Multi-mechanical-arm surgical robot control method and device

Abstract

The invention provides a multi-mechanical-arm surgical robot control method and device. The method comprises the steps that task information of multiple mechanical arms and the set function of each mechanical arm are obtained; the multiple mechanical arms have at least two setting functions; task information of the multiple mechanical arms is divided into independent tasks and cooperative tasks according to the set functions; the independent task is a task which is not interfered by other mechanical arms in an execution time period; on the basis of the independent task and the cooperative task, an execution path of a mechanical arm is planned; and each mechanical arm is controlled to execute the execution path. According to the method and the device, the whole task is divided by utilizing different functions of the mechanical arms, so that path planning and execution are performed based on different tasks, the problem of conflict among the multiple mechanical arms is avoided, and perfect control of the multiple mechanical arms is realized.

Description

Technical Field

[0001] The present application relates to the technical field of medical image processing, and in particular to a method and device for controlling a multi-robotic-arm surgical robot. Background Art

[0002] Surgical robot-assisted orthopedic surgery is an important application of orthopedic surgical robots. It completes complex orthopedic surgeries through preoperative planning, intraoperative image acquisition and actual execution by robotic arms.

[0003] However, the existing surgical robots are generally single-arm ones, which require multiple auxiliary actions during the operation and the operation process is relatively complicated. It is necessary to introduce a surgical robot with multiple robotic arms.

[0004] However, the specific control process of a multi-arm surgical robot is too complicated and difficult to implement. Summary of the invention

[0005] The problem that this application solves is that the control of multiple robotic arms is currently difficult to achieve.

[0006] In order to solve the above problems, the first aspect of the present application provides a multi-arm surgical robot control method, which includes:

[0007] Acquire task information of the multi-manipulator and a set function of each manipulator; the multi-manipulator has at least two set functions;

[0008] According to the setting function, the task information of the multi-manipulator is divided into independent tasks and collaborative tasks; the independent task is a task that is not interfered by other manipulators during the execution time period;

[0009] Based on the independent task and the collaborative task, respectively plan the execution path of the robot arm;

[0010] Each robot arm is controlled to execute the execution path.

[0011] The second aspect of the present application provides a manufacturing system for a multi-arm surgical robot control method, which includes:

[0012] An information acquisition module, which is used to acquire task information of the multi-manipulator and a set function of each manipulator; the multi-manipulator has at least two set functions;

[0013] A task division module, which is used to divide the task information of multiple robotic arms into independent tasks and collaborative tasks according to the set function; the independent task is a task that is not interfered by other robotic arms during the execution time period;

[0014] A path planning module, which is used to plan the execution path of the robot arm based on the independent task and the collaborative task respectively;

[0015] A path execution module is used to control each robot arm to execute the execution path.

[0016] The third aspect of the present application provides an electronic device, comprising: a memory and a processor; the memory may be configured to store a program, and the processor is coupled to the memory and is used to execute the program in the memory, so as to:

[0017] Acquire task information of the multi-manipulator and a set function of each manipulator; the multi-manipulator has at least two set functions;

[0018] According to the setting function, the task information of the multi-manipulator is divided into independent tasks and collaborative tasks; the independent task is a task that is not interfered by other manipulators during the execution time period;

[0019] Based on the independent task and the collaborative task, respectively plan the execution path of the robot arm;

[0020] Each robot arm is controlled to execute the execution path.

[0021] A fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement the aforementioned multi-robotic-arm surgical robot control method.

[0022] In this application, the different functions of the robotic arms are used to divide the overall task, so that path planning and execution are performed based on different tasks, avoiding conflicts between multiple robotic arms and achieving perfect control of multiple robotic arms. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of a surgical robot of a multi-robotic-arm surgical robot control method according to an embodiment of the present application;

[0024] Figure 2 is a flow chart of a multi-robotic-arm surgical robot control method according to an embodiment of the present application;

[0025] Figure 3 is a structural diagram of a multi-robotic-arm surgical robot control device according to an embodiment of the present application;

[0026] Figure 4 is an architectural diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below in conjunction with the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0028] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by technicians in the field to which this application belongs.

[0029] The present application embodiment provides the above-mentioned multi-robotic-arm surgical robot control method, the specific scheme of which is as follows: Figure 1-Figure 2 As shown, the method can be executed by a multi-robotic-arm surgical robot control device, and the multi-robotic-arm surgical robot control device can be integrated into electronic devices such as computers, servers, computers, server clusters, and data centers.

[0030] Combination Figure 1 As shown, the multi-robotic-arm surgical robot control method comprises:

[0031] S101, obtaining task information of a multi-manipulator and a set function of each manipulator; the multi-manipulator has at least two set functions;

[0032] S102, dividing the task information of the multiple robotic arms into independent tasks and collaborative tasks according to the set function; the independent tasks are tasks that are not interfered by other robotic arms during the execution time period;

[0033] S103, planning execution paths of the robot arms respectively based on the independent task and the collaborative task;

[0034] S104, controlling each robot arm to execute the execution path.

[0035] In this application, the different functions of the robotic arms are used to divide the overall task, so that path planning and execution are performed based on different tasks, avoiding conflicts between multiple robotic arms and achieving perfect control of multiple robotic arms.

[0036] In the present application, the set function can be a camera function for installing a camera device, and a surgical function for installing a surgical instrument, or a more detailed division, for example, robotic arm 1: responsible for holding the mirror or assisting in fixation; robotic arm 2: responsible for cutting or suturing; robotic arm 3: responsible for suction or other auxiliary operations.

[0037] In this application, collaborative tasks refer to the interaction or cooperation between multiple robotic arms during the execution period, or the simultaneous operation of the same workpiece or the same area. For example, robotic arm A grabs and passes it to robotic arm B for work; or robotic arm A is fixed and robotic arm B performs cutting, etc.

[0038] In this application, it is an independent task, and the robot arm can directly execute according to the plan; if it is a collaborative task, it is necessary to achieve the timing coordination of multi-arm control. For example, a centralized controller or a distributed coordination mechanism can be used to send synchronous execution signals to each robot arm, or signal interaction (handshake) can be performed after the key process is completed before executing the next action.

[0039] In this application, unified collaborative planning is carried out in places where conflicts may arise among multiple robotic arms (collaborative tasks) to effectively avoid conflicts in space and resources; subtasks that can be executed independently are divided into independent tasks to simplify the difficulty of path planning and improve execution efficiency; and ultimately the goal of smooth collaboration, non-interference and even perfect cooperation among multiple robotic arms is achieved.

[0040] In a specific implementation, the S102, dividing the task information of the multi-manipulator into independent tasks and collaborative tasks according to the set function, includes:

[0041] Decompose the task information of multiple robotic arms in chronological order and construct a schedule;

[0042] Divide the task information of only one robot task in the same time period into independent tasks;

[0043] The task information with at least two robot arm tasks in the same time period is divided into collaborative tasks.

[0044] In a multi-robot execution system, each robot usually has several "subtasks" (or operation instructions) to be executed, and each subtask will contain a start time and an end time. Based on this, the start and end times of all subtasks of the multi-robot are summarized to form a set of time nodes. After sorting all the above moments, assuming they are arranged in ascending order, a global, discrete time series is constructed; the time period is divided according to two adjacent moments, and in each such small interval, it is observed which robots have tasks covering the time period, which is the timetable.

[0045] In the present application, if the time interval of one task only partially overlaps with the time interval of another task, they are classified as "cooperative" only in the overlapping interval, and are respectively in "independent" or idle state in the non-overlapping interval.

[0046] In a specific implementation, the S103, based on the independent task and the collaborative task, respectively planning the execution path of the robot arm includes:

[0047] Analyze the independent task and the collaborative task, and determine the starting position and target position of each robot arm in the independent task and the collaborative task;

[0048] Based on the starting position and target position of the independent task, the execution path planning of the robot arm of the independent task is performed;

[0049] Build a collaborative workspace based on multiple robotic arms for collaborative tasks;

[0050] Plan execution paths for multiple robotic arms in a collaborative workspace.

[0051] In this application, in the previous step (i.e., constructing a schedule based on time sequence), all subtasks of the multi-robot arm have been divided into independent tasks (only one robot arm executes in the same period of time) and collaborative tasks (at least two robot arms execute in the same period of time) according to the time axis.

[0052] In this application, the starting position can be inferred from the following information: if this task is the first step of the entire process, it can be directly the initial standby position of the robot arm; if the robot arm has just completed an action before this task, the starting position can be the end effector position at the end of the previous action; if the posture needs to be calibrated or changed before the operation, the calibrated position should be used as the starting position. Similarly, the target position can also be set according to the task requirements.

[0053] In this application, based on the starting position and target position of the independent task, the execution path planning of the robot arm of the independent task can include: obstacle avoidance model construction: modeling the scene of the working area where the robot arm is located, and using CAD models or scan data to establish collision detection models (bounding boxes, polygonal meshes, etc.) for each link and end effector of the robot arm; using single-arm kinematic planning algorithms, such as RRT (rapid random tree), PRM (probabilistic path planning) or sampling / search methods such as A*, D*; can be combined with inverse kinematics solver (IK Solver) to optimize the posture of key positions; when considering speed and acceleration restrictions, trajectory optimization can also be performed in joint space or Cartesian space. Generate feasible paths: output one or more collision-free, smooth trajectories (discrete node sequences or continuous functions) for use by subsequent motion control modules.

[0054] In a specific implementation, the multiple robotic arms based on collaborative tasks construct a collaborative workspace, including:

[0055] Obtain the workspace of the local coordinate system of multiple manipulators;

[0056] Based on the relative position of the robot arm, the local coordinate system of the robot arm is converted into the global coordinate system;

[0057] The working spaces of multiple robot arms in the global coordinate system are superimposed to obtain the collaborative working space.

[0058] In this application, the collaborative workspace refers to the collaborative action space in space, which utilizes the workspace of a single robot in the local coordinate system to convert its workspace into the global coordinate system, and finally obtains the workspace of multiple robotic arms.

[0059] In this application, the workspace of a single robot arm refers to the three-dimensional space that the end-effector of the robot arm can reach or cover under factors such as the maximum arm span, joint restrictions, and installation method. This space can be determined by kinematic analysis or numerical sampling based on the number of joints, connecting rod length, joint angle range, installation posture, etc. of the robot arm.

[0060] In this application, each robotic arm often has its own defined "base coordinate system" (Base Frame) or "installation base coordinate system", which is a local coordinate system.

[0061] In this application, by establishing a collaborative workspace for each robotic arm, the workspaces of each robotic arm are superimposed, and the overlapping parts of these areas are the overall workspace of the multi-robotic arm. This process can be seen as integrating the range of motion of each robotic arm to form a more comprehensive and complete space, thereby providing a comprehensive working range for the collaborative operation of multiple robotic arms. In this common overlapping area, each robotic arm can work together, avoid collisions, and effectively complete complex tasks.

[0062] In this application, in a multi-robot system, the installation position of each robot arm is accurately measured or calibrated to obtain the conversion relationship between its base coordinate system and a "global (world) coordinate system" or "primary reference coordinate system". After conversion to the global coordinate system, the workspace position and shape of each robot arm can be accurately represented in the global coordinate system.

[0063] In a specific implementation, planning execution paths of multiple robotic arms in a collaborative workspace includes:

[0064] Obtain work environment map and obstacle location information;

[0065] For each robot in the collaborative workspace, search for an initial path;

[0066] Determine all inflection points on the initial path, and use each inflection point as a sub-target node;

[0067] Secondary planning is performed on the local paths between adjacent sub-target nodes to generate the execution path.

[0068] In this application, after completing the secondary planning between all inflection points, these local segments are spliced ​​together to form the overall final path of each robot arm from the start to the target.

[0069] In this application, the surrounding environment information is obtained through sensors, the map of the robot's working environment and obstacle location information are obtained through preprocessing, the starting point coordinates and target point coordinates of the planned path are determined, the environmental model is constructed using the grid method, and the robot's workspace model map is generated.

[0070] In this application, the artificial potential field method is used for global path planning, and a search needs to be performed in the overall workspace of the multi-manipulator to obtain an optimal path without obstacles and collisions, which is the initial path;

[0071] In the present application, all turning points are found on the moving path, each turning point is used as a sub-target on the moving path, and the turning point coordinates are converted into local coordinates.

[0072] In this application, the artificial potential field method is used to finely plan the local path of the robot.

[0073] Preferably, planning the execution paths of multiple robotic arms in the collaborative workspace further includes:

[0074] First, the robot kinematics correction is solved, and the position information of the nodes on the path is solved one by one. The robot kinematics correction is performed, and the path nodes are inversely solved one by one. The optimal solution combination is selected according to the minimum rotation angle principle, and the forward kinematics solution is performed to obtain the joint space coordinates. If the forward kinematics solution fails, it means that the path node is beyond the working range and needs to be replanned.

[0075] Secondly, check whether the sub-target point has been reached. If not, continue to execute the artificial potential field method for path planning; if the sub-target point has been reached, adjust the robot's action to complete the path planning;

[0076] Preferably, after the robot obtains the spatial position of each joint, it detects the position of the robot arm and obstacles. If the robot arm collides with an obstacle, replanning is performed.

[0077] In the present application, the optimal path is searched for multiple robotic arms; after the optimal path is obtained, each node on the path is corrected to determine the joint angle corresponding to each node; finally, the path planning of the robotic arm is achieved through the joint angles obtained through these corrections.

[0078] In a specific implementation, the initial path is planned by an artificial potential field method.

[0079] In this application, the artificial potential field method planning process includes:

[0080] Constructing an attractive potential field: considering the target position (or target area) as a “low potential energy point”;

[0081] Construct a repulsive potential field: All obstacles in the environment, the robot's own connecting rods (to prevent self-collision) and other robots (to prevent mutual collision) can be regarded as objects that need to be repelled; the size of the potential field and the range of influence are inversely proportional to the distance of the obstacle, that is, the closer the distance, the greater the repulsive force.

[0082] Iterative solution: Starting from the starting position, each step moves or corrects the joint value along the negative gradient direction (the direction of the fastest decrease in potential energy) until the target is reached or the stopping condition is met.

[0083] Preferably, in the present application, a repulsive field function is used to solve the distance between the robot arm and the target, the adjustment coefficient of the relative distance, the distance between the robot arm and the target, and the adjustment of the distance between the robot arm and the target.

[0084] Preferably, in the present application, when the robot arm approaches the target area, the correction repulsion will be close to zero, and the target point is still the global minimum, so that the robot arm can successfully reach the target position.

[0085] Preferably, when the mobile robotic arm approaches the target area, the corrected repulsive force field decreases with the distance between the robotic arm and the target, and the corrected repulsive force potential field also decreases accordingly.

[0086] Among them, the specific repulsive field function can be determined according to actual needs and will not be described in detail in this application.

[0087] In a specific implementation, after searching for an initial path, the method further includes: optimizing the initial path using a random function to avoid shaking of the robot arm.

[0088] In this application, a random function is used to optimize it to achieve the purpose of avoiding the trembling phenomenon of the robot arm, and the movement path of the end effector of the robot arm is the path after the optimization processing;

[0089] An embodiment of the present application provides a multi-robotic-arm surgical robot control device, which is used to execute the multi-robotic-arm surgical robot control method described in the above content of the present application. The multi-robotic-arm surgical robot control device is described in detail below.

[0090] like Figure 3 As shown, the multi-robotic-arm surgical robot control device comprises:

[0091] An information acquisition module 101 is used to acquire task information of a multi-manipulator and a set function of each manipulator; the multi-manipulator has at least two set functions;

[0092] A task division module 102 is used to divide the task information of the multi-manipulator into independent tasks and collaborative tasks according to the set function; the independent task is a task that is not interfered by other manipulators during the execution time period;

[0093] A path planning module 103, which is used to plan the execution path of the robot arm based on the independent task and the collaborative task respectively;

[0094] The path execution module 104 is used to control each robot arm to execute the execution path.

[0095] In one embodiment, the task division module 102 is further configured to:

[0096] The task information of multiple robotic arms is decomposed in chronological order to construct a timetable; the task information with only one robotic arm task in the same time period is divided into independent tasks; the task information with at least two robotic arm tasks in the same time period is divided into collaborative tasks.

[0097] In one implementation, the path planning module 103 is further configured to:

[0098] Analyze the independent task and the collaborative task, determine the starting position and target position of each robotic arm in the independent task and the collaborative task; plan the execution path of the robotic arm of the independent task based on the starting position and target position of the independent task; construct a collaborative workspace based on multiple robotic arms of the collaborative task; plan the execution paths of multiple robotic arms in the collaborative workspace.

[0099] In one implementation, the path planning module 103 is further configured to:

[0100] Acquire the workspaces of the local coordinate systems of the multiple robotic arms; based on the relative positions of the robotic arms, convert the local coordinate systems of the robotic arms into a global coordinate system; and superimpose the workspaces of the multiple robotic arms in the global coordinate system to obtain the collaborative workspace.

[0101] In one implementation, the path planning module 103 is further configured to:

[0102] Acquire the work environment map and obstacle location information; search for an initial path for each robot arm in the collaborative workspace; determine all inflection points on the initial path and use each inflection point as a sub-target node; perform secondary planning on the local path between adjacent sub-target nodes and generate the execution path.

[0103] In one implementation, the initial path is planned by an artificial potential field method.

[0104] In one implementation, the path planning module 103 is further configured to:

[0105] A random function is used to optimize the initial path to avoid shaking of the robot arm.

[0106] The multi-robotic-arm surgical robot control device provided in the above-mentioned embodiment of the present application has a corresponding relationship with the multi-robotic-arm surgical robot control method provided in the embodiment of the present application. Therefore, the specific content in the system has a corresponding relationship with the multi-robotic-arm surgical robot control method. The specific content can refer to the records in the multi-robotic-arm surgical robot control method, and will not be repeated in this application.

[0107] The multi-robotic-arm surgical robot control device provided in the above-mentioned embodiments of the present application and the multi-robotic-arm surgical robot control method provided in the embodiments of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0108] The above describes the internal functions and structure of the multi-arm surgical robot control device. Figure 4 As shown, in practice, the multi-arm surgical robot control device can be implemented as an electronic device, including: a memory 301 and a processor 303.

[0109] The memory 301 may be configured to store programs.

[0110] In addition, the memory 301 may also be configured to store various other data to support operations on the electronic device. Examples of such data include instructions for any application or method operating on the electronic device, contact data, phone book data, messages, pictures, videos, etc.

[0111] The memory 301 may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The processor 303, coupled to the memory 301, is used to execute the program in the memory 301, so as to:

[0112] Acquire task information of the multi-manipulator and a set function of each manipulator; the multi-manipulator has at least two set functions;

[0113] According to the setting function, the task information of the multi-manipulator is divided into independent tasks and collaborative tasks; the independent task is a task that is not interfered by other manipulators during the execution time period;

[0114] Based on the independent task and the collaborative task, respectively plan the execution path of the robot arm;

[0115] Each robot arm is controlled to execute the execution path.

[0116] In one implementation, the processor 303 is further configured to:

[0117] The task information of multiple robotic arms is decomposed in chronological order to construct a timetable; the task information with only one robotic arm task in the same time period is divided into independent tasks; the task information with at least two robotic arm tasks in the same time period is divided into collaborative tasks.

[0118] In one implementation, the processor 303 is further configured to:

[0119] Analyze the independent task and the collaborative task, determine the starting position and target position of each robotic arm in the independent task and the collaborative task; plan the execution path of the robotic arm of the independent task based on the starting position and target position of the independent task; construct a collaborative workspace based on multiple robotic arms of the collaborative task; plan the execution paths of multiple robotic arms in the collaborative workspace.

[0120] In one implementation, the processor 303 is further configured to:

[0121] Acquire the workspaces of the local coordinate systems of the multiple robotic arms; based on the relative positions of the robotic arms, convert the local coordinate systems of the robotic arms into a global coordinate system; and superimpose the workspaces of the multiple robotic arms in the global coordinate system to obtain the collaborative workspace.

[0122] In one implementation, the processor 303 is further configured to:

[0123] Acquire the work environment map and obstacle location information; search for an initial path for each robot arm in the collaborative workspace; determine all inflection points on the initial path and use each inflection point as a sub-target node; perform secondary planning on the local path between adjacent sub-target nodes and generate the execution path.

[0124] In one implementation, the initial path is planned by an artificial potential field method.

[0125] In one implementation, the processor 303 is further configured to:

[0126] A random function is used to optimize the initial path to avoid shaking of the robot arm.

[0127] In this application, Figure 4 Only some components are shown schematically, which does not mean that the electronic device only includes Figure 4 Components shown.

[0128] The electronic device provided in this embodiment is based on the same inventive concept as the multi-robotic-arm surgical robot control method provided in the embodiment of the present application, and has the same beneficial effects as the method adopted, run or implemented by the application program stored therein.

[0129] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0130] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the functions specified in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0131] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0132] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory. The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash memory (Flash RAM). The memory is an example of a computer-readable medium.

[0133] The present application also provides a computer-readable storage medium corresponding to the multi-robotic arm surgical robot control method provided in the aforementioned embodiment, on which a computer program (i.e., a program product) is stored. When the computer program is run by a processor, it will execute the interactive image analysis auxiliary method for 3D aerial imaging provided in any of the aforementioned embodiments.

[0134] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0135] The computer-readable storage medium provided in the above-mentioned embodiment of the present application and the interactive image analysis auxiliary method for 3D aerial imaging provided in the embodiment of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0136] It should be noted that in the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known structures and technologies are not shown in detail so as not to obscure the understanding of this description.

[0137] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0138] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for controlling a surgical robot with multiple robotic arms, for controlling a surgical robot with multiple robotic arms, characterized in that: include: Obtain the task information of multiple robotic arms and the set functions of each robotic arm; The multi-robot arm has at least two setting functions; Dividing the task information of the multi-manipulator into independent tasks and collaborative tasks according to the set function; The independent task is a task that is not interfered by other robotic arms during the execution time period; Based on the independent task and the collaborative task, respectively plan the execution path of the robot arm; Each robot arm is controlled to execute the execution path.

2. The multi-arm surgical robot control method according to claim 1, characterized in that: The step of dividing the task information of the multi-robot arm into independent tasks and collaborative tasks according to the set function includes: Decompose the task information of multiple robotic arms in chronological order and construct a schedule; Divide the task information of only one robot task in the same time period into independent tasks; The task information with at least two robot arm tasks in the same time period is divided into collaborative tasks.

3. The multi-arm surgical robot control method according to claim 2, characterized in that: The planning of the execution paths of the robot arms based on the independent tasks and the collaborative tasks respectively includes: Analyze the independent task and the collaborative task, and determine the starting position and target position of each robot arm in the independent task and the collaborative task; Based on the starting position and target position of the independent task, the execution path planning of the robot arm of the independent task is performed; Build a collaborative workspace based on multiple robotic arms for collaborative tasks; Plan execution paths for multiple robotic arms in a collaborative workspace.

4. The multi-arm surgical robot control method according to claim 3, characterized in that: The multiple robotic arms based on collaborative tasks construct a collaborative workspace, including: Obtain the workspace of the local coordinate system of multiple manipulators; Based on the relative position of the robot arm, the local coordinate system of the robot arm is converted into the global coordinate system; The working spaces of multiple robotic arms in the global coordinate system are superimposed to obtain the collaborative working space.

5. The multi-arm surgical robot control method according to claim 3, characterized in that: Plan the execution paths of multiple robotic arms in a collaborative workspace, including: Obtain work environment map and obstacle location information; For each robot in the collaborative workspace, search for an initial path; Determine all inflection points on the initial path, and use each inflection point as a sub-target node; Secondary planning is performed on the local paths between adjacent sub-target nodes to generate the execution path.

6. The multi-arm surgical robot control method according to claim 5, characterized in that: The initial path is obtained by planning through the artificial potential field method.

7. The multi-arm surgical robot control method according to claim 5, characterized in that: After searching for an initial path, the method further includes: A random function is used to optimize the initial path to avoid shaking of the robot arm.

8. A multi-arm surgical robot control device, characterized in that: include: An information acquisition module, which is used to acquire task information of the multi-manipulator and a set function of each manipulator; the multi-manipulator has at least two set functions; A task division module, which is used to divide the task information of multiple robotic arms into independent tasks and collaborative tasks according to the set function; the independent task is a task that is not interfered by other robotic arms during the execution time period; A path planning module, which is used to plan the execution path of the robot arm based on the independent task and the collaborative task respectively; A path execution module is used to control each robot arm to execute the execution path.

9. An electronic device, characterized in that: include: Memory and processor; The memory is used to store programs; The processor, coupled to the memory, is configured to execute the program to: Acquire task information of the multi-manipulator and a set function of each manipulator; the multi-manipulator has at least two set functions; Dividing the task information of the multi-manipulator into independent tasks and collaborative tasks according to the set function; The independent task is a task that is not interfered by other robotic arms during the execution time period; Based on the independent task and the collaborative task, respectively plan the execution path of the robot arm; Each robot arm is controlled to execute the execution path.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by the processor to implement the multi-robotic-arm surgical robot control method described in any one of claims 1-7.

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