Robot control method, device, equipment and system with follow-up effect

Abstract

The invention relates to a robot control method, device, equipment and system with a follow-up effect. The method is applied to an osteotomy operation and comprises the steps that after force borne by a tail end cutter of a robot is obtained, admittance control is conducted on the robot according to the force obtained in the target direction, and the expected pose of the tail end cutter is obtained through solving; based on preset planning information, the pose deviation of the tail end cutter at the current position relative to the target object is solved; and the expected pose is compensated according to the pose deviation, so that the tail end cutter is controlled to move to the compensated expected pose. According to the technical scheme, the tool at the tail end of the robot can move along with the target object in the osteotomy process, the follow-up purpose is achieved, and the control precision is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, and in particular to a robot control method, device, equipment and system with a follow-up effect. Background Art

[0002] After years of development and improvement, TKA (Total Knee Arthroplasty) surgery has gradually matured in surgical techniques, and can accurately install artificial joints in the knee joints, restore the function of the knee joints, and relieve knee pain caused by severe knee osteoarthritis, rheumatoid arthritis and other diseases. In TKA surgery, the patient's legs are generally held by medical staff, and the patient's legs are unstable to a certain extent. Therefore, during the robot osteotomy process, the robot performs the osteotomy along the preset planning path. However, the patient's legs, that is, the target object, will shake slightly due to the lack of fixation, which may reduce the accuracy of the osteotomy and even cause secondary damage to the patient's legs. Summary of the invention

[0003] In view of this, the embodiments of the present application provide a robot control method, device, equipment and system with a follow-up effect to solve at least one problem existing in the background technology.

[0004] In a first aspect, an embodiment of the present application provides a robot control method with a follow-up effect, comprising: After obtaining the force exerted on the end tool of the robot, the robot is controlled by admittance according to the force obtained in the target direction to obtain the desired position and posture of the end tool; Based on the preset planning information, solving the posture deviation of the end tool relative to the target object at the current position; The desired posture is compensated according to the posture deviation to control the end tool to move to the compensated desired posture.

[0005] In conjunction with the first aspect of the present application, in an optional implementation manner, performing admittance control on the robot according to the force obtained in the target direction to solve the desired position and posture of the end tool includes: Determine the force of the end tool in the target direction according to the acquired force on the end tool of the robot, wherein the target direction includes at least one of the directions corresponding to the X-axis, the Y-axis and the Z-axis and the directions corresponding to the rotation around the X-axis, the Y-axis and the Z-axis; Performing admittance control on the robot according to the determined force to obtain a position increment of the end tool; After determining the current posture of the end tool in the base coordinate system of the robot, the desired posture of the end tool in the base coordinate system is solved based on the posture increment.

[0006] In conjunction with the first aspect of the present application, in an optional implementation manner, compensating the expected posture according to the posture deviation includes: After the desired posture of the end tool in the base coordinate system of the robot is obtained, the matrix of the desired posture in the base coordinate system is multiplied by the matrix of the posture deviation.

[0007] In conjunction with the first aspect of the present application, in an optional implementation manner, solving the posture deviation of the end tool relative to the target object at the current position based on the preset planning information includes: Determine the initial feed position of the end tool according to preset planning information, wherein the planning information includes the size information, initial position and installation position of the prosthesis; According to the current position of the end tool relative to the target object, the posture deviation of the end tool is solved based on the initial feed posture.

[0008] In conjunction with the first aspect of the present application, in an optional implementation manner, solving the posture deviation of the end tool based on the initial feed posture according to the current position of the end tool relative to the target object includes: According to the set first registration matrix and second registration matrix, the current posture of the end tool in the reference coordinate system is solved, wherein the first registration matrix represents the transformation matrix between the reference coordinate system and the target object coordinate system, and the second registration matrix represents the transformation matrix between the end tool coordinate system and the target object coordinate system; The posture deviation of the end tool is obtained by solving the initial tool feed posture in the reference coordinate system and the current posture in the reference coordinate system.

[0009] In combination with the first aspect of the present application, in an optional implementation manner, solving the posture deviation of the end tool according to the initial tool feed posture in the reference coordinate system and the current posture in the reference coordinate system includes: According to the initial tool feed posture in the reference coordinate system, converting the current posture in the reference coordinate system into the current posture in the tool feed coordinate system; Determine the desired tool feed posture in the tool feed coordinate system according to the current posture in the tool feed coordinate system in the target direction; According to the initial tool feed posture in the reference coordinate system, converting the desired tool feed posture in the tool feed coordinate system into the desired tool feed posture in the reference coordinate system; The posture deviation of the end tool is obtained according to the current posture in the reference coordinate system and the expected feed posture in the reference coordinate system; or, the inverse matrix of the current posture in the reference coordinate system is multiplied by the matrix of the expected feed posture in the reference coordinate system to obtain the posture deviation of the end tool.

[0010] In conjunction with the first aspect of the present application, in an optional implementation manner, the method further includes: In response to a touch operation on a trigger control, a force applied to an end tool of the robot is acquired.

[0011] In a second aspect, an embodiment of the present application provides a robot control device with a follow-up effect, comprising: A posture solving module is configured to, after obtaining the force exerted on the end tool of the robot, perform admittance control on the robot according to the force obtained in the target direction, and solve the desired posture of the end tool; A deviation solving module, which is configured to solve the posture deviation of the end tool relative to the target object at the current position based on preset planning information; The posture compensation module is configured to compensate the desired posture according to the posture deviation to control the end tool to move to the compensated desired posture.

[0012] In a third aspect, an embodiment of the present application provides an electronic device, the electronic device comprising: processor; memory for storing computer executable instructions; The processor is used to execute the computer executable instructions to implement the robot control method with follow-up effect as described in any one of the first aspects above.

[0013] In conjunction with the third aspect of the present application, in an optional implementation manner, the electronic device further includes: A trigger control is connected to the processor and is used to receive a touch operation, so that the processor responds to the touch operation on the trigger control to obtain the force exerted on the end tool of the robot.

[0014] In a fourth aspect, an embodiment of the present application provides a robot system, including: robot; Optical navigation equipment; As described in the third aspect above, the electronic device is connected to the robot and the optical navigation device respectively.

[0015] The beneficial effects brought by the technical solution provided in the embodiments of the present application include: The technical solution provided in the present application is aimed at the process of dragging the end tool of the robot toward the target object by admittance control. The desired posture of the end tool is determined by the force exerted on the end tool of the robot in the target direction, and the posture deviation of the end tool at the current position is calculated with the help of the relative relationship between the end tool and the target object in the real environment to compensate for the determined desired posture. This enables the end tool of the robot to follow the movement of the target object during the dragging process, achieves the purpose of following, and improves the accuracy of admittance control.

[0016] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A schematic diagram of the workflow of a robot control method with a follow-up effect provided in one embodiment of the present application; Figure 2 for Figure 1 The workflow diagram of step S102; Figure 3 for Figure 2 The workflow diagram of step S202; Figure 4 for Figure 3 Schematic diagram of step S2022; Figure 5 for Figure 1 Another workflow diagram of step S102; Figure 6 A structural block diagram of a robot control device with a follow-up effect provided in one embodiment of the present application; Figure 7 A schematic diagram of the structure of an electronic device provided in one embodiment of the present application; Figure 8 A schematic diagram of the structure of a robot system provided in one embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to make the technical solutions and beneficial effects of the present invention more clearly understandable, the following is a detailed description by listing specific embodiments. The drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application belongs.

[0019] like Figure 1 As shown, the embodiment of the present application provides a robot control method with a follow-up effect, which is applied to osteotomy surgery, especially when the bone to be osteotomized is in an uncertain environment. It can be understood that the bone may shake under the action of the end tool force, and then the position is uncertain. The bone in this embodiment can be a femur. The control method can reduce secondary damage to the patient and improve the accuracy of osteotomy. The control method mainly includes steps S101 to S103.

[0020] Step S101: After obtaining the force on the end tool of the robot, the robot is controlled by admittance according to the force obtained in the target direction to solve the desired posture of the end tool.

[0021] Among them, the end tool of the robot is the end tool, which is installed on the end joint of the robot, and a tool tracer is also installed on the end joint. The end tool and the tool tracer are relatively fixed, so the position and posture of the end tool can be determined by means of the coordinate transformation relationship between the end tool and the tool tracer under the premise of determining the position and posture of the tool tracer, wherein the tool tracer can be tracked by the NDI optical navigator, while the end tool cannot be directly tracked by the NDI optical navigator, so the position and posture of the end tool can be determined according to the tracked position of the tool tracer and the positional relationship between the tool tracer and the end tool. It should be noted that the robot end recorded in the embodiment of the present application is the end joint of the robot, and the end tool of the robot is a tool installed on the end joint, such as a milling cutter, a grinding drill, an oscillating saw, etc.

[0022] In an optional embodiment, the force exerted on the end tool of the robot is acquired by collecting and calibrating a six-dimensional force sensor on the end of the robot, that is, the acquired six-dimensional force is zero-point corrected and gravity compensated to obtain the acquired force.

[0023] In admittance control, admittance control is based on the admittance model, which describes the relationship between the position, velocity and acceleration of the robot's end tool and the external force. The admittance model can usually be expressed as a second-order differential equation, in which the mass parameter, damping parameter and stiffness parameter determine the dynamic response of the robot. Among them, the goal of the robot is to adjust the position of the end tool according to the external force. When the external force acts on the robot's end tool, the admittance controller will calculate the corresponding position adjustment according to the admittance model, and then the expected position of the end tool can be determined by the current position of the end tool.

[0024] When the robot is performing osteotomy on a target object, such as a femur, there are admittance locking planes or axes and dragging axes or planes. Taking locking planes as an example, it means locking the plane in a specific position; taking dragging axes as an example, it means making the end tool move in a specific direction. Among them, the end tool is dragged to move in a specific direction, which is also the target direction. At this time, the degree of freedom of the locked direction is zero.

[0025] In some embodiments, step S101 may include: Determine the force of the end tool in a target direction according to the acquired force on the end tool of the robot, where the target direction includes at least one of the directions corresponding to the X-axis, the Y-axis and the Z-axis and the directions corresponding to the rotation around the X-axis, the Y-axis and the Z-axis; The robot is controlled by admittance according to the determined force to obtain the position increment of the end tool; After determining the current pose of the end tool in the base coordinate system of the robot, the desired pose of the end tool in the base coordinate system is solved based on the pose increment.

[0026] In one embodiment, the end tool is subjected to six degrees of freedom force F0=(Fx Fy Fz Mx My Mz). Assuming that the end tool moves along the xy plane, the degree of freedom Freedof =[1 1 0 0 0 0], diag represents a diagonal matrix, then the force in the xy plane direction is F =diag(Freedof) × F0=[Fx Fy 0 0 0 0], which is then converted into the acceleration of the corresponding degree of freedom according to the mass-spring-damper second-order system in the admittance model, and then converted into the displacement X=[p x p y p z r x r y r z ], that is, the position increment per unit time, and the displacement X is in the form of 1×6 Euler angles.

[0027] Among them, the mathematical formula of the admittance model is: M i × i +B i ×dX i +K i ×X i =F i , Where i represents the corresponding degree of freedom, ddX represents acceleration, dX represents velocity, X represents displacement, M represents inertia coefficient, B represents damping coefficient, and K represents stiffness coefficient. The admittance parameters M, B, and K are adjustable, and F represents the force in the target direction, which generally needs to be filtered before it can be used in the admittance model.

[0028] In general, after obtaining the displacement X, the displacement X can be converted into a 4×4 matrix T_tcp_move , and then according to the matrix of the current position of the end tool in the robot's base coordinate system T_base_tcp j , based on the matrix of the pose increment, the matrix of the desired pose of the end tool in the base coordinate system is calculated T_base_tcp j+1 , the calculation formula is T_base_tcp j+1 =T_ base_tcp j × T_tcp_move . Among them, the matrix T_base_tcp j+1 It cannot be directly recognized and read by the robot. T_base_tcp j+1 Before sending it to the robot, you also need to T_base_tcp j+1 It is converted into Euler angles and then sent to the robot controller to control the end tool to move along the target direction.

[0029] It should be noted that if the object represented by the 1×6 Euler angle form and the 4×4 matrix is ​​the same, the specific form can be determined according to actual needs.

[0030] Step S102: Based on the preset planning information, the position deviation of the end tool relative to the target object at the current position is solved.

[0031] like Figure 2 As shown, in some embodiments, step S102 may include: Step S201: determining the initial feed position of the end tool according to preset planning information, where the planning information includes the size information, initial position and installation position of the prosthesis; Step S202: according to the current position of the end tool relative to the target object, the posture deviation of the end tool is solved based on the initial feed posture.

[0032] In this embodiment, the installation posture of the prosthesis is planned in advance, and the initial posture of the prosthesis is known. The initial feed posture of each surface can be calculated based on the size information of the prosthesis, such as the size angle. Then, the posture deviation of the end tool is determined based on the current position of the end tool and the target object, combined with the initial feed posture. Considering that the target object, i.e., the femur, may be offset during the osteotomy process, the posture deviation of the end tool relative to the femur can be determined based on the preset planning information and combined with the current actual position of the femur, so that the end tool follows the femur during the osteotomy process, thereby improving the osteotomy accuracy.

[0033] like Figure 3 As shown, further, step S202 may include: Step S2021: according to the set first registration matrix and second registration matrix, the current posture of the end tool in the reference coordinate system is obtained by solving, wherein the first registration matrix represents the transformation matrix between the reference coordinate system and the target object coordinate system, and the second registration matrix represents the transformation matrix between the end tool coordinate system and the target object coordinate system; Step S2022: According to the initial tool feed posture in the reference coordinate system and the current posture in the reference coordinate system, the posture deviation of the end tool is solved.

[0034] In this embodiment, the end tool coordinate system, the tool tracer coordinate system, the femoral tracer coordinate system and the reference coordinate system can be transformed through coordinate system conversion. The influence of the shaking of the femur during the osteotomy process can be considered with the help of the coordinate system conversion relationship, and the current posture of the end tool can be finally converted into the current posture in the reference coordinate system, and the posture deviation of the end tool can be finally determined in combination with the initial feed posture in the reference coordinate system.

[0035] like Figure 4 As shown, further, step S2022 may include: Step S20221: according to the initial tool feed posture in the reference coordinate system, convert the current posture in the reference coordinate system into the current posture in the tool feed coordinate system; Step S20222: determining the desired feed position in the feed coordinate system according to the current position in the feed coordinate system in the target direction; Step S20223: according to the initial tool feed posture in the reference coordinate system, convert the desired tool feed posture in the tool feed coordinate system into the desired tool feed posture in the reference coordinate system; Step S20224: Obtain the posture deviation of the end tool according to the current posture in the reference coordinate system and the expected tool feed posture in the reference coordinate system.

[0036] In at least one embodiment, step S20224 may include: Multiply the inverse matrix of the current pose in the reference coordinate system by the matrix of the desired approach pose in the reference coordinate system.

[0037] In at least one embodiment, a target object tracer, i.e., a femoral tracer, is installed on the target object, and a tool tracer is provided on the end joint of the robot. An NDI optical navigator is used to track the current posture of the femoral tracer and the tool tracer, wherein the current posture of the tool tracer tracked by the NDI optical navigator is not the current posture of the end tool, and a coordinate conversion is required in combination with the relative position relationship between the end tool and the tool tracer, so that the current posture of the end tool can be known by the current posture of the tool tracer. And, according to the mapping relationship between the tool tracer and the femoral tracer T_ femur_calib , and the mapping relationship between the end tool and the tool tracer T_calib_tcp, yes Determine the relative relationship between the end tool and the femur. This correlation is the transformation matrix between the end tool coordinate system and the femur coordinate system, which is the second registration matrix mentioned above. The second registration matrix can be expressed by the mathematical formula: T_femur_calib × T_calib_tcp .

[0038] Perform point cloud registration on the femoral tracer corresponding to the femur of the target object and the reference coordinate system to obtain the first registration matrix of the reference coordinate system relative to the femoral tracer T_femur_ct , where the first registration matrix represents the transformation matrix between the reference coordinate system and the target object coordinate system. It can be seen that the reference coordinate system corresponds to the CT (Computed Tomography) image, that is, the reference coordinate system is the CT coordinate system.

[0039] Plan the installation position of the prosthesis in the reference coordinate system T_ct_prosthesis At the same time, the initial position of the prosthesis is known, and the initial position of each surface can be calculated according to the size and angle of the prosthesis. T_ct_initFeedPos , assuming that the end tool moves along the xy plane, the degree of freedom Freedof = [1 1 0 0 0 0], assuming that the end tool moves along the x-axis, the degree of freedom Freedof = [1 0 0 0 0 0].

[0040] like Figure 5 As shown, in at least one embodiment, step S102 may be: A201: Solve the current position of the end tool in the CT coordinate system T_ct_currenttcp , T_ct_currenttcp=(T_femur_ct) -1 × T_femur_calib × T_calib_tcp ; A202: Calculate the current position of the end tool in the feed coordinate system T_initFeedPos_currenttcp , T_initFeedPos_currenttcp=(T_ct_initFeedPos) -1 × T_ct_currenttcp ; A203: Convert the current position of the end tool in the feed coordinate system into 1×6 Euler angle form initFeedPos_ currenttcp Finally, the desired feed position of the end tool is solved initFeedPos_Goaltcp , initFeedPos_Goaltcp=diag(Freedof) × initFeedPos_currenttcp ; A204: Set the desired feed position of the end tool initFeedPos_Goaltcp Convert to a 4×4 matrix T_ initFeedPos_Goaltcp , solve the expected feeding position of the end tool in the CT coordinate system T_ct_Goaltcp , T_ct_Goaltcp=(T_ct_initFeedPos) -1 × T_initFeedPos_Goaltcp ; A205: Solve the position deviation of the end tool T_tcpcompensation , T_tcpcompensation=(T_ct_currenttcp) -1 × T_ct_Goaltcp .

[0041] Step S103: Compensate the desired posture according to the posture deviation to control the end tool to move to the compensated desired posture.

[0042] In step S103, compensating the desired posture according to the posture deviation may include, after solving the desired posture of the end tool in the base coordinate system of the robot, multiplying the matrix of the desired posture in the base coordinate system by the matrix of the posture deviation. T_base_tcp j+1 Matrix of deviation from pose T_ TCP compensation Multiply them together, and the product is the desired posture after compensation. T_base_Goaltcp , the mathematical formula of the expected posture after compensation is T_base_Goaltcp=T_base_tcp j+1 × T_tcpcompensation , and then convert the compensated desired posture into the form of 1×6 Euler angles and send it to the robot, which can control the robot's end tool to move to the specified posture. The embodiment of the present application can calculate the posture deviation in real time during the movement of the end tool and compensate it to the robot, thereby enabling the end tool to adapt to the uncertainty of the femur during the osteotomy process, have a follow-up effect, and effectively improve the osteotomy accuracy based on admittance control.

[0043] As a preferred embodiment of the present application, it also includes: in response to the touch operation on the trigger control, obtaining the force on the end tool of the robot. In this embodiment, the robot control method can be that the trigger control receives the user's touch operation, and then the processor responds to the touch operation on the trigger control to obtain the force on the end tool of the robot, and then executes the above steps S101 to S103. The trigger control can be at the software level or the hardware level. For example, it can be triggered by clicking, touching, etc. on the display interface, or it can be in the form of a button for the user to press to trigger the control of the robot, thereby achieving the follow-up effect during the osteotomy process.

[0044] It can be seen that the robot control method with tracking effect provided in the embodiment of the present application is applied in the osteotomy process of TKA surgery. Different from the common admittance control robot end tool movement, the embodiment of the present application also uses an NDI optical navigator to monitor the posture of the tool tracer and the femoral tracer in real time during the movement. The position relationship between the tool tracer and the end tool can be used to determine the current position of the end tool by the current position of the tool tracer, and then the posture deviation is calculated based on the relative relationship between the end tool and the femur of the target object, wherein the relative relationship between the end tool and the femur of the target object can be determined by the current position between the tool tracer and the femoral tracer obtained by the NDI optical navigator. Finally, the calculated posture deviation is compensated to the end tool of the robot, so that the end tool of the robot follows the movement of the target object, achieves the purpose of osteotomy tracking, reduces secondary damage to the patient and improves the accuracy of osteotomy.

[0045] It should be understood that although Figures 1 to 5 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figures 1 to 5 At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0046] like Figure 6 As shown, the embodiment of the present application also provides a robot control device with a follow-up effect, which is applied in osteotomy surgery, including: A posture solving module 601 is configured to, after obtaining the force exerted on the end tool of the robot, perform admittance control on the robot in the target direction according to the obtained force, and solve the desired posture of the end tool; The deviation solving module 602 is configured to solve the posture deviation of the end tool relative to the target object at the current position based on the preset planning information; The posture compensation module 603 is configured to compensate the desired posture according to the posture deviation to control the end tool to move to the compensated desired posture.

[0047] In some embodiments, the pose solving module 601 is further configured to: Determine the force of the end tool in a target direction according to the acquired force on the end tool of the robot, where the target direction includes at least one of the directions corresponding to the X-axis, the Y-axis and the Z-axis and the directions corresponding to the rotation around the X-axis, the Y-axis and the Z-axis; The robot is controlled by admittance according to the determined force to obtain the position increment of the end tool; After determining the current pose of the end tool in the base coordinate system of the robot, the desired pose of the end tool in the base coordinate system is solved based on the pose increment.

[0048] In some embodiments, the posture compensation module 603 is further configured to: After solving the desired posture of the end tool in the base coordinate system of the robot, the matrix of the desired posture in the base coordinate system is multiplied by the matrix of the posture deviation.

[0049] In some embodiments, the deviation solving module 602 includes a feed posture determination unit and a deviation solving unit; the feed posture determination unit is configured to determine the initial feed posture of the end tool according to planning information, and the planning information includes the size information, initial posture and installation posture of the prosthesis; the deviation solving unit is configured to solve the posture deviation of the end tool based on the initial feed posture according to the current position of the end tool relative to the target object.

[0050] Furthermore, the deviation solving unit is further configured as follows: According to the set first registration matrix and second registration matrix, the current posture of the end tool in the reference coordinate system is solved, wherein the first registration matrix represents the transformation matrix between the reference coordinate system and the target object coordinate system, and the second registration matrix represents the transformation matrix between the end tool coordinate system and the target object coordinate system; According to the initial feed posture in the reference coordinate system and the current posture in the reference coordinate system, the posture deviation of the end tool is solved.

[0051] In the deviation solving unit, the posture deviation of the end tool is solved according to the initial feed posture in the reference coordinate system and the current posture in the reference coordinate system, including: according to the initial feed posture in the reference coordinate system, the current posture in the reference coordinate system is converted into the current posture in the feed coordinate system; in the target direction, the expected feed posture in the feed coordinate system is determined according to the current posture in the feed coordinate system; according to the initial feed posture in the reference coordinate system, the expected feed posture in the feed coordinate system is converted into the expected feed posture in the reference coordinate system; according to the current posture in the reference coordinate system and the expected feed posture in the reference coordinate system, the posture deviation of the end tool is obtained.

[0052] In some embodiments, the method further includes: a force acquisition module configured to acquire the force exerted on the end tool of the robot in response to a touch operation on the trigger control.

[0053] It is worth noting that the device embodiments provided in the present application have been described in detail in the above method embodiments and will not be repeated here.

[0054] The embodiment of the present application further provides a computer-readable storage medium. The computer-readable storage medium stores instructions, and when the instructions are executed by a processor of an electronic device, the electronic device can execute the robot control method with follow-up effect described in any of the above embodiments.

[0055] The present application embodiment can be a system, method and / or computer program product. The computer program product may include a computer-readable storage medium, which is loaded with computer-readable program instructions for making a processor realize various aspects of the present application. The computer program product can be written in any combination of one or more programming languages ​​to perform the program code for performing the operation of the present application embodiment, and the programming language includes an object-oriented programming language, such as Java, C++, etc., and also includes a conventional procedural programming language, such as "C" language or similar programming language. The program code can be executed completely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device, partially on the remote computing device, or completely on the remote computing device or server. In the case of a remote computer, the remote computer can be connected to the user computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet). In some embodiments, by utilizing state information of computer-readable program instructions to personalize an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit can execute the computer-readable program instructions to implement various aspects of the present application.

[0056] Computer-readable storage media can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. Computer-readable storage media is a tangible device that can hold and store instructions used by an instruction execution device. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: portable computer disk, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, such as a punch card or a convex structure in a groove on which instructions are stored, and any suitable combination of the above. The computer-readable storage medium used here is not interpreted as a transient signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagated by a waveguide or other transmission medium (for example, a light pulse by an optical fiber cable), or an electrical signal transmitted by a wire.

[0057] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0058] Various aspects of the present application are described herein with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each box in the flowchart and / or block diagram and the combination of boxes in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0059] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0060] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0061] An embodiment of the present application also provides an electronic device. Figure 7 FIG. 1 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Figure 7 As shown, the electronic device 700 includes: one or more processors 701 and a memory 702; the memory 702 stores computer executable instructions; the processor 701 is used to execute the computer executable instructions to implement the steps in the method of any of the above embodiments.

[0062] Furthermore, the electronic device 700 further includes: a trigger control, which is connected to the processor 701 and is used to receive a touch operation, so that the processor 701 responds to the touch operation on the trigger control and obtains the force exerted on the end tool of the robot. In this embodiment, the trigger control can be displayed in the form of a follow-up button icon in the operation interface. When the user clicks the icon, the trigger control can receive the user's touch operation instruction to trigger the controller to obtain the force exerted on the end tool of the robot, thereby achieving the purpose of following the end tool of the robot during the osteotomy process.

[0063] The processor 701 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 700 to perform desired functions.

[0064] The memory 702 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 701 may execute the program instructions to implement the steps in the methods of the various embodiments of the present application described above and / or other desired functions.

[0065] In one example, the electronic device 700 may further include: an input device and an output device, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown in the figure).

[0066] In addition, the input device may also include, for example, a keyboard, a mouse, a microphone, etc. The output device may output various information to the outside, and may include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0067] Of course, to simplify, Figure 7 Only a part of the components related to the present application in the electronic device 700 is shown, and components such as a bus, an input device / output interface, etc. are omitted. In addition, according to specific application conditions, the electronic device 700 may also include any other appropriate components.

[0068] like Figure 8 As shown, the embodiment of the present application further provides a robot system 800, including a robot 801, an optical navigation device 802 and the above-mentioned electronic device 700, wherein the electronic device 700 is connected to the robot 801 and the optical navigation device 802, respectively. The optical navigation device 802 may include an NDI optical navigator and a femoral tracer, the robot 801 may also include a tool tracer, and the electronic device 700 may be independent of the robot 801 or integrated on the robot 801.

[0069] It should be noted that the robot control method, device, equipment and system embodiments with follow-up effect provided in the embodiments of the present application belong to the same concept; the technical features in the technical solutions recorded in each embodiment can be combined arbitrarily without conflict.

[0070] It should be understood that the above embodiments are exemplary and are not intended to include all possible implementations included in the claims. Various modifications and changes may be made on the basis of the above embodiments without departing from the scope of the present disclosure. Similarly, the various technical features of the above embodiments may be arbitrarily combined to form other embodiments of the present invention that may not be explicitly described. Therefore, the above embodiments only express several implementations of the present invention and do not limit the scope of protection of the patent of the present invention.

Claims

1. A robot control method with a follow-up effect, characterized in that: include: After obtaining the force exerted on the end tool of the robot, the robot is controlled by admittance according to the force obtained in the target direction to obtain the desired position and posture of the end tool; Based on the preset planning information, solving the posture deviation of the end tool relative to the target object at the current position; The desired posture is compensated according to the posture deviation to control the end tool to move to the compensated desired posture.

2. The robot control method with follow-up effect according to claim 1, characterized in that: The method of performing admittance control on the robot according to the force obtained in the target direction to obtain the desired position and posture of the end tool includes: Determine the force of the end tool in the target direction according to the acquired force on the end tool of the robot, wherein the target direction includes at least one of the directions corresponding to the X-axis, the Y-axis and the Z-axis and the directions corresponding to the rotation around the X-axis, the Y-axis and the Z-axis, The robot is controlled by admittance according to the determined force to obtain the position increment of the end tool. After determining the current posture of the end tool in the base coordinate system of the robot, solving the desired posture of the end tool in the base coordinate system based on the posture increment; Alternatively, compensating the expected posture according to the posture deviation includes: After the desired posture of the end tool in the base coordinate system of the robot is obtained, the matrix of the desired posture in the base coordinate system is multiplied by the matrix of the posture deviation.

3. The robot control method with follow-up effect according to claim 1, characterized in that: The step of solving the posture deviation of the end tool relative to the target object at the current position based on the preset planning information includes: Determine the initial feed position of the end tool according to preset planning information, wherein the planning information includes the size information, initial position and installation position of the prosthesis; According to the current position of the end tool relative to the target object, the posture deviation of the end tool is solved based on the initial feed posture.

4. The robot control method with follow-up effect according to claim 3, characterized in that: The step of solving the posture deviation of the end tool based on the initial feed posture according to the current position of the end tool relative to the target object includes: According to the set first registration matrix and second registration matrix, the current posture of the end tool in the reference coordinate system is solved, wherein the first registration matrix represents the transformation matrix between the reference coordinate system and the target object coordinate system, and the second registration matrix represents the transformation matrix between the end tool coordinate system and the target object coordinate system; The posture deviation of the end tool is obtained by solving the initial tool feed posture in the reference coordinate system and the current posture in the reference coordinate system.

5. The robot control method with follow-up effect according to claim 4, characterized in that: The step of solving the posture deviation of the end tool according to the initial tool feed posture in the reference coordinate system and the current posture in the reference coordinate system comprises: According to the initial tool feed posture in the reference coordinate system, converting the current posture in the reference coordinate system into the current posture in the tool feed coordinate system; Determine the desired tool feed posture in the tool feed coordinate system according to the current posture in the tool feed coordinate system in the target direction; According to the initial tool feed posture in the reference coordinate system, converting the desired tool feed posture in the tool feed coordinate system into the desired tool feed posture in the reference coordinate system; The posture deviation of the end tool is obtained according to the current posture in the reference coordinate system and the expected feed posture in the reference coordinate system; or, the inverse matrix of the current posture in the reference coordinate system is multiplied by the matrix of the expected feed posture in the reference coordinate system to obtain the posture deviation of the end tool.

6. The robot control method with follow-up effect according to claim 1, characterized in that: Also includes: In response to a touch operation on a trigger control, a force applied to an end tool of the robot is acquired.

7. A robot control device with a follow-up effect, characterized in that: include: A posture solving module is configured to, after obtaining the force exerted on the end tool of the robot, perform admittance control on the robot according to the force obtained in the target direction, and solve the desired posture of the end tool; A deviation solving module, which is configured to solve the posture deviation of the end tool relative to the target object at the current position based on preset planning information; The posture compensation module is configured to compensate the desired posture according to the posture deviation to control the end tool to move to the compensated desired posture.

8. An electronic device, characterized in that: The electronic device comprises: processor; memory for storing computer executable instructions; The processor is used to execute the computer executable instructions to implement the robot control method with follow-up effect as described in any one of claims 1 to 6.

9. The electronic device according to claim 8, characterized in that: The electronic device further comprises: A trigger control is connected to the processor and is used to receive a touch operation, so that the processor responds to the touch operation on the trigger control to obtain the force exerted on the end tool of the robot.

10. A robot system, characterized in that: include: robot; Optical navigation equipment; The electronic device as claimed in claim 8 or 9, wherein the electronic device is connected to the robot and the optical navigation device respectively.

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