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

Abstract

The present invention relates to a robot control method, device, equipment and system with a follow-up effect. The method is applied to osteotomy surgery and includes: after obtaining the force received by the end tool of the robot, performing admittance control on the robot according to the force obtained in the target direction, and solving for the desired pose of the end tool; based on preset planning information, solving for the pose deviation of the end tool relative to the target object at the current position; compensating the desired pose according to the pose deviation to control the end tool to move to the compensated desired pose. The technical solution provided by the present invention can enable the end tool of the robot to follow the movement of the target object during osteotomy, achieve the purpose of follow-up, and improve the control accuracy.

Description

Technical Field

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

[0002] After years of development and improvement, the Total Knee Arthroplasty (TKA) surgery has gradually matured. The surgical technique can accurately install artificial joints in the knee joint, restore the function of the knee joint, and thus relieve the knee pain caused by diseases such as severe knee osteoarthritis and rheumatoid arthritis. During the TKA surgery, the patient's leg is generally held by medical staff, and there is a certain degree of instability in the patient's leg. Therefore, during the robot osteotomy process, the robot performs osteotomy operations along a preset planned path. However, the patient's leg, that is, the target object, may shake slightly due to insufficient fixation, which may reduce the osteotomy accuracy and even cause secondary injury to the patient's leg. 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 in the background art.

[0004] In a first aspect, the embodiments of the present application provide a robot control method with a follow-up effect, including:

[0005] After obtaining the force received by the end tool of the robot, perform admittance control on the robot according to the force obtained in the target direction, and solve for the desired pose of the end tool;

[0006] Based on the preset planning information, solve for the pose deviation of the end tool relative to the target object at the current position;

[0007] Compensate the desired pose according to the pose deviation to control the end tool to move to the compensated desired pose.

[0008] In combination with the first aspect of the present application, in an alternative embodiment, the performing admittance control on the robot according to the force obtained in the target direction and solving for the desired pose of the end tool includes:

[0009] Determine the force of the end tool of the robot in the target direction according to the obtained force received by the end tool of the robot, where the target direction includes at least one of the directions corresponding to the X-axis, Y-axis, and Z-axis and the directions corresponding to rotations around the X-axis, Y-axis, and Z-axis;

[0010] Perform admittance control on the robot according to the determined force to obtain the pose increment of the end tool;

[0011] After determining the current pose of the end tool in the base coordinate system of the robot, solve for the desired pose of the end tool in the base coordinate system based on the pose increment.

[0012] Combined with the first aspect of the present application, in an alternative embodiment, the compensating the desired pose according to the pose deviation includes:

[0013] After solving for the desired pose of the end tool in the base coordinate system of the robot, multiply the matrix of the desired pose in the base coordinate system by the matrix of the pose deviation.

[0014] Combined with the first aspect of the present application, in an alternative embodiment, the solving for the pose deviation of the end tool relative to the target object at the current position based on the preset planning information includes:

[0015] Determine the initial feed pose of the end tool according to the preset planning information, where the planning information includes the size information, initial pose, and installation pose of the prosthesis;

[0016] Solve for the pose deviation of the end tool based on the initial feed pose according to the current position of the end tool relative to the target object.

[0017] Combined with the first aspect of the present application, in an alternative embodiment, the solving for the pose deviation of the end tool based on the initial feed pose according to the current position of the end tool relative to the target object includes:

[0018] Solve for the current pose of the end tool in the reference coordinate system according to the set first registration matrix and second registration matrix, where 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;

[0019] Solve for the pose deviation of the end tool according to the initial feed pose in the reference coordinate system and the current pose in the reference coordinate system.

[0020] Combined with the first aspect of the present application, in an alternative embodiment, the solving for the pose deviation of the end tool according to the initial feed pose in the reference coordinate system and the current pose in the reference coordinate system includes:

[0021] Convert the current pose in the reference coordinate system to the current pose in the feed coordinate system according to the initial feed pose in the reference coordinate system;

[0022] Determine the desired feed pose in the feed coordinate system based on the current pose in the feed coordinate system in the target direction;

[0023] Convert the desired feed pose in the feed coordinate system to the desired feed pose in the reference coordinate system according to the initial feed pose in the reference coordinate system;

[0024] Obtain the pose deviation of the end effector based on the current pose in the reference coordinate system and the desired feed pose in the reference coordinate system; alternatively, multiply the inverse matrix of the current pose in the reference coordinate system and the matrix of the desired feed pose in the reference coordinate system to obtain the pose deviation of the end effector.

[0025] Combined with the first aspect of the present application, in an alternative embodiment, it further includes:

[0026] In response to a touch operation on the trigger control, obtain the force received by the end effector of the robot.

[0027] In a second aspect, an embodiment of the present application provides a robot control device with a follow-up effect, including:

[0028] A pose solution module, configured to perform admittance control on the robot according to the force obtained in the target direction after obtaining the force received by the end effector of the robot, and solve for the desired pose of the end effector;

[0029] A deviation solution module, configured to solve the pose deviation of the end effector relative to the target object at the current position based on preset planning information;

[0030] A pose compensation module, configured to compensate the desired pose according to the pose deviation to control the end effector to move to the compensated desired pose.

[0031] In a third aspect, an embodiment of the present application provides an electronic device, the electronic device includes:

[0032] A processor;

[0033] A memory for storing computer-executable instructions;

[0034] The processor is configured to execute the computer-executable instructions to implement the robot control method with a follow-up effect described in any one of the above first aspects.

[0035] Combined with the third aspect of the present application, in an alternative embodiment, the electronic device further includes:

[0036] A trigger control, connected to the processor, for receiving a touch operation, so that the processor, in response to the touch operation on the trigger control, obtains the force received by the end tool of the robot.

[0037] In a fourth aspect, an embodiment of the present application provides a robot system, including:

[0038] A robot;

[0039] An optical navigation device;

[0040] The electronic device as described in the third aspect above, the electronic device is respectively connected to the robot and the optical navigation device.

[0041] The beneficial effects brought by the technical solutions provided by the embodiments of the present application include:

[0042] For the process of the robot admittance control to drag the end tool towards the target object, the technical solution provided by the present application determines the desired pose of the end tool based on the force received by the robot end tool in the target direction, and calculates the pose deviation of the end tool at the current position with the relative relationship between the end tool and the target object in the real environment to compensate the determined desired pose, which can realize the movement of the robot end tool following the target object during the dragging process, achieve the purpose of following, and improve the accuracy of admittance control.

[0043] Some of the additional aspects and advantages of the present application will be given in the following description, some will become obvious from the following description, or be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The drawings described herein are used to provide a further understanding of the present application, and constitute a part of the present application. The schematic embodiments and descriptions thereof of the present application are used to explain the present application, and do not constitute an improper limitation of the present application. In the drawings:

[0045] Figure 1 It is a schematic flowchart of the working process of a robot control method with a following effect provided by an embodiment of the present application;

[0046] Figure 2 is Figure 1 The flowchart of step S102 in

[0047] Figure 3 is Figure 2 The flowchart of step S202 in

[0048] Figure 4 is Figure 3 The schematic diagram of step S2022 in

[0049] Figure 5 isFigure 1 Another flowchart of step S102 in

[0050] Figure 6 Block diagram of a robot control device with a follow-up effect provided by an embodiment of the present application

[0051] Figure 7 Schematic structural diagram of an electronic device provided by an embodiment of the present application

[0052] Figure 8 Schematic structural diagram of a robot system provided by an embodiment of the present application Detailed implementation manners

[0053] To make the technical solutions and beneficial effects of the present invention more obvious and understandable, the following will be described in detail by listing specific embodiments. Among them, the drawings are not necessarily drawn to scale, and local features can be enlarged or reduced to more clearly show the details of local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical and scientific fields to which the present application belongs.

[0054] As Figure 1 shown, an 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 force of the end tool, and then the position becomes uncertain. The bone can be the femur in this embodiment. This control method can reduce secondary injuries to patients and improve the osteotomy accuracy. The control method mainly includes steps S101 to S103.

[0055] Step S101: After obtaining the force received by the end tool of the robot, perform admittance control on the robot according to the force obtained in the target direction, and solve to obtain the expected pose of the end tool.

[0056] Among them, the end tool of the robot is the end tool. The end tool 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. Therefore, on the premise of determining the pose of the tool tracer, the pose of the end tool can be determined by means of the coordinate transformation relationship between the end tool and the tool tracer. Among them, the tool tracer can be tracked by an NDI optical navigator, while the end tool cannot be directly tracked by the NDI optical navigator. Therefore, the pose of the end tool can be determined according to the tracked pose of the tool tracer and the positional relationship between the tool tracer and the end tool. It should be noted that the end of the robot described in the embodiment of the present application is the end joint of the robot, and the end tool of the robot is the tool installed on the end joint, such as a milling cutter, a grinding drill, a band saw, etc.

[0057] In an alternative embodiment, the force received by the end effector of the robot is collected and calibrated by a six-axis force sensor on the robot end, that is, the acquired force is obtained after zero-point correction and gravity compensation of the collected six-axis force.

[0058] In admittance control, the admittance control is based on an admittance model, which describes the relationship between the position, velocity, and acceleration of the robot's end effector and the external force. The admittance model can usually be expressed as a second-order differential equation, where 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 effector according to the external force. When an external force acts on the robot's end effector, the admittance controller calculates the corresponding position adjustment amount according to the admittance model, and the expected position of the end effector can be determined from the current position of the end effector.

[0059] When the robot performs osteotomy on a target object, such as the femur, there are admittance lock planes or axes and drag axes or planes. Taking the lock plane as an example, it means locking the plane at a specific position; taking the drag axis as an example, it means making the end effector move in a specific direction. Among them, when the end effector is dragged to move in a specific direction, which is also the target direction, the degree of freedom of the locked direction is zero.

[0060] In some embodiments, step S101 may include:

[0061] Determine the force of the end effector in the target direction according to the force received by the end effector of the robot, where the target direction includes at least one of the directions corresponding to the X-axis, Y-axis, and Z-axis and the directions corresponding to rotation around the X-axis, Y-axis, and Z-axis;

[0062] Perform admittance control on the robot according to the determined force to obtain the pose increment of the end effector;

[0063] After determining the current pose of the end effector in the base coordinate system of the robot, solve for the expected pose of the end effector in the base coordinate system based on the pose increment.

[0064] In one embodiment, the end effector is subjected to a force F of six degrees of freedom 0 =(Fx Fy Fz Mx My Mz). Assuming that the end effector moves along the x-y plane, then the degree of freedom Freedof = [1 1 0 0 0 0], and diag represents a diagonal matrix. Then the force F in the x-y plane direction = diag(Freedof) × F 0= [Fx Fy 0 0 0 0], and then according to the mass-spring-damper second-order system in the admittance model, it is converted into the acceleration of the corresponding degree of freedom, and then integrated twice to be converted into the displacement X = [p x p y p z r x r y r z , that is, the pose increment per unit time. This displacement X is in the form of 1×6 Euler angles.

[0065] Among them, the mathematical formula of the admittance model is:

[0066] M i ×ddX i +B i ×dX i +K i ×X i =F i ,

[0067] In the formula, i represents the corresponding degree of freedom, ddX represents acceleration, dX represents velocity, X represents displacement, M represents the inertia coefficient, B represents the damping coefficient, K represents the stiffness coefficient. Among them, the admittance parameters M, B, and K are adjustable, and F is the force received in the target direction. Generally, filtering processing is required before it can be used in the admittance model.

[0068] Generally, after obtaining the displacement X, the displacement X can be converted into a 4×4 matrix T_tcp_move , and then based on the matrix T_base_tcp j of the current pose of the end effector in the base coordinate system of the robot, the matrix T_base_tcp j+1 of the expected pose of the end effector in the base coordinate system is calculated based on the matrix of the pose increment. 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 cannot be directly recognized and read by the robot. Before sending this matrix T_base_tcp j+1 to the robot, it is also necessary to convert the matrix T_base_tcp j+1 into the form of Euler angles and then send it to the controller of the robot to control the end effector to move along the target direction.

[0069] It should be noted that if the 1×6 Euler angle form and the 4×4 matrix represent the same object, the specific form can be determined according to actual needs.

[0070] 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.

[0071] like Figure 2 As shown, in some embodiments, step S102 may include:

[0072] 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;

[0073] 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.

[0074] 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.

[0075] like Figure 3 As shown, further, step S202 may include:

[0076] 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;

[0077] 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.

[0078] 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.

[0079] like Figure 4 As shown, further, step S2022 may include:

[0080] Step S20221: Convert the current pose in the reference coordinate system to the current pose in the feed coordinate system according to the initial feed pose in the reference coordinate system;

[0081] Step S20222: Determine the desired feed pose in the feed coordinate system in the target direction according to the current pose in the feed coordinate system;

[0082] Step S20223: Convert the desired feed pose in the feed coordinate system to the desired feed pose in the reference coordinate system according to the initial feed pose in the reference coordinate system;

[0083] Step S20224: Obtain the pose deviation of the end effector according to the current pose in the reference coordinate system and the desired feed pose in the reference coordinate system.

[0084] In at least one embodiment, step S20224 may include:

[0085] Multiply the inverse matrix of the current pose in the reference coordinate system by the matrix of the desired feed pose in the reference coordinate system.

[0086] In at least one embodiment, a target object tracer, i.e., a femur tracer, is installed on the target object, and a tool tracer is provided on the end joint of the robot. The NDI optical navigator is used to track the current poses of the femur tracer and the tool tracer. Among them, the current pose of the tool tracer tracked by the NDI optical navigator is not the current pose of the end effector. It is also necessary to perform coordinate transformation in combination with the relative position relationship between the end effector and the tool tracer to know the current pose of the end effector through the current pose of the tool tracer. And, according to the mapping relationship between the tool tracer and the femur tracer T_ femur_calib and the mapping relationship between the end effector and the tool tracer T_calib_tcp, can determine the relative relationship between the end effector and the femur. This relevant relationship is the transformation matrix between the end effector coordinate system and the femur coordinate system, that is, the above-mentioned second registration matrix. The second registration matrix can be expressed by the mathematical formula as T_femur_calib × T_calib_tcp .

[0087] Perform point cloud registration on the femur tracer corresponding to the target object femur and the reference coordinate system to obtain the first registration matrix of the reference coordinate system relative to the femur 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, this reference coordinate system is the CT coordinate system.

[0088] Plan the installation pose of the prosthesis in the reference coordinate systemT_ct_prosthesis , meanwhile, given the initial pose of the prosthesis, the initial cutting tool approach pose of each surface can be calculated based on the size and angle of the prosthesis, etc. T_ct_initFeedPos , assuming the end effector moves along the x-y plane, the degree of freedom Freedof = [1 1 0 0 0 0]; assuming the end effector moves along the x-axis, the degree of freedom Freedof = [1 0 0 0 0 0].

[0089] As Figure 5 shown, in at least one embodiment, step S102 may be:

[0090] A201: Solve the current pose of the end effector in the CT coordinate system T_ct_currenttcp ,

[0091] T_ct_currenttcp = (T_femur_ct) -1 × T_femur_calib × T_calib_tcp ;

[0092] A202: Solve the current pose of the end effector in the approach coordinate system T_initFeedPos_currenttcp ,

[0093] T_initFeedPos_currenttcp = (T_ct_initFeedPos) -1 × T_ct_currenttcp ;

[0094] A203: Convert the current pose of the end effector in the approach coordinate system into the form of 1×6 Euler angles initFeedPos_ currenttcp and then solve the desired approach pose of the end effector initFeedPos_Goaltcp ,

[0095] initFeedPos_Goaltcp = diag(Freedof) × initFeedPos_currenttcp ;

[0096] A204: Convert the desired approach pose of the end effector initFeedPos_Goaltcp into a 4×4 matrix T_ initFeedPos_Goaltcp and solve the desired approach pose of the end effector in the CT coordinate system T_ct_Goaltcp ,

[0097] T_ct_Goaltcp = (T_ct_initFeedPos) -1 × T_initFeedPos_Goaltcp ;

[0098] A205: Solve the pose deviation of the end effector T_tcpcompensation ,

[0099] T_tcpcompensation = (T_ct_currenttcp) -1 × T_ct_Goaltcp .

[0100] Step S103: Compensate the desired pose according to the pose deviation to control the end effector to move to the compensated desired pose.

[0101] In step S103, compensating the desired pose according to the pose deviation may include multiplying the matrix of the desired pose in the base coordinate system of the robot by the matrix of the pose deviation after obtaining the desired pose of the end effector in the base coordinate system of the robot. Among them, the matrix of the desired pose in the base coordinate system T_base_tcp j+1 and the matrix of the pose deviation T_ tcpcompensation are multiplied, and the product obtained is the compensated desired pose T_base_Goaltcp , and the mathematical formula of the compensated desired pose is T_base_Goaltcp = T_base_tcp j+1 × T_tcpcompensation . Then, the obtained compensated desired pose is converted into the form of 1×6 Euler angles and sent to the robot, so as to control the end effector of the robot to move to the specified pose. In the embodiment of the present application, the pose deviation can be calculated in real time during the movement of the end effector and compensated to the robot, thereby realizing the adaptability of the end effector to the uncertainty of the femur during osteotomy, having a following effect, and effectively improving the osteotomy accuracy based on admittance control.

[0102] As a preferred embodiment of the present application, it further includes: obtaining the force received by the end effector of the robot in response to a touch operation on the trigger control. In this embodiment, the robot control method may be that the trigger control receives the user's touch operation, and then the processor obtains the force received by the end effector of the robot in response to the touch operation on the trigger control, 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 in the form of a button for the user to press to trigger the control of the robot, thereby realizing the following effect during osteotomy.

[0103] It can be seen that the robot control method with a follow-up effect provided by the embodiments of the present application is applied in the osteotomy process of TKA surgery. Different from the common admittance control of the movement of the end tool of the robot, the embodiments of the present application also use an NDI optical navigator to monitor the poses of the tool tracer and the femur tracer in real time during the movement. The current position of the end tool can be determined by the current position of the tool tracer through the positional relationship between the tool tracer and the end tool. Then, the pose deviation is calculated based on the relative relationship between the end tool and the femur of the target object. The relative relationship between the end tool and the femur of the target object can be determined by the current positions between the tool tracer and the femur tracer obtained by the NDI optical navigator. Finally, the calculated pose deviation is compensated to the end tool of the robot, enabling the end tool of the robot to follow the movement of the target object, achieving the purpose of osteotomy follow-up, reducing secondary injuries to patients, and improving the accuracy of osteotomy.

[0104] It should be understood that although Figures 1 to 5 the steps in the flowchart of Figures 1 to 5 are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise clearly stated in this article, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover,

[0105] As Figure 6 shown, the embodiments of the present application also provide a robot control device with a follow-up effect, which is applied to osteotomy surgery and includes:

[0106] A pose solution module 601, which is configured to, after obtaining the force received by the end tool of the robot, perform admittance control on the robot in the target direction according to the obtained force, and solve for the expected pose of the end tool;

[0107] A deviation solution module 602, which is configured to solve for the pose deviation of the end tool relative to the target object at the current position based on the preset planning information;

[0108] A pose compensation module 603, which is configured to compensate the expected pose according to the pose deviation to control the end tool to move to the compensated expected pose.

[0109] In some embodiments, the pose solution module 601 is further configured to:

[0110] Determine the force of the end effector of the robot in the target direction based on the force received by the end effector, where the target direction includes at least one of the directions corresponding to the X-axis, Y-axis, and Z-axis and the directions corresponding to rotations about the X-axis, Y-axis, and Z-axis;

[0111] Perform admittance control on the robot according to the determined force to obtain the pose increment of the end effector;

[0112] After determining the current pose of the end effector in the base coordinate system of the robot, solve for the desired pose of the end effector in the base coordinate system based on the pose increment.

[0113] In some embodiments, the pose compensation module 603 is further configured to:

[0114] After solving for the desired pose of the end effector in the base coordinate system of the robot, multiply the matrix of the desired pose in the base coordinate system by the matrix of the pose deviation.

[0115] In some embodiments, the deviation solving module 602 includes a feed pose determination unit and a deviation solving unit; the feed pose determination unit is configured to determine the initial feed pose of the end effector according to the planning information, where the planning information includes the size information, initial pose, and installation pose of the prosthesis; the deviation solving unit is configured to solve for the pose deviation of the end effector based on the initial feed pose according to the current position of the end effector relative to the target object.

[0116] Further, the deviation solving unit is further configured to:

[0117] Solve for the current pose of the end effector in the reference coordinate system according to the set first registration matrix and second registration matrix, where 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 effector coordinate system and the target object coordinate system;

[0118] Solve for the pose deviation of the end effector according to the initial feed pose in the reference coordinate system and the current pose in the reference coordinate system.

[0119] In the deviation solving unit, solving for the pose deviation of the end effector according to the initial feed pose in the reference coordinate system and the current pose in the reference coordinate system includes: converting the current pose in the reference coordinate system to the current pose in the feed coordinate system according to the initial feed pose in the reference coordinate system; determining the desired feed pose in the feed coordinate system in the target direction according to the current pose in the feed coordinate system; converting the desired feed pose in the feed coordinate system to the desired feed pose in the reference coordinate system according to the initial feed pose in the reference coordinate system; obtaining the pose deviation of the end effector according to the current pose in the reference coordinate system and the desired feed pose in the reference coordinate system.

[0120] In some embodiments, it further includes a force acquisition module configured to acquire the force applied to the end tool of the robot in response to a touch operation on the trigger control.

[0121] It should be noted that the device embodiments provided in this application have been elaborated in detail in the above method embodiments, and will not be elaborated here again.

[0122] The embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium stores instructions that, when executed by a processor of an electronic device, enable the electronic device to execute the robot control method with a follow-up effect described in any of the above embodiments.

[0123] The embodiments of the present application may be a system, a method, and / or a computer program product. The computer program product may include a computer-readable storage medium having thereon computer-readable program instructions for causing a processor to implement various aspects of the present application. The computer program product may be written in any combination of one or more programming languages for programming code to perform the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, executed as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computer, the remote computer may be connected to the user computer through any type of network - including a local area network (LAN) or a wide area network (WAN) - or may be connected to an external computer (e.g., by using an Internet service provider to connect through the Internet). In some embodiments, by using the status information of the computer-readable program instructions to customize an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit may execute the computer-readable program instructions to implement various aspects of the present application.

[0124] A computer-readable storage medium may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. A computer-readable storage medium is a tangible device that can hold and store instructions for use by an instruction execution device. The readable storage medium may include, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device, such as a punched card or raised structures in grooves storing instructions thereon, and any suitable combination of the above. The computer-readable storage medium used herein is not construed as an instantaneous signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagated through a waveguide or other transmission medium (e.g., an optical pulse through an optical fiber cable), or an electrical signal transmitted through a wire.

[0125] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to various computing / processing devices, or downloaded to an external computer or external storage device through a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network may include a copper transmission cable, an optical fiber transmission, a wireless transmission, a router, a firewall, a switch, a gateway computer, and / or an edge server. A 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.

[0126] Aspects of the present application are described herein with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present application. It should be understood that each block of the flowcharts and / or block diagrams, and the combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0127] 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 apparatus to produce a machine, such that the instructions, when executed by the processor of the computer or other programmable data processing apparatus, create an apparatus for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, a programmable data processing apparatus, and / or other devices to operate in a particular manner, so that the computer-readable medium storing the instructions comprises a manufacture, which includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0128] The computer-readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device, such that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, so that the instructions executed on the computer, other programmable data processing apparatus, or other device implement the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0129] The embodiments of the present application also provide an electronic device. Figure 7 The following shows a schematic structural diagram of the electronic device provided by an embodiment of the present application. As Figure 7 shown, the electronic device 700 includes: one or more processors 701 and a memory 702; computer-executable instructions are stored in the memory 702; the processor 701 is configured to execute the computer-executable instructions to implement the steps in the method of any of the above embodiments.

[0130] Further, the electronic device 700 further includes: a trigger control, which is connected to the processor 701 and is configured to receive a touch operation, so that the processor 701, in response to the touch operation on the trigger control, obtains the force received by 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 touch operation instruction of the user to trigger the controller to obtain the force received by the end tool of the robot, thereby achieving the purpose of follow-up during the osteotomy process of the end tool of the robot.

[0131] The processor 701 can be a central processing unit (CPU) or other form of processing unit having data processing capabilities and / or instruction execution capabilities, and can control other components in the electronic device 700 to perform desired functions.

[0132] 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, 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 run the program instructions to implement the steps in the methods of the various embodiments of the present application above and / or other desired functions.

[0133] In one example, the electronic device 700 may further include: an input device and an output device, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown in the figure).

[0134] In addition, the input device may further 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, and a communication network and its connected remote output devices, etc.

[0135] Of course, for simplicity, 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 scenarios, the electronic device 700 may further include any other appropriate components.

[0136] As Figure 8 shown, the embodiments of the present application further provide a robot system 800, including a robot 801, an optical navigation device 802, and the above-mentioned electronic device 700. The electronic device 700 is respectively connected to the robot 801 and the optical navigation device 802. Among them, the optical navigation device 802 may include an NDI optical navigator and a femur tracker, and the robot 801 may further include a tool tracker. The electronic device 700 may be separated from the robot 801 or integrated on the robot 801.

[0137] It should be noted that the embodiments of the robot control method, device, equipment, and system with a follow-up effect provided by the embodiments of the present application belong to the same concept; among the technical features in the technical solutions recorded in each embodiment, they can be combined arbitrarily without conflict.

[0138] It should be understood that the above embodiments are all exemplary and do not cover all possible implementation manners included in the claims. Without departing from the scope of the present disclosure, various deformations and changes can also be made on the basis of the above embodiments. Similarly, any combination of the technical features of the above embodiments can also be made to form additional embodiments of the present invention that may not be explicitly described. Therefore, the above embodiments only represent several implementation manners of the present invention and do not limit the protection scope of the present invention patent.

Claims

1. A robot control method with a follow-up effect, applied to osteotomy surgery, 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; Compensating the desired posture according to the posture deviation to control the end tool to move to the compensated desired posture; 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, solving the posture deviation of the end tool based on the initial feed posture; 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.

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, the desired posture of the end tool in the base coordinate system is solved based on the posture increment.

3. The robot control method with follow-up effect according to claim 1, characterized in that: The 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.

4. 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 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 tool feed 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 obtaining 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 comprises: The inverse matrix of the current posture in the reference coordinate system is multiplied by the matrix of the expected tool 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, applied to osteotomy surgery, 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; A posture compensation module, which is configured to compensate the desired posture according to the posture deviation, so as to control the end tool to move to the compensated desired posture; The deviation solving module includes a feed posture determining unit and a deviation solving unit; the feed posture determining unit is configured to determine the initial feed posture of the end tool according to planning information, wherein 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; The deviation solving unit is further configured to solve the current posture of the end tool in the reference coordinate system according to the set first registration matrix and the second registration matrix, 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; and solve 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.

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 described in claim 8 or 9, wherein the electronic device is connected to the robot and the optical navigation device respectively.

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