Joystick Zero-Position Calibration Method and Related Devices for Surgical Robots

Abstract

The present application provides a method and related device for calibrating the zero position of a joystick of a surgical robot, relating to the technical field of surgical robots. The method obtains the target ball motion data of a first joint collected by a laser tracker, performs fitting processing on the target ball motion data to obtain the first rotation axis of the first joint; and calibrates the zero position of the first joint according to the first rotation axis, where the first joint is any joint placed after the first among multiple joints, and the joints placed before the first joint have already been calibrated for the zero position. In the present application, by using a laser tracker to collect the target ball motion data of the first joint, the accuracy of the collected target ball motion data can be ensured. By performing fitting processing on the target ball motion data to obtain the first rotation axis, the accuracy of the first rotation axis is improved. Further, by using the first rotation axis to calibrate the zero position of the first joint, the calibration accuracy is improved.

Description

Technical Field

[0001] This application relates to the technical field of surgical robots, and particularly to a method and related device for calibrating the zero position of a joystick of a surgical robot. Background Art

[0002] A minimally invasive surgical robot generally consists of a patient surgical platform and a doctor control platform. Among them, the accuracy of the zero positions of the joints 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. An accurate zero position allows the minimally invasive surgical robot to accurately calculate the pose of the joystick at any moment in the doctor's vision coordinate system, so as to accurately control the surgical position.

[0003] In related technologies, when the doctor control platform is started, the current position of each joint is detected through the sensors configured in each joint of the joystick, and the current position is used as the zero position of the corresponding joint. However, the inventor's research found that this method for calibrating the zero position of the joystick joint has the problem of low calibration accuracy. Summary of the Invention

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

[0005] In a first aspect, this application provides a method for calibrating the zero position of a joystick of a surgical robot. The joystick includes a plurality of joints connected in a preset order. The method for calibrating the zero position of the joystick includes: obtaining the target ball movement data of a first joint collected by a laser tracker, where the first joint is any joint after the first one among the plurality of joints, and the joints before the first joint have been calibrated for their zero positions; performing fitting processing on the target ball movement data to obtain the first rotation axis of the first joint; and calibrating the zero position of the first joint according to the first rotation axis.

[0006] In a possible implementation manner, calibrating the zero position of the first joint according to the first rotation axis includes: obtaining the vertical plane corresponding to the first joint according to the first rotation axis; based on the vertical plane, 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, where the second joint is the adjacent joint after the first joint among the plurality of joints, and the second rotation axis is obtained when the first joint is in the corresponding initial zero position; obtaining the second line segment corresponding to the first joint according to the vertical plane and the base coordinate system of the joystick; calculating the included angle between the first line segment and the second line segment, and determining the included angle as the zero position deviation of the first joint; and calibrating the zero position of the first joint according to the zero position deviation.

[0007] In a possible implementation manner, obtaining a vertical plane corresponding to the first joint according to the first rotation axis includes: making a vertical plane passing through the origin of the base coordinate system perpendicular to the first rotation axis; or making a vertical plane passing through the center of the target ball movement trajectory corresponding to the first joint perpendicular to the first rotation axis.

[0008] In a possible implementation manner, 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 includes:

[0009] If there is no intersection point between the first rotation axis and the second rotation axis, determining the intersection point of the first rotation axis and the vertical plane as the first intersection point, determining the intersection point of the second rotation axis and the vertical plane as the second intersection point, and taking the connection line between the first intersection point and the second intersection point as the first line segment; if there is an intersection point between the first rotation axis and the second rotation axis, projecting the second rotation axis onto the vertical plane to obtain the first line segment.

[0010] In a possible implementation manner, performing zero position calibration on the first joint according to the zero position deviation includes: determining whether the zero position deviation is less than a preset threshold; if it is less, determining the initial zero position of the first joint as the calibrated 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, determining the current position corresponding to the first joint as the calibrated zero position.

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

[0012] In a possible implementation manner, the calibrated zero position of the third joint is obtained by the following method: obtaining the reference plane corresponding to the third joint; adjusting the angle of the third joint and rotating the joint 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 calibrated 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. The joystick includes multiple joints connected in a preset order. The joystick zero position calibration device includes:

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

[0015] A processing module, configured to perform fitting processing on the target ball motion data to obtain the first rotation axis of the first joint;

[0016] A calibration module, configured to perform zero-position calibration on the first joint according to the first rotation axis.

[0017] In a possible implementation manner, the calibration module is specifically configured 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, where 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; 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 included angle between the first line segment and the second line segment, and determine the included angle as the zero-position deviation of the first joint; perform zero-position calibration on the first joint according to the zero-position deviation.

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

[0019] In a possible implementation manner, the calibration module is further configured to: if there is no intersection point between the first rotation axis and the second rotation axis, determine the intersection point of the first rotation axis and the vertical plane as the first intersection point, determine the intersection point of the second rotation axis and the vertical plane as the second intersection point, and use the line connecting the first intersection point and the second intersection point as the first line segment; if there is an intersection point between the first rotation axis and the second rotation axis, project the second rotation axis onto the vertical plane to obtain the first line segment.

[0020] In a possible implementation manner, the calibration module is further configured to: determine whether the zero-position deviation is less than a preset threshold; if it is less, determine the initial zero position of the first joint as the calibrated zero position; if it is 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 calibrated zero position.

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

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

[0023] In a third aspect, the present application provides an electronic device, including: a memory and 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 above first aspect and / or various possible implementation manners of the first aspect.

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

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

[0026] The present application provides a method and related device for calibrating the zero position of a 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 to obtain the first rotation axis of the first joint; and calibrates the zero position of the first joint according to the first rotation axis, where the first joint is any joint placed after the first among multiple joints, and the joints placed before the first joint have been calibrated for their zero positions. In the present application, by using a laser tracker to collect the target ball motion data of the first joint, the accuracy of the collected target ball motion data can be ensured, the accuracy of the first rotation axis is improved by performing fitting processing on the target ball motion data, and further, the calibration accuracy is improved by calibrating the zero position of the first joint according to the first rotation axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0028] Figure 1 It is a schematic structural diagram of a doctor control platform in a surgical robot provided by an embodiment of the present application;

[0029] Figure 2 It is a schematic flow chart of a method for calibrating the zero position of a joystick of a surgical robot provided by an embodiment of the present application Figure 1 ;

[0030] Figure 3 Schematic flow of the zero position calibration method for the joystick of the surgical robot provided by the embodiment of the present application Figure 2 ;

[0031] Figure 4 Schematic structural diagram of the zero position calibration device for the joystick of the surgical robot provided by the embodiment of the present application;

[0032] Figure 5 Schematic structural diagram of the electronic device provided by the embodiment of the present application.

[0033] Through the above-mentioned drawings, specific embodiments of the present application have been shown, and there will be more detailed descriptions hereinafter. These drawings and text descriptions are not intended to limit the scope of the concept 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. Specific Embodiments

[0034] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, 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, it is necessary to accurately calibrate the zero positions of the joints in the joystick of the surgical robot. At present, for the zero position calibration of the joints in the joystick of the surgical robot, most rely on the sensors configured in the joystick. However, the inventor has found through research that this zero position calibration method has the problem of low calibration accuracy.

[0036] Based on the problems existing in the related art, the embodiment of the present application collects the target ball motion data during the rotation of the joints in the joystick by using a laser tracker to ensure the accuracy of the collected target ball motion data, obtains the rotation axis of the joint by fitting the target ball motion data to improve the accuracy of the rotation axis, and further calibrates the zero position of the joint through the rotation axis to improve the calibration accuracy.

[0037] Figure 1 Schematic structural diagram of the doctor control platform in the surgical robot provided by the embodiment of the present application. As Figure 1 shown, the doctor control platform includes a joystick 110 and a joystick 120. Among them, each joystick is configured with a plurality of joints.

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

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

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

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

[0042] Next, the technical solution of the present application and how the technical solution of the present application solves the above technical problems will be described in detail with reference to specific embodiments. These specific embodiments below 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 with reference to the drawings.

[0043] Figure 2 It is a flow diagram of the zero position calibration method for the joystick of the surgical robot provided by the embodiment of the present application Figure 1 For example Figure 2 As shown, the specific implementation manner of the zero position calibration method for the joystick of the surgical robot may include the following steps:

[0044] S201, obtain the target ball motion data of the first joint collected by the laser tracker, where the first joint is any joint placed after the first among multiple joints, and the joints placed before the first joint have already been calibrated for their zero positions.

[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 may be the above Figure 1The sequence corresponding to Joint 1 to Joint 6 shown in the figure.

[0049] Exemplarily, the first joint can be any one of Joint 2 to Joint 6 shown in the above Figure 1 figure.

[0050] Exemplarily, if the first joint is the joint in the second position among multiple joints, when the joint in the first position among multiple joints is placed at the calibrated zero position, the target ball movement data of the first joint is obtained; if the first joint is the joint in the third position among multiple joints, when the joint in the first position among multiple joints and the joint in the second position among multiple joints are both placed at the calibrated zero position, the target ball movement 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 arranged in a preset order in the joystick. For example, the laser tracker is placed at a position in the middle outside all joints arranged in a preset order included in the joystick that can be detected.

[0052] Exemplarily, by adhering a target ball at the middle position outside the first joint, when controlling the first joint to rotate at a constant speed, the target ball movement data of the first joint can be collected by the laser tracker.

[0053] Exemplarily, the first joint can be controlled to rotate at a constant speed in a point control manner. The movement speed during the rotation process can be 1° / S, and the movement range can be not less than 30°.

[0054] Exemplarily, the movement range can be 30°, or can be 60°, etc.

[0055] S202. Perform fitting processing on the target ball movement data to obtain the first rotation axis of the first joint.

[0056] In a possible implementation manner, the target ball movement data can be circularly fitted to obtain a trajectory circle corresponding to the target ball movement data, and further, the straight line passing through the center of the trajectory circle is 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 performing zero position calibration on the first joint, the first joint is placed at the position corresponding to the initial zero position.

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

[0060] In an embodiment of the present application, by acquiring the target ball motion data of the first joint collected by a laser tracker, fitting the target ball motion data, and obtaining the first rotation axis of the first joint; according to the first rotation axis, zero position calibration is performed on the first joint, where the first joint is any joint placed after the first one among multiple joints, and the joints placed before the first joint have been calibrated to zero position. In the embodiment of the present application, by using a laser tracker to collect the target ball motion data of the first joint, the accuracy of the collected target ball motion data can be ensured. By fitting the target ball motion data to obtain the first rotation axis, the accuracy of the first rotation axis is improved. Further, zero position calibration is performed on the first joint through the first rotation axis, improving the calibration accuracy.

[0061] It should be noted that in the method for calibrating the zero position of the joystick of the surgical robot provided in the embodiment of the present application, the number of joints included in the joystick is not limited. Among them, some joints can be configured with sensors according to actual application requirements, so that the zero position calibration of the joint can be realized through the configured sensors. In the method for calibrating the zero position of the joystick of the surgical robot provided in the embodiment of the present application, when any joint among the multiple joints connected in a preset order included in the joystick is not configured with a sensor, the method for calibrating the zero position of the joystick provided in the embodiment of the present application is used for zero position calibration.

[0062] It should be noted that in the method for calibrating the zero position 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 geometric relationships, without assuming conditions such as the joystick having good rigidity.

[0063] The following combines Figure 3 to elaborate in detail on the specific implementation manner of step S203 for performing zero position calibration on the first joint according to the first rotation axis.

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

[0065] S301, obtaining the 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 one possible implementation, a vertical plane passing through the origin of the base coordinate system is made perpendicular to the first rotation axis; or, a vertical plane passing through the center of the target ball movement trajectory corresponding to the first joint is made perpendicular to the first rotation axis.

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

[0070] Exemplarily, the target ball movement trajectory can be obtained by performing a trajectory circle fitting process on the target ball movement data.

[0071] S302. Based on the vertical plane, according to the first rotation axis or the second rotation axis of the second joint, a first line segment corresponding to the first joint is obtained. The second joint is the 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.

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

[0073] In some embodiments, when the first joint is the joint arranged in the second position in the preset order, the second rotation axis is obtained in the following manner: the joint arranged in the first position is placed at the calibration zero position, and when the first joint is placed at the initial zero position, that is, the approximate zero position visually estimated by the operator, the second joint is controlled to rotate at a constant speed, and the target ball movement data of the second joint during the constant-speed rotation is collected by a laser tracker. Further, by performing a fitting process on the target ball movement data, the second rotation axis is obtained.

[0074] In some embodiments, when the first joint is the joint arranged in the third position in the 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 are both placed at the calibration zero position, and when the first joint is placed at the initial zero position, that is, the approximate zero position visually estimated by the operator, the second joint is controlled to rotate at a constant speed, and the target ball movement data of the second joint during the constant-speed rotation is collected by a laser tracker. Further, by performing a fitting process on the target ball movement data, the second rotation axis is obtained, and so on.

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

[0076] Exemplarily, when controlling the second joint to rotate at a constant speed, its corresponding movement speed and movement range are similar to the above, and will not be elaborated here.

[0077] S303. Obtain the 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, project the Z-axis of the base coordinate system onto the vertical plane to obtain the second line segment.

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

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

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

[0082] In the embodiment of the present application, by obtaining the vertical plane corresponding to the first joint according to the first rotation axis, based on the vertical plane, according to the first rotation axis or the second rotation axis of the adjacent joint placed after the first joint among multiple joints, obtaining the first line segment corresponding to the first joint, and according to the vertical plane and the base coordinate system of the joystick, obtaining the second line segment corresponding to the first joint, further calculating the included angle between the first line segment and the second line segment, and determining the included angle as the zero position deviation of the first joint, and then performing zero position calibration on the first joint according to the zero position deviation. In the embodiment of the present application, by performing zero position calibration on the first joint based on the first rotation axis with relatively high accuracy, the calibration accuracy is improved.

[0083] Optionally, a possible implementation of step S302 for obtaining the first line segment corresponding to the first joint based on the vertical plane, according to the first rotation axis or the second rotation axis of the second joint, can be: if there is no intersection point between the first rotation axis and the second rotation axis, determine the intersection point of the first rotation axis and the vertical plane as the first intersection point, determine the intersection point of the second rotation axis and the vertical plane as the second intersection point, and take the connection line between the first intersection point and the second intersection point as the first line segment; if there is an intersection point between the first rotation axis and the second rotation axis, project the second rotation axis onto the vertical plane to obtain the first line segment.

[0084] It can be understood that when there is no intersection point between the first rotation axis and the second rotation axis, that is, 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 onto the vertical plane corresponding to the first joint.

[0085] Optionally, a possible implementation of step S305 for zero position calibration of the first joint according to the zero position deviation may be: determining whether the zero position deviation is less than a preset threshold; if it is less, determining the initial zero position of the first joint as the calibrated 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, determining the current position corresponding to the first joint as the calibrated zero position.

[0086] Exemplarily, the preset threshold may be 0.1°. The size of the preset threshold in the embodiments of the present application is not limited, and can be specifically determined according to actual application requirements.

[0087] Exemplarily, when the zero position deviation is greater than or equal to the preset threshold, on the basis of the initial zero position of the first joint, the angle of the first joint is adjusted in the direction of 0° according to the size of the zero position deviation.

[0088] Based on the above embodiments, when the first joint is the second joint among multiple joints, optionally, before zero position calibration of the first joint, the method for calibrating the zero position of the joystick of the surgical robot provided by the embodiments of the present application further includes: obtaining the third rotation axis of the third joint, where the third joint is the first joint among multiple joints, and the third rotation axis is obtained when the third joint is in the corresponding initial zero position; constructing the 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 calibrating the zero position of the joystick of the surgical robot provided by the embodiments of the present application, the base coordinate system of the joystick is constructed according to the rotation axes corresponding to the first and second joints arranged in a preset order respectively.

[0090] Exemplarily, the third rotation axis is obtained through the following method: when the third joint is in the initial zero position, that is, the approximate zero position visually observed by the operator, controlling the third joint to rotate at a constant speed, and collecting the target ball movement data of the third joint during the constant speed rotation through a laser tracker, and further obtaining the third rotation axis by fitting the target ball movement data.

[0091] The movement speed and movement range of the third joint during the constant speed rotation are similar to the above, and will not be elaborated here.

[0092] A possible implementation of constructing the base coordinate system of the joystick according to the third rotation axis and the first rotation axis may be: taking the midpoint of the common perpendicular 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 pointing to the joystick base as the positive direction; taking the first rotation axis as the Y axis in the base coordinate system; taking the common perpendicular of the first rotation axis and the third rotation axis as the X axis in the base coordinate system, and determining the direction pointing to the operator as the positive direction.

[0093] Optionally, the calibration zero position of the third joint is obtained as follows: obtain the reference plane corresponding to the third joint; adjust the angle of the third joint and rotate the joint 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, determine 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 first joint among all the joints of the joystick arranged in a preset order.

[0095] Exemplarily, the reference plane of the third joint can be the side surface of the housing where the third joint is located and perpendicular to the base. Such as the side surface 101 shown above. Figure 1 The side surface 101 shown in the above.

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

[0097] Optionally, after the zero position calibration of all the joints in the joystick is completed, the method for calibrating the zero position of the joystick of the surgical robot provided in the embodiment of the present application further includes: outputting the 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 axes of the joints with zero position calibration completed (such as the base coordinate, 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 axes of the joints in a 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, calculate the D-H value using a programming script, and modify the file name read before running. Check the starting joint number and the ending joint number. Among them, each joint contains four parameters, and update the joint parameters to the mDH variable definition file of the device control program.

[0099] Among them, in accordance with the preset order, the position of the last joint obtained is located at the intersection point of the common perpendicular line with the previous joint, and the X-axis direction is the same as that of the previous joint. Adjust it by yourself if necessary.

[0100] Among them, the obtained D-H value is based on the measured axis.

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

[0102] In a possible implementation manner, the specific implementation manner of the method for calibrating the zero position of the joystick of the surgical robot provided in the embodiments of the present application may include the following steps:

[0103] S1. Prepare for the zero position calibration of the joystick.

[0104] Exemplarily, the preparation work includes:

[0105] 1) The operator visually adjusts all the joints included in the joystick to an approximate zero position. Exemplarily, all the joints included in the joystick may be Figure 1 the joints 1 to 6 shown in Figure 1 and joint 7 (

[0106] not shown in

[0107] 2) Connect the cable of the doctor control platform including the joystick, turn on the power supply and boot.

[0108] 3) Run the doctor control platform and initialize the joystick so that the joystick is in a workable state.

[0109] The determination method of the installation position of the laser tracker is similar to the above, and will not be elaborated here.

[0110] 5) Fix the target ball at the middle position outside the joint arranged in the first position in the preset order in the joystick to be calibrated. In the embodiments of the present application, for example, the target ball is installed at Figure 1 the middle position outside joint 1 shown in

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

[0112] 1) Control the joint 1 shown in Figure 1 above to rotate at a constant speed in a jogging manner, and collect the target ball movement data of joint 1 in real time through the laser tracker. Among them, the movement speed may be 1° / s, and the movement range may be ≥30°.

[0113] 2) Fit the collected target ball movement data of joint 1 to obtain the rotation axis of joint 1, and record the rotation axis of joint 1.

[0114] 3) Calibrate the zero position of joint 1 and adjust joint 1 to the calibrated zero position. Among them, the zero position calibration method of joint 1 is similar to the above, and will not be elaborated here.

[0115] 4) Place the joint 1 at the calibration zero position, fix the target ball in the middle position on the outside of the joint arranged in the second place in the joystick to be calibrated according to the preset order, such as Figure 1 the middle position on the outside of joint 2 as shown. Further control joint 2 to rotate at a constant speed, and collect the motion data of the target ball of joint 2 in real time through a 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 motion data of the target ball 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 elaborated here.

[0118] S3. Calibrate the zero position of the joint arranged in the second place in the joystick to be calibrated, such as joint 2:

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

[0120] 2) Place joint 2 at the initial zero position, that is, the approximate zero position in step S1, and control the joint arranged in the third place in the joystick to be calibrated according to the preset order, such as Figure 1 joint 3 as shown to rotate at a constant speed, and collect the motion data of the target ball of joint 3 in real time through a laser tracker. Among them, the motion speed can be 1° / s, and the motion range can be ≥30°. Further perform fitting processing on the motion data of the target ball of joint 3 to obtain the rotation axis of joint 3;

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

[0122] 4) Project the Z axis of the base coordinate system onto the perpendicular 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 this angle as the zero position deviation of joint 2;

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

[0125] S4. Calibrate the zero position of the joint arranged in the third place in the joystick to be calibrated, such as joint 3:

[0126] 1) Both joint 1 and joint 2 are placed at the calibration zero position. Control joint 3 to rotate at a constant speed, and collect the motion data of the target ball of joint 3 in real time through a laser tracker. Among them, the motion speed can be 1° / s, and the motion range can be ≥30°. Further, perform fitting processing on the motion data of the target ball of joint 3 to obtain the rotation axis of joint 3, and record the rotation axis of joint 3; Make a vertical plane passing through the origin of the base coordinate system or the center of the target ball motion trajectory corresponding to joint 3 perpendicular to the rotation axis of joint 3;

[0127] 2) Place joint 3 at the initial zero position, that is, the approximate zero position in step S1, and control the joint arranged in the fourth position in the to-be-calibrated joystick according to the preset order, such as Figure 1 the joint 4 as shown in to rotate at a constant speed, and collect the motion data of the target ball of joint 4 in real time through a laser tracker. Among them, the motion speed can be 1° / s, and the motion range can be ≥30°. Further, perform fitting processing on the motion data of the target ball of joint 4 to obtain the rotation axis of 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 take this angle as the zero position deviation of joint 3;

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

[0132] S5. Calibrate the zero position of the joint arranged in the fourth position in the to-be-calibrated joystick, such as joint 4:

[0133] 1) Joint 1, joint 2 and joint 3 are all placed at the calibration zero position. Control joint 4 to rotate at a constant speed, and collect the motion data of the target ball of joint 4 in real time through a laser tracker. Among them, the motion speed can be 1° / s, and the motion range can be ≥30°. Further, perform fitting processing on the motion data of the target ball of joint 4 to obtain the rotation axis of joint 4, and record the rotation axis of joint 4; Make a vertical plane passing through the origin of the base coordinate system or the center of the target ball motion trajectory corresponding to joint 4 perpendicular to the rotation axis of joint 4;

[0134] 2) Place joint 4 at the initial zero position, that is, the approximate zero position in step S1, and control the joint arranged in the fifth position in the to-be-calibrated joystick according to the preset order, such as Figure 1The joint 5 shown rotates at a constant speed, and the motion data of the target ball of joint 5 is collected in real time through a laser tracker. Among them, the motion speed can be 1° / s, and the motion range can be ≥30°. Further, the motion data of the target ball of joint 5 is subjected to fitting processing to obtain the rotation axis of 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 this angle as the zero position deviation of joint 4;

[0138] 6) Perform zero position calibration on joint 4 according to the zero position deviation. The specific implementation method is similar to the above, and will not be elaborated here.

[0139] S6. Calibrate the zero position of the joint ranked fifth in 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. Control joint 5 to rotate at a constant speed, and collect the motion data of the target ball of joint 5 in real time through a laser tracker. Among them, the motion speed can be 1° / s, and the motion range can be ≥30°. Further, the motion data of the target ball of joint 5 is subjected to fitting processing to obtain the rotation axis of joint 5, and record the rotation axis of joint 5; Make a vertical plane passing through the origin of the base coordinate system or the center of the target ball motion trajectory corresponding to joint 5 perpendicular to the rotation axis of joint 5;

[0141] 2) Place joint 5 at the initial zero position, that is, the approximate zero position in step S1, and control the joint ranked sixth in the preset order in the joystick to be calibrated, such as Figure 1 the joint 6 shown rotates at a constant speed, and the motion data of the target ball of joint 6 is collected in real time through a laser tracker. Among them, the motion speed can be 1° / s, and the motion range can be ≥30°. Further, the motion data of the target ball of joint 6 is subjected to fitting processing to obtain the rotation axis of 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 this angle as the zero position deviation of joint 5;

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

[0146] S7. Calibrate the zero position of the joint ranked sixth in the to-be-calibrated joystick according to the preset order, such as joint 6:

[0147] 1) Place joints 1, 2, 3, 4, and 5 at the calibration zero position, control joint 6 to rotate at a constant speed, and collect the motion data of the target ball of joint 6 in real time through a laser tracker. Among them, the motion speed can be 1° / s, and the motion range can be ≥30°. Further, fit the motion data of the target ball of joint 6 to obtain the rotation axis of joint 6, and record the rotation axis of joint 6; Make a vertical plane passing through the origin of the base coordinate system or the center of the target ball motion trajectory corresponding to joint 6 perpendicular to the rotation axis of joint 6;

[0148] 2) Place joint 6 at the initial zero position, that is, the approximate zero position in step S1, and control joints that are not arranged in the preset order in the to-be-calibrated joystick, such as joint 7 ( Figure 1 not shown in the figure) to rotate at a constant speed, and collect the motion data of the target ball of joint 7 in real time through a laser tracker. Among them, the motion speed can be 1° / s, and the motion range can be ≥30°. Further, fit the motion data of the target ball of joint 7 to obtain the rotation axis of 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 this angle as the zero position deviation of joint 6;

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

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

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

[0155] Figure 4 It is a schematic structural diagram of a joystick zero position calibration device for a surgical robot provided by an embodiment of the present application. As Figure 4 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] Among them, an acquisition module 410 is configured to acquire the target ball motion data of a first joint collected by a laser tracker. The first joint is any joint placed after the first one among multiple joints, and the joints placed before the first joint have been calibrated to the zero position.

[0157] A processing module 420 is configured to perform fitting processing on the target ball motion data to obtain a first rotation axis of the first joint.

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

[0159] In a possible implementation manner, the calibration module 430 is specifically configured 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 a second rotation axis of a 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; obtain a second line segment corresponding to the first joint according to the vertical plane and the base coordinate system of the joystick; calculate an included angle between the first line segment and the second line segment, and determine the included angle as the zero position deviation of the first joint; perform zero position calibration on the first joint according to the zero position deviation.

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

[0161] In a possible implementation manner, the calibration module 430 is further configured to: if there is no intersection point between the first rotation axis and the second rotation axis, determine the intersection point of the first rotation axis and the vertical plane as the first intersection point, determine the intersection point of the second rotation axis and the vertical plane as the second intersection point, and take the line segment connecting the first intersection point and the second intersection point as the first line segment; if there is an intersection point between the first rotation axis and the second rotation axis, project the second rotation axis onto the vertical plane to obtain the first line segment.

[0162] In a possible implementation manner, the calibration module 430 is further configured to: determine whether the zero position deviation is less than a preset threshold; if it is less, determine the initial zero position of the first joint as the calibrated zero position; if it is 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 calibrated zero position.

[0163] In a possible implementation, when the first joint is the second joint among multiple joints, before calibrating the zero position of the first joint, the joystick zero position calibration device further includes a construction module (not shown), and the construction module is configured to: obtain a third rotation axis of a third joint, where the third joint is the first joint among multiple joints, and the third rotation axis is obtained when the third joint is in a 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 a possible implementation, the calibrated zero position of the third joint is obtained by the following method: obtaining a reference plane corresponding to the third joint; adjusting the angle of the third joint and rotating the joint adjacent to the third joint to fit a 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 calibrated zero position of the first joint.

[0165] The joystick zero position calibration device of the surgical robot provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effects are similar, and will not be elaborated here in this embodiment.

[0166] Figure 5 It is a schematic structural diagram of an electronic device provided in an embodiment of the present application. As Figure 5 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. Among them, the processor 501, the memory 502, and the communication interface 503 are connected through a system bus 504.

[0168] In a specific implementation process, at least one processor 501 executes computer execution 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 referred to in the above method embodiment, and its implementation principle and technical effects are similar, and will not be elaborated here in this embodiment.

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

[0171] The memory may include a random access memory (RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0172] The system bus may be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus, an extended industry standard architecture (EISA) bus, etc. The system bus may be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0173] The embodiments of this application also provide a computer program product, including a computer program, and when the computer program is executed by a processor, the above method is implemented.

[0174] The embodiments of this application also provide a computer-readable storage medium, in which computer-executable instructions are stored, and when the processor executes the computer-executable instructions, the above method is implemented.

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

[0176] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from 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 (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in a device.

[0177] The division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Additionally, the couplings or direct couplings or communication connections shown or discussed between each other can be through some interfaces, and the indirect couplings or communication connections of devices or units can be in electrical, mechanical, or other forms.

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

[0179] Furthermore, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0180] If a 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, in essence, or the part that contributes to the prior art or a part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

[0181] Those of ordinary skill in the art will understand that all or part of the steps of implementing the above 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, it performs the steps including those of the above method embodiments; and the aforementioned storage medium includes: various media such as ROM, RAM, magnetic disks, or optical discs 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 general knowledge or conventional technical means in the technical field not disclosed by the present invention. It is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited 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; According to the first rotation axis, performing zero position calibration on the first joint; 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; the normal vector of the vertical plane of the first joint is the same as the normal vector of the first rotation axis; 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; Projecting the rotation axis of the joint that is first arranged in a preset order among the multiple joints of the joystick onto the vertical plane to obtain a second line segment corresponding to the first joint; 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.

2. The method for zero position calibration of a joystick of a surgical robot according to claim 1, 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.

3. The method for zero position calibration of a joystick of a surgical robot according to claim 1, 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.

4. The method for zero position calibration of a joystick of a surgical robot according to claim 1, 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.

5. The method for zero position calibration of a joystick of a surgical robot according to any one of claims 1 to 4, 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 that is placed first among the multiple joints, and the third rotation axis is obtained when the third joint is placed in 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.

6. The method for zero position calibration of a joystick of a surgical robot according to claim 5, 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.

7. A device for zero-position calibration of a joystick of a surgical robot, characterized in that: The joystick comprises a plurality of joints connected and arranged 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, used for performing zero position calibration on the first joint according to the first rotation axis; A calibration module, specifically configured to obtain a vertical plane corresponding to the first joint according to the first rotation axis; a normal vector of the vertical plane of the first joint is the same as a normal vector of the first rotation axis; 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; Projecting the rotation axis of the joint that is first arranged in a preset order among the multiple joints of the joystick onto the vertical plane to obtain a second line segment corresponding to the first joint; 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.

8. 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 6.

9. 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 6 when executed.

10. 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 6 when being executed.

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