Method and device for determining configuration of mechanical arm and computer equipment

Abstract

The invention relates to a configuration determination method and device of a mechanical arm and computer equipment. The method comprises the steps that the configuration of the current mechanical arm is displayed on a display interface, and configuration adjustment indication information is displayed; and under the condition that it is determined that the configuration of the current mechanical arm does not meet the preset requirement, the configuration of the current mechanical arm is updated in response to the adjustment operation on the configuration according to the configuration adjustment indication information, and the target position of the updated mechanical arm is obtained. By means of the configuration determining method of the mechanical arm, the more accurate target configuration of the mechanical arm can be obtained.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a method, device and computer equipment for determining the configuration of a robotic arm. Background Art

[0002] With the development of robotic technology, surgical robot systems with robotic arms have emerged. The surgical robot system can be used to move the robotic arm to a specified position during surgical preparation, and then the medical staff can determine the configuration of the robotic arm of the surgical robot system according to the surgical requirements. For medical staff, quickly and accurately determining the configuration of the robotic arm can greatly improve surgical efficiency.

[0003] In the conventional technology, medical personnel usually determine the configuration of the robotic arm based on their own experience. However, the configuration of the robotic arm determined in this way is inaccurate. Summary of the invention

[0004] Based on this, it is necessary to provide a method, device and computer equipment for determining the configuration of a robotic arm to improve the accuracy of the configuration of the robotic arm in order to address the above technical problems.

[0005] In a first aspect, the present application provides a method for determining a configuration of a robotic arm, the method comprising:

[0006] Displaying the current configuration of the robot arm on the display interface, and displaying configuration adjustment instruction information;

[0007] When it is determined that the current configuration of the robotic arm does not meet the preset requirements, in response to an adjustment operation on the configuration according to the configuration adjustment instruction information, the configuration of the current robotic arm is updated to obtain a target configuration of the robotic arm.

[0008] In one embodiment, the configuration adjustment indication information includes rotation angle adjustment indication information and / or relative distance adjustment indication information; the display interface includes a rotation angle adjustment area and / or a relative distance adjustment area; and displaying the configuration adjustment indication information includes:

[0009] Displaying rotation angle adjustment indication information in the rotation angle adjustment area;

[0010] And / or, relative distance adjustment indication information is displayed in the relative distance adjustment area.

[0011] In one embodiment, the rotation angle adjustment area is a circular area or a sector area, an angle scale is set on the edge of the circular area or the sector area, and the rotation angle adjustment indication information is displayed in the rotation angle adjustment area, including:

[0012] According to the angle value indicated by the rotation angle adjustment indication information, a rotation position corresponding to the angle value is determined on the edge of the circular area or the sector area;

[0013] The first indication label is used to point to the rotation position, and the first indication label is displayed in a circular area or a sector-shaped area.

[0014] In one embodiment, the relative distance adjustment area is a rectangular area, a distance scale is set on the rectangular area, and the relative distance adjustment indication information is displayed in the relative distance adjustment area, including:

[0015] According to the distance value indicated by the relative distance adjustment indication information, determining a movement position corresponding to the distance value on the rectangular area;

[0016] The second indication label is used to point to the movement position, and the second indication label is displayed in the rectangular area.

[0017] In one embodiment, the method further comprises:

[0018] The updated configuration of the robotic arm is used as the new configuration of the current robotic arm, and the steps of displaying the configuration of the current robotic arm on the display interface and displaying configuration adjustment instruction information are returned to execute until the configuration of the current robotic arm meets the preset requirements.

[0019] In one embodiment, the display interface includes an adjustment control, and the adjustment operation includes a click operation or a drag operation.

[0020] In one embodiment, the method further comprises:

[0021] When it is determined that the current configuration of the robotic arm meets the preset requirements, a motion control instruction is sent to the robotic arm in response to a trigger operation on an execution control on the display interface.

[0022] In a second aspect, the present application provides a configuration determination device for a robotic arm, the device comprising:

[0023] A display module, used to display the current configuration of the robot arm on a display interface, and to display configuration adjustment instruction information;

[0024] The updating module is used to update the configuration of the current robotic arm in response to the configuration adjustment operation according to the configuration adjustment instruction information when it is determined that the configuration of the current robotic arm does not meet the preset requirements, so as to obtain the target configuration of the robotic arm.

[0025] In a third aspect, an embodiment of the present application provides a surgical robot system, comprising a display device and a surgical robot, the surgical robot comprising a robotic arm, the display device being used to execute the method provided in the first aspect above, the surgical robot being used to receive motion control instructions and control the movement of the robotic arm in the surgical robot according to the motion control instructions.

[0026] In a fourth aspect, an embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method provided in the first aspect when executing the computer program.

[0027] The above-mentioned method, device and computer equipment for determining the configuration of the mechanical arm display configuration adjustment indication information on the display interface. When it is determined that the current configuration of the mechanical arm does not meet the preset requirements, the configuration of the mechanical arm is updated to obtain the target configuration of the mechanical arm through interaction with the user, that is, receiving the user's configuration adjustment operation according to the configuration adjustment indication information, and responding to the adjustment operation. The configuration of the current mechanical arm is updated to obtain the target configuration of the mechanical arm. In this way, the user does not need to adjust the configuration according to his own experience, but directly adjusts the configuration of the mechanical arm according to the configuration adjustment indication information, so that the target configuration of the mechanical arm is more accurate; and adjusting the configuration of the mechanical arm according to the configuration adjustment indication information can greatly improve the efficiency of obtaining the target configuration of the mechanical arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is an application environment diagram of a method for determining a configuration of a robot arm in one embodiment;

[0029] Figure 2 A schematic flow chart of the steps of a method for determining a configuration of a robot arm in one embodiment;

[0030] Figure 3 A display schematic diagram of a display interface in an embodiment;

[0031] Figure 4 is a display schematic diagram of a display interface in another embodiment;

[0032] Figure 5 is a display schematic diagram of a display interface in another embodiment;

[0033] Figure 6 is a display schematic diagram of a display interface in another embodiment;

[0034] Figure 7 A schematic flow chart of steps of a method for determining a configuration of a robot arm in another embodiment;

[0035] Figure 8 A schematic flow chart of steps of a method for determining a configuration of a robot arm in another embodiment;

[0036] Fig. 9 is a display schematic diagram of a display interface in another embodiment;

[0037] Fig.10 A schematic flow chart of steps of a method for determining a configuration of a robot arm in another embodiment;

[0038] Fig.11 is a schematic diagram of the structure of a surgical robot in one embodiment;

[0039] Fig.12 Schematic diagram of the structure of a device for determining a configuration of a robotic arm in one embodiment. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0041] The serial numbers assigned to the components in this application, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning.

[0042] First of all, before specifically introducing the technical solutions of the disclosed embodiments of the present application, the background technology or technical evolution context on which the embodiments of the present application are based is introduced. With the development of robotics technology, surgical robot systems with robotic arms have emerged. Using a surgical robot system, the robotic arm can be moved to a specified position during surgical preparation, and then the medical staff determines the configuration of the robotic arm in the surgical robot system according to the surgical requirements. For medical staff, quickly and accurately determining the configuration of the robotic arm can achieve the effect of improving surgical efficiency. In the related art, it is usually the medical staff who adjusts the rotation angle and relative distance of the robotic arm according to their own experience to determine the configuration of the robotic arm. However, when the medical staff adjusts the rotation angle and relative distance, it is impossible to determine the optimal adjustment parameters for the rotation angle and relative distance according to the current state of the robotic arm, resulting in inaccurate configuration of the adjusted robotic arm. In this regard, the present application provides a method for determining the configuration of a robotic arm.

[0043] The technical solution of the present application and how the technical solution of the present application solves the technical problem are described in detail below with specific embodiments.

[0044] The configuration determination method of the robot arm provided in the present application can be applied to computer equipment, and the computer equipment can be, but is not limited to, industrial computers, laptops, smart phones, and tablet computers. The internal structure of the computer equipment can be as follows: Figure 1As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected to a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for determining the configuration of a robotic arm is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0045] In one embodiment, Figure 2 As shown, a method for determining the configuration of a robotic arm is provided. This embodiment uses the method applied to a computer device as an example. In this embodiment, the steps of the method include:

[0046] Step 200: Display the current configuration of the robot arm on the display interface, and display configuration adjustment instruction information.

[0047] The current configuration of the robotic arm refers to the position and posture of the robotic arm in the current surgical robot, that is, the position and posture of the robotic arm in a preset coordinate system. The preset coordinate system can be a spatial coordinate system or a base coordinate system (a coordinate system with the base of the robotic arm as the center origin). The configuration of the current robotic arm on the display interface of the display screen of the computer device. The display interface of the computer device includes a configuration display area of ​​the robotic arm, and the configuration of the current robotic arm is displayed in the configuration display area of ​​the robotic arm.

[0048] In an optional embodiment, the current configuration of the robot arm may be displayed in the configuration display area of ​​the robot arm in the form of text. Figure 3 As shown, the configuration display area of ​​the robot arm includes two display frames, the first display frame displays the current position of the robot arm, and the second display frame displays the current posture (rotation angle) of the robot arm.

[0049] In another optional embodiment, the current position of the robot arm may be displayed in the position display area of ​​the robot arm in the form of an image. Figure 4 As shown, an image of the current configuration of the robotic arm is displayed in the configuration display area of ​​the robotic arm.

[0050] The configuration adjustment instruction information is used to represent a label that instructs the user to adjust the configuration of the robot arm. Figure 3 or Figure 4 As shown, the display interface of the computer device includes a display area for configuration adjustment instruction information, and the position adjustment instruction information is displayed in the display area for configuration adjustment instruction information. This embodiment does not limit the configuration of the current robot arm and the specific display form of the configuration adjustment instruction information on the display interface, as long as its function can be achieved.

[0051] Step 210: When it is determined that the current configuration of the robotic arm does not meet the preset requirements, in response to the configuration adjustment operation according to the configuration adjustment instruction information, the configuration of the current robotic arm is updated to obtain the target configuration of the robotic arm.

[0052] After the current configuration of the robotic arm is displayed on the display interface, the user can determine whether the current configuration of the robotic arm displayed on the display interface meets the preset requirements, that is, determine whether the current configuration of the robotic arm meets the configuration of the robotic arm required during the operation; or the computer device can compare the current configuration of the robotic arm with the preset configuration of the robotic arm that meets the preset requirements to determine whether the current configuration of the robotic arm meets the preset requirements.

[0053] When it is determined that the configuration of the current robotic arm does not meet the preset requirements, the user will adjust the configuration of the current robotic arm according to the configuration adjustment instruction information displayed on the display interface, and the computer device will update the configuration of the current robotic arm in response to the adjustment operation to obtain the updated configuration of the robotic arm, that is, the target configuration of the robotic arm.

[0054] The adjustment operation performed by the user on the current configuration of the mechanical arm may be a click operation or a drag operation, or may be an updated configuration of the mechanical arm input by the user. This embodiment does not limit this, as long as its function can be achieved.

[0055] If the user determines that the current configuration of the robot arm does not meet the preset requirements, then in an optional embodiment, Figure 5As shown, a configuration determination control is displayed on the display interface, including a "yes" control and a "no" control. If the user triggers the "yes" control (clicks or drags), it is determined that the configuration of the current robotic arm meets the preset requirements; if the user triggers the "no" control (clicks or drags), it is determined that the configuration of the current robotic arm does not meet the preset requirements. In another optional embodiment, if the computer device receives a configuration adjustment operation from the user according to the configuration adjustment indication information, it indicates that the user determines that the configuration of the current robotic arm does not meet the preset requirements; that is, when the user determines that the configuration of the current robotic arm does not meet the preset requirements, the user directly performs an adjustment operation according to the configuration adjustment indication information, which indicates that the user determines that the configuration of the current robotic arm does not meet the preset requirements.

[0056] If the computer device determines that the current configuration of the robot arm does not meet the preset requirements, the computer device updates the configuration adjustment status on the display interface to operable. That is, before determining whether the current configuration of the robot arm meets the preset requirements, the configuration adjustment status displayed on the display interface is inoperable, that is, the user cannot adjust the configuration in this state; when it is determined that the current configuration of the robot arm meets the preset requirements, the computer device updates the configuration adjustment status to operable, that is, the user can adjust the configuration in this state.

[0057] The embodiment of the present application provides a method for determining the configuration of a mechanical arm, the method comprising displaying the configuration of the current mechanical arm on a display interface, and displaying configuration adjustment indication information; when it is determined that the configuration of the current mechanical arm does not meet the preset requirements, in response to the configuration adjustment operation according to the configuration adjustment indication information, updating the position of the current mechanical arm, and obtaining the target configuration of the mechanical arm. In this embodiment, the configuration adjustment indication information is displayed on the display interface, and when it is determined that the configuration of the current mechanical arm does not meet the preset requirements, through interaction with the user, that is, receiving the user's configuration adjustment operation according to the configuration adjustment indication information, and in response to the adjustment operation, updating the configuration of the current mechanical arm, the target configuration of the mechanical arm is obtained. In this way, the user does not need to adjust the configuration of the mechanical arm according to his own experience, but directly adjusts the configuration of the mechanical arm according to the configuration adjustment indication information, so that the target configuration of the mechanical arm obtained is more accurate. And adjusting the configuration of the mechanical arm according to the configuration adjustment indication information can greatly improve the efficiency of obtaining the target configuration of the mechanical arm.

[0058] In one embodiment, Figure 6 As shown, the display interface includes adjustment controls, and the adjustment operation includes a click operation or a drag operation.

[0059] The area on the display interface that displays the configuration adjustment indication information also displays an adjustment control, and the user adjusts the adjustment control according to the configuration adjustment indication information. The adjustment operation can be a click operation or a drag operation. Different adjustment controls have different corresponding adjustment operations.

[0060] In an optional embodiment, if the adjustment control is an adjustment button, the adjustment operation is a click operation; if the adjustment control is a slider, the adjustment operation is a drag operation; if the adjustment control is an arrow, the adjustment operation is a toggle operation.

[0061] In this embodiment, the user's adjustment operation on the configuration may be a click operation or a drag operation on the adjustment control on the display interface, so that the configuration adjustment method is very simple and convenient.

[0062] In one embodiment, the configuration adjustment indication information includes at least one of rotation angle adjustment indication information and relative distance adjustment indication information; and the display interface includes at least one of a rotation angle adjustment area and a relative distance adjustment area.

[0063] The adjustment of the configuration of the manipulator includes the adjustment of the position (relative distance) and / or posture (rotation angle) of the manipulator, and the configuration adjustment indication information may include only the rotation angle adjustment indication information, or only the relative distance adjustment indication information, or may include the rotation angle indication information and the relative distance adjustment information. Correspondingly, in the case where the configuration adjustment indication information only includes the rotation angle indication information, the display interface may only include the rotation angle adjustment area, and the rotation angle adjustment indication information is displayed in the rotation angle adjustment area. In the case where the configuration adjustment indication information only includes the relative distance adjustment indication information, the display interface may only include the relative distance adjustment area, and the relative distance adjustment indication information is displayed in the relative distance adjustment area. In the case where the configuration adjustment indication information includes the rotation angle indication information and the relative distance adjustment information, the display interface includes the rotation angle adjustment area and the relative distance adjustment area, and the rotation angle adjustment indication information is displayed in the rotation angle adjustment area, and the relative distance adjustment indication information is displayed in the relative distance adjustment area. This embodiment does not limit the shape, size and display position of the rotation angle adjustment area, as well as the shape, size and display position of the relative distance adjustment area, as long as its function can be achieved.

[0064] In an optional embodiment, the rotation angle adjustment area may be any one of a circular area, a sector area, an elliptical area, a regular polygon area, a rounded rectangular area, a rounded regular polygon area, etc. The rotation angle adjustment area may also be a knob style.

[0065] In an optional embodiment, the relative distance adjustment area can be any one of a bar area, an isosceles triangle area with a height to base length ratio less than or equal to 0.1, a right triangle area with a height to base length ratio less than or equal to 0.1, a rounded matrix area, etc. The relative distance adjustment area can also be a progress bar style or a slider control style, etc.

[0066] In an optional embodiment, the display interface may include a rotation angle adjustment area and a relative distance adjustment area. When the configuration adjustment indication information only includes the rotation angle adjustment indication information, the rotation angle adjustment indication information is displayed in the rotation angle adjustment area, and the relative distance adjustment indication information is not displayed in the relative distance adjustment area; when the configuration adjustment indication information only includes the relative distance adjustment indication information, the relative distance adjustment indication information is displayed in the relative distance adjustment area, and the rotation angle adjustment indication information is not displayed in the rotation angle adjustment area.

[0067] In this embodiment, the display interface of the computer device includes a rotation angle adjustment area and a relative distance adjustment area. The rotation angle adjustment indication information is displayed in the rotation angle adjustment area, and the relative distance adjustment indication information is displayed in the relative distance adjustment area. In this way, the configuration adjustment indication information can be displayed more clearly, thereby improving the practicality and reliability of the configuration determination method of the robotic arm.

[0068] In one embodiment, the rotation angle adjustment area is a circular area or a sector area, and the edge of the circular area or the sector area is provided with an angle scale. Figure 7 As shown, an implementation method of displaying rotation angle adjustment indication information in a rotation angle adjustment area includes the following steps:

[0069] Step 700: According to the angle value indicated by the rotation angle adjustment indication information, determine a rotation position corresponding to the angle value on the edge of the circular area or the sector area.

[0070] The rotation angle adjustment instruction information may be determined by a computer device according to the current configuration of the robotic arm.

[0071] In an optional embodiment, the specific method for the computer device to determine the configuration adjustment instruction information according to the current configuration of the robot arm includes: determining the homogeneous transformation matrix of the robot end effector according to the rotation angle and relative distance of the current robot arm, determining multiple configuration adjustment information by calling the robot arm inverse kinematics; selecting an optimal configuration adjustment information from the multiple configuration adjustment information to determine as the configuration adjustment instruction information. The configuration adjustment instruction information includes the rotation angle adjustment instruction information, and the rotation angle adjustment instruction information can be obtained according to the configuration adjustment instruction information.

[0072] The rotation angle adjustment indication information includes the rotation angle value to be adjusted. After obtaining the rotation angle adjustment indication information, the computer device will determine the rotation position corresponding to the angle value on the edge of the rotation angle adjustment area (circular area or sector area) according to the rotation angle value included in the rotation angle adjustment indication information, that is, the position in the rotation angle adjustment area after rotating the angle value.

[0073] Step 710: Use a first indication label to point to the rotation position, and display the first indication label in a circular area or a sector-shaped area.

[0074] After determining the rotation position corresponding to the rotation angle value, the computer device uses the first indicator label to point to the rotation position, and displays the first indicator label on the rotation angle adjustment area. The first indicator label can be an arrow, or a pointer, or a color different from that of the rotation angle adjustment area. This embodiment does not limit the form of the first indicator label, as long as its function can be achieved.

[0075] In this embodiment, the first indication label is used to point to the rotation position corresponding to the angle value included in the rotation angle adjustment indication information, and the first indication label is displayed. In this way, the first indication label can clearly indicate to the user how to adjust the rotation angle of the robot arm, so that the user can adjust the configuration according to the first indication label to obtain a more accurate target configuration of the robot arm, thereby improving the practicality of the method for determining the configuration of the robot arm.

[0076] In one embodiment, the relative distance adjustment area is a rectangular area, and a distance scale is set on the rectangular area. In this case, Figure 8 As shown, an implementation method of displaying relative distance adjustment indication information in a relative distance adjustment area includes the following steps:

[0077] Step 800: According to the distance value indicated by the relative distance adjustment indication information, determine the movement position corresponding to the distance value on the rectangular area.

[0078] The relative distance adjustment indication information may be determined by the computer device according to the current configuration of the manipulator. The method for the computer device to determine the relative distance according to the current configuration of the manipulator may refer to the method in the above embodiment to determine the configuration adjustment indication information. The configuration adjustment indication information includes the relative distance adjustment indication information, and the relative distance adjustment indication information can be obtained according to the configuration adjustment indication information.

[0079] The relative distance adjustment indication information includes the distance value to be adjusted. After obtaining the relative distance adjustment indication information, the computer device will determine the movement position corresponding to the distance value on the relative distance adjustment area (rectangular area) according to the distance value included in the relative distance adjustment indication information, that is, the position of the distance value in the rectangular area after moving.

[0080] Step 810: Use a second indication tag to point to the moving position, and display the second indication tag in the rectangular area.

[0081] After determining the movement position corresponding to the distance value, the computer device uses a second indicator label to point to the movement position, and displays the second indicator label on the relative distance adjustment area. The second indicator label can be an arrow, a pointer, or a color different from that of the relative distance adjustment area. This embodiment does not limit the form of the second indicator label, as long as its function can be achieved. The second indicator label and the first indicator label can be the same or different.

[0082] In this embodiment, the second indication label is used to point to the motion position corresponding to the distance value according to the relative distance adjustment indication information, and the second indication label is displayed. In this way, the second indication label can clearly indicate to the user how to adjust the relative distance of the robot arm, so that the user can adjust the configuration according to the second indication label to obtain a more accurate target position of the robot arm, thereby improving the practicality of the method for determining the configuration of the robot arm.

[0083] In one embodiment, after the computer device updates the configuration of the current robotic arm, the method further comprises:

[0084] The updated configuration of the robotic arm is used as the new configuration of the current robotic arm, and the steps of displaying the configuration of the current robotic arm on the display interface and displaying configuration adjustment instruction information are returned to execute until the configuration of the current robotic arm meets the preset requirements.

[0085] After obtaining the updated configuration of the mechanical arm, the computer device will use the updated configuration of the mechanical arm as the new configuration of the current mechanical arm, and return to execute steps 200 and 210 until it is determined that the position of the current mechanical arm meets the preset required position. In other words, after obtaining the updated configuration of the mechanical arm, the computer device will display the updated configuration of the mechanical arm on the display interface, determine the configuration of the mechanical arm as the configuration of the current mechanical arm, repeat the method for determining the configuration of the mechanical arm in the above embodiment, until it is determined that the configuration of the current mechanical arm meets the preset requirements, and determine the position of the current mechanical arm that meets the preset requirements as the target configuration of the mechanical arm.

[0086] In this embodiment, the updated configuration of the robotic arm is used as the new configuration of the current robotic arm to repeat the above process of updating the configuration of the current robotic arm, which can improve the accuracy of the determined target configuration of the robotic arm.

[0087] In an optional embodiment, after obtaining the updated configuration of the robotic arm, the computer device will determine new configuration adjustment indication information according to the updated configuration of the robotic arm, that is, the configuration adjustment indication information will change with the update of the current configuration of the robotic arm.

[0088] In one embodiment, the method further comprises:

[0089] When it is determined that the current configuration of the robotic arm meets the preset requirements, a motion control instruction is sent to the robotic arm in response to a trigger operation on an execution control on the display interface.

[0090] For the description of determining whether the configuration of the current robotic arm meets the preset requirements, reference may be made to the specific description in the above embodiment, which will not be repeated here.

[0091] The display interface of the computer device includes an execution control. When it is determined that the current configuration of the robotic arm meets the preset requirements, that is, the current configuration of the robotic arm is the target configuration of the robotic arm required by the user, the user triggers the execution control on the display interface, and the computer device receives the trigger operation and sends a motion control instruction to the robotic arm in response to the trigger operation, so that the robotic arm moves to the target configuration. The trigger operation can be a click operation or a drag operation.

[0092] In this embodiment, when it is determined that the current configuration of the robotic arm meets the preset requirements, the computer device sends a motion control instruction to the robotic arm in response to the user's triggering operation on the execution control, so that the robotic arm can move to the target configuration for processing, thereby improving the practicality of the method for determining the configuration of the robotic arm.

[0093] In an optional embodiment, the display interface is as follows: Fig. 9 As shown, the rotation angle adjustment area is a circular area, the relative distance adjustment area is a rectangular area, the first indication label and the second indication label are both arrows, and the current configuration of the manipulator is displayed in the configuration display area of ​​the manipulator in the form of an image. The execution control is included in the lower right corner of the display interface.

[0094] In an optional embodiment, in the current robot arm configuration display area of ​​the display interface, in the initial state, the initial configuration of the robot arm is displayed. The initial configuration of the robot arm can be the initial configuration of the robot arm of the surgical robot in the surgical robot system; it can also be the configuration of the robot arm preset by the user. Before performing the operation, the medical staff will move the robot arm in the surgical robot system, and after moving to a certain position, the current configuration of the robot arm will be input into the computer device, and the computer device will display the current configuration of the robot arm.

[0095] See also Fig.10 An embodiment of the present application provides a method for determining a configuration of a robotic arm, the method comprising the steps of:

[0096] Step 101, displaying the current configuration of the robot arm on a display interface; the display interface includes a rotation angle adjustment area and a relative distance adjustment area; the rotation angle adjustment area is a circular area or a sector area, and the relative distance adjustment area is a rectangular area;

[0097] Step 102: according to the angle value indicated by the rotation angle adjustment indication information, determine a rotation position corresponding to the angle value on the edge of the circular area or the sector area;

[0098] Step 103: Use a first indication label to point to the rotation position, and display the first indication label in a circular area or a sector area;

[0099] Step 104: determining a movement position corresponding to the distance value on the rectangular area according to the distance value indicated by the relative distance adjustment indication information;

[0100] Step 105: Use a second label to point to the movement position, and display a second indication label in the rectangular area;

[0101] Step 106: when it is determined that the current configuration of the robot arm does not meet the preset requirement, in response to the adjustment operation of the configuration according to the first indication tag and the second indication tag, updating the current configuration of the robot arm;

[0102] Step 107 , taking the updated configuration of the robotic arm as the new current position of the robotic arm, and returning to execute steps 101 to 106 until the configuration of the current robotic arm meets the preset requirements.

[0103] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0104] See also Fig.11 In one embodiment of the present application, a surgical robot system 10 is provided, comprising a display device 11 and a surgical robot 12, wherein the surgical robot 12 comprises a robotic arm. The display device 11 is used to execute the method for determining the configuration of the robotic arm provided in the above embodiment; the surgical robot 12 is used to receive a motion control instruction sent by the display device 11, and control the motion of the robotic arm in the surgical robot 12 according to the motion control instruction.

[0105] The display device 11 may be a touch screen display. The surgical robot 12 includes a robotic arm and a controller, and the controller is used to receive motion control instructions and control the robotic arm to move to a target configuration according to the motion control instructions. This embodiment does not limit the specific structure of the display device 11 and the surgical robot 12, as long as their functions can be achieved.

[0106] In this embodiment, the display device 11 included in the surgical robot system 10 is used to execute the configuration determination method of the robotic arm provided in the above embodiment. The surgical robot system 10 has the same beneficial effects as the configuration determination method of the robotic arm, which will not be repeated here.

[0107] Based on the same inventive concept, the embodiment of the present application also provides a mechanical arm configuration determination device for implementing the mechanical arm configuration determination method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of one or more mechanical arm configuration determination devices provided below can refer to the limitations of the mechanical arm configuration determination method above, and will not be repeated here.

[0108] In one embodiment, Fig.12 As shown, a configuration determination device 20 for a robotic arm is provided, comprising: a display module 21 and an update module 22, wherein:

[0109] The display module 21 is used to display the current configuration of the robot arm on the display interface, and display configuration adjustment instruction information.

[0110] The updating module 22 is used to update the configuration of the current robotic arm in response to the configuration adjustment operation according to the configuration adjustment instruction information when it is determined that the configuration of the current robotic arm does not meet the preset requirements, so as to obtain the target configuration of the robotic arm.

[0111] In one embodiment, the configuration adjustment indication information includes rotation angle adjustment indication information and / or relative distance adjustment indication information; the display interface includes a rotation angle adjustment area and / or a relative distance adjustment area; the display module 21 is specifically used to display the rotation angle adjustment indication information in the rotation angle adjustment area; and / or, display the relative distance adjustment indication information in the relative distance adjustment area.

[0112] In one embodiment, the rotation angle adjustment area is a circular area or a sector-shaped area, and an angle scale is set on the edge of the circular area or the sector-shaped area; the display module 21 is specifically used to determine the rotation position corresponding to the angle value on the edge of the circular area or the sector-shaped area according to the angle value indicated by the rotation angle adjustment indication information; use a first indication label to point to the rotation position, and display the first indication label in the circular area or the sector-shaped area.

[0113] In one embodiment, the relative distance adjustment area is a rectangular area, and a distance scale is set on the rectangular area; the display module 21 is also specifically used to determine the movement position corresponding to the distance value on the rectangular area according to the distance value indicated by the relative distance adjustment indication information; use the second indication label to point to the movement position, and display the second indication label in the rectangular area.

[0114] In one embodiment, the mechanical arm configuration determination device 20 further includes a determination module. The determination module is used to use the updated mechanical arm configuration as the new current mechanical arm configuration, and use the display module and the update module to perform corresponding operations until the current mechanical arm configuration meets the preset requirements.

[0115] In one embodiment, the display interface includes an adjustment control, and the adjustment operation includes a click operation or a drag operation.

[0116] In one embodiment, the configuration determination device 20 of the robotic arm also includes a sending module, which is used to send motion control instructions to the robotic arm in response to a trigger operation on an execution control on a display interface when it is determined that the current configuration of the robotic arm meets preset requirements.

[0117] Each module in the above-mentioned device for determining the configuration of the robot arm can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each of the above modules.

[0118] In one embodiment, a computer device is provided, whose internal structure diagram can be as follows: Figure 1 As shown. Those skilled in the art can understand that Figure 1 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0119] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0120] Displaying the current configuration of the robot arm on the display interface, and displaying configuration adjustment instruction information;

[0121] When it is determined that the current configuration of the robotic arm does not meet the preset requirements, in response to an adjustment operation on the configuration according to the configuration adjustment instruction information, the configuration of the current robotic arm is updated to obtain a target configuration of the robotic arm.

[0122] In one embodiment, when the processor executes the computer program, the following steps are further implemented: displaying rotation angle adjustment indication information in the rotation angle adjustment area; and / or displaying relative distance adjustment indication information in the relative distance adjustment area.

[0123] In one embodiment, when the processor executes the computer program, the following steps are also implemented: according to the angle value indicated by the rotation angle adjustment indication information, a rotation position corresponding to the angle value is determined on the edge of the circular area or the fan-shaped area; a first indication label is used to point to the rotation position, and the first indication label is displayed in the circular area or the fan-shaped area.

[0124] In one embodiment, when the processor executes the computer program, the following steps are also implemented: according to the distance value indicated by the relative distance adjustment indication information, a movement position corresponding to the distance value is determined on the rectangular area; a second indication label is used to point to the movement position, and the second indication label is displayed on the rectangular area.

[0125] In one embodiment, when the processor executes the computer program, it also implements the following steps: using the updated configuration of the robotic arm as the new current configuration of the robotic arm, and returning to execute the steps of displaying the current configuration of the robotic arm on the display interface, and displaying configuration adjustment instruction information, until the current configuration of the robotic arm meets the preset requirements.

[0126] In one embodiment, the display interface includes an adjustment control, and the adjustment operation includes a click operation or a drag operation.

[0127] In one embodiment, when the processor executes the computer program, the following steps are also implemented: when it is determined that the current configuration of the robotic arm meets the preset requirements, in response to the triggering operation of executing the control on the display interface, a motion control instruction is sent to the robotic arm.

[0128] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0129] Displaying the current configuration of the robot arm on the display interface, and displaying configuration adjustment instruction information;

[0130] When it is determined that the current configuration of the robot arm does not meet the preset requirements, in response to the configuration adjustment operation according to the configuration adjustment instruction information, the configuration of the current robot arm is updated to obtain the target configuration of the robot arm. In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: displaying the rotation angle adjustment instruction information in the rotation angle adjustment area; and / or displaying the relative distance adjustment instruction information in the relative distance adjustment area.

[0131] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented: according to the angle value indicated by the rotation angle adjustment indication information, a rotation position corresponding to the angle value is determined on the edge of the circular area or the fan-shaped area; a first indication label is used to point to the rotation position, and the first indication label is displayed in the circular area or the fan-shaped area.

[0132] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: according to the distance value indicated by the relative distance adjustment indication information, a movement position corresponding to the distance value is determined on the rectangular area; a second indication label is used to point to the movement position, and the second indication label is displayed on the rectangular area.

[0133] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: using the updated configuration of the robotic arm as the new current configuration of the robotic arm, and returning to the step of displaying the current configuration of the robotic arm on the display interface, and displaying configuration adjustment instruction information, until the current configuration of the robotic arm meets the preset requirements.

[0134] In one embodiment, the display interface includes an adjustment control, and the adjustment operation includes a click operation or a drag operation.

[0135] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when it is determined that the current configuration of the robotic arm meets the preset requirements, in response to the triggering operation of executing the control on the display interface, a motion control instruction is sent to the robotic arm.

[0136] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0137] Displaying the current configuration of the robot arm on the display interface, and displaying configuration adjustment instruction information;

[0138] When it is determined that the current configuration of the robot arm does not meet the preset requirements, in response to the configuration adjustment operation according to the configuration adjustment instruction information, the configuration of the current robot arm is updated to obtain the target configuration of the robot arm. In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: displaying the rotation angle adjustment instruction information in the rotation angle adjustment area; and / or displaying the relative distance adjustment instruction information in the relative distance adjustment area.

[0139] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented: according to the angle value indicated by the rotation angle adjustment indication information, a rotation position corresponding to the angle value is determined on the edge of the circular area or the fan-shaped area; a first indication label is used to point to the rotation position, and the first indication label is displayed in the circular area or the fan-shaped area.

[0140] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: according to the distance value indicated by the relative distance adjustment indication information, a movement position corresponding to the distance value is determined on the rectangular area; a second indication label is used to point to the movement position, and the second indication label is displayed on the rectangular area.

[0141] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: using the updated configuration of the robotic arm as the new current configuration of the robotic arm, and returning to the step of displaying the current configuration of the robotic arm on the display interface, and displaying configuration adjustment instruction information, until the current configuration of the robotic arm meets the preset requirements.

[0142] In one embodiment, the display interface includes an adjustment control, and the adjustment operation includes a click operation or a drag operation.

[0143] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when it is determined that the current configuration of the robotic arm meets the preset requirements, in response to the triggering operation of executing the control on the display interface, a motion control instruction is sent to the robotic arm.

[0144] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0145] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0146] The above-described 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 the present application. 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 protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for determining a configuration of a robotic arm, characterized in that: The method comprises: Displaying the current configuration of the robot arm on the display interface, and displaying configuration adjustment instruction information; When it is determined that the configuration of the current robotic arm does not meet the preset requirements, in response to an adjustment operation on the configuration according to the configuration adjustment instruction information, the configuration of the current robotic arm is updated to obtain a target configuration of the robotic arm.

2. The method according to claim 1, characterized in that: The configuration adjustment indication information includes rotation angle adjustment indication information and / or relative distance adjustment indication information; the display interface includes a rotation angle adjustment area and / or a relative distance adjustment area; the display of the configuration adjustment indication information includes: Displaying the rotation angle adjustment indication information in the rotation angle adjustment area; And / or, the relative distance adjustment indication information is displayed in the relative distance adjustment area.

3. The method according to claim 2, characterized in that The rotation angle adjustment area is a circular area or a sector area, and an angle scale is set at the edge of the circular area or the sector area. The displaying of the rotation angle adjustment indication information in the rotation angle adjustment area includes: According to the angle value indicated by the rotation angle adjustment indication information, determining a rotation position corresponding to the angle value on the edge of the circular area or the sector area; A first indication label is used to point to the rotation position, and the first indication label is displayed in the circular area or the sector area.

4. The method according to claim 2, characterized in that: The relative distance adjustment area is a rectangular area, and a distance scale is set on the rectangular area. The relative distance adjustment indication information is displayed in the relative distance adjustment area, including: According to the distance value indicated by the relative distance adjustment indication information, determining a movement position corresponding to the distance value on the rectangular area; A second indication label is used to point to the movement position, and the second indication label is displayed in the rectangular area.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: The updated configuration of the robotic arm is used as the new configuration of the current robotic arm, and the steps of displaying the configuration of the current robotic arm on the display interface and displaying configuration adjustment instruction information are returned to execute until the configuration of the current robotic arm meets the preset requirements.

6. The method according to any one of claims 1 to 4, characterized in that: The display interface includes an adjustment control, and the adjustment operation includes a click operation or a drag operation.

7. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: When it is determined that the configuration of the current robotic arm meets the preset requirement, a motion control instruction is sent to the robotic arm in response to a triggering operation on an execution control on the display interface.

8. A configuration determination device for a robotic arm, characterized in that: The device comprises: A display module, used to display the current configuration of the robot arm on a display interface, and to display configuration adjustment instruction information; An updating module is used to update the configuration of the current robotic arm in response to an adjustment operation on the configuration according to the configuration adjustment indication information when it is determined that the configuration of the current robotic arm does not meet the preset requirements, so as to obtain the target configuration of the robotic arm.

9. A surgical robot system, characterized in that: It comprises a display device and a surgical robot, the surgical robot comprises a robotic arm, the display device is used to execute the method described in any one of claims 1 to 7, the surgical robot receives motion control instructions, and controls the movement of the robotic arm in the surgical robot according to the motion control instructions.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

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