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

Abstract

The application relates to a mechanical arm configuration determination method and device and a computer device. The method comprises the following steps: displaying a current mechanical arm configuration on a display interface, and displaying configuration adjustment instruction information; in the case that the current mechanical arm configuration does not meet preset requirements, the current mechanical arm configuration is updated in response to a configuration adjustment operation according to the configuration adjustment instruction information, so as to obtain a target position of an updated mechanical arm. The mechanical arm configuration determination method provided by the application can obtain a more accurate target configuration of the mechanical arm.

Description

Technical Field

[0001] This application relates to the field of medical technology, and in particular to a method, apparatus and computer device for determining the configuration of a robotic arm. Background Technology

[0002] With the development of robotics technology, surgical robot systems equipped with robotic arms have emerged. These systems allow the robotic arms to move to designated positions during surgical preparation, after which medical staff determine the configuration of the robotic arms based on the surgical requirements. This rapid and accurate determination of the robotic arm configuration significantly improves surgical efficiency for medical personnel.

[0003] In traditional techniques, medical staff typically determine the configuration of the robotic arm based on their own experience. However, this method of determining the robotic arm configuration is inaccurate. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, apparatus, and computer device for determining the configuration of a robotic arm to improve the accuracy of the above-mentioned technical problems.

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

[0006] The current configuration of the robotic arm is displayed on the display interface, along with configuration adjustment instructions.

[0007] If it is determined that the current configuration of the robotic arm does not meet the preset requirements, the configuration of the robotic arm is updated in response to the configuration adjustment operation based on the configuration adjustment instruction information, so as to obtain the 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; displaying the configuration adjustment indication information includes:

[0009] The rotation angle adjustment indicator information is displayed in the rotation angle adjustment area;

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

[0011] In one embodiment, the rotation angle adjustment area is a circular area or a fan-shaped area, and the edge of the circular area or fan-shaped area is provided with angle scale. Rotation angle adjustment indication information is displayed in the rotation angle adjustment area, including:

[0012] Based on the angle value indicated by the rotation angle adjustment instruction, determine the rotation position corresponding to the angle value on the edge of the circular or fan-shaped area;

[0013] Use the first indicator label to point to the rotation position, and display the first indicator label in a circular or sector area.

[0014] In one embodiment, the relative distance adjustment area is a rectangular area with distance scale markings. Relative distance adjustment indication information is displayed in the relative distance adjustment area, including:

[0015] Based on the distance value indicated by the relative distance adjustment instruction, determine the movement position corresponding to the distance value on the rectangular area;

[0016] Use a second indicator label to point to the movement location and display the second indicator label in a rectangular area.

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

[0018] The updated robotic arm configuration is used as the new current robotic arm configuration. The process then returns to displaying the current robotic arm configuration on the display interface and displaying configuration adjustment instructions until the current robotic arm configuration meets the preset requirements.

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

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

[0021] Once it is determined that the current configuration of the robotic arm meets the preset requirements, in response to the triggering operation of the control on the display interface, motion control commands are sent to the robotic arm.

[0022] Secondly, this application provides a configuration determination device for a robotic arm, the device comprising:

[0023] The display module is used to display the current configuration of the robotic arm on the display interface, as well as display configuration adjustment instructions.

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

[0025] Thirdly, one embodiment of this application provides a surgical robot system, including a display device and a surgical robot. The surgical robot includes a robotic arm. The display device is used to perform the method provided in the first aspect above. The surgical robot is used to receive motion control commands and control the movement of the robotic arm in the surgical robot according to the motion control commands.

[0026] Fourthly, one embodiment of this application provides a computer device including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the method provided in the first aspect above.

[0027] The aforementioned method, apparatus, and computer equipment for determining the configuration of a robotic arm display configuration adjustment instructions on a screen. When it is determined that the current robotic arm configuration does not meet preset requirements, the system interacts with the user, receiving adjustments based on the configuration adjustment instructions and updating the current robotic arm configuration in response to these adjustments to obtain the target configuration. This eliminates the need for users to adjust the configuration based on their own experience; instead, users can directly adjust the robotic arm configuration according to the configuration adjustment instructions, resulting in a more accurate target configuration. Furthermore, adjusting the robotic arm configuration based on the configuration adjustment instructions significantly improves the efficiency of obtaining the target configuration. Attached Figure Description

[0028] Figure 1 This is an application environment diagram of the robotic arm configuration determination method in one embodiment;

[0029] Figure 2 This is a flowchart illustrating the steps of a method for determining the configuration of a robotic arm in one embodiment.

[0030] Figure 3 This is a schematic diagram of the display interface in one embodiment;

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

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

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

[0034] Figure 7 This is a flowchart illustrating the steps of a method for determining the configuration of a robotic arm in another embodiment;

[0035] Figure 8 This is a flowchart illustrating the steps of a method for determining the configuration of a robotic arm in another embodiment;

[0036] Figure 9 This is a schematic diagram of the display interface in another embodiment;

[0037] Figure 10 This is a flowchart illustrating the steps of a method for determining the configuration of a robotic arm in another embodiment;

[0038] Figure 11 This is a schematic diagram of the surgical robot in one embodiment;

[0039] Figure 12 This is a schematic diagram of the configuration determination device for a robotic arm in one embodiment. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0041] The serial numbers assigned to components in this application, such as "first" and "second", are used only to distinguish the described objects and have no sequential or technical meaning.

[0042] First, before introducing the technical solutions of the embodiments disclosed in this application, the background technology or technological evolution on which the embodiments of this application are based will be 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 designated position during surgical preparation, and then medical personnel determine the configuration of the robotic arm in the surgical robot system according to the surgical requirements. Quickly and accurately determining the configuration of the robotic arm can improve surgical efficiency for medical personnel. In related technologies, medical personnel usually adjust the rotation angle and relative distance of the robotic arm based on their own experience to determine the configuration of the robotic arm. However, when medical personnel adjust the rotation angle and relative distance, they cannot determine the optimal adjustment parameters for the rotation angle and relative distance based on the current state of the robotic arm, resulting in an inaccurate configuration of the adjusted robotic arm. Therefore, this application provides a method for determining the configuration of a robotic arm.

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

[0044] The method for determining the configuration of the robotic arm provided in this application can be applied to computer devices, including but not limited to industrial computers, laptops, smartphones, and tablets. The internal structure of the computer device can be as follows: Figure 1As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected by a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for determining the configuration of a robotic arm. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

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

[0046] Step 200: Display the current configuration of the robotic arm on the display interface, and display configuration adjustment instructions.

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

[0048] In an optional embodiment, the current configuration of the robotic arm can be displayed as text in the robotic arm's configuration display area. For example... Figure 3 As shown, the configuration display area of ​​the robotic arm includes two display frames. The first display frame shows the current position of the robotic arm, and the second display frame shows the current posture (rotation angle) of the robotic arm.

[0049] In another alternative embodiment, the current position of the robotic arm can be displayed as an image in the robotic arm's position display area. For example... Figure 4 As shown, the configuration display area of ​​the robotic arm displays an image of the current configuration of the robotic arm.

[0050] Configuration adjustment instruction information is used to characterize labels that instruct the user to adjust the configuration of the robotic arm. For example... Figure 3 or Figure 4 As shown, the computer device's display interface includes a display area for configuration adjustment instructions, and the position of the configuration adjustment instructions is adjusted within this display area. This embodiment does not limit the current configuration of the robotic arm or the specific display format of the configuration adjustment instructions on the display interface, as long as the function can be achieved.

[0051] Step 210: If 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, update the current configuration of the robotic arm to obtain the target configuration of the robotic arm.

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

[0053] If the current configuration of the robotic arm does not meet the preset requirements, the user will adjust the configuration of the current robotic arm according to the configuration adjustment instructions displayed on the display interface. The computer device responds to the adjustment operation and updates the current configuration of the robotic arm to obtain the updated configuration of the robotic arm, which is the target configuration of the robotic arm.

[0054] The user's adjustment of the current robotic arm configuration can be a click or drag operation, or it can be an updated robotic arm configuration entered by the user. This embodiment does not limit this, as long as the function can be achieved.

[0055] If the user determines that the current robotic arm configuration does not meet the preset requirements, then in an optional embodiment, such as Figure 5As shown, the display interface shows configuration determination controls, including "Yes" and "No" controls. If the user triggers the "Yes" control (click or drag), it is determined that the current robotic arm configuration meets the preset requirements; if the user triggers the "No" control (click or drag), it is determined that the current robotic arm configuration does not meet the preset requirements. In another optional embodiment, if the computer device receives an adjustment operation from the user based on configuration adjustment instructions, it indicates that the user has determined that the current robotic arm configuration does not meet the preset requirements; that is, if the user determines that the current robotic arm configuration does not meet the preset requirements and directly performs an adjustment operation based on the configuration adjustment instructions, this indicates that the user has determined that the current robotic arm configuration does not meet the preset requirements.

[0056] If the computer determines that the current configuration of the robotic arm does not meet the preset requirements, it will update the configuration adjustment status on the display interface to "operable". In other words, before determining whether the current robotic arm configuration meets the preset requirements, the configuration adjustment status displayed on the interface is "inoperable," meaning the user cannot adjust the configuration in this state. Once it is determined that the current robotic arm configuration meets the preset requirements, the computer will update the configuration adjustment status to "operable," meaning the user can adjust the configuration in this state.

[0057] This application provides a method for determining the configuration of a robotic arm. The method includes displaying the current configuration of the robotic arm on a display interface and displaying configuration adjustment instruction information. If it is determined that the current configuration of the robotic arm does not meet preset requirements, in response to an adjustment operation based on the configuration adjustment instruction information, the position of the current robotic arm is updated to obtain the target configuration of the robotic arm. In this embodiment, configuration adjustment instruction information is displayed on the display interface. If it is determined that the current configuration of the robotic arm does not meet preset requirements, through interaction with the user, i.e., receiving the user's adjustment operation based on the configuration adjustment instruction information, and in response to the adjustment operation, the current configuration of the robotic arm is updated to obtain the target configuration of the robotic arm. This eliminates the need for the user to adjust the configuration of the robotic arm based on their own experience; they can directly adjust the configuration based on the configuration adjustment instruction information, resulting in a more accurate target configuration of the robotic arm. Furthermore, adjusting the configuration of the robotic arm based on the configuration adjustment instruction information can greatly improve the efficiency of obtaining the target configuration of the robotic arm.

[0058] In one embodiment, such as Figure 6 As shown, the display interface includes adjustment controls, and adjustment operations include clicking or dragging.

[0059] The area displaying configuration adjustment instructions on the interface also includes adjustment controls. Users can adjust these controls based on the instructions. Adjustments can be made by clicking or dragging. Different adjustment controls require different adjustments.

[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; and if the adjustment control is an arrow, the adjustment operation is a toggle operation.

[0061] In this embodiment, the user can adjust the configuration by clicking or dragging the adjustment controls on the display interface, making the configuration adjustment very simple and convenient.

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

[0063] Adjusting the configuration of the robotic arm includes adjusting its position (relative distance) and / or posture (rotation angle). The configuration adjustment instruction information may include only rotation angle adjustment instructions, only relative distance adjustment instructions, or both. Correspondingly, if the configuration adjustment instruction information only includes rotation angle instructions, the display interface may only include a rotation angle adjustment area, displaying the rotation angle adjustment instruction information within that area. Similarly, if the configuration adjustment instruction information only includes relative distance adjustment instructions, the display interface may only include a relative distance adjustment area, displaying the relative distance adjustment instruction information within that area. If the configuration adjustment instruction information includes both rotation angle and relative distance adjustment information, the display interface includes both rotation angle and relative distance adjustment areas, displaying the rotation angle adjustment instruction information in the rotation angle adjustment area and the relative distance adjustment instruction information in the relative distance adjustment area. This embodiment does not limit the shape, size, and display position of the rotation angle adjustment area, nor the shape, size, and display position of the relative distance adjustment area, as long as the functionality is achieved.

[0064] In one optional embodiment, the rotation angle adjustment area can be any one of the following: a circular area, a sector-shaped area, an elliptical area, a regular polygonal area, a rounded rectangular area, or a rounded regular polygonal area. The rotation angle adjustment area can also be a knob-style area.

[0065] In an optional embodiment, the relative distance adjustment area can be any one of the following: 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, or a rounded corner matrix area. 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 instruction information only includes rotation angle adjustment instruction information, the rotation angle adjustment instruction information is displayed in the rotation angle adjustment area and not displayed in the relative distance adjustment area. When the configuration adjustment instruction information only includes relative distance adjustment instruction information, the relative distance adjustment instruction information is displayed in the relative distance adjustment area and not displayed in the rotation angle adjustment area.

[0067] In this embodiment, the computer device's display interface includes a rotation angle adjustment area and a relative distance adjustment area. The rotation angle adjustment area displays rotation angle adjustment instructions, and the relative distance adjustment area displays relative distance adjustment instructions. This allows for a clearer display of the configuration adjustment instructions, thereby improving the practicality and reliability of the robotic arm configuration determination method.

[0068] In one embodiment, the rotation angle adjustment area is a circular area or a fan-shaped area, and the edge of the circular area or fan-shaped area is provided with angle scale. In this case, such as Figure 7 As shown, this relates to an implementation method for displaying rotation angle adjustment indication information in the rotation angle adjustment area. The steps of this implementation method include:

[0069] Step 700: Determine the rotation position corresponding to the angle value on the edge of the circular or fan-shaped area according to the angle value indicated by the rotation angle adjustment instruction information.

[0070] The rotation angle adjustment instruction can be determined by computer equipment based on the current configuration of the robotic arm.

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

[0072] The rotation angle adjustment instruction information includes the rotation angle value that needs to be adjusted. After receiving the rotation angle adjustment instruction information, the computer device will determine the rotation position corresponding to the rotation angle value on the edge of the rotation angle adjustment area (circular area or fan-shaped area) according to the rotation angle value included in the rotation angle adjustment instruction information. That is, the position in the rotation angle adjustment area after rotating by the rotation angle value.

[0073] Step 710: Use the first indicator label to point to the rotation position and display the first indicator label in the circular area or sector area.

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

[0075] In this embodiment, a first indicator label is used to point to the rotation position corresponding to the angle value included in the rotation angle adjustment instruction information, and the first indicator label is displayed. This allows the user to clearly instruct the user on how to adjust the rotation angle of the robotic arm, enabling the user to adjust the configuration according to the first indicator label and obtain a more accurate target configuration of the robotic arm, thereby improving the practicality of the robotic arm configuration determination method.

[0076] In one embodiment, the relative distance adjustment area is a rectangular area with distance scale markings. In this case, such as... Figure 8 As shown, an implementation method for displaying relative distance adjustment indication information in a relative distance adjustment area is described, and the steps of this implementation method include:

[0077] Step 800: Determine the movement position corresponding to the distance value on the rectangular area based on the distance value indicated by the relative distance adjustment instruction information.

[0078] The relative distance adjustment instruction information can be determined by the computer device based on the current configuration of the robotic arm. The method by which the computer device determines the relative distance based on the current configuration of the robotic arm can refer to the method described in the above embodiments for determining the configuration adjustment instruction information. The configuration adjustment instruction information includes the relative distance adjustment instruction information, and the relative distance adjustment instruction information can be obtained based on the configuration adjustment instruction information.

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

[0080] Step 810: Use the second indicator label to point to the movement position and display the second indicator label 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 that 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 different color from the relative distance adjustment area. This embodiment does not limit the form of the second indicator label, as long as it can achieve its function. The second indicator label and the first indicator label can be the same or different.

[0082] In this embodiment, a second indicator label is used to point to the movement position corresponding to the distance value in the relative distance adjustment instruction information, and the second indicator label is displayed. This allows the user to clearly instruct the user on how to adjust the relative distance of the robotic arm, enabling the user to adjust the configuration according to the second indicator label and obtain a more accurate target position for the robotic arm, thereby improving the practicality of the robotic arm configuration determination method.

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

[0084] The updated robotic arm configuration is used as the new current robotic arm configuration. The process then returns to displaying the current robotic arm configuration on the display interface and displaying configuration adjustment instructions until the current robotic arm configuration meets the preset requirements.

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

[0086] In this embodiment, the updated configuration of the robotic arm is used as the new current configuration of the robotic arm, and the process of updating the current configuration of the robotic arm is repeated. This 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 determines new configuration adjustment instruction information based on the updated configuration of the robotic arm. In other words, the configuration adjustment instruction information changes as the current configuration of the robotic arm is updated.

[0088] In one embodiment, the method further includes the following steps:

[0089] Once it is determined that the current configuration of the robotic arm meets the preset requirements, in response to the triggering operation of the control on the display interface, motion control commands are sent to the robotic arm.

[0090] The description of determining that the current configuration of the robotic arm meets the preset requirements can be found in the specific description in the above embodiments, and will not be repeated here.

[0091] The computer device's display interface includes execution controls. When the current robotic arm configuration meets preset requirements—that is, when the current robotic arm configuration is the target configuration required by the user—the user will trigger the execution controls on the display interface. The computer device receives the trigger operation and, in response, sends motion control commands to the robotic arm to move it to the target configuration. The trigger operation can be a click 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 responds to the user's trigger operation on the execution control and sends motion control instructions to the robotic arm, thereby enabling the robotic arm to move to the target configuration processing, which in turn improves the practicality of the robotic arm configuration determination method.

[0093] In an optional embodiment, the display interface is as follows: Figure 9 As shown, the rotation angle adjustment area is a circular area, the relative distance adjustment area is a rectangular area, and both the first and second indicator labels are arrows. The current configuration of the robotic arm is displayed as an image in the robotic arm configuration display area. Execution controls are included in the lower right corner of the display interface.

[0094] In an optional embodiment, the current robotic arm configuration display area on the display interface initially displays the initial configuration of the robotic arm. The initial configuration of the robotic arm can be the initial configuration of the robotic arm within the surgical robot system; it can also be a configuration preset by the user. Before surgery, medical personnel will move the robotic arm within the surgical robot system. After moving to a certain position, the current configuration of the robotic arm is input into the computer device, which will then display the current configuration of the robotic arm.

[0095] Please see Figure 10 One embodiment of this application provides a method for determining the configuration of a robotic arm, the method comprising the following steps:

[0096] Step 101: Display the current configuration of the robotic arm on the 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 fan-shaped area, and the relative distance adjustment area is a rectangular area;

[0097] Step 102: Determine the rotation position corresponding to the angle value on the edge of the circular or fan-shaped area according to the angle value indicated by the rotation angle adjustment information.

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

[0099] Step 104: Determine the movement position corresponding to the distance value on the rectangular area based on the distance value indicated by the relative distance adjustment instruction information;

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

[0101] Step 106: If 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 first indicator label and the second indicator label, update the current configuration of the robotic arm.

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

[0103] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0104] Please see Figure 11 One embodiment of this application provides a surgical robot system 10, including a display device 11 and a surgical robot 12, the surgical robot 12 including a robotic arm. The display device 11 is used to execute the robotic arm configuration determination method provided in the above embodiment; the surgical robot 12 is used to receive motion control commands sent by the display device 11, and control the movement of the robotic arm in the surgical robot 12 according to the motion control commands.

[0105] The display device 11 may be a touch screen display. The surgical robot 12 includes a robotic arm and a controller. The controller receives motion control commands and controls the robotic arm to move to the target configuration according to the motion control commands. 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 realized.

[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. Thus, the surgical robot system 10 has the same beneficial effects as the configuration determination method of the robotic arm, which will not be described again here.

[0107] Based on the same inventive concept, this application also provides a robotic arm configuration determination device for implementing the above-described robotic arm configuration determination method. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more robotic arm configuration determination device embodiments provided below can be found in the limitations of the robotic arm configuration determination method described above, and will not be repeated here.

[0108] In one embodiment, such as Figure 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] Display module 21 is used to display the current configuration of the robotic arm on the display interface, as well as display configuration adjustment instructions.

[0110] The update module 22 is used to update the current configuration of the robotic arm in response to the configuration adjustment operation based on the configuration adjustment instruction information when it is determined that the current configuration of the 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 instruction information includes rotation angle adjustment instruction information and / or relative distance adjustment instruction 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 rotation angle adjustment instruction information in the rotation angle adjustment area; and / or, to display relative distance adjustment instruction information in the relative distance adjustment area.

[0112] In one embodiment, the rotation angle adjustment area is a circular area or a fan-shaped area, and the edge of the circular area or fan-shaped area is provided with an angle scale; 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 fan-shaped area according to the angle value indicated by the rotation angle adjustment instruction information; use a first indicator label to point to the rotation position, and display the first indicator label in the circular area or fan-shaped area.

[0113] In one embodiment, the relative distance adjustment area is a rectangular area with distance scales. The display module 21 is further configured 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 instruction information; use a second indicator label to point to the movement position and display the second indicator label on the rectangular area.

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

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

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

[0117] The various modules in the aforementioned robotic arm configuration determination device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

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

[0119] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0120] The current configuration of the robotic arm is displayed on the display interface, along with configuration adjustment instructions.

[0121] If it is determined that the current configuration of the robotic arm does not meet the preset requirements, the configuration of the robotic arm is updated in response to the configuration adjustment operation based on the configuration adjustment instruction information, so as to obtain the target configuration of the robotic arm.

[0122] In one embodiment, when the processor executes the computer program, it further performs the following steps: 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, it further performs the following steps: determining a rotation position corresponding to the angle value on the edge of a circular or fan-shaped area based on the angle value indicated by the rotation angle adjustment instruction information; pointing to the rotation position using a first indicator label; and displaying the first indicator label in the circular or fan-shaped area.

[0124] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining the movement position corresponding to the distance value in the rectangular area based on the distance value indicated by the relative distance adjustment indication information; pointing to the movement position using a second indication label; and displaying the second indication label in the rectangular area.

[0125] In one embodiment, when the processor executes the computer program, it further performs the following steps: taking the updated configuration of the robotic arm as the new current configuration of the robotic arm, and returning to 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 adjustment controls, and the adjustment operation includes a click operation or a drag operation.

[0127] In one embodiment, when the processor executes the computer program, it further performs the following steps: if it is determined that the current configuration of the robotic arm meets the preset requirements, in response to the triggering operation of the control on the display interface, it sends motion control instructions to the robotic arm.

[0128] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0129] The current configuration of the robotic arm is displayed on the display interface, along with configuration adjustment instructions.

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

[0131] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining a rotation position corresponding to the angle value on the edge of the circular or fan-shaped area based on the angle value indicated by the rotation angle adjustment instruction information; pointing to the rotation position using a first indicator label; and displaying the first indicator label in the circular or fan-shaped area.

[0132] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the movement position corresponding to the distance value in the rectangular area based on the distance value indicated by the relative distance adjustment indication information; pointing to the movement position using a second indication label; and displaying the second indication label in the rectangular area.

[0133] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: taking the updated configuration of the robotic arm as the new current configuration of the robotic arm, and returning to 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.

[0134] In one embodiment, the display interface includes adjustment controls, 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, it further performs the following steps: if it is determined that the current configuration of the robotic arm meets the preset requirements, in response to the triggering operation of the control on the display interface, it sends motion control instructions to the robotic arm.

[0136] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0137] The current configuration of the robotic arm is displayed on the display interface, along with configuration adjustment instructions.

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

[0139] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining a rotation position corresponding to the angle value on the edge of the circular or fan-shaped area based on the angle value indicated by the rotation angle adjustment instruction information; pointing to the rotation position using a first indicator label; and displaying the first indicator label in the circular or fan-shaped area.

[0140] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the movement position corresponding to the distance value in the rectangular area based on the distance value indicated by the relative distance adjustment indication information; pointing to the movement position using a second indication label; and displaying the second indication label in the rectangular area.

[0141] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: taking the updated configuration of the robotic arm as the new current configuration of the robotic arm, and returning to 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.

[0142] In one embodiment, the display interface includes adjustment controls, 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, it further performs the following steps: if it is determined that the current configuration of the robotic arm meets the preset requirements, in response to the triggering operation of the control on the display interface, it sends motion control instructions to the robotic arm.

[0144] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this 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), magnetic 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0145] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for determining the configuration of a robotic arm, characterized in that, The method includes: The current configuration of the robotic arm is displayed on the display interface, along with configuration adjustment instructions. If it is determined that the current configuration of the robotic arm does not meet the preset requirements, in response to the user's adjustment operation on the configuration according to the configuration adjustment instruction information, the current configuration of the robotic arm is updated to obtain the target configuration of the robotic arm; The method for determining the configuration adjustment indication information by computer equipment includes: determining the homogeneous transformation matrix of the end effector of the robotic arm according to the current configuration of the robotic arm; determining multiple configuration adjustment information by calling the inverse kinematics of the robotic arm; and selecting the optimal configuration adjustment information from the multiple configuration adjustment information as the configuration adjustment indication information.

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; displaying the configuration adjustment indication information includes: The rotation angle adjustment instruction information is displayed in the rotation angle adjustment area; And / or, display the relative distance adjustment indication information in the relative distance adjustment area.

3. The method according to claim 2, characterized in that, The rotation angle adjustment area is a circular or fan-shaped area, and the edge of the circular or fan-shaped area is provided with angle scales. Displaying the rotation angle adjustment indication information in the rotation angle adjustment area includes: Based on the angle value indicated by the rotation angle adjustment information, determine the rotation position corresponding to the angle value on the edge of the circular or fan-shaped area; Use a first indicator label to point to the rotation position, and display the first indicator label in the circular or fan-shaped area.

4. The method according to claim 2, characterized in that, The relative distance adjustment area is a rectangular area with distance scales. Displaying the relative distance adjustment indication information within the relative distance adjustment area includes: Based on the distance value indicated by the relative distance adjustment instruction information, determine the movement position corresponding to the distance value on the rectangular area; The second indicator label is used to point to the movement position and is displayed in the rectangular area.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: The updated robotic arm configuration is used as the new current robotic arm configuration, and the process returns to the steps of displaying the current robotic arm configuration on the display interface and displaying configuration adjustment instructions, until the current robotic arm configuration meets the preset requirements.

6. The method according to any one of claims 1-4, characterized in that, The display interface includes adjustment controls, and the adjustment operations include clicking or dragging.

7. The method according to any one of claims 1-4, characterized in that, The method further includes: If the current configuration of the robotic arm meets the preset requirements, a motion control command is sent to the robotic arm in response to the triggering operation of the control on the display interface.

8. A device for determining the configuration of a robotic arm, characterized in that, The device includes: The display module is used to display the current configuration of the robotic arm on the display interface, as well as display configuration adjustment instructions. The update module is used to update the configuration of the current robotic arm in response to the user's adjustment operation on the configuration according to the configuration adjustment instruction information when it is determined that the current configuration of the robotic arm does not meet the preset requirements, so as to obtain the target configuration of the robotic arm. The method for determining the configuration adjustment indication information by computer equipment includes: determining the homogeneous transformation matrix of the end effector of the robotic arm according to the current configuration of the robotic arm; determining multiple configuration adjustment information by calling the inverse kinematics of the robotic arm; and selecting the optimal configuration adjustment information from the multiple configuration adjustment information as the configuration adjustment indication information.

9. A surgical robot system, characterized in that, The invention includes a display device and a surgical robot, the surgical robot including a robotic arm, the display device being used to perform the method according to any one of claims 1-7, the surgical robot receiving motion control commands and controlling the movement of the robotic arm in the surgical robot according to the motion control commands.

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, it implements the steps of the method according to any one of claims 1 to 7.

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