Control method, program product, electronic device and storage medium for master control arm

Abstract

The present application relates to the field of surgical robot control technology, and specifically provides a control method, program product, electronic device, and storage medium for a master control arm. The control method for the master control arm calculates a first distance between the head end of a first link and the end end of a fourth link, and a second distance between the end end of the first link and the end end of the fourth link; and controls the movement of the fourth rotational joint based on a target rotation angle that causes both the first updated distance and the second updated distance to not satisfy the preset compensation condition when the first distance or the second distance satisfies a preset compensation condition. This method can reduce the possibility of collision between a user's hand and the joint links, or between different joint links, making user operation smoother and improving the user experience during use of the master control arm.

Description

Technical Field

[0001] The present application relates to the field of surgical robot control technology, and in particular to a control method, program product, electronic device, and storage medium for a master control arm. Background Art

[0002] With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has become increasingly widely used due to its advantages such as minimal surgical trauma, short recovery time, and reduced patient pain. Minimally invasive surgical robots, with their high dexterity, high control precision, and intuitive surgical images, can avoid operational limitations such as hand tremors during filtering operations, making them widely applicable to surgical areas such as the abdominal, pelvic, and thoracic cavities.

[0003] Currently, the largest category of minimally invasive surgical robots is laparoscopic (surgical) robots, which generally consist of a doctor's console (also called the master end) and a surgical platform (also called the slave end). The surgical platform is equipped with multiple surgical arms. The master control arm at the doctor's console collects the doctor's operating signals, which are processed by the control system and then generate control signals for the surgical arms. The surgical arms control the surgical instruments attached to them to perform surgical operations or the endoscope to perform image acquisition. To improve operational flexibility and avoid singularities, the master control arm is usually a redundant mechanism (a redundant mechanism refers to a mechanism with more joints than spatial degrees of freedom). If users can actively control the redundant mechanism when using the master control arm, it will provide a better user experience. Summary of the Invention

[0004] In view of this, an object of the embodiments of the present application is to provide a method for controlling a master control arm, a program product, an electronic device, and a storage medium, so as to improve the user experience during use of the master control arm.

[0005] In a first aspect, an embodiment of the present application provides a control method for a main control arm, which is used to control the main control arm; the main control arm includes a first link, a second link, a third link and a fourth link connected in sequence; wherein the head ends of the first link to the fourth link are respectively provided with a first rotation joint, a second rotation joint, a third rotation joint and a fourth rotation joint.

[0006] The control method of the master control arm includes:

[0007] calculating a first distance between a head end of the first link and an end end of the fourth link, and a second distance between an end end of the first link and an end end of the fourth link;

[0008] determining whether the first distance or the second distance satisfies a preset compensation condition;

[0009] When the first distance or the second distance satisfies the preset compensation condition, calculating a first updated distance between the head end of the first link and the end end of the fourth link after the fourth rotational joint rotates by a preset angle increment or after the fourth rotational joint rotates to a preset absolute angle, and a second updated distance between the end end of the first link and the end end of the fourth link;

[0010] When neither the first update distance nor the second update distance satisfies the preset compensation condition, a target rotation angle is determined according to the preset angle increment or the preset absolute angle, and the fourth rotation joint is controlled to move based on the target rotation angle.

[0011] In the above-described implementation process, the control method of the master control arm calculates a first distance between the tip of the first link and the tip of the fourth link, and a second distance between the tip of the first link and the tip of the fourth link. Furthermore, if the first distance or the second distance satisfies a preset compensation condition, the method calculates a first updated distance between the tip of the first link and the tip of the fourth link, and a second updated distance between the tip of the first link and the tip of the fourth link, after the fourth rotational joint rotates by a preset angle increment or to a preset absolute angle. If neither the first updated distance nor the second updated distance satisfies the preset compensation condition, the method determines a target rotation angle based on the preset angle increment or the preset absolute angle, and controls the movement of the fourth rotational joint based on the target rotation angle. By controlling the movement of the fourth rotational joint based on the target rotation angle that causes neither the first updated distance nor the second updated distance to satisfy the preset compensation condition, if the first distance or the second distance satisfies the preset compensation condition, the method reduces the possibility of collision between the user's hand and the joint links, or between different joint links, thereby making user operation smoother and improving the user experience during use of the master control arm.

[0012] Optionally, in an embodiment of the present application, the preset compensation condition includes a preset distance threshold; the judgment of whether the first distance or the second distance meets the preset compensation condition includes: when the first distance is less than or equal to the preset distance threshold, judging that the first distance meets the preset compensation condition; when the second distance is less than or equal to the preset distance threshold, judging that the second distance meets the preset compensation condition; when both the first distance and the second distance are greater than the preset distance threshold, judging that the first distance and the second distance do not meet the preset compensation condition.

[0013] In the above-described implementation process, if the first distance between the head end of the first link and the end end of the fourth link is less than or equal to a preset distance threshold, it indicates that a collision may occur between the head end of the first link and the end end of the fourth link; in this case, by determining that the first distance satisfies the preset compensation condition and controlling the movement of the fourth rotational joint based on a preset angle that causes both the first updated distance and the second updated distance to not satisfy the preset compensation condition, the possibility of a collision between the head end of the first link and the end end of the fourth link can be reduced. Similarly, if the second distance between the end end of the first link and the end end of the fourth link is less than or equal to a preset distance threshold, it indicates that a collision may occur between the end end of the first link and the end end of the fourth link; in this case, by determining that the second distance satisfies the preset compensation condition and controlling the movement of the fourth rotational joint based on a preset angle that causes both the first updated distance and the second updated distance to not satisfy the preset compensation condition, the possibility of a collision between the end end of the first link and the end end of the fourth link can be reduced.

[0014] Optionally, in an embodiment of the present application, the number of the preset angle increments or the preset absolute angles is multiple; the first updated distance between the head end of the first link and the end of the fourth link, and the second updated distance between the end of the first link and the end of the fourth link are calculated after the fourth rotation joint rotates the preset angle increment or after the fourth rotation joint rotates to the preset absolute angle, when the first distance or the second distance satisfies the preset compensation condition, including: when the first distance or the second distance satisfies the preset compensation condition, the distance between the head end of the first link and the end of the fourth link is calculated after the fourth rotation joint rotates each preset angle increment or after the fourth rotation joint rotates to each preset absolute angle. a first updated distance between the ends, and a second updated distance between the end of the first link and the end of the fourth link; when the first updated distance and the second updated distance both do not meet the preset compensation condition, determining the target rotation angle according to the preset angle increment or the preset absolute angle, and controlling the fourth rotation joint movement based on the target rotation angle, including: from the preset angle increment, determining a target angle increment at which both the first update distance and the second update distance do not meet the preset compensation condition; or, from the preset absolute angle, determining a target absolute angle at which both the first update distance and the second update distance do not meet the preset compensation condition; controlling the fourth rotation joint movement according to the target angle increment or the target absolute angle.

[0015] In the above implementation process, the first updated distance between the head end of the first link and the end end of the fourth link, and the second updated distance between the end end of the first link and the end end of the fourth link are calculated after the fourth rotation joint rotates at each preset angle increment or rotates to each preset absolute angle; based on the calculated first update distance and second update distance, the target rotation angle that can make "neither the first update distance nor the second update distance meet the preset compensation condition" can be selected from multiple preset angle increments or preset absolute angles according to actual needs, and the movement of the fourth rotation joint is controlled according to the target rotation angle to reduce the possibility of collision between the head end of the first link and the end end of the fourth link and between the end end of the first link and the end end of the fourth link, thereby improving the user experience during the use of the main control arm.

[0016] Optionally, in an embodiment of the present application, determining a target angle increment from the preset angle increments at which neither the first update distance nor the second update distance satisfies the preset compensation condition includes: in a case where there are multiple preset angle increments at which neither the first update distance nor the second update distance satisfies the preset compensation condition, determining the preset angle increment with the largest sum of the first update distance and the second update distance or the preset angle increment with the smallest absolute value as the target angle increment; determining a target absolute angle from the preset absolute angles at which neither the first update distance nor the second update distance satisfies the preset compensation condition includes: in a case where there are multiple preset absolute angles at which neither the first update distance nor the second update distance satisfies the preset compensation condition, determining the preset absolute angle with the largest sum of the first update distance and the second update distance or the preset absolute angle that is closest to the current position of the fourth rotation joint as the target absolute angle.

[0017] In the above-described implementation, a target rotation angle is determined based on a preset angle increment or a preset absolute angle that maximizes the sum of the first and second update distances, and the movement of the fourth rotary joint is controlled based on the target rotation angle. Specifically, by controlling the movement of the fourth rotary joint, the distance between the tip of the first link and the tip of the fourth link, as well as the distance between the tip of the first link and the tip of the fourth link, is maximized, minimizing the likelihood of collision between the tip of the first link and the tip of the fourth link, and between the tip of the first link and the tip of the fourth link. The target rotation angle is determined based on the preset angle increment with the smallest absolute value, or the preset absolute angle that is closest to the current position of the fourth rotary joint, and the movement of the fourth rotary joint is controlled based on the target rotation angle. In other words, during the control process, the range of motion of the fourth rotary joint is minimized to enhance the user experience when using the master control arm.

[0018] Optionally, in an embodiment of the present application, the number of the preset angle increments or the preset absolute angles is multiple; when the first distance or the second distance satisfies the preset compensation condition, the first updated distance between the head end of the first link and the end end of the fourth link, and the second updated distance between the end end of the first link and the end end of the fourth link are calculated after the fourth rotation joint rotates the preset angle increment or after the fourth rotation joint rotates to the preset absolute angle; when the first updated distance and the second updated distance do not satisfy the preset compensation condition, the target rotation angle is determined according to the preset angle increment or the preset absolute angle, and the movement of the fourth rotation joint is controlled based on the target rotation angle, including: when the first distance or the second distance satisfies the preset compensation condition, a preset sequence angle increment is determined in sequence from the preset angle increment according to the target order, and after the fourth rotation joint rotates the preset sequence angle increment, a first updated distance between the head end of the first link and the end end of the fourth link, and a second updated distance between the end end of the first link and the end end of the fourth link; when neither the first updated distance nor the second updated distance meets the preset compensation condition, the target rotation angle is determined according to the preset sequence angle increment; or, when the first distance or the second distance meets the preset compensation condition, a preset sequence absolute angle is determined in sequence from the preset absolute angles according to the target order, and the first updated distance between the head end of the first link and the end end of the fourth link and the second updated distance between the end end of the first link and the end end of the fourth link are calculated after the fourth rotation joint rotates to the preset sequence absolute angle; when neither the first updated distance nor the second updated distance meets the preset compensation condition, the target rotation angle is determined according to the preset sequence absolute angle; and the movement of the fourth rotation joint is controlled based on the target rotation angle.

[0019] In the above-mentioned implementation process, the efficiency of determining the target rotation angle that can make "neither the first update distance nor the second update distance satisfy the preset compensation condition" can be improved according to the target sequence, and when the first update distance and the second update distance corresponding to the determined preset sequence angle increment or the preset sequence absolute angle do not satisfy the preset compensation condition, there is no need to calculate the first update distance and the second update distance corresponding to the remaining preset angle increment or the remaining preset absolute angle, which can reduce the amount of calculation in the process of realizing the motion control of the fourth rotation joint, thereby quickly controlling the movement of the fourth rotation joint, and further reducing the possibility of collision between the user's hand and the joint link or between different joint links.

[0020] Optionally, in an embodiment of the present application, the angular interval between two adjacent preset angular increments is equal, and the size of the angular interval between two adjacent preset angular increments is a constant value or is proportional to the spatial velocity of the master control arm; and / or, the angular interval between two adjacent preset absolute angles is equal, and the size of the angular interval between two adjacent preset absolute angles is a constant value or is proportional to the spatial velocity of the master control arm.

[0021] Optionally, in an embodiment of the present application, when neither the first update distance nor the second update distance satisfies the preset compensation condition, the target rotation angle is determined according to the preset angle increment or the preset absolute angle, and the fourth rotational joint movement is controlled based on the target rotation angle, including: when neither the first update distance nor the second update distance satisfies the preset compensation condition, the target rotation angle is determined according to the preset angle increment or the preset absolute angle, and based on the target rotation angle and the spatial velocity of the master control arm, the target joint command speed and target joint command acceleration of the fourth rotational joint are determined; and the fourth rotational joint movement is controlled according to the target joint command speed and the target joint command acceleration.

[0022] In the above implementation process, when neither the first update distance nor the second update distance satisfies the preset compensation conditions, the target joint command velocity and target joint command acceleration of the fourth rotary joint are determined according to the target rotation angle and the spatial velocity of the master control arm; that is, the motion synchronization between the fourth rotary joint and the master control arm is maintained as much as possible, so as to reduce the possibility of collision between the user's hand and the joint link or between different joint links, while improving the motion continuity of the fourth rotary joint.

[0023] Optionally, in an embodiment of the present application, when neither the first update distance nor the second update distance satisfies the preset compensation condition, the target rotation angle is determined according to the preset angle increment or the preset absolute angle, and the fourth rotational joint movement is controlled based on the target rotation angle, specifically including: when neither the first update distance nor the second update distance satisfies the preset compensation condition, the target rotation angle is determined according to the preset angle increment or the preset absolute angle, and based on the target rotation angle and the spatial velocity of the master control arm, the target joint command speed and target joint command acceleration of the fourth rotational joint are determined; based on the trajectory planning strategy, the target rotation angle, the target joint command speed and the target joint command acceleration, the real-time rotation position, real-time rotation speed and real-time rotation acceleration of the fourth rotational joint are calculated; wherein the trajectory planning strategy includes speed constraints and acceleration constraints; and the fourth rotational joint movement is controlled according to the real-time rotation position, the replaced real-time rotation speed and the replaced real-time rotation acceleration.

[0024] In the above implementation process, by calculating the real-time rotation position, real-time rotation speed and real-time rotation acceleration of the fourth rotational joint based on the trajectory planning strategy, target rotation angle, target joint command speed and target joint command acceleration when the first update distance and the second update distance do not meet the preset compensation conditions; and controlling the movement of the fourth rotational joint according to the real-time rotation position, real-time rotation speed and real-time rotation acceleration of the fourth rotational joint, the motion control accuracy of the fourth rotational joint can be improved, and the possibility of collision between the user's hand and the joint link or between different joint links can be better reduced.

[0025] In a second aspect, an embodiment of the present application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the control method of the master control arm as described in any one of the first aspects above.

[0026] In a third aspect, an embodiment of the present application further provides an electronic device; the electronic device includes:

[0027] Memory;

[0028] processor;

[0029] The memory stores a computer program executable by the processor. When the computer program is executed by the processor, the method for controlling the master control arm according to any one of the first aspects is performed.

[0030] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the method for controlling the master control arm as described in any one of the first aspects is executed.

[0031] The beneficial effects of the present application include at least: the control method of the main control arm calculates a first distance between the head end of the first link and the end end of the fourth link, and a second distance between the end end of the first link and the end end of the fourth link; and by controlling the movement of the fourth rotation joint based on a target rotation angle that can make both the first updated distance and the second updated distance not meet the preset compensation condition when the first distance or the second distance meets the preset compensation condition, the possibility of collision between the user's hand and the joint link or between different joint links can be reduced, making the user operation smoother and improving the user experience during the use of the main control arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 A schematic flow chart of a method for controlling a master control arm provided in an embodiment of the present application;

[0034] Figure 2 A schematic structural diagram of a master control arm provided in an embodiment of the present application;

[0035] Figure 3 A schematic structural diagram of another master control arm provided in an embodiment of the present application;

[0036] Figure 4 A schematic flow chart of a motion control method for a fourth rotary joint provided in an embodiment of the present application;

[0037] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0040] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is two or more, unless otherwise specifically defined.

[0041] The technical solutions of the various embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0042] In this specification, many specific technical details are described in some places so that those skilled in the art can understand the complete technical solution. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed description of technical details should not be regarded as a limitation of the present application, and the scope of protection of the present application is limited only by the claims. Elsewhere, well-known structures, connection / position relationships, circuits and / or other details may not be shown in detail to avoid misunderstandings by the public about the gist of the invention of the present application.

[0043] Throughout this specification, the accompanying drawings illustrate schematic diagrams of several embodiments of the present application. However, the drawings are for illustrative purposes only, and it should be understood that variations in the mechanical structure, connection / positional relationships, physical components, electrical components, and steps may be made without departing from the spirit and scope of the present application. Such variations may involve substitution or combination of elements from several embodiments of the present application, or substitution or combination of elements from known concepts.

[0044] The terms used herein below are only used to describe specific embodiments and are not intended to limit this application. Spatially relative terms, such as "below", "lower", "above", "upper", "middle", "middle", "inside", "outside", "center", "edge", etc., are used for convenience of description to describe the relationship between one component or feature shown in the figure and another component or feature. It should be understood that spatially relative terms can only be used under the conditions of the positioning orientation of the device in use or operation (except for the positioning orientation specifically defined in the figure), and are not necessarily unique and unchanging. For example, if the device in the figure is flipped 180° up and down along the paper, then the elements described as being "below" other components or features will become "above" other components or features. Therefore, the exemplary term "below" can cover both the above and below directions, depending on how the device is positioned. The device can also be positioned in other orientations (for example, rotated 90° or positioned in other directions), and the spatially relative descriptors used herein should be interpreted accordingly.

[0045] As used herein, "several," "one," and "the" are intended to include plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of stated features, steps, operations, elements, and / or components but do not preclude the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0046] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object," "component," "portion," "part," "module," "assembly," and "element" are used interchangeably.

[0047] The terms "instrument," "surgical instrument," and "surgical instrument" are used herein to describe medical devices configured to be inserted into a patient and used to perform a surgical or diagnostic procedure, generally including an end effector. An end effector can be a surgical tool associated with one or more surgical procedures, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of the present application further provide an articulated support for the surgical tool (sometimes referred to as a "wrist," "joint," or "seat") that allows the position and / or orientation of the end effector to be flexibly manipulated relative to the instrument axis in one or more mechanical degrees of freedom. Furthermore, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or a blade that translates along a specific path. Instruments may also contain stored information (e.g., on a PCBA within the instrument) that is either permanent or updateable by the surgical system. Accordingly, the system can provide one-way or two-way communication of information between the instrument and one or more system components.

[0048] The term "mating" (sometimes referred to as "connecting," "coupling," "mounting," or "assembling") can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mated objects to operate in conjunction with each other. It should be noted that mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather many objects or components can be used to mate two or more objects. For example, objects A and B can be mated using object C. Additionally, the terms "removably coupled" or "removably matable" can be interpreted to mean a non-permanent connection or mating situation between two or more objects. This means that the removably coupled objects can be uncoupled and separated so that they no longer operate in conjunction.

[0049] Finally, the terms "or" and "and / or" as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B, and / or C" means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. An exception to this definition would only occur if a combination of elements, functions, steps, or actions are inherently mutually exclusive in some way.

[0050] Taking a master-slave teleoperated laparoscopic surgical robot as an example, a laparoscopic surgical robot typically consists of a doctor control platform, a patient surgical platform, and an imaging platform. The surgeon sits at the doctor control platform, viewing a two-dimensional or three-dimensional image of the surgical area transmitted by a laparoscope (sometimes called an "endoscope") placed inside the patient's body. The surgeon also controls the movement of a robotic arm on the patient surgical platform, as well as the surgical instruments or laparoscope attached to the robotic arm. The robotic arm simulates a human arm, and the surgical instruments simulate a human hand. Together, they provide surgeons with a range of movements that mimic the human wrist while filtering out hand tremors. Consequently, they are increasingly used in surgery, particularly in abdominal, thoracic, and general surgery.

[0051] The patient surgical platform typically includes a chassis, a column, a plurality of robotic arms connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each robotic arm. The surgical instrument and / or laparoscope is detachably connected to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes that are operated at the surgical site in the patient's body. Each surgical instrument manipulator can be allowed to control the relevant surgical instruments in various forms of movement with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is restricted by mechanical or software constraints to rotate the relevant surgical instrument around a center of motion on a surgical instrument that remains stationary relative to the patient. The center of motion is typically located at the position where the surgical instrument enters the body wall, and the center of motion is generally referred to as the "distal point" or "fixed point."

[0052] The imaging platform typically includes a video capture function (most commonly an endoscope) and one or more video displays for displaying the surgical instruments in the captured images. In some laparoscopic surgical robots, optical devices are included to transmit images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope. The video images are then transmitted to the imaging platform's host computer through steps such as photoelectric conversion. Subsequently, image processing is performed and the processed images are displayed on a video display for observation by other doctors or assistants.

[0053] The surgeon's control platform typically includes a chassis, a pedal assembly, a stereoscopic monitor, a master control arm, and a manual controller connected to the end of the master control arm. The surgeon controls the manual controller and pedal assembly to achieve specific movements and / or energy activation of the surgical instruments. The surgeon's control platform can be located at a single location within a surgical system comprised of a laparoscopic surgical robot, or it can be distributed across two or more locations within the system. Remote master / slave operation can be performed based on a preset degree of control. For example, one location serves as the master control for primary surgical operations, while another serves as the slave control for auxiliary operations, with the master control performing the primary surgical operation and the slave control performing auxiliary operations such as laparoscope movement or tissue retraction. In some embodiments, the manual controller can be an input device capable of performing one or more manual operations, such as a joystick, an exoskeleton glove, a power and gravity-compensated manipulator, and so on. These input devices capture the surgeon's operational signals, which are processed by the control system to generate control signals for the robotic arm and surgical instrument manipulator. These signals control the remote-controlled motors on the surgical instrument manipulators, which in turn control the final movement of the surgical instruments.

[0054] Typically, the force generated by the remote motor is transmitted through a transmission system, transferring the force from the remote motor to the end effector of the surgical instrument. In some telesurgery embodiments, the input device controlling the manipulator may be located remotely from the patient, either inside or outside the patient's room, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with telemanipulation, telecontrol, and telepresence surgery will be familiar with such systems and their components and will not be described in detail here.

[0055] See Figure 1 A flow chart illustrating a method for controlling a master control arm according to an embodiment of the present application is shown. The method is used to control a master control arm comprising a first link, a second link, a third link, and a fourth link connected in sequence; wherein the first, second, third, and fourth links are provided at their respective ends with a first, second, third, and fourth rotational joints.

[0056] The control method of the master control arm may include the following steps:

[0057] S101, calculating a first distance between a head end of the first connecting rod and an end end of the fourth connecting rod, and a second distance between an end end of the first connecting rod and an end end of the fourth connecting rod;

[0058] S102, determining whether the first distance or the second distance meets a preset compensation condition;

[0059] S103, if the first distance or the second distance satisfies the preset compensation condition, calculating a first updated distance between the head end of the first link and the end end of the fourth link, and a second updated distance between the end end of the first link and the end end of the fourth link, after the fourth rotational joint rotates by a preset angle increment or after the fourth rotational joint rotates to a preset absolute angle;

[0060] S104: When neither the first update distance nor the second update distance satisfies the preset compensation condition, determine a target rotation angle according to the preset angle increment or the preset absolute angle, and control the movement of the fourth rotation joint based on the target rotation angle.

[0061] Please refer to Figure 2 , Figure 2 This is a schematic diagram of the structure of a master control arm provided in an embodiment of the present application. Figure 3 , Figure 3 A schematic structural diagram of another master control arm provided in an embodiment of the present application. Figure 2 and Figure 3The examples in each embodiment illustrate a case where the first link is implemented by a linear joint link, and the second, third, and fourth links are all implemented by L-shaped joint links. The first, second, third, and fourth links may also be implemented by broken-line joint links or curved joint links, and the implementation methods of different links may not be exactly the same. This application does not impose any specific limitation on this.

[0062] In step 101, the head end of the first link refers to the end of the first link closest to the first revolute joint, and the tail end of the first link refers to the end of the first link away from the first revolute joint. Correspondingly, the head end of the fourth link refers to the end of the fourth link closest to the fourth revolute joint, and the tail end of the fourth link refers to the end of the fourth link away from the fourth revolute joint. The first distance can be determined based on the distance between the head end of the first link and the tail end of the fourth link, and the second distance can be determined based on the distance between the tail end of the first link and the tail end of the fourth link. Alternatively, the first distance can be determined based on the distance between the head end of the first link and the head end of the third link, and the second distance can be determined based on the distance between the tail end of the first link and the head end of the third link. The head end of the third link refers to the end of the third link closest to the third revolute joint. It should be noted that during actual user operation of the master control arm, the tail end of the first link is held by the user's hand and cannot rotate freely.

[0063] In step 102, a preset compensation condition may be determined based on the actual potential collision area. For example, a virtual area may be provided at the head end of the first link, the end of the first link, and the end of the fourth link, respectively. The virtual area represents the actual potential collision area, so that the preset compensation condition can be determined based on the virtual area. Figure 3The figure shows a spherical virtual area. Specifically, a green spherical area indicates the area where the end of the first link may collide with the end of the fourth link, a blue spherical area indicates the area where the head of the first link may collide with the end of the fourth link, and a pink spherical area indicates the area where the end of the fourth link may collide with the head / end of the first link. A first safety distance can be determined based on the maximum distance between the head of the first link and the end of the fourth link that would allow the virtual area of ​​the head of the first link to intersect with the virtual area of ​​the end of the fourth link. A second safety distance can be determined based on the maximum distance between the end of the first link and the end of the fourth link that would allow the virtual area of ​​the end of the first link to intersect with the virtual area of ​​the end of the fourth link. The preset compensation condition can include the first safety distance and the second safety distance, or it can include a safety distance threshold that is greater than or equal to the first safety distance and the second safety distance. Taking the preset compensation condition including a safety distance threshold as an example, when the first distance and the second distance are both greater than the safety distance threshold, it can be judged that the first distance and the second distance do not meet the preset compensation condition; when the first distance or the second distance is less than or equal to the safety distance threshold, it can be judged that the first distance or the second distance meets the preset compensation condition.

[0064] Wherein, in step 103, the preset angle increment may include a rotation angle increment and a rotation direction. The rotation angle increment refers to the relative rotation angle difference before and after the fourth rotation joint rotates. The rotation direction includes forward (which can be represented by +) and reverse (which can be represented by -), and forward and reverse represent two opposite rotation directions. Exemplarily, the preset angle increment is +20°, which may indicate that the fourth rotation joint rotates 20° in the forward direction from the current rotation angle; the preset angle increment is -10°, which may indicate that the fourth rotation joint rotates 10° in the reverse direction from the current rotation angle. The preset absolute angle may include the spatial absolute rotation angle of the fourth rotation joint (the angle relative to a fixed reference such as the zero point or joint limit of the fourth rotation joint, which is related to the range of motion of the fourth rotation joint and does not change with the current rotation angle of the fourth rotation joint). For example, the range of motion of the fourth revolute joint is 240°. With the zero point (corresponding to the midpoint of the range of motion) as a reference, the absolute preset angles can be -120°, -100°, ..., 0°, ..., +100°, and +120°, where the interval between two adjacent absolute preset angles can be set as needed. In this example, the angle interval is a constant value of 20°. Similarly, the first update distance can be determined based on the distance between the head end of the first link and the head end of the third link; and the second update distance can be determined based on the distance between the end of the first link and the head end of the third link.

[0065] In step 104, for example, if the preset compensation condition includes a safety distance threshold, it can be determined that both the first updated distance and the second updated distance do not meet the preset compensation condition if both are greater than the safety distance threshold. For example, if the preset compensation condition includes both the first and second safety distances, it can be determined that both the first updated distance and the second updated distance do not meet the preset compensation condition if both the first updated distance and the second updated distance are greater than the first safety distance and the second updated distance are greater than the second safety distance. If the calculation is for the first updated distance between the tip of the first link and the tip of the fourth link, and the second updated distance between the tip of the first link and the tip of the fourth link after the fourth rotational joint rotates by a preset angle increment, then if both the first updated distance and the second updated distance do not meet the preset compensation condition, then the target rotation angle can be determined based on the preset angle increment. If the calculation is for the first updated distance between the tip of the first link and the tip of the fourth link, and the second updated distance between the tip of the first link and the tip of the fourth link after the fourth rotational joint rotates to a preset absolute angle, then if both the first updated distance and the second updated distance do not meet the preset compensation condition, then the target rotation angle can be determined based on the preset absolute angle.

[0066] It can be seen that the control method of the main control arm provided in the embodiment of the present application calculates the first distance between the head end of the first link and the end of the fourth link, and the second distance between the end of the first link and the end of the fourth link; and by controlling the movement of the fourth rotation joint based on the target rotation angle that can make the first updated distance and the second updated distance not meet the preset compensation condition when the first distance or the second distance meets the preset compensation condition. This can reduce the possibility of collision between the user's hand and the joint link or between different joint links, make the user operation smoother, and improve the user experience during the use of the main control arm.

[0067] In some optional embodiments, the preset compensation condition includes a preset distance threshold; S102, judging whether the first distance or the second distance satisfies the preset compensation condition, including: when the first distance is less than or equal to the preset distance threshold, judging that the first distance satisfies the preset compensation condition; when the second distance is less than or equal to the preset distance threshold, judging that the second distance satisfies the preset compensation condition; when both the first distance and the second distance are greater than the preset distance threshold, judging that the first distance and the second distance do not satisfy the preset compensation condition.

[0068] The preset distance threshold may be a value greater than or equal to the first safety distance and greater than or equal to the second safety distance. The preset distance threshold may also include the first safety distance and the second safety distance at the same time. When the first distance between the head end of the first link and the end end of the fourth link is less than or equal to the preset distance threshold, it indicates that a collision may occur between the head end of the first link and the end end of the fourth link; at this time, by judging that the first distance meets the preset compensation condition and controlling the movement of the fourth rotary joint based on a preset angle that can make both the first updated distance and the second updated distance not meet the preset compensation condition, the possibility of a collision between the head end of the first link and the end end of the fourth link can be reduced, making the user operation smoother and improving the user experience during the use of the master control arm. Similarly, when the second distance between the end of the first link and the end of the fourth link is less than or equal to the preset distance threshold, it indicates that a collision may occur between the end of the first link and the end of the fourth link; at this time, by judging that the second distance satisfies the preset compensation condition, and controlling the movement of the fourth rotation joint based on a preset angle that can make both the first updated distance and the second updated distance fail to satisfy the preset compensation condition, the possibility of a collision between the end of the first link and the end of the fourth link can be reduced, making the user operation smoother and improving the user experience during the use of the main control arm.

[0069] In some optional embodiments, the number of the preset angle increments or the preset absolute angles is multiple; S103, when the first distance or the second distance satisfies the preset compensation condition, calculate the first updated distance between the head end of the first link and the end of the fourth link after the fourth rotation joint rotates the preset angle increment or after the fourth rotation joint rotates to the preset absolute angle, and the second updated distance between the end of the first link and the end of the fourth link, including: when the first distance or the second distance satisfies the preset compensation condition, calculate the distance between the head end of the first link and the end of the fourth link after the fourth rotation joint rotates each preset angle increment or after the fourth rotation joint rotates to each preset absolute angle. , and a second updated distance between the end of the first link and the end of the fourth link; S104, in the case that neither the first update distance nor the second update distance meets the preset compensation condition, determining the target rotation angle according to the preset angle increment or the preset absolute angle, and controlling the fourth rotation joint movement based on the target rotation angle, including: from the preset angle increment, determining at least one target angle increment at which neither the first update distance nor the second update distance meets the preset compensation condition; or, from the preset absolute angle, determining a target absolute angle at which neither the first update distance nor the second update distance meets the preset compensation condition; controlling the fourth rotation joint movement according to the target angle increment or the target absolute angle.

[0070] Among them, the number of preset angle increments or preset absolute angles can be 10, or 30 or other reasonable values. The number of preset angle increments and the specific rotation angle increment value and rotation direction can be adjusted according to the current position of the fourth rotation joint and the rotatable angle range of the fourth rotation joint. Exemplarily, the preset angle increments may include: -60°, -45°, -30°, -15°, +15°, +30°, +45° and +60°, etc. It should be noted that the preset angle increment is not set to 0° here because it is necessary to control the rotation of the fourth rotation joint, and rotating 0° is meaningless. The rotation angle increment intervals between multiple preset angle increments are preferably consistent, but of course they can also be inconsistent, and this application does not make specific restrictions on this. The first update distance and the second update distance corresponding to each preset angle increment can be calculated first, and the target rotation angle that can make "both the first update distance and the second update distance fail to meet the preset compensation condition" can be determined from the preset angle increments. For example, if multiple preset angle increments exist that can result in "neither the first update distance nor the second update distance satisfying the preset compensation condition," the target rotation angle may be the preset angle increment that "maximizes the sum of the corresponding first update distance and the second update distance" or the preset angle increment with the smallest absolute value. Of course, if multiple preset absolute angles satisfy the requirement, the same process can be applied: that is, the preset absolute angle that "maximizes the sum of the corresponding first update distance and the second update distance" or the preset absolute angle that is closest to the current position of the fourth rotational joint is determined as the target absolute angle. By calculating the first updated distance between the head end of the first link and the end of the fourth link, and the second updated distance between the end of the first link and the end of the fourth link after the fourth rotation joint rotates at each preset angle increment or preset absolute angle; based on the calculated first update distance and second update distance, a target rotation angle that can make "neither the first update distance nor the second update distance meet the preset compensation condition" can be selected from multiple preset angle increments or preset absolute angles according to actual needs, and according to the target rotation angle, the movement of the fourth rotation joint is controlled to reduce the possibility of collision between the head end of the first link and the end of the fourth link and between the end of the first link and the end of the fourth link, thereby improving the user experience during the use of the main control arm.

[0071] In some optional embodiments, the number of the preset angle increments or the preset absolute angles is multiple; S103, when the first distance or the second distance satisfies the preset compensation condition, calculate the first updated distance between the head end of the first link and the end end of the fourth link after the fourth rotation joint rotates the preset angle increment or after the fourth rotation joint rotates to the preset absolute angle, and the second updated distance between the end end of the first link and the end end of the fourth link; S104, when neither the first updated distance nor the second updated distance satisfies the preset compensation condition, determine the target rotation angle according to the preset angle increment or the preset absolute angle, and control the movement of the fourth rotation joint based on the target rotation angle, including: when the first distance or the second distance satisfies the preset compensation condition, determine a preset sequence angle increment from the preset angle increment according to the target order, calculate the preset sequence angle increment when the fourth rotation joint rotates Afterwards, a first updated distance is calculated between the head end of the first link and the end end of the fourth link, and a second updated distance is calculated between the end end of the first link and the end end of the fourth link; when neither the first updated distance nor the second updated distance meets the preset compensation condition, the target rotation angle is determined according to the preset sequence angle increment; or, when the first distance or the second distance meets the preset compensation condition, a preset sequence absolute angle is determined in sequence from the preset absolute angles according to the target order, and the first updated distance between the head end of the first link and the end end of the fourth link and the second updated distance between the end end of the first link and the end end of the fourth link are calculated after the fourth rotation joint rotates to the preset sequence absolute angle; when neither the first updated distance nor the second updated distance meets the preset compensation condition, the target rotation angle is determined according to the preset sequence absolute angle; and the movement of the fourth rotation joint is controlled based on the target rotation angle.

[0072] Wherein, when the target rotation angle is determined according to a preset angle increment, the target order can be determined according to the rotation direction and / or rotation angle increment value corresponding to the preset angle increment. For example, when the preset angle increment includes: -60°, -45°, -30°, -15°, +15°, +30°, +45° and +60°, the target order can be: +15°, -15°, +30°, -30°, +45°, -45°, +60°, -60°. This target order enables the rotation angle increment close to the current position of the fourth rotation joint to be calculated first, thereby finding the target rotation angle closest to the fourth rotation joint and meeting the requirements more quickly, reducing the amount of calculation and improving the compensation response speed of the fourth rotation joint. When the target rotation angle is determined according to a preset absolute angle, the target order can be determined according to the distance between the preset absolute angle and the zero point of the fourth rotation joint. Exemplarily, when the preset absolute angles include: 0°, 20°, 40°, 60°, 80°, 100°, 120°, 140° and 160°, the target order can be: 80°, 60°, 100°, 40°, 120°, 20°, 140°, 0° and 160°. This target order enables the preset absolute angle close to the zero point of the fourth rotation joint to be calculated first, so as to find the target rotation angle that is closest to the zero point of the fourth rotation joint and meets the requirements, so that the fourth rotation joint is as close to the zero point as possible after rotation compensation, ensuring that both the left and right sides have sufficient range of motion. By sequentially determining a preset sequence angle increment from the preset angle increments according to the target sequence, and determining the target rotation angle based on the first preset sequence angle increment determined so that both the first update distance and the second update distance do not satisfy the preset compensation condition; or by sequentially determining a preset sequence absolute angle from the preset absolute angles according to the target sequence, and determining the target rotation angle based on the first preset sequence absolute angle determined so that both the first update distance and the second update distance do not satisfy the preset compensation condition; and then controlling the motion of the fourth rotational joint based on the target rotation angle. This can reduce the time spent on "determining the preset sequence angle increments for controlling the motion of the fourth rotational joint from the preset angle increments" or "determining the preset sequence absolute angles for controlling the motion of the fourth rotational joint from the preset absolute angles," thereby improving the control efficiency of the motion of the fourth rotational joint.Therefore, according to the target sequence, the efficiency of determining the target rotation angle that can make "neither the first update distance nor the second update distance satisfy the preset compensation condition" can be improved, and when the first update distance and the second update distance corresponding to the determined preset order angle increment or the preset order absolute angle do not satisfy the preset compensation condition, there is no need to calculate the first update distance and the second update distance corresponding to the remaining preset angle increment or the remaining preset absolute angle, which can reduce the amount of calculation in the process of realizing the motion control of the fourth rotation joint, thereby quickly controlling the movement of the fourth rotation joint, and further reducing the possibility of collision between the user's hand and the joint link or between different joint links.

[0073] In some optional embodiments, the angular interval between two adjacent preset angle increments is equal, and the size of the angular interval between two adjacent preset angle increments is a constant value or is proportional to the spatial velocity of the master control arm; and / or, the angular interval between two adjacent preset absolute angles is equal, and the size of the angular interval between two adjacent preset absolute angles is a constant value or is proportional to the spatial velocity of the master control arm.

[0074] The angular interval between two adjacent preset angle increments can be 0.1°, 0.2°, 0.5°, 2°, or other reasonable values. The angular interval here refers to the difference between the rotation angle increments corresponding to two adjacent preset angle increments. For example, when the preset angle increments include: -45°, -35°, -25°, -15°, -5°, +5°, +15°, +25°, +35°, and +45°, the angular interval between two adjacent preset angle increments is a constant value of 10°. The angular interval between two adjacent preset absolute angles can also be 0.1°, 0.2°, 0.5°, 2°, or other reasonable values. The angular interval here refers to the difference between the spatial absolute angle values ​​corresponding to two adjacent preset absolute angles. For example, when the preset absolute angles include: -0.2°, -0.1°, 0°, 0.1°, 0.2°, and 0.3°, the angular interval between two adjacent preset absolute angles is a constant value of 0.1°. The number of preset absolute angles and the specific spatial absolute angle values ​​can be manually adjusted based on the reference of the fourth rotary joint and the rotatable angle range of the fourth rotary joint. Of course, it can also be adjusted according to the spatial speed of the master control arm. For example, taking the left joint limit as a reference, assuming that the rotatable angle range of the fourth rotary joint is 160°, the preset absolute angles may include: 0°, 20°, 40°,..., 140° and 160°, etc. Taking the range of motion of the fourth rotary joint as 240° as an example, when the zero point of the fourth rotary joint is used as a reference, a set of absolute angles can be preset in advance, and the number and difference are both immutable (for example, -120°, -110°, ..., 0°, ..., +110°, +120°). It is also possible to preset in advance the starting and ending points of the absolute angle (that is, the two rotation limits of the fourth rotation joint), the relationship between the angle interval and the spatial speed of the main control arm (for example, the starting point is -120° and the end point is +120°, and the angle interval is equal to the value obtained by dividing the spatial speed by 3; then, when the speed is 60° / s, the preset absolute angles can be: -120°, -100°, ..., 0°, ..., +100°, +120°). It can be seen that the number of preset absolute angles will vary with the spatial speed.

[0075] In some optional embodiments, S104, when neither the first update distance nor the second update distance satisfies the preset compensation condition, determining the target rotation angle according to the preset angle increment or the preset absolute angle, and controlling the movement of the fourth rotational joint based on the target rotation angle, including: when neither the first update distance nor the second update distance satisfies the preset compensation condition, determining the target rotation angle according to the preset angle increment or the preset absolute angle, and determining the target joint command speed and target joint command acceleration of the fourth rotational joint based on the target rotation angle and the spatial velocity of the master control arm; controlling the movement of the fourth rotational joint according to the target joint command speed and the target joint command acceleration.

[0076] The spatial velocity of the master control arm includes: the angle rotated by the end of the master control arm per unit time and / or the displacement of the end of the master control arm per unit time. Exemplarily, the target joint command velocity and target joint command acceleration of the fourth rotary joint may be directly proportional to the spatial velocity of the master control arm. When the target rotation angle is determined based on a preset angle increment, the target joint command velocity and target joint command acceleration of the fourth rotary joint may also be determined based on the preset angle increment. When the target rotation angle is determined based on a preset absolute angle, the target joint command velocity and target joint command acceleration of the fourth rotary joint may also be determined based on the difference between the current rotation angle of the fourth rotary joint and the preset absolute angle. Exemplarily, the target joint command velocity and target joint command acceleration of the fourth rotary joint and the difference between the current rotation angle of the fourth rotary joint and the preset absolute angle may be positively correlated, i.e., the closer the current rotation angle of the fourth rotary joint is to the preset angle, the smaller the target joint command velocity and target joint command acceleration of the fourth rotary joint. When neither the first update distance nor the second update distance satisfies the preset compensation conditions, the target joint command velocity and target joint command acceleration of the fourth rotary joint are determined according to the target rotation angle and the spatial velocity of the master control arm. That is, the motion synchronization between the fourth rotary joint and the master control arm is maintained as much as possible, so as to reduce the possibility of collision between the user's hand and the joint link or between different joint links, while improving the motion continuity of the fourth rotary joint.

[0077] Please refer to Figure 4 , Figure 4 A schematic flow chart of a motion control method for a fourth rotary joint provided in an embodiment of the present application.

[0078] In some optional embodiments, S104, when neither the first update distance nor the second update distance satisfies the preset compensation condition, determining the target rotation angle according to the preset angle increment or the preset absolute angle, and controlling the movement of the fourth rotational joint based on the target rotation angle, specifically including: S1041, when neither the first update distance nor the second update distance satisfies the preset compensation condition, determining the target rotation angle according to the preset angle increment or the preset absolute angle, and determining the target joint command speed and target joint command acceleration of the fourth rotational joint based on the target rotation angle and the spatial velocity of the master control arm; S1042, calculating the real-time rotational position, real-time rotational speed and real-time rotational acceleration of the fourth rotational joint based on the trajectory planning strategy, the target rotation angle, the target joint command speed and the target joint command acceleration; wherein the trajectory planning strategy includes speed constraints and acceleration constraints; S1043, controlling the movement of the fourth rotational joint according to the real-time rotational position, the replaced real-time rotational speed and the replaced real-time rotational acceleration.

[0079] Among them, the trajectory planning strategy refers to determining the motion trajectory of the master control arm in space by mathematical methods, including parameters such as position, speed and acceleration, to meet specific constraints or optimization goals. As mentioned above, the trajectory planning strategy can also include speed constraints and acceleration constraints. The speed constraints can specifically include a preset speed threshold, and the acceleration constraints can specifically include a preset acceleration threshold. Based on this, it can be ensured that based on the trajectory planning strategy, the target rotation angle, the target joint command speed and the target joint command acceleration, a real-time rotation speed less than or equal to the preset speed threshold and a real-time rotation acceleration less than or equal to the preset acceleration threshold are calculated. The trajectory planning strategy can be specifically implemented by a model-based or sensor-based path planning method, and can also be implemented by a trajectory filter, which is not specifically limited in this application. The preset speed threshold can be the maximum speed of the fourth rotary joint, and the preset acceleration threshold can be the maximum acceleration of the fourth rotary joint. By calculating the real-time rotation position, real-time rotation speed and real-time rotation acceleration of the fourth rotational joint based on the trajectory planning strategy, target rotation angle, target joint command speed and target joint command acceleration when both the first update distance and the second update distance do not meet the preset compensation conditions; and controlling the movement of the fourth rotational joint according to the real-time rotation position, real-time rotation speed and real-time rotation acceleration of the fourth rotational joint, the motion control accuracy of the fourth rotational joint can be improved, and the possibility of collision between the user's hand and the joint link or between different joint links can be better reduced.

[0080] In some optional embodiments, the trajectory planning strategy may also not include speed constraints and acceleration constraints. In this case, the real-time rotational position, real-time rotational speed and real-time rotational acceleration of the fourth rotational joint can be calculated based on the trajectory planning strategy, the target rotation angle, the target joint command speed and the target joint command acceleration. When the real-time rotational speed is less than or equal to the preset speed threshold, and the real-time rotational acceleration is less than or equal to the preset acceleration threshold, the movement of the fourth rotational joint is controlled according to the real-time rotational position, the real-time rotational speed and the real-time rotational acceleration. When the real-time rotational speed is greater than the preset speed threshold, or the real-time rotational acceleration is greater than the preset acceleration threshold, the real-time rotational speed is replaced based on the preset speed threshold, and the real-time rotational acceleration is replaced based on the preset acceleration threshold; and the movement of the fourth rotational joint is controlled based on the real-time rotational position, the replaced real-time rotational speed and the replaced real-time rotational acceleration.

[0081] Please refer to Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device 200 provided in an embodiment of the present application. The electronic device 200 includes a memory 202 and a processor 201. The memory 202 stores a computer program executable by the processor 201. When the computer program is executed by the processor 201, the method for controlling the master control arm described in any one of the first aspects is performed.

[0082] The memory 202 and the processor 201 may be interconnected and communicate with each other via a communication bus 203 and / or other connection mechanisms (not shown). The memory 202 stores a computer program executable by the processor 201. When executed by the processor 201, the computer program performs the master control arm control method described in the first aspect above.

[0083] The embodiment of the present application further provides a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by the processor 201 , the method for controlling the master control arm as described in the first aspect above is executed.

[0084] Among them, the 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.

[0085] In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed devices / systems and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0086] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0087] The above description is only an optional implementation method of the embodiment of the present application, but the protection scope of the embodiment of the present application is not limited to this. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in the embodiment of the present application, and they should all be covered by the protection scope of the embodiment of the present application.

Claims

1. A method for controlling a master control arm, characterized in that: The control method is used to control a main control arm; the main control arm includes a first link, a second link, a third link, and a fourth link connected in sequence; wherein the head ends of the first link to the fourth link are respectively provided with a first rotary joint, a second rotary joint, a third rotary joint, and a fourth rotary joint; The control method includes: calculating a first distance between a head end of the first link and an end end of the fourth link, and a second distance between an end end of the first link and an end end of the fourth link; determining whether the first distance or the second distance satisfies a preset compensation condition; When the first distance or the second distance satisfies the preset compensation condition, calculating a first updated distance between the head end of the first link and the end end of the fourth link after the fourth rotational joint rotates by a preset angle increment or after the fourth rotational joint rotates to a preset absolute angle, and a second updated distance between the end end of the first link and the end end of the fourth link; When neither the first update distance nor the second update distance satisfies the preset compensation condition, a target rotation angle is determined according to the preset angle increment or the preset absolute angle, and the fourth rotation joint is controlled to move based on the target rotation angle.

2. The method according to claim 1, characterized in that in, The preset compensation condition includes a preset distance threshold; The determining whether the first distance or the second distance satisfies a preset compensation condition includes: When the first distance is less than or equal to the preset distance threshold, determining that the first distance meets the preset compensation condition; When the second distance is less than or equal to the preset distance threshold, determining that the second distance meets the preset compensation condition; When both the first distance and the second distance are greater than the preset distance threshold, it is determined that the first distance and the second distance do not satisfy the preset compensation condition.

3. The method according to claim 1, characterized in that in, The number of the preset angle increments or the preset absolute angles is multiple; The step of calculating, when the first distance or the second distance satisfies the preset compensation condition, a first updated distance between the head end of the first link and the end end of the fourth link after the fourth rotational joint rotates by a preset angle increment or after the fourth rotational joint rotates to a preset absolute angle, and a second updated distance between the end end of the first link and the end end of the fourth link, comprises: When the first distance or the second distance satisfies the preset compensation condition, calculating a first updated distance between the head end of the first link and the end end of the fourth link after the fourth rotational joint rotates by each preset angle increment or after the fourth rotational joint rotates to each preset absolute angle, and a second updated distance between the end end of the first link and the end end of the fourth link; When neither the first update distance nor the second update distance satisfies the preset compensation condition, determining a target rotation angle according to the preset angle increment or the preset absolute angle, and controlling the movement of the fourth rotation joint based on the target rotation angle, comprises: Determine, from the preset angle increments, a target angle increment in which both the first update distance and the second update distance satisfy the preset compensation condition; or determining, from the preset absolute angles, a target absolute angle at which both the first updated distance and the second updated distance satisfy the preset compensation condition; The movement of the fourth rotation joint is controlled according to the target angle increment or the target absolute angle.

4. The method according to claim 3, characterized in that The determining, from the preset angle increments, a target angle increment for which both the first update distance and the second update distance do not satisfy the preset compensation condition comprises: If there are multiple preset angle increments in which neither the first update distance nor the second update distance satisfies the preset compensation condition, determining the preset angle increment having the largest sum of the first update distance and the second update distance or the preset angle increment having the smallest absolute value as the target angle increment; The determining, from the preset absolute angles, a target absolute angle at which neither the first updated distance nor the second updated distance satisfies the preset compensation condition comprises: When there are multiple preset absolute angles at which neither the first update distance nor the second update distance satisfies the preset compensation condition, the preset absolute angle with the largest sum of the first update distance and the second update distance or the preset absolute angle closest to the current position of the fourth rotation joint is determined as the target absolute angle.

5. The method according to claim 1, wherein in, The number of the preset angle increments or the preset absolute angles is multiple; The method further comprises: calculating, when the first distance or the second distance satisfies the preset compensation condition, a first updated distance between the head end of the first link and the end end of the fourth link, and a second updated distance between the end end of the first link and the end end of the fourth link after the fourth rotational joint rotates by a preset angle increment or after the fourth rotational joint rotates to a preset absolute angle; and determining, when neither the first updated distance nor the second updated distance satisfies the preset compensation condition, a target rotation angle according to the preset angle increment or the preset absolute angle, and controlling the movement of the fourth rotational joint based on the target rotation angle, including: In the case where the first distance or the second distance satisfies the preset compensation condition, a preset order angle increment is determined in sequence from the preset angle increments according to a target order, and a first updated distance between the head end of the first link and the end end of the fourth link, and a second updated distance between the end end of the first link and the end end of the fourth link are calculated after the fourth rotation joint rotates by the preset order angle increment; in the case where neither the first updated distance nor the second updated distance satisfies the preset compensation condition, the target rotation angle is determined according to the preset order angle increment; or In a case where the first distance or the second distance satisfies the preset compensation condition, determining a preset sequence absolute angle from the preset absolute angles in sequence according to a target order, and calculating a first updated distance between the head end of the first link and the end end of the fourth link, and a second updated distance between the end end of the first link and the end end of the fourth link after the fourth rotational joint rotates to the preset sequence absolute angle; and in a case where neither the first updated distance nor the second updated distance satisfies the preset compensation condition, determining the target rotation angle according to the preset sequence absolute angles; The fourth rotational joint is controlled to move based on the target rotation angle.

6. The method according to any one of claims 3 to 5, characterized in that: in, The angular intervals between two adjacent preset angular increments are equal, and the angular intervals between two adjacent preset angular increments are constant or proportional to the spatial velocity of the master control arm; and / or, The angular interval between two adjacent preset absolute angles is equal, and the angular interval between two adjacent preset absolute angles is a constant value or is proportional to the spatial velocity of the master control arm.

7. The method according to claim 1, characterized in that When neither the first update distance nor the second update distance satisfies the preset compensation condition, determining a target rotation angle according to the preset angle increment or the preset absolute angle, and controlling the movement of the fourth rotation joint based on the target rotation angle, comprises: When neither the first update distance nor the second update distance satisfies the preset compensation condition, determining a target rotation angle according to the preset angle increment or the preset absolute angle, and determining a target joint command velocity and a target joint command acceleration of the fourth rotational joint based on the target rotation angle and the spatial velocity of the master control arm; The movement of the fourth rotational joint is controlled according to the target joint command velocity and the target joint command acceleration.

8. The method according to claim 7, characterized in that When neither the first update distance nor the second update distance satisfies the preset compensation condition, determining a target rotation angle according to the preset angle increment or the preset absolute angle, and controlling the movement of the fourth rotation joint based on the target rotation angle specifically includes: When neither the first update distance nor the second update distance satisfies the preset compensation condition, determining a target rotation angle according to the preset angle increment or the preset absolute angle, and determining a target joint command velocity and a target joint command acceleration of the fourth rotational joint based on the target rotation angle and the spatial velocity of the master control arm; Calculating the real-time rotational position, real-time rotational speed, and real-time rotational acceleration of the fourth rotational joint based on a trajectory planning strategy, the target rotation angle, the target joint command speed, and the target joint command acceleration; wherein the trajectory planning strategy includes a speed constraint and an acceleration constraint; The fourth rotational joint movement is controlled according to the real-time rotational position, the real-time rotational speed, and the real-time rotational acceleration.

9. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the method for controlling the master control arm according to any one of claims 1 to 8 is implemented.

10. An electronic device, characterized in that: The electronic device comprises: Memory; processor; The memory stores a computer program executable by the processor. When the computer program is executed by the processor, the method for controlling the master control arm according to any one of claims 1 to 8 is performed.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the method for controlling the master control arm according to any one of claims 1 to 8 is executed.

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