Operation rod zero position calibration method of surgical robot and related device

Abstract

The invention provides a control lever zero calibration method of a surgical robot and a related device, and relates to the technical field of surgical robots. According to the method, target ball motion data, collected by a laser tracker, of a first joint are obtained, fitting processing is conducted on the target ball motion data, and a first rotation axis of the first joint is obtained; according to the first rotation axis, zero position calibration is conducted on the first joint, the first joint is any joint behind the first position in the multiple joints, and zero positions of the joints before the first joint are calibrated. According to the application, the target ball motion data of the first joint is acquired by adopting the laser tracker, the accuracy of the acquired target ball motion data can be ensured, and the first rotation axis is obtained by fitting the target ball motion data, so that the accuracy of the first rotation axis is improved; furthermore, zero calibration is carried out on the first joint through the first rotation axis, and the calibration precision is improved.

Description

Technical Field

[0001] The present application relates to the technical field of surgical robots, and in particular to a method for zero-position calibration of a joystick of a surgical robot and related devices. Background Art

[0002] Minimally invasive surgical robots are generally composed of a patient surgical platform and a doctor control platform. Among them, the accuracy of the zero position of each joint of the joystick in the doctor control platform plays an important role in the accuracy of the master-slave linkage of the minimally invasive surgical robot. The accurate zero position allows the minimally invasive surgical robot to accurately calculate the position of the joystick at any time in the doctor's field of view coordinate system, thereby accurately controlling the surgical position.

[0003] In the related art, when the doctor controls the platform to start, the current position of the corresponding joint is detected by the sensor configured at each joint of the joystick, and the current position is used as the zero position of the corresponding joint. However, the inventors have found that the zero position calibration method of the joystick joint has the problem of low calibration accuracy. Summary of the invention

[0004] The present application provides a method and a related device for zero-position calibration of a joystick of a surgical robot, so as to solve the problem of low calibration accuracy of zero-position calibration of a joystick joint of a surgical robot in the related art.

[0005] In a first aspect, the present application provides a method for zero position calibration of a joystick of a surgical robot, wherein the joystick includes multiple joints connected and arranged in a preset order, and the method for zero position calibration of the joystick includes: obtaining target ball motion data of a first joint collected by a laser tracker, wherein the first joint is any joint placed after the first joint among the multiple joints, and the joints placed before the first joint have all been calibrated to zero position; performing fitting processing on the target ball motion data to obtain a first rotation axis of the first joint; and performing zero position calibration on the first joint according to the first rotation axis.

[0006] In one possible implementation, the first joint is calibrated at zero position according to the first rotation axis, including: obtaining a vertical plane corresponding to the first joint according to the first rotation axis; based on the vertical plane, obtaining a first line segment corresponding to the first joint according to the first rotation axis or the second rotation axis of the second joint, the second joint is an adjacent joint placed after the first joint among multiple joints, and the second rotation axis is obtained when the first joint is placed at the corresponding initial zero position; obtaining a second line segment corresponding to the first joint according to the vertical plane and the base coordinate system of the joystick; calculating the angle between the first line segment and the second line segment, and determining the angle as the zero position deviation of the first joint; and calibrating the first joint at zero position according to the zero position deviation.

[0007] In one possible implementation, a vertical plane corresponding to the first joint is obtained based on the first rotation axis, including: a vertical plane perpendicular to the first rotation axis and passing through the origin of the base coordinate system; or a vertical plane perpendicular to the first rotation axis and passing through the center of the target ball motion trajectory corresponding to the first joint.

[0008] In a possible implementation, based on the vertical plane, according to the first rotation axis or the second rotation axis of the second joint, obtaining a first line segment corresponding to the first joint includes:

[0009] If there is no intersection between the first rotation axis and the second rotation axis, the intersection of the first rotation axis and the vertical plane is determined as the first intersection, the intersection of the second rotation axis and the vertical plane is determined as the second intersection, and the line connecting the first intersection and the second intersection is used as the first line segment; if there is an intersection between the first rotation axis and the second rotation axis, the second rotation axis is projected into the vertical plane to obtain the first line segment.

[0010] In one possible implementation, the first joint is calibrated at zero position according to the zero position deviation, including: determining whether the zero position deviation is less than a preset threshold; if so, determining the initial zero position of the first joint as the calibration zero position; if greater than or equal to, updating the initial zero position according to the zero position deviation, and when the zero position deviation is less than the preset threshold, determining the current position corresponding to the first joint as the calibration zero position.

[0011] In one possible implementation, when the first joint is the joint placed in the second position among multiple joints, before the first joint is calibrated to zero position, the joystick zero position calibration method also includes: obtaining a third rotation axis of a third joint, where the third joint is the joint placed in the first position among multiple joints, and the third rotation axis is obtained when the third joint is placed in the corresponding initial zero position; and constructing a base coordinate system of the joystick based on the third rotation axis and the first rotation axis.

[0012] In one possible implementation, the calibration zero position of the third joint is obtained in the following manner: obtaining a reference plane corresponding to the third joint; adjusting the angle of the third joint and rotating the joints adjacent to the third joint to fit the fourth rotation axis of the joint; in response to the fourth rotation axis being perpendicular to the reference plane, determining the current position of the third joint as the calibration zero position of the first joint.

[0013] In a second aspect, the present application provides a joystick zero position calibration device for a surgical robot, wherein the joystick includes a plurality of joints connected and arranged in a preset order, and the joystick zero position calibration device includes:

[0014] An acquisition module is used to acquire target ball motion data of a first joint collected by a laser tracker, wherein the first joint is any joint after the first joint among the multiple joints, and the joints before the first joint have all been calibrated to zero position;

[0015] A processing module, used for performing fitting processing on the target ball motion data to obtain a first rotation axis of the first joint;

[0016] The calibration module is used to perform zero position calibration on the first joint according to the first rotation axis.

[0017] In one possible implementation, the calibration module is specifically used to: obtain a vertical plane corresponding to the first joint according to the first rotation axis; based on the vertical plane, obtain a first line segment corresponding to the first joint according to the first rotation axis or the second rotation axis of the second joint, the second joint is an adjacent joint placed after the first joint among multiple joints, and the second rotation axis is obtained when the first joint is placed in the corresponding initial zero position; obtain a second line segment corresponding to the first joint according to the vertical plane and the base coordinate system of the joystick; calculate the angle between the first line segment and the second line segment, and determine the angle as the zero position deviation of the first joint; and perform zero position calibration on the first joint according to the zero position deviation.

[0018] In a possible implementation, the calibration module is further used to: make a vertical plane perpendicular to the first rotation axis and passing through the origin of the base coordinate system; or make a vertical plane perpendicular to the first rotation axis and passing through the center of the target ball motion trajectory corresponding to the first joint.

[0019] In a possible implementation, the calibration module is also used for: if there is no intersection between the first rotation axis and the second rotation axis, then determining the intersection of the first rotation axis and the vertical plane as the first intersection, determining the intersection of the second rotation axis and the vertical plane as the second intersection, and taking the line connecting the first intersection and the second intersection as the first line segment; if there is an intersection between the first rotation axis and the second rotation axis, then projecting the second rotation axis into the vertical plane to obtain the first line segment.

[0020] In one possible implementation, the calibration module is also used to: determine whether the zero position deviation is less than a preset threshold; if so, determine the initial zero position of the first joint as the calibration zero position; if greater than or equal to, update the initial zero position according to the zero position deviation, and when the zero position deviation is less than the preset threshold, determine the current position corresponding to the first joint as the calibration zero position.

[0021] In one possible implementation, when the first joint is the joint placed in the second position among multiple joints, before the first joint is calibrated in zero position, the joystick zero position calibration device also includes a construction module (not shown), and the construction module is used to: obtain a third rotation axis of a third joint, where the third joint is the joint placed in the first position among the multiple joints, and the third rotation axis is obtained when the third joint is placed in the corresponding initial zero position; construct a base coordinate system of the joystick according to the third rotation axis and the first rotation axis.

[0022] In one possible implementation, the calibration zero position of the third joint is obtained in the following manner: obtaining a reference plane corresponding to the third joint; adjusting the angle of the third joint and rotating the joints adjacent to the third joint to fit the fourth rotation axis of the joint; in response to the fourth rotation axis being perpendicular to the reference plane, determining the current position of the third joint as the calibration zero position of the first joint.

[0023] In a third aspect, the present application provides an electronic device comprising: a memory, a processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory, so that the processor executes the first aspect above and / or various possible implementations of the first aspect.

[0024] In a fourth aspect, the present application provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the above first aspect and / or various possible implementations of the first aspect.

[0025] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementations of the first aspect.

[0026] The present application provides a method and related device for zero-position calibration of the joystick of a surgical robot, which obtains the target ball motion data of the first joint collected by a laser tracker, performs fitting processing on the target ball motion data, and obtains the first rotation axis of the first joint; according to the first rotation axis, the first joint is zero-position calibrated, wherein the first joint is any joint placed after the first joint among multiple joints, and the joints placed before the first joint have all been calibrated to zero position. The present application, by using a laser tracker to collect the target ball motion data of the first joint, can ensure the accuracy of the collected target ball motion data, obtain the first rotation axis by fitting the target ball motion data, improve the accuracy of the first rotation axis, and further perform zero-position calibration on the first joint through the first rotation axis to improve the calibration accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0028] Figure 1 A schematic diagram of the structure of a doctor control platform in a surgical robot provided in an embodiment of the present application;

[0029] Figure 2 Schematic diagram of the process of the surgical robot joystick zero position calibration method provided in the embodiment of the present application Figure 1 ;

[0030] Figure 3 Schematic diagram of the process of the surgical robot joystick zero position calibration method provided in the embodiment of the present application Figure 2 ;

[0031] Figure 4 A schematic diagram of the structure of a joystick zero position calibration device for a surgical robot provided in an embodiment of the present application;

[0032] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0033] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0034] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0035] In the related art, before the surgical robot leaves the factory, the zero position of each joint in the joystick of the surgical robot needs to be accurately calibrated. At present, the zero position calibration of each joint in the joystick of the surgical robot mostly relies on the sensor configured in the joystick. However, the inventors have found that this zero position calibration method has the problem of low calibration accuracy.

[0036] Based on the problems existing in the related technology, the embodiment of the present application uses a laser tracker to collect the target ball motion data of the joint in the joystick during the rotation process to ensure the accuracy of the collected target ball motion data, and obtains the rotation axis of the joint by fitting the target ball motion data to improve the accuracy of the rotation axis. The joint is further calibrated to zero position through the rotation axis to improve the calibration accuracy.

[0037] Figure 1 This is a schematic diagram of the structure of the doctor control platform in the surgical robot provided in the embodiment of the present application. Figure 1 As shown, the doctor control platform includes a joystick 110 and a joystick 120. Each joystick is configured with a plurality of joints.

[0038] Exemplarily, the joystick 110 may be configured with seven joints. Figure 1As shown by the dotted lines in the figure, they are joint 1, joint 2, joint 3, joint 4, joint 5 and joint 6. Among them, joint 7 is not shown in the figure.

[0039] Exemplarily, a sensor is disposed in the joint 7 .

[0040] As can be seen from the figure, there are certain geometric relationships between different joints on the same joystick, such as vertical or parallel.

[0041] It should be noted that there is a certain relationship between the zero position of all joints in the joystick and the corresponding rotation axis. Figure 1 For the joints in the joystick 110 shown in the figure, when the zero position of joint 1 is determined, the rotation axis of the corresponding joint 2 is determined; when the zero positions of joints 1 and 2 are both determined, the rotation axis of the corresponding joint 3 is determined; when the zero positions of joints 1, 2 and 3 are all determined, the rotation axis of the corresponding joint 4 is determined; when the zero positions of joints 1, 2, 3 and 4 are all determined, the rotation axis of the corresponding joint 5 is determined; when the zero positions of joints 1, 2, 3, 4 and 5 are all determined, the rotation axis of the corresponding joint 6 is determined.

[0042] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below in conjunction with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0043] Figure 2 Schematic diagram of the process of the surgical robot joystick zero position calibration method provided in the embodiment of the present application Figure 1 .like Figure 2 As shown, the specific implementation of the method for zero position calibration of the joystick of the surgical robot may include the following steps:

[0044] S201, acquiring target ball motion data of a first joint collected by a laser tracker, wherein the first joint is any joint after the first joint among multiple joints, and the joints before the first joint have all been calibrated to zero position.

[0045] First, the joystick will be described.

[0046] Optionally, the joystick includes a plurality of joints connected in a preset order.

[0047] Exemplarily, the preset order may be determined according to the geometric relationship between multiple joints in the joystick.

[0048] Exemplarily, the preset order can be the above Figure 1The order of joints 1 to 6 shown in the figure corresponds to the order of joints 1 to 6.

[0049] Exemplarily, the first joint may be Figure 1 Any joint from joint 2 to joint 6 shown in .

[0050] Exemplarily, if the first joint is the second joint among multiple joints, then when the joint that is first among the multiple joints is placed at the calibration zero position, the target ball motion data of the first joint is obtained; if the first joint is the third joint among multiple joints, then when the joint that is first among the multiple joints and the joint that is second among the multiple joints are both placed at the calibration zero position, the target ball motion data of the first joint is obtained, and so on.

[0051] Exemplarily, the position of the laser tracker is determined according to the positions of all joints in the joystick arranged in a preset order, such as placing the laser tracker at a position where the middle position of the outer sides of all joints in the joystick arranged in a preset order can be detected.

[0052] Exemplarily, by adhering the target ball to the middle position of the outer side of the first joint, when the first joint is controlled to rotate at a constant speed, the target ball motion data of the first joint can be collected by a laser tracker.

[0053] For example, the first joint may be controlled to rotate at a constant speed by point control, wherein the speed of the rotation may be 1° / s, and the range of motion may be no less than 30°.

[0054] Exemplarily, the range of motion may be 30°, or 60°, etc.

[0055] S202, performing fitting processing on the target ball motion data to obtain a first rotation axis of the first joint.

[0056] In a possible implementation, a circle fitting may be performed on the target ball motion data to obtain a trajectory circle corresponding to the target ball motion data, and a straight line passing through the center of the trajectory circle is further determined as the first rotation axis of the first joint.

[0057] S203: Perform zero position calibration on the first joint according to the first rotation axis.

[0058] It can be understood that when the first joint is calibrated to zero position, the first joint is placed at a position corresponding to the initial zero position.

[0059] Exemplarily, the initial zero position may be an approximate zero position visually adjusted by an operator.

[0060] In the embodiment of the present application, the target ball motion data of the first joint collected by the laser tracker is acquired, and the target ball motion data is fitted to obtain the first rotation axis of the first joint; the first joint is calibrated to zero position according to the first rotation axis, wherein the first joint is any joint placed after the first joint among the multiple joints, and the joints placed before the first joint have been calibrated to zero position. In the embodiment of the present application, the accuracy of the collected target ball motion data can be ensured by using a laser tracker to collect the target ball motion data of the first joint, the first rotation axis is obtained by fitting the target ball motion data, the accuracy of the first rotation axis is improved, and the first joint is further calibrated to zero position by the first rotation axis to improve the calibration accuracy.

[0061] It should be noted that in the method for zero-position calibration of the joystick of the surgical robot provided in the embodiment of the present application, there is no limitation on the number of joints included in the joystick, wherein some joints may be configured with sensors according to actual application requirements, so that the joints can be zero-position calibrated through the configured sensors. In the method for zero-position calibration of the joystick of the surgical robot provided in the embodiment of the present application, when any joint of the multiple joints arranged and connected in a preset order included in the joystick is not configured with a sensor, the method for zero-position calibration of the joystick provided in the embodiment of the present application is used to perform zero-position calibration.

[0062] It should be noted that in the method for zero-position calibration of the joystick of the surgical robot provided in the embodiment of the present application, the joints of the joystick can be directly fitted, and the zero-position calibration conforms to the geometric relationship, without setting conditional assumptions such as good rigidity of the joystick.

[0063] Combine the following Figure 3 , a specific implementation method of performing zero position calibration on the first joint according to the first rotation axis in step S203 is described in detail.

[0064] Figure 3 Schematic diagram of the process of the surgical robot joystick zero position calibration method provided in the embodiment of the present application Figure 2 .like Figure 3 As shown, according to the first rotation axis, a specific implementation method of performing zero position calibration on the first joint may include the following steps:

[0065] S301, obtaining a vertical plane corresponding to the first joint according to the first rotation axis.

[0066] Exemplarily, the vertical plane corresponding to the first joint may be a vertical plane perpendicular to the first rotation axis.

[0067] Exemplarily, the normal vector of the vertical plane of the first joint may be the same as the normal vector of the first rotation axis.

[0068] In this step, in a possible implementation, a vertical plane is made perpendicular to the first rotation axis and passes through the origin of the base coordinate system; or a vertical plane is made perpendicular to the first rotation axis and passes through the center of the target ball motion trajectory corresponding to the first joint.

[0069] Exemplarily, the base coordinate system may be a base coordinate system corresponding to a joystick. The construction method of the base coordinate system of the joystick will be described in detail below in conjunction with specific embodiments.

[0070] Exemplarily, the target ball motion trajectory may be obtained by performing trajectory circle fitting processing on the target ball motion data.

[0071] S302, based on the vertical plane, according to the first rotation axis or the second rotation axis of the second joint, obtain the first line segment corresponding to the first joint, the second joint is an adjacent joint placed after the first joint among multiple joints, and the second rotation axis is obtained when the first joint is placed in the corresponding initial zero position.

[0072] Exemplarily, when the first joint is the second joint arranged in the preset order, the second joint is the third joint arranged in the preset order; when the first joint is the third joint arranged in the preset order, the second joint is the fourth joint arranged in the preset order, and so on.

[0073] In some embodiments, when the first joint is the joint arranged in the second position according to a preset order, the second rotation axis is obtained in the following manner: when the joint arranged in the first position according to the preset order is placed at the calibration zero position, and the first joint is placed at the initial zero position, which is the approximate zero position visually observed by the operator, the second joint is controlled to rotate at a uniform speed, and the target ball motion data of the second joint during the uniform rotation process is collected through a laser tracker, and the second rotation axis is obtained by further fitting the target ball motion data.

[0074] In some embodiments, when the first joint is the third joint arranged in a preset order, the second rotation axis is obtained in the following manner: the joint arranged in the first position and the joint arranged in the second position according to the preset order are both placed at the calibrated zero position, and the first joint is placed at the initial zero position, which is the approximate zero position visually observed by the operator, the second joint is controlled to rotate at a uniform speed, and the target ball motion data of the second joint during the uniform rotation process is collected through a laser tracker, and the second rotation axis is obtained by further fitting the target ball motion data, and so on.

[0075] Exemplarily, the target ball is disposed at a middle position outside the second joint.

[0076] For example, when controlling the second joint to rotate at a uniform speed, the corresponding movement speed and movement range are similar to those described above and will not be described in detail here.

[0077] S303, obtaining a second line segment corresponding to the first joint according to the vertical plane and the base coordinate system of the joystick.

[0078] In a possible implementation, the Z axis of the base coordinate system is projected into the vertical plane to obtain the second line segment.

[0079] Exemplarily, the Z axis of the base coordinate system may be the rotation axis of the joint that is first arranged in a preset order among the multiple joints of the joystick.

[0080] S304, calculating the angle between the first line segment and the second line segment, and determining the angle as the zero position deviation of the first joint.

[0081] S305, performing zero position calibration on the first joint according to the zero position deviation.

[0082] In the embodiment of the present application, a vertical plane corresponding to the first joint is obtained according to the first rotation axis, and based on the vertical plane, a first line segment corresponding to the first joint is obtained according to the first rotation axis or a second rotation axis of an adjacent joint placed after the first joint among multiple joints, and a second line segment corresponding to the first joint is obtained according to the vertical plane and the base coordinate system of the joystick, and the angle between the first line segment and the second line segment is further calculated, and the angle is determined as the zero position deviation of the first joint, and then the first joint is zero-calibrated according to the zero position deviation. In the embodiment of the present application, the calibration accuracy is improved by zero-calibrating the first joint based on the first rotation axis with higher accuracy.

[0083] Optionally, step S302 is based on the vertical plane, and a possible implementation method for obtaining the first line segment corresponding to the first joint according to the first rotation axis or the second rotation axis of the second joint can be: if there is no intersection between the first rotation axis and the second rotation axis, the intersection of the first rotation axis and the vertical plane is determined as the first intersection, the intersection of the second rotation axis and the vertical plane is determined as the second intersection, and the line connecting the first intersection and the second intersection is used as the first line segment; if there is an intersection between the first rotation axis and the second rotation axis, the second rotation axis is projected into the vertical plane to obtain the first line segment.

[0084] It can be understood that there is no intersection between the first rotation axis and the second rotation axis, that is, when the geometric relationship between the first joint corresponding to the first rotation axis and the second joint corresponding to the second rotation axis is a parallel relationship, the second rotation axis corresponding to the second joint cannot be projected into the vertical plane corresponding to the first joint.

[0085] Optionally, a possible implementation method of step S305 for performing zero position calibration on the first joint according to the zero position deviation may be: determining whether the zero position deviation is less than a preset threshold value; if it is less than, determining the initial zero position of the first joint as the calibration zero position; if it is greater than or equal to, updating the initial zero position according to the zero position deviation, and when the zero position deviation is less than the preset threshold value, determining the current position corresponding to the first joint as the calibration zero position.

[0086] For example, the preset threshold may be 0.1°. The embodiment of the present application does not limit the value of the preset threshold, which may be determined according to actual application requirements.

[0087] Exemplarily, when the zero position deviation is greater than or equal to a preset threshold, the angle of the first joint is adjusted toward 0° according to the magnitude of the zero position deviation based on the initial zero position of the first joint.

[0088] Based on the above embodiments, when the first joint is the joint placed in the second position among multiple joints, before the first joint is calibrated to zero position, optionally, the joystick zero position calibration method of the surgical robot provided in the embodiments of the present application also includes: obtaining a third rotation axis of the third joint, which is the joint placed in the first position among multiple joints, and the third rotation axis is obtained when the third joint is placed in the corresponding initial zero position; constructing a base coordinate system of the joystick according to the third rotation axis and the first rotation axis.

[0089] It can be understood that in the method for zero-position calibration of the joystick of the surgical robot provided in the embodiment of the present application, the base coordinate system of the joystick is constructed according to the rotation axes corresponding to the joints arranged in the first and second positions in a preset order.

[0090] Exemplarily, the third rotation axis is obtained in the following manner: when the third joint is placed at an initial zero position, which is approximately the zero position visually observed by the operator, the third joint is controlled to rotate at a uniform speed, and the target ball motion data of the third joint during the uniform rotation process is collected by a laser tracker, and the target ball motion data is further fitted to obtain the third rotation axis.

[0091] The movement speed and range of the third joint during uniform rotation are similar to those described above and will not be repeated here.

[0092] According to the third rotation axis and the first rotation axis, a possible implementation method of constructing a base coordinate system of the joystick may be: taking the midpoint of the common perpendicular line of the first rotation axis and the third rotation axis as the origin of the base coordinate system; taking the third rotation axis as the Z-axis in the base coordinate system, and determining the direction in which the third rotation axis points to the joystick base as positive; taking the first rotation axis as the Y-axis of the base coordinate system; taking the common perpendicular line of the first rotation axis and the third rotation axis as the X-axis of the base coordinate system, and determining the direction in which the common perpendicular line points to the operator as positive.

[0093] Optionally, the calibration zero position of the third joint is obtained in the following manner: obtaining a reference plane corresponding to the third joint; adjusting the angle of the third joint, and rotating the joints adjacent to the third joint to fit the fourth rotation axis of the joint; in response to the fourth rotation axis being perpendicular to the reference plane, determining the current position of the third joint as the calibration zero position of the first joint.

[0094] It can be understood that the third joint is the joint that is arranged first in a preset order among all the joints of the joystick.

[0095] Exemplarily, the reference surface of the third joint may be a side surface of the housing where the third joint is located that is perpendicular to the base. Figure 1 Side 101 shown in .

[0096] Exemplarily, the joint adjacent to the third joint is the joint that is arranged second in a preset order among all the joints of the joystick.

[0097] Optionally, the method for zero-position calibration of the joystick of the surgical robot provided in the embodiment of the present application, after completing the zero-position calibration of the joints in the joystick, further includes: outputting MD-H parameters based on the rotation axis corresponding to each joint.

[0098] Exemplarily, export the base coordinate system of the joystick and the rotation axis of the joint that has completed zero-position calibration (such as base coordinates, J1, J2...J7), select "File"-"Export"-"Coordinate System (Object Coordinate System)" in the laser tracker device-double-click to select each axis (first select the base coordinate system, and then select the rotation axis of the joint in the preset order), press Enter after selection-select "Name, r0c0, r0c1...r2c3" in the configuration options to confirm-select the save location and name the file to generate the corresponding scv file, use the programming script to calculate the DH value, and modify the read file name before running. Check the starting joint number and the ending joint number. Among them, each joint contains four parameters, and the joint parameters are updated to the mDH variable definition file of the device control program.

[0099] Among them, according to the preset order, the last joint position obtained is located at the intersection of the common perpendicular line with the previous joint, and the X-axis direction is the same as the previous joint. It needs to be adjusted if necessary.

[0100] The DH value obtained is based on the measured axis.

[0101] It should be noted that in the method for zero-position calibration of the joystick of the surgical robot provided in the embodiment of the present application, some preparation work is also included before zero-position calibration of the joints in the joystick. Figure 1Taking the joystick 110 shown as an example, the method for zero position calibration of the joystick of the surgical robot provided in the embodiment of the present application is described in detail below in combination with a specific embodiment.

[0102] In a possible implementation, a specific implementation of the method for zero-position calibration of a joystick of a surgical robot provided in an embodiment of the present application may include the following steps:

[0103] S1, preparation work before zero calibration of the joystick.

[0104] Exemplary preparations include:

[0105] 1) The operator visually adjusts all joints included in the joystick to approximately zero position. For example, all joints included in the joystick can be Figure 1 Joints 1 to 6, and Joint 7 ( Figure 1 not shown).

[0106] 2) Connect the cable to the doctor control platform including the joystick, connect the power supply and turn it on.

[0107] 3) Run the doctor control platform and initialize the joystick, even if the joystick is in working state.

[0108] 4) Install the laser tracker, that is, place the laser tracker at a suitable position near the joystick to be calibrated.

[0109] The method for determining the placement of the laser tracker is similar to that described above and will not be repeated here.

[0110] 5) Fix the target ball at the middle position of the outer side of the joint that is arranged in the first position in the preset order in the joystick to be calibrated. Figure 1 The middle position of the outside of joint 1 is shown in .

[0111] S2, establish the base coordinate system of the joystick to be calibrated.

[0112] 1) Use the inching method to control the above Figure 1 The joint 1 shown in the figure rotates at a constant speed, and the target ball motion data of the joint 1 is collected in real time by a laser tracker. The motion speed may be 1° / s, and the motion range may be ≥30°.

[0113] 2) Perform fitting processing on the collected target ball motion data of joint 1 to obtain the rotation axis of joint 1, and record the rotation axis of joint 1.

[0114] 3) Perform zero position calibration on joint 1 and adjust joint 1 to the calibration zero position. The zero position calibration method for joint 1 is similar to the above and will not be repeated here.

[0115] 4) Place joint 1 in the calibration zero position, and fix the target ball in the middle of the outer side of the second joint in the preset order in the joystick to be calibrated, such as Figure 1 The middle position of the outer side of the joint 2 shown in the figure is further controlled to rotate at a uniform speed, and the target ball motion data of the joint 2 is collected in real time through the laser tracker. Among them, the motion speed can be 1° / s, and the motion range can be ≥30°.

[0116] 5) Perform fitting processing on the collected target ball motion data of joint 2 to obtain the rotation axis of joint 2, and record the rotation axis of joint 2.

[0117] 6) Construct the base coordinate system of the joystick to be calibrated according to the rotation axis of joint 1 and the rotation axis of joint 2. The specific implementation method is similar to the above and will not be repeated here.

[0118] S3, calibrate the zero position of the joint that is arranged in the second position according to the preset order in the joystick to be calibrated, such as joint 2:

[0119] 1) Draw a vertical plane perpendicular to the rotation axis of joint 2, passing through the origin of the base coordinate system or the center of the target ball motion trajectory corresponding to joint 2;

[0120] 2) Place joint 2 at the initial zero position, i.e., the approximate zero position in step S1, and control the third joint in the preset order in the joystick to be calibrated as follows: Figure 1 The joint 3 shown in the figure rotates at a constant speed, and the target ball motion data of the joint 3 is collected in real time by a laser tracker. The motion speed may be 1° / s, and the motion range may be ≥30°. The target ball motion data of the joint 3 is further fitted to obtain the rotation axis of the joint 3;

[0121] 3) Draw the intersection of the rotation axis of joint 3 and the vertical plane, and the intersection of the rotation axis of joint 2 and the vertical plane, connect the two intersection points, and obtain the first line segment corresponding to joint 2;

[0122] 4) Project the Z axis of the base coordinate system onto the vertical plane to obtain the second line segment corresponding to joint 2;

[0123] 5) Calculate the angle between the first line segment and the second line segment, and use the angle as the zero position deviation of joint 2;

[0124] 6) According to the zero position deviation, perform zero position calibration on joint 2. The specific implementation method is similar to the above and will not be repeated here.

[0125] S4, calibrate the zero position of the joint that is arranged in the third position according to the preset order in the joystick to be calibrated, such as joint 3:

[0126] 1) Joints 1 and 2 are placed at the calibration zero position, joint 3 is controlled to rotate at a constant speed, and the target ball motion data of joint 3 is collected in real time through a laser tracker. The motion speed can be 1° / s, and the motion range can be ≥30°. The target ball motion data of joint 3 is further fitted to obtain the rotation axis of joint 3, and the rotation axis of joint 3 is recorded; a vertical plane is made perpendicular to the rotation axis of joint 3 and passes through the origin of the base coordinate system or the center of the target ball motion trajectory corresponding to joint 3;

[0127] 2) Place joint 3 at the initial zero position, i.e., the approximate zero position in step S1, and control the joint arranged in the fourth position in the preset order in the joystick to be calibrated as follows: Figure 1 The joint 4 shown in the figure rotates at a constant speed, and the target ball motion data of the joint 4 is collected in real time by a laser tracker. The motion speed may be 1° / s, and the motion range may be ≥30°. The target ball motion data of the joint 4 is further fitted to obtain the rotation axis of the joint 4;

[0128] 3) Project the rotation axis of joint 4 onto the vertical plane to obtain the first line segment corresponding to joint 3;

[0129] 4) Project the Z axis of the base coordinate system onto the vertical plane to obtain the second line segment corresponding to joint 3;

[0130] 5) Calculate the angle between the first line segment and the second line segment, and use the angle as the zero position deviation of joint 3;

[0131] 6) According to the zero position deviation, perform zero position calibration on joint 3. The specific implementation method is similar to the above and will not be repeated here.

[0132] S5, calibrate the zero position of the joint that is arranged in the fourth position according to the preset order in the joystick to be calibrated, such as joint 4:

[0133] 1) Joints 1, 2, and 3 are all placed at the calibration zero position, joint 4 is controlled to rotate at a constant speed, and the target ball motion data of joint 4 is collected in real time through a laser tracker. The motion speed can be 1° / s, and the motion range can be ≥30°. The target ball motion data of joint 4 is further fitted to obtain the rotation axis of joint 4, and the rotation axis of joint 4 is recorded; a vertical plane is made perpendicular to the rotation axis of joint 4 through the origin of the base coordinate system or the center of the target ball motion trajectory corresponding to joint 4;

[0134] 2) Place joint 4 at the initial zero position, i.e., the approximate zero position in step S1, and control the joints arranged in the fifth position in the preset order in the joystick to be calibrated as follows: Figure 1The joint 5 shown in the figure rotates at a constant speed, and the target ball motion data of the joint 5 is collected in real time by a laser tracker. The motion speed may be 1° / s, and the motion range may be ≥30°. The target ball motion data of the joint 5 is further fitted to obtain the rotation axis of the joint 5;

[0135] 3) Project the rotation axis of joint 5 onto the vertical plane to obtain the first line segment corresponding to joint 4;

[0136] 4) Project the Z axis of the base coordinate system onto the vertical plane to obtain the second line segment corresponding to joint 4;

[0137] 5) Calculate the angle between the first line segment and the second line segment, and use the angle as the zero position deviation of joint 4;

[0138] 6) According to the zero position deviation, the zero position of joint 4 is calibrated. The specific implementation method is similar to the above and will not be repeated here.

[0139] S6, calibrate the zero position of the joint that is arranged in the fifth position according to the preset order in the joystick to be calibrated, such as joint 5:

[0140] 1) Joints 1, 2, 3 and 4 are all placed at the calibration zero position, joint 5 is controlled to rotate at a constant speed, and the target ball motion data of joint 5 is collected in real time through a laser tracker. The motion speed can be 1° / s, and the motion range can be ≥30°. The target ball motion data of joint 5 is further fitted to obtain the rotation axis of joint 5, and the rotation axis of joint 5 is recorded; a vertical plane is made perpendicular to the rotation axis of joint 5 and passes through the origin of the base coordinate system or the center of the target ball motion trajectory corresponding to joint 5;

[0141] 2) Place joint 5 at the initial zero position, i.e., the approximate zero position in step S1, and control the joints arranged in the sixth position in the preset order in the joystick to be calibrated as follows: Figure 1 The joint 6 shown in the figure rotates at a constant speed, and the target ball motion data of the joint 6 is collected in real time by a laser tracker. The motion speed may be 1° / s, and the motion range may be ≥30°. The target ball motion data of the joint 6 is further fitted to obtain the rotation axis of the joint 6;

[0142] 3) Project the rotation axis of joint 6 onto the vertical plane to obtain the first line segment corresponding to joint 5;

[0143] 4) Project the Z axis of the base coordinate system onto the vertical plane to obtain the second line segment corresponding to joint 5;

[0144] 5) Calculate the angle between the first line segment and the second line segment, and use the angle as the zero position deviation of the joint 5;

[0145] 6) According to the zero position deviation, the zero position of joint 5 is calibrated. The specific implementation method is similar to the above and will not be repeated here.

[0146] S7, calibrate the zero position of the joint that is arranged in the sixth position according to the preset order in the joystick to be calibrated, such as joint 6:

[0147] 1) Joints 1, 2, 3, 4 and 5 are all placed at the calibration zero position, joint 6 is controlled to rotate at a constant speed, and the target ball motion data of joint 6 is collected in real time through a laser tracker. The motion speed can be 1° / s, and the motion range can be ≥30°. The target ball motion data of joint 6 is further fitted to obtain the rotation axis of joint 6, and the rotation axis of joint 6 is recorded; a vertical plane is made perpendicular to the rotation axis of joint 6 and passes through the origin of the base coordinate system or the center of the target ball motion trajectory corresponding to joint 6;

[0148] 2) Place joint 6 at the initial zero position, i.e., the approximate zero position in step S1, and control the joints of the joystick to be calibrated that are not arranged in the preset order, such as joint 7 ( Figure 1 The target ball of the joint 7 is rotated at a constant speed (not shown), and the target ball motion data of the joint 7 is collected in real time by a laser tracker. The motion speed may be 1° / s, and the motion range may be ≥30°. The target ball motion data of the joint 7 is further fitted to obtain the rotation axis of the joint 7;

[0149] 3) Project the rotation axis of joint 7 onto the vertical plane to obtain the first line segment corresponding to joint 6;

[0150] 4) Project the Z axis of the base coordinate system onto the vertical plane to obtain the second line segment corresponding to joint 6;

[0151] 5) Calculate the angle between the first line segment and the second line segment, and use the angle as the zero position deviation of the joint 6;

[0152] 6) According to the zero position deviation, the zero position of joint 6 is calibrated. The specific implementation method is similar to the above and will not be repeated here.

[0153] S8, outputting MD-H parameters. The specific implementation method is similar to the above, and will not be repeated here.

[0154] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0155] Figure 4 This is a schematic diagram of the structure of the joystick zero position calibration device of the surgical robot provided in the embodiment of the present application. Figure 4 As shown, the joystick zero position calibration device 40 of the surgical robot includes: an acquisition module 410 , a processing module 420 and a calibration module 430 .

[0156] The acquisition module 410 is used to acquire the target ball motion data of the first joint collected by the laser tracker, wherein the first joint is any joint after the first joint among the multiple joints, and the joints before the first joint have been calibrated to zero position;

[0157] The processing module 420 is used to perform fitting processing on the target ball motion data to obtain a first rotation axis of the first joint;

[0158] The calibration module 430 is used to perform zero position calibration on the first joint according to the first rotation axis.

[0159] In one possible implementation, the calibration module 430 is specifically used to: obtain a vertical plane corresponding to the first joint according to the first rotation axis; based on the vertical plane, obtain a first line segment corresponding to the first joint according to the first rotation axis or the second rotation axis of the second joint, the second joint is an adjacent joint placed after the first joint among multiple joints, and the second rotation axis is obtained when the first joint is placed in the corresponding initial zero position; obtain a second line segment corresponding to the first joint according to the vertical plane and the base coordinate system of the joystick; calculate the angle between the first line segment and the second line segment, and determine the angle as the zero position deviation of the first joint; and perform zero position calibration on the first joint according to the zero position deviation.

[0160] In a possible implementation, the calibration module 430 is further used to: draw a vertical plane perpendicular to the first rotation axis and passing through the origin of the base coordinate system; or draw a vertical plane perpendicular to the first rotation axis and passing through the center of the target ball motion trajectory corresponding to the first joint.

[0161] In a possible implementation, the calibration module 430 is also used for: if there is no intersection between the first rotation axis and the second rotation axis, then determining the intersection of the first rotation axis and the vertical plane as the first intersection, determining the intersection of the second rotation axis and the vertical plane as the second intersection, and taking the line connecting the first intersection and the second intersection as the first line segment; if there is an intersection between the first rotation axis and the second rotation axis, then projecting the second rotation axis into the vertical plane to obtain the first line segment.

[0162] In one possible implementation, the calibration module 430 is also used to: determine whether the zero position deviation is less than a preset threshold; if so, determine the initial zero position of the first joint as the calibration zero position; if greater than or equal to, update the initial zero position according to the zero position deviation, and when the zero position deviation is less than the preset threshold, determine the current position corresponding to the first joint as the calibration zero position.

[0163] In one possible implementation, when the first joint is the joint placed in the second position among multiple joints, before the first joint is calibrated in zero position, the joystick zero position calibration device also includes a construction module (not shown), and the construction module is used to: obtain a third rotation axis of a third joint, where the third joint is the joint placed in the first position among the multiple joints, and the third rotation axis is obtained when the third joint is placed in the corresponding initial zero position; construct a base coordinate system of the joystick according to the third rotation axis and the first rotation axis.

[0164] In one possible implementation, the calibration zero position of the third joint is obtained in the following manner: obtaining a reference plane corresponding to the third joint; adjusting the angle of the third joint and rotating the joints adjacent to the third joint to fit the fourth rotation axis of the joint; in response to the fourth rotation axis being perpendicular to the reference plane, determining the current position of the third joint as the calibration zero position of the first joint.

[0165] The joystick zero position calibration device for a surgical robot provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0166] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 5 As shown, the electronic device 50 includes: at least one processor 501 and a memory 502 .

[0167] Optionally, the electronic device 50 further includes a communication interface 503 . The processor 501 , the memory 502 and the communication interface 503 are connected via a system bus 504 .

[0168] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0169] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0170] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0171] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0172] The system bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The system bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0173] An embodiment of the present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0174] An embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0175] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0176] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0177] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0178] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0179] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0180] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0181] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0182] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for zero position calibration of a joystick of a surgical robot, characterized in that: The joystick comprises a plurality of joints connected in a preset order, and the joystick zero position calibration method comprises: Acquire target ball motion data of a first joint collected by a laser tracker, wherein the first joint is any joint after the first joint among the multiple joints, and the joints before the first joint have all been calibrated to zero position; Performing fitting processing on the target ball motion data to obtain a first rotation axis of the first joint; The first joint is calibrated at a zero position according to the first rotation axis.

2. The method for zero position calibration of a joystick of a surgical robot according to claim 1, characterized in that: The zero-position calibration of the first joint according to the first rotation axis includes: According to the first rotation axis, a vertical plane corresponding to the first joint is obtained; Based on the vertical plane, a first line segment corresponding to the first joint is obtained according to the first rotation axis or the second rotation axis of the second joint, the second joint is an adjacent joint of the plurality of joints that is located after the first joint, and the second rotation axis is obtained when the first joint is located at a corresponding initial zero position; Obtaining a second line segment corresponding to the first joint according to the vertical plane and the base coordinate system of the joystick; Calculating an angle between the first line segment and the second line segment, and determining the angle as a zero position deviation of the first joint; The first joint is calibrated at zero position according to the zero position deviation.

3. The method for zero position calibration of a joystick of a surgical robot according to claim 2, characterized in that: The obtaining, according to the first rotation axis, a vertical plane corresponding to the first joint comprises: Draw a vertical plane perpendicular to the first rotation axis and passing through the origin of the base coordinate system; Alternatively, a vertical plane passing through the center of the target ball motion trajectory corresponding to the first joint is made perpendicular to the first rotation axis.

4. The method for zero position calibration of a joystick of a surgical robot according to claim 2, characterized in that: The obtaining, based on the vertical plane and according to the first rotation axis or the second rotation axis of the second joint, a first line segment corresponding to the first joint comprises: If there is no intersection between the first rotation axis and the second rotation axis, determine the intersection of the first rotation axis and the vertical plane as the first intersection, determine the intersection of the second rotation axis and the vertical plane as the second intersection, and use the line connecting the first intersection and the second intersection as the first line segment; If there is an intersection point between the first rotation axis and the second rotation axis, the second rotation axis is projected onto the vertical plane to obtain the first line segment.

5. The method for zero position calibration of a joystick of a surgical robot according to claim 2, characterized in that: The step of performing zero position calibration on the first joint according to the zero position deviation comprises: Determining whether the zero position deviation is less than the preset threshold; If it is less than, determining the initial zero position of the first joint as the calibration zero position; If it is greater than or equal to, the initial zero position is updated according to the zero position deviation, and when the zero position deviation is less than the preset threshold, the current position corresponding to the first joint is determined as the calibration zero position.

6. The method for zero position calibration of a joystick of a surgical robot according to any one of claims 1 to 5, characterized in that: When the first joint is the joint located at the second position among the multiple joints, before performing zero position calibration on the first joint, the joystick zero position calibration method further includes: Acquire a third rotation axis of a third joint, wherein the second joint is a joint placed first among the multiple joints, and the third rotation axis is obtained when the third joint is placed at a corresponding initial zero position; A base coordinate system of the joystick is constructed according to the third rotation axis and the first rotation axis.

7. The method for zero position calibration of a joystick of a surgical robot according to claim 6, characterized in that: The calibration zero position of the third joint is obtained by: Acquire a reference plane corresponding to the third joint; adjusting the angle of the third joint and rotating the joints adjacent to the third joint to fit the fourth rotation axis of the joint; In response to the fourth rotation axis being perpendicular to the reference plane, the current position of the third joint is determined as the calibration zero position of the first joint.

8. A joystick zero position calibration device for a surgical robot, characterized in that: The joystick comprises a plurality of joints connected in a preset order, and the joystick zero position calibration device comprises: An acquisition module, used for acquiring target ball motion data of a first joint collected by a laser tracker, wherein the first joint is any joint after the first joint among the multiple joints, and the joints before the first joint have been calibrated to zero position; A processing module, used for performing fitting processing on the target ball motion data to obtain a first rotation axis of the first joint; A calibration module is used to perform zero position calibration on the first joint according to the first rotation axis.

9. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed.

11. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 7 when being executed.

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