip of the piercing needle.

[0051] In this step, based on the pose coordinates of the needle tip in the end-effector coordinate system and the total transformation matrix T0, the first pose coordinates of the needle tip in the base coordinate system are calculated, and these first pose coordinates are determined as the first pose of the needle tip. Specifically, the pose coordinates are represented using a quadruple, including the three-dimensional coordinates x, y, z and the homogeneous coordinate w of the three-dimensional coordinates. Therefore, the first pose coordinates can be represented as (x1, y1, z1, w1).

[0052] Furthermore, after replacing the puncture needle with an injection microneedle, controlling the movement of the robotic arm to adjust the position of the injection microneedle tip to a second position includes:

[0053] Step b1: After replacing the puncture needle with an injection microneedle, determine the position coordinates of the injection microneedle tip in the end-effector coordinate system based on the shapes of the puncture needle and the injection microneedle, as well as the position coordinates of the puncture needle tip in the end-effector coordinate system.

[0054] In the embodiments of this application, please refer to Figure 3 , Figure 3 This is a schematic diagram of the joints of the robotic arm at a preset safe position in an embodiment of this application. Figure 3 As shown, the puncture needle is replaced with an injection microneedle at a preset safe position. Further, after replacing the puncture needle with the injection microneedle at the preset safe position, the pose coordinates of the injection microneedle tip at the end coordinate system of the robotic arm are calculated based on the shapes of the puncture needle and the injection microneedle, theoretically after directly replacing the puncture needle in the first pose with the injection microneedle.

[0055] Step b2: Based on the pose coordinates of the injection microneedle tip in the end coordinate system and the total transformation matrix, calculate the second pose coordinates of the injection microneedle tip in the base coordinate system after replacing the first pose puncture needle with the injection microneedle, and determine the second pose coordinates as the second pose of the injection microneedle tip.

[0056] In this step, please refer to Figure 4 , Figure 4 This is a schematic diagram of the robotic arm joints when the injection microneedle is in the second position according to an embodiment of this application. Figure 4 As shown, based on the calculated total transformation matrix of the end-effector coordinate system of the robotic arm relative to the base coordinate system when the puncture needle is in the first pose, and theoretically, after directly replacing the puncture needle in the first pose with the microneedle, the pose coordinates of the microneedle tip in the end-effector coordinate system of the robotic arm are transformed into the base coordinate system and fixed as the second pose coordinates. These second pose coordinates are then determined as the second pose of the microneedle tip. The second pose coordinates can be represented as (x0, y0, z0, w0).

[0057] Step b3: Iteratively solve the inverse kinematics equations based on the second pose coordinates to determine the first motion vector of each joint of the robotic arm; the motion vector of any joint includes the rotation angle and / or translation distance of the joint.

[0058] In this embodiment, to adjust the pose of the injection microneedle tip to the second pose, it is necessary to iteratively solve the inverse kinematics equations based on the second pose coordinates to determine the first motion vector of each joint of the robotic arm. Specifically, the inverse kinematics (IK) equations are equations for calculating the joint angles of the robotic arm joints when the end effector of the robotic arm is in the target pose, which is the first and second poses in this application. The purpose of inverse kinematics is to find a set of joint angles that enable the end effector of the robotic arm to achieve a specific pose.

[0059] In this step, given the second pose coordinates (x0, y0, z0, w0), the inverse kinematics equations are solved using Newton's method. For any joint i, an initial motion vector guess is first selected. Update the joint motion vector value using Newton's iteration method:

[0060]

[0061] In the formula, J + It is the inverse of the Jacobian matrix, which is the positive motion transformation matrix; It is a positive kinematic function, P d It is the desired end effector pose, i.e., the second pose coordinates (x0, y0, z0, w0).

[0062] Finally, the first motion vector θ of each joint is obtained. i The motion vector of any joint includes the joint's rotation angle and / or translation distance.

[0063] Step b4: Control each joint of the robotic arm to move according to the corresponding first motion vector, so as to adjust the position of the injection microneedle tip to the second position.

[0064] In this step, the first motion vector θ of each joint is obtained. i Then, the robotic arm is controlled to move each joint according to the corresponding first motion vector to adjust the position of the injection microneedle tip to the second position.

[0065] Further, controlling each joint of the robotic arm to move according to the corresponding first motion vector to adjust the pose of the injection microneedle tip to the second pose includes:

[0066] The robotic arm is controlled to move each joint according to the corresponding first motion vector. First, the injection microneedle tip is translated along the longitudinal axis to the longitudinal axis position corresponding to the second pose. Then, the injection microneedle tip is translated along the horizontal axis and vertical axis to the horizontal axis and vertical axis positions corresponding to the second pose. Finally, the rotation angle is adjusted so that the angle of the injection microneedle tip is consistent with the angle corresponding to the second pose, so as to adjust the pose of the injection microneedle tip to the second pose.

[0067] In this embodiment of the application, when performing coarse pose adjustment, the injection microneedle tip is first translated along the Y-axis to y0, then translated along the X-axis and Z-axis to x0 and z0, and finally the rotation angle is adjusted so that the angle of the injection microneedle tip is consistent with the angle w0 corresponding to the second pose, so as to adjust the pose of the injection microneedle tip to the second pose.

[0068] Furthermore, controlling the movement of the robotic arm to adjust the tip of the injection microneedle from the second position to the first position includes:

[0069] Step c1: Iteratively solve the inverse kinematics equations based on the first pose coordinates to determine the second motion vectors of each joint of the robotic arm.

[0070] Step c2: Control each joint of the robotic arm to move according to the corresponding second motion vector, and adjust the tip of the injection microneedle from the second position to the first position.

[0071] Please see Figure 5 , Figure 5 This is a schematic diagram of the robotic arm joints when the microneedle tip is adjusted from the second position to the first position in an embodiment of this application. The descriptions of steps c1 and c2 can be referenced to those of steps b3 and b4, and achieve the same technical effect; therefore, they will not be repeated here.

[0072] Further, controlling each joint of the robotic arm to move according to the corresponding second motion vector, adjusting the injection microneedle tip from the second pose to the first pose, includes:

[0073] The robotic arm is controlled to move each joint according to the corresponding second motion vector. First, the rotation angle is adjusted so that the angle of the injection microneedle tip is consistent with the angle corresponding to the first pose. Then, the injection microneedle tip is translated along the horizontal and vertical axes to the horizontal and vertical axis positions corresponding to the first pose. Finally, the injection microneedle tip is translated along the vertical axis to the vertical axis position of the first pose, thus adjusting the injection microneedle tip from the second pose to the first pose.

[0074] In this embodiment of the application, when performing fine-tuning of the pose, the angle of the injection microneedle tip is first adjusted by rotating the angle so that it is consistent with the angle w1 corresponding to the first pose. Then, the injection microneedle tip is translated to x1 and z1 via the X-axis and Z-axis. Finally, the injection microneedle tip is translated to y1 via the Y-axis so as to adjust the injection microneedle tip from the second pose to the first pose.

[0075] This application provides a robotic arm control method applied to a robotic arm, the end of which is equipped with a puncture needle. The method includes: after the puncture needle completes puncturing, controlling the robotic arm to move a preset distance in the opposite direction to the target insertion direction of the puncture needle, and determining a first pose of the puncture needle tip; controlling the robotic arm to move to a preset safe position, and after replacing the puncture needle with an injection microneedle, controlling the robotic arm to adjust the pose of the injection microneedle tip to a second pose; the second pose is the pose of the injection microneedle tip after replacing the puncture needle with the injection microneedle, determined based on the shapes of the puncture needle and the injection microneedle; controlling the robotic arm to adjust the injection microneedle tip from the second pose to the first pose; and controlling the robotic arm to move a preset distance along the target insertion direction so that the insertion pose of the injection microneedle is consistent with the insertion pose of the puncture needle. In this way, by controlling the movement of the robotic arm, the insertion pose before and after changing the surgical needle can be kept consistent, improving the accuracy of the insertion pose control.

[0076] Based on the same concept, this application also provides a robotic arm control device corresponding to the robotic arm control method provided in the above embodiments. Since the principle of the device in this application is similar to the robotic arm control method in the above embodiments, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0077] Please see Figure 6 , Figure 6 This is a functional block diagram of a robotic arm control device provided in an embodiment of this application. This application provides a robotic arm control device applicable to robotic arms, wherein a through-hole needle is installed at the end of the robotic arm. Figure 6 As shown, the robotic arm control device 600 includes:

[0078] The determining module 610 is used to control the robotic arm to move a preset distance in the opposite direction to the target insertion direction of the piercing needle after the piercing needle has finished piercing, and to determine the first position of the tip of the piercing needle.

[0079] The first execution module 620 is used to control the movement of the robotic arm to a preset safe position. After replacing the puncture needle with an injection microneedle, the robotic arm is controlled to move to adjust the position of the injection microneedle tip to a second position. The second position is the position of the injection microneedle tip after replacing the puncture needle in the first position with an injection microneedle, which is determined based on the shape of the puncture needle and the injection microneedle.

[0080] The second execution module 630 is used to control the movement of the robotic arm and adjust the tip of the injection microneedle from the second position to the first position.

[0081] The third execution module 640 is used to control the robotic arm to move the preset distance along the target needle insertion direction so that the insertion posture of the injection microneedle is consistent with the insertion posture of the puncture needle.

[0082] In one possible implementation, the robotic arm is a multi-axis robotic arm. When the determining module 610 controls the robotic arm to move a preset distance in the opposite direction to the target insertion direction of the piercing needle, and determines the first pose of the piercing needle tip, the determining module 610 is specifically used for:

[0083] After controlling the robotic arm to move a preset distance in the opposite direction to the needle insertion direction of the piercing hole target, for any joint of the robotic arm, the forward kinematics transformation matrix corresponding to the joint is determined according to the forward kinematics transformation and multiple target parameters of the joint; the target parameters include link length, link torsion angle, link offset and joint angle.

[0084] Based on the positive kinematic transformation matrix corresponding to each joint, determine the total transformation matrix from the end coordinate system of the robotic arm to the base coordinate system of the robotic arm;

[0085] Based on the pose coordinates of the needle tip of the piercing needle in the end coordinate system and the total transformation matrix, the first pose coordinates of the needle tip of the piercing needle in the base coordinate system are calculated, and the first pose coordinates are determined as the first pose of the needle tip of the piercing needle.

[0086] Furthermore, when the first execution module 620 controls the movement of the robotic arm to adjust the position of the injection microneedle tip to the second position after replacing the puncture needle with an injection microneedle, the first execution module 620 is specifically used for:

[0087] After replacing the puncture needle with an injection microneedle, the position coordinates of the injection microneedle tip in the end-effector coordinate system are determined based on the shapes of the puncture needle and the injection microneedle, as well as the position coordinates of the puncture needle tip in the end-effector coordinate system.

[0088] Based on the pose coordinates of the injection microneedle tip in the end coordinate system and the total transformation matrix, calculate the second pose coordinates of the injection microneedle tip in the base coordinate system after replacing the first pose puncture needle with the injection microneedle, and determine the second pose coordinates as the second pose of the injection microneedle tip.

[0089] The inverse kinematics equations are solved iteratively based on the second pose coordinates to determine the first motion vector of each joint of the robotic arm; the motion vector of any joint includes the rotation angle and / or translation distance of the joint.

[0090] The robotic arm is controlled to move its joints according to the corresponding first motion vector in order to adjust the position of the injection microneedle tip to the second position.

[0091] Furthermore, when the first execution module 620 controls the movement of each joint of the robotic arm according to the corresponding first motion vector to adjust the pose of the injection microneedle tip to the second pose, the first execution module 620 is specifically used for:

[0092] The robotic arm is controlled to move each joint according to the corresponding first motion vector. First, the injection microneedle tip is translated along the longitudinal axis to the longitudinal axis position corresponding to the second pose. Then, the injection microneedle tip is translated along the horizontal axis and vertical axis to the horizontal axis and vertical axis positions corresponding to the second pose. Finally, the rotation angle is adjusted so that the angle of the injection microneedle tip is consistent with the angle corresponding to the second pose, so as to adjust the pose of the injection microneedle tip to the second pose.

[0093] Furthermore, when the second execution module 630 controls the movement of the robotic arm to adjust the tip of the injection microneedle from the second position to the first position, the second execution module 630 is specifically used for:

[0094] The inverse kinematics equations are solved iteratively based on the first pose coordinates to determine the second motion vectors of each joint of the robotic arm;

[0095] Control each joint of the robotic arm to move according to the corresponding second motion vector, and adjust the tip of the injection microneedle from the second position to the first position.

[0096] Furthermore, when the second execution module 630 controls the movement of each joint of the robotic arm according to the corresponding second motion vector to adjust the tip of the injection microneedle from the second pose to the first pose, the second execution module 630 is specifically used for:

[0097] The robotic arm is controlled to move each joint according to the corresponding second motion vector. First, the rotation angle is adjusted so that the angle of the injection microneedle tip is consistent with the angle corresponding to the first pose. Then, the injection microneedle tip is translated along the horizontal and vertical axes to the horizontal and vertical axis positions corresponding to the first pose. Finally, the injection microneedle tip is translated along the vertical axis to the vertical axis position of the first pose, thus adjusting the injection microneedle tip from the second pose to the first pose.

[0098] This application provides a robotic arm control device applied to a robotic arm. The end of the robotic arm is equipped with a puncture needle. The robotic arm control device includes: a determining module, used to control the robotic arm to move a preset distance in the opposite direction to the target insertion direction of the puncture needle after the puncture needle has completed puncturing, and to determine the first pose of the puncture needle tip; a first execution module, used to control the robotic arm to move to a preset safe position, and after replacing the puncture needle with an injection microneedle, to control the robotic arm to move to adjust the pose of the injection microneedle tip to a second pose; the second pose is the pose of the injection microneedle tip after replacing the puncture needle with the injection microneedle, determined based on the shapes of the puncture needle and the injection microneedle; a second execution module, used to control the robotic arm to move and adjust the injection microneedle tip from the second pose to the first pose; and a third execution module, used to control the robotic arm to move a preset distance along the target insertion direction so that the insertion pose of the injection microneedle is consistent with the insertion pose of the puncture needle. In this way, by controlling the movement of the robotic arm, the needle insertion posture can be kept consistent before and after changing the surgical needle, thus improving the accuracy of needle insertion posture control.

[0099] Based on the same application concept, please refer to Figure 7 , Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 7 As shown, the electronic device 700 includes a processor 710, a memory 720, and a bus 730.

[0100] The memory 720 stores machine-readable instructions executable by the processor 710. When the electronic device 700 is running, the processor 710 and the memory 720 communicate through the bus 730. When the machine-readable instructions are executed by the processor 710, the steps of the robotic arm control method provided in the above embodiment are executed. For specific implementation details, please refer to the method embodiment, which will not be repeated here.

[0101] Based on the same concept, this application also provides a computer-readable storage medium storing a computer program. When the computer program is run by a processor, it executes the steps of the robotic arm control method provided in the above embodiments. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0102] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described apparatus and unit can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0103] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0104] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0105] In addition, the functional units in the embodiments provided in this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0106] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0107] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0108] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A robotic arm control method, characterized in that, The method is applied to a multi-axis robotic arm, wherein a through-hole needle is installed at the end of the robotic arm; the method includes: After the piercing needle completes the piercing, the robotic arm is controlled to move a preset distance in the opposite direction to the target insertion direction of the piercing needle, and the first position of the piercing needle tip is determined. The robotic arm is controlled to move to a preset safe position. After the puncture needle is replaced with an injection microneedle, the robotic arm is controlled to move to adjust the position of the injection microneedle tip to a second position. The second position is the position of the injection microneedle tip after the first position of the puncture needle is replaced with the injection microneedle, which is determined based on the shape of the puncture needle and the injection microneedle. Control the movement of the robotic arm to adjust the tip of the injection microneedle from the second position to the first position; The robotic arm is controlled to move a preset distance along the target needle insertion direction so that the insertion posture of the injection microneedle is consistent with the insertion posture of the puncture needle. The step of controlling the robotic arm to move a preset distance in the opposite direction to the target insertion direction of the piercing needle after the piercing needle has completed its piercing, and determining the first pose of the piercing needle tip, includes: After controlling the robotic arm to move a preset distance in the opposite direction to the needle insertion direction of the piercing hole target, for any joint of the robotic arm, the forward kinematics transformation matrix corresponding to the joint is determined according to the forward kinematics transformation and multiple target parameters of the joint; the target parameters include link length, link torsion angle, link offset and joint angle. Based on the positive kinematic transformation matrix corresponding to each joint, determine the total transformation matrix from the end coordinate system of the robotic arm to the base coordinate system of the robotic arm; Based on the pose coordinates of the needle tip of the piercing needle in the end coordinate system and the total transformation matrix, calculate the first pose coordinates of the needle tip of the piercing needle in the base coordinate system, and determine the first pose coordinates as the first pose of the needle tip of the piercing needle. After replacing the puncture needle with an injection microneedle, controlling the movement of the robotic arm to adjust the position of the injection microneedle tip to a second position includes: After replacing the puncture needle with an injection microneedle, the position coordinates of the injection microneedle tip in the end-effector coordinate system are determined based on the shapes of the puncture needle and the injection microneedle, as well as the position coordinates of the puncture needle tip in the end-effector coordinate system. Based on the pose coordinates of the injection microneedle tip in the end coordinate system and the total transformation matrix, calculate the second pose coordinates of the injection microneedle tip in the base coordinate system after replacing the first pose puncture needle with the injection microneedle, and determine the second pose coordinates as the second pose of the injection microneedle tip. The inverse kinematics equations are solved iteratively based on the second pose coordinates to determine the first motion vector of each joint of the robotic arm; the motion vector of any joint includes the rotation angle and / or translation distance of the joint. The robotic arm is controlled to move its joints according to the corresponding first motion vector in order to adjust the position of the injection microneedle tip to the second position.

2. The robotic arm control method according to claim 1, characterized in that, The pose coordinates are represented in the form of quadruples, including three-dimensional coordinates and homogeneous coordinates of the three-dimensional coordinates.

3. The robotic arm control method according to claim 1, characterized in that, Controlling each joint of the robotic arm to move according to a corresponding first motion vector to adjust the pose of the injection microneedle tip to a second pose includes: The robotic arm is controlled to move each joint according to the corresponding first motion vector. First, the injection microneedle tip is translated along the longitudinal axis to the longitudinal axis position corresponding to the second pose. Then, the injection microneedle tip is translated along the horizontal axis and vertical axis to the horizontal axis and vertical axis positions corresponding to the second pose. Finally, the rotation angle is adjusted so that the angle of the injection microneedle tip is consistent with the angle corresponding to the second pose, so as to adjust the pose of the injection microneedle tip to the second pose.

4. The robotic arm control method according to claim 1, characterized in that, The control of the robotic arm movement, adjusting the injection microneedle tip from the second position to the first position, includes: The inverse kinematics equations are solved iteratively based on the first pose coordinates to determine the second motion vectors of each joint of the robotic arm; Control each joint of the robotic arm to move according to the corresponding second motion vector, and adjust the tip of the injection microneedle from the second position to the first position.

5. The robotic arm control method according to claim 4, characterized in that, The control of each joint of the robotic arm to move according to the corresponding second motion vector, adjusting the injection microneedle tip from the second pose to the first pose, includes: The robotic arm is controlled to move each joint according to the corresponding second motion vector. First, the rotation angle is adjusted so that the angle of the injection microneedle tip is consistent with the angle corresponding to the first pose. Then, the injection microneedle tip is translated along the horizontal and vertical axes to the horizontal and vertical axis positions corresponding to the first pose. Finally, the injection microneedle tip is translated along the vertical axis to the vertical axis position of the first pose, thus adjusting the injection microneedle tip from the second pose to the first pose.

6. A robotic arm control device, characterized in that, This is applied to a robotic arm, which is a multi-axis robotic arm, and the end of the robotic arm is equipped with a through-hole needle; the robotic arm control device includes: The determination module is used to control the robotic arm to move a preset distance in the opposite direction to the target insertion direction of the piercing needle after the piercing needle has finished piercing, and to determine the first pose of the tip of the piercing needle. The first execution module is used to control the movement of the robotic arm to a preset safe position. After the puncture needle is replaced with an injection microneedle, the robotic arm is controlled to move to adjust the position of the injection microneedle tip to a second position. The second position is the position of the injection microneedle tip after the first position of the puncture needle is replaced with the injection microneedle, which is determined based on the shape of the puncture needle and the injection microneedle. The second execution module is used to control the movement of the robotic arm and adjust the tip of the injection microneedle from the second position to the first position. The third execution module is used to control the robotic arm to move the preset distance along the target needle insertion direction so that the insertion posture of the injection microneedle is consistent with the insertion posture of the puncture needle. When the determining module controls the robotic arm to move a preset distance in the opposite direction to the target insertion direction of the piercing needle and determines the first pose of the piercing needle tip, the determining module is specifically used for: After controlling the robotic arm to move a preset distance in the opposite direction to the needle insertion direction of the piercing hole target, for any joint of the robotic arm, the forward kinematics transformation matrix corresponding to the joint is determined according to the forward kinematics transformation and multiple target parameters of the joint; the target parameters include link length, link torsion angle, link offset and joint angle. Based on the positive kinematic transformation matrix corresponding to each joint, determine the total transformation matrix from the end coordinate system of the robotic arm to the base coordinate system of the robotic arm; Based on the pose coordinates of the needle tip of the piercing needle in the end coordinate system and the total transformation matrix, calculate the first pose coordinates of the needle tip of the piercing needle in the base coordinate system, and determine the first pose coordinates as the first pose of the needle tip of the piercing needle. When the first execution module controls the movement of the robotic arm to adjust the position of the injection microneedle tip to a second position after replacing the puncture needle with an injection microneedle, the first execution module is specifically used for: After replacing the puncture needle with an injection microneedle, the position coordinates of the injection microneedle tip in the end-effector coordinate system are determined based on the shapes of the puncture needle and the injection microneedle, as well as the position coordinates of the puncture needle tip in the end-effector coordinate system. Based on the pose coordinates of the injection microneedle tip in the end coordinate system and the total transformation matrix, calculate the second pose coordinates of the injection microneedle tip in the base coordinate system after replacing the first pose puncture needle with the injection microneedle, and determine the second pose coordinates as the second pose of the injection microneedle tip. The inverse kinematics equations are solved iteratively based on the second pose coordinates to determine the first motion vector of each joint of the robotic arm; the motion vector of any joint includes the rotation angle and / or translation distance of the joint. The robotic arm is controlled to move its joints according to the corresponding first motion vector in order to adjust the position of the injection microneedle tip to the second position.

7. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. The machine-readable instructions are executed by the processor to perform the steps of the robotic arm control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the robotic arm control method as described in any one of claims 1 to 5.

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