Surgical robot light force information fusion control method, system, equipment and medium

Abstract

The invention relates to the technical field of space calibration, in particular to a surgical robot light force information fusion control method, system and device and a medium, and the method comprises the steps: determining a first coordinate conversion relation between a mechanical arm of a surgical robot and an optical positioning system; calculating a second coordinate transformation relationship between the image and the operation space based on the position of the reflective marking ball; based on the second coordinate conversion relation, mapping the preoperative planning path to an actual operation space to obtain path planning information in the operation space; the path planning information is adjusted by combining the real-time force sensor and the navigation information of the optical positioning system, and the servo pose of the mechanical arm is calculated by utilizing the first coordinate conversion relation and the second coordinate conversion relation; and controlling the mechanical arm to execute a corresponding action instruction based on the mechanical arm servo pose. The real-time position of the target area can be calibrated in an auxiliary mode in the using process of the surgical robot, real-time tactile feedback is provided for an operator, and the defect of visual information is overcome.

Description

Technical Field

[0001] The present application relates to the field of space calibration, and in particular to a method, system, device and medium for optical force information fusion control of a surgical robot. Background Art

[0002] Surgical robots play an increasingly important role in modern medical technology, especially in the field of surgical operations that require high-precision operations. For example, knee surgery robots combine the advantages of medical devices and robot control technology to perform complex and demanding operations. Its core technologies cover precise motion control of the robot arm, image navigation and recognition of the operating area, cutting path planning, and precise operations based on multimodal sensor information fusion.

[0003] When performing such operations, traditional methods may face problems such as insufficient accuracy, high risk, and low efficiency due to the complex structures involved and the high requirements for cutting accuracy. In order to improve these situations, optical navigation systems and force feedback control systems were introduced to improve the accuracy and safety of operations.

[0004] However, in the application of existing technologies, the fusion of optical and mechanical data still has certain limitations. The system's adaptability to hardness changes or soft tissue occlusion that may occur during operation needs to be strengthened. Especially in real-time environments, how to quickly and accurately process large amounts of data and respond in a timely manner is the current challenge.

[0005] Therefore, the technical problem that the existing technology lacks dynamic coordinated optimization of optical and mechanical data, resulting in low accuracy of operation-related feedback information, needs to be solved urgently. Summary of the invention

[0006] The main purpose of this application is to provide a method, system, device and medium for optical-mechanical information fusion control of a surgical robot, aiming to solve the technical problem of low accuracy of operation-related feedback information due to the lack of dynamic collaborative optimization of optical and mechanical data.

[0007] In order to achieve the above-mentioned invention object, the present application proposes a method for optical force information fusion control of a surgical robot, the method comprising:

[0008] Determining a first coordinate transformation relationship between a mechanical arm of the surgical robot and an optical positioning system;

[0009] Calculate the second coordinate transformation relationship between the image and the operation space based on the position of the reflective marker ball;

[0010] Based on the second coordinate transformation relationship, the preset preoperative planning path is mapped to the actual operation space to obtain the path planning information in the operation space;

[0011] Adjust the path planning information by combining the real-time force sensor and the navigation information of the optical positioning system;

[0012] Based on the adjusted path planning information, calculate the servo pose of the robotic arm by using the first coordinate transformation relationship and the second coordinate transformation relationship;

[0013] Control the robotic arm to execute the corresponding action instruction based on the servo pose of the robotic arm.

[0014] Further, the step of determining the first coordinate transformation relationship between the robotic arm and the optical positioning system of the surgical robot includes:

[0015] Determine the coordinate systems to be calibrated, including the robotic arm base coordinate system, the robotic arm end coordinate system, the tool coordinate system, and the optical positioning system coordinate system;

[0016] Solve the translation matrix between the tool coordinate system and the robotic arm end coordinate system by fixing the position of the robotic arm end and changing its attitude;

[0017] Calculate the rotation matrix and the translation matrix between the robotic arm base coordinate system and the optical positioning system coordinate system by fixing the attitude of the robotic arm end and changing its position;

[0018] Based on the coordinates of the reflective marker ball in the tool coordinate system, obtain the relationship between the optical positioning system coordinate system and the tool coordinate system in real time;

[0019] Based on the relationship between the optical positioning system coordinate system and the tool coordinate system, calculate the rotation matrix between the tool coordinate system and the robotic arm end coordinate system through the calibration loop; that is, obtain the final first coordinate transformation relationship.

[0020] Further, the step of calculating the second coordinate transformation relationship between the image and the operating space based on the position of the reflective marker ball includes:

[0021] Extract the preoperative planned path based on the pre-shot image data;

[0022] Extract the first position of the reflective marker ball in the image data;

[0023] Through the optical positioning system, obtain the second position of the corresponding real reflective marker point in the operating space in real time during the operation;

[0024] Based on the matching of the first position and the second position, establish the second coordinate transformation relationship from the image space to the operating space;

[0025] Based on the first coordinate transformation relationship, the pre-operative planning path is transformed from the imaging space to the actual operation space to obtain the path planning information in the operation space.

[0026] Further, the step of mapping the preset pre-operative planning path to the actual operation space based on the second coordinate transformation relationship to obtain the path planning information in the operation space includes:

[0027] Obtain the key points included in the pre-operative planning path;

[0028] Identify the positions of the key points in the image, and use the second coordinate transformation relationship to transform the key points from the imaging space to the operation space coordinate system;

[0029] Generate the path planning information based on the coordinate information of the transformed key points in the operation space.

[0030] Further, the step of adjusting the path planning information by combining the real-time force sensor and the navigation information of the optical positioning system includes:

[0031] Obtain the contact force data and the operation tool position data from the six-axis force sensor and the optical positioning system in real time;

[0032] Based on the contact force data, use a second-order dynamic system to predict the movement information of the operation tool;

[0033] Perform information fusion on the movement information and the path planning information;

[0034] Adjust the path planning information according to the fused information.

[0035] Further, the step of calculating the servo pose of the robotic arm based on the adjusted path planning information by using the first coordinate transformation relationship and the second coordinate transformation relationship includes:

[0036] Based on the second coordinate transformation relationship, confirm the position and orientation of the adjusted path planning information in the operation space;

[0037] Based on the position and orientation of the path planning information in the operation space, transform the adjusted path planning information from the operation space to the end-effector coordinate system of the robotic arm through the first coordinate transformation relationship;

[0038] According to the dynamic model of the robotic arm, perform inverse kinematics solution on the position of each key point to calculate the motion parameters that the joints of the robotic arm need to reach, and obtain the servo pose of the robotic arm.

[0039] Further, the step of controlling the robotic arm to execute the corresponding action instruction based on the servo pose of the robotic arm includes:

[0040] Specific action instructions generated based on the servo pose of the robotic arm;

[0041] Based on the action instructions, control each joint of the robotic arm to move.

[0042] This application also proposes an optical-force information fusion control system for a surgical robot, including:

[0043] A determination module for determining the first coordinate conversion relationship between the robotic arm and the optical positioning system of the surgical robot;

[0044] A first calculation module for calculating the second coordinate conversion relationship between the image and the operation space based on the position of the retroreflective marker ball;

[0045] A mapping module for mapping a preset pre-operative planning path to the actual operation space based on the second coordinate conversion relationship to obtain path planning information in the operation space;

[0046] An adjustment module for adjusting the path planning information by combining real-time force sensor and optical positioning system navigation information;

[0047] A second calculation module for calculating the servo pose of the robotic arm based on the adjusted path planning information, using the first coordinate conversion relationship and the second coordinate conversion relationship;

[0048] A control module for controlling the robotic arm to execute corresponding action instructions based on the servo pose of the robotic arm.

[0049] The third aspect of this application also includes a computer device, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the method described in any one of the above when executing the computer program.

[0050] The fourth aspect of this application also includes a computer-readable storage medium, on which a computer program is stored, and the computer program implements the steps of the method described in any one of the above when executed by a processor.

[0051] Beneficial effects

[0052] The semi-autonomous robotic arm control based on optical navigation information and force feedback control in this application uses the high precision of the optical positioning system to assist in calibrating the real-time position of the target area. By combining the data of the optical navigation system and the force sensor, the path planning is adjusted in real time to ensure that the tool can accurately execute tasks according to the preset path, reducing errors, and generating a more accurate operation path through dynamic collaborative optimization. Utilizing the force feedback information to respond to uncertain factors such as environmental changes in real time can provide the operator with real-time tactile feedback, making up for the deficiency of visual information, improving the safety, accuracy and intelligence level during knee joint operations, avoiding potential risks, and enhancing the safety of the system. Brief Description of the Drawings

[0053] Figure 1 It is a schematic flowchart of a method for controlling the fusion of optical and force information of a surgical robot according to an embodiment of this application;

[0054] Figure 2 It is a schematic block diagram of the structure of a system for controlling the fusion of optical and force information of a surgical robot according to an embodiment of this application;

[0055] Figure 3 It is a schematic block diagram of the structure of a computer device according to an embodiment of this application.

[0056] The realization of the purpose of this application, functional features and advantages will be further described with reference to the embodiments and the accompanying drawings. Detailed Embodiments

[0057] In order to make the purpose, technical solutions and advantages of this application clearer, the following further details this application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain this application and are not used to limit this application.

[0058] Those skilled in the art of this technology can understand that unless specifically stated, the singular forms "a", "an", "the above" and "the" used here may also include the plural forms. It should be further understood that the term "including" used in the specification of the present invention means the presence of features, integers, steps, operations, elements, modules and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, components and / or their groups. It should be understood that when an element is "connected" or "coupled" to another element, it can be directly connected or coupled to other elements, or there may also be intermediate elements. In addition, the "connection" or "coupling" used here may include wireless connection or wireless coupling. The phrase "and / or" used here includes all or any one of the listed items and all combinations of related items.

[0059] Those skilled in the art can understand that, unless otherwise defined, all terms used herein (including technical terms and scientific terms) have the same meaning as the general understanding of those of ordinary skill in the art to which the present invention belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted in an idealized or overly formal sense unless specifically defined as here.

[0060] Referring to Figure 1 , an embodiment of the present invention provides a method for fusing optical and force information of a surgical robot, including steps S1 - S6, specifically:

[0061] S1. Determine the first coordinate transformation relationship between the robotic arm and the optical positioning system of the surgical robot;

[0062] S2. Calculate the second coordinate transformation relationship between the image and the operating space based on the position of the retroreflective marker ball;

[0063] S3. Map the preset preoperative planned path to the actual operating space based on the second coordinate transformation relationship to obtain path planning information in the operating space;

[0064] S4. Adjust the path planning information by combining the real - time force sensor and the navigation information of the optical positioning system;

[0065] S5. Based on the adjusted path planning information, use the first coordinate transformation relationship and the second coordinate transformation relationship to calculate the servo pose of the robotic arm;

[0066] S6. Control the robotic arm to execute corresponding action instructions based on the servo pose of the robotic arm.

[0067] As described in the above step S1, first, it is necessary to determine the first coordinate transformation relationship between the robotic arm of the surgical robot and the optical positioning system. This process is the basis of the entire control system, ensuring the coordinated operation of each component and providing a necessary transformation framework for subsequent spatial registration and path planning. First, the coordinate systems to be calibrated need to be clarified, including the robotic arm base coordinate system, the robotic arm end coordinate system, the tool coordinate system, and the optical positioning system coordinate system. Specifically, the robotic arm base coordinate system: defines the position and orientation of the fixed part of the robotic arm. The robotic arm end coordinate system: defines the position and orientation of the end effector of the robotic arm (such as a tool gripper). The tool coordinate system: defines the position and orientation of the specific tool installed at the end of the robotic arm. The optical positioning system coordinate system: defines the position and orientation of the optical positioning device (such as the near-infrared optical positioning system NIRS). To determine the transformation relationship between these coordinate systems, the "eye-to-hand" calibration model is adopted, that is, the transformation relationships between the robotic arm base coordinate system and the optical positioning system coordinate system, and between the robotic arm end coordinate system and the tool coordinate system are fixed. What is determined by calibration is these two sets of transformation relationships. Among them, the relationship between the robotic arm base coordinate system and the end coordinate system can be solved through the forward kinematics relationship of the robotic arm. After the tool file recording the coordinates of the reflective marker ball in the tool coordinate system is completed, the near-infrared optical positioning system can use the reflective marker ball to obtain the transformation relationship between the optical positioning system coordinate system and the tool coordinate system in real time.

[0068] Subsequently, fix the position and change the posture: keep the position of the robotic arm end unchanged and change its posture (i.e., direction and angle). Through a series of actions of fixing the position and changing the posture, the translation matrix between the tool coordinate system and the robotic arm end coordinate system is calculated. The key to this step is to ensure that after each posture change, the position of the reflective marker ball can be accurately captured by the optical positioning system and the corresponding coordinate information is recorded. Then, fix the posture and change the position: keep the posture of the robotic arm end unchanged and change its position in space. Through a series of actions of fixing the posture and changing the position, the rotation and translation matrices between the robotic arm base coordinate system and the optical positioning system coordinate system are calculated. The key to this step is to ensure that after each position change, the optical positioning system can accurately obtain the new position of the reflective marker ball and record the corresponding coordinate information. In addition, based on the coordinates of the reflective marker ball in the tool coordinate system, the relationship between the optical positioning system coordinate system and the tool coordinate system is obtained in real time. Using the above relationship and the hand-eye calibration algorithm, the rotation matrix between the tool coordinate system and the robotic arm end coordinate system is calculated through the calibration loop, and finally, the determination of the first coordinate transformation relationship between the robotic arm of the surgical robot and the optical positioning system is completed.

[0069] Step S1 determines the first coordinate transformation relationship between the robotic arm and the optical positioning system through a detailed hand-eye calibration process, laying a solid foundation for the entire optical-force information fusion control method of the surgical robot and ensuring the accuracy and reliability of subsequent operations.

[0070] As described in step S2 above, based on the positions of the retroreflective marker balls, the second coordinate transformation relationship between the image space and the operating space is calculated. This process is a key step in accurately mapping the preoperative planned path from the image space to the actual operating environment, ensuring that the surgical robot can execute operations according to the preset path. First, it is necessary to extract the preoperative planned path from the pre-taken image data. These image data usually come from pre-taken CT (Computed Tomography) images or MRI

[0071] (Magnetic Resonance Imaging) scans, which contain detailed structural information, such as information on the saw bone cross-section, etc., and the operation planning path formulated based on this information. Next, the first positions of the retroreflective marker balls in the image space are extracted from the image data. These retroreflective marker balls mark key points in the preoperative images for subsequent spatial registration. The same retroreflective marker balls are physically installed in the actual operating space to ensure that their positions relative to the bone structure in the image remain unchanged. Through an optical positioning system (such as the near-infrared optical positioning system NIRS (Near Infrared Spectrum Instrument)), the second positions of the same retroreflective marker points in the operating space are obtained in real time during the operation. The key to this step is to ensure that the positions of the retroreflective marker balls can be accurately captured by the optical positioning system and record their three-dimensional coordinates in the operating space. Next, based on the matching of the first position and the second position, the second coordinate transformation relationship from the image space to the operating space is established. To ensure the accuracy of the matching, mathematical algorithms (such as the least squares method, singular value decomposition, etc.) can be used to calculate the optimal rotation and translation matrices. This transformation relationship defines the accurate mapping from the image space to the operating space, enabling the preoperative planned path to be accurately reflected in the actual operating environment. Using this transformation relationship, the preoperative planned path is transformed from the image space to the actual operating space to obtain the path planning information in the operating space. This step ensures that all key points of the preoperative plan can be correctly mapped into the operating space, providing accurate guidance for subsequent operations. To verify the accuracy of the transformation result, before starting the formal operation, the transformed path can be checked by manual testing or simulating some actions during the operation process to see if it meets the expectations, and fine-tuning can be performed if necessary.

[0072] In addition, to improve the accuracy of spatial registration, other auxiliary devices and technologies can be combined, such as additional navigation markers or high-resolution intraoperative imaging devices. These tools can help further confirm the position of the reflective marker balls and ensure a more accurate correspondence between the imaging space and the operating space. At the same time, regularly calibrate the hardware status of the optical positioning system to ensure its stable performance and avoid inaccurate spatial registration caused by hardware errors. By establishing the conversion relationship from the imaging space to the operating space, it is ensured that the pre-operative planned path can be accurately mapped to the actual operating environment, reducing the operating errors caused by spatial differences.

[0073] In summary, step S2 calculates the second coordinate conversion relationship between the imaging space and the operating space based on the position of the reflective marker balls, realizing the accurate mapping of the pre-operative planned path from the imaging space to the actual operating environment. This process not only provides a necessary basis for subsequent path adjustment and robotic arm control, but also significantly improves the accuracy, safety, and efficiency of the operation.

[0074] As described in step S3 above, using the second coordinate conversion relationship determined in step S2, the preset pre-operative planned path is accurately mapped from the imaging space to the actual operating space to generate path planning information in the operating space. This process ensures that the surgical robot can accurately execute the operation in the actual operating environment according to the path planned by the doctor before the operation. First, obtain the key points included in the pre-operative planned path. These key points are usually selected in the pre-operative images (such as CT or MRI scans) according to the local bone structure and operating requirements to define the key positions of the operating path. Each key point not only includes its three-dimensional coordinates in the imaging space, but may also include specific operating instructions, such as cutting depth, navigation path, etc. Next, identify the positions of these key points in the imaging space and use the second coordinate conversion relationship to convert these key points from the imaging space to the operating space coordinate system. The key to this step is to ensure that the relative position and direction of each key point remain unchanged during the conversion process, so as to ensure that the converted path completely matches the actual structure. To achieve this, mathematical algorithms (such as the least squares method, singular value decomposition, etc.) can be used to calculate the optimal rotation and translation matrices to ensure the accuracy of the conversion. After conversion, based on the coordinate information of the key points in the operating space, the final path planning information is generated. This step involves constructing a path planning suitable for the actual operating environment to ensure its consistency with the pre-operative plan. The path planning information not only includes the positions of the key points, but may also include other auxiliary information, such as speed limits and acceleration curves on the path, to guide the movement of the robotic arm. In addition, a real-time feedback mechanism can be combined to dynamically adjust the path planning to adapt to possible changes during the operation.

[0075] In summary, in step S3, by utilizing the second coordinate transformation relationship, the preset preoperative planning path is accurately mapped from the imaging space to the actual operation space, generating path planning information in the operation space. This process not only provides a necessary basis for subsequent path adjustment and robotic arm control, but also significantly improves the accuracy, safety, and efficiency of the operation. Through precise path planning, it is ensured that the surgical robot can accurately execute the doctor's preoperative plan in the actual operation environment, providing a reliable guarantee for a successful operation.

[0076] As described in step S4 above, it aims to dynamically adjust the path planning information in the operation space by combining real-time force sensor data and the navigation information of the optical positioning system, ensuring that the surgical robot can flexibly adjust the path according to real-time environmental changes, and improving the accuracy, safety, and adaptability of the operation. First, real-time contact force data is cyclically collected from the six-dimensional force / torque sensor installed at the end of the robotic arm or on the operating tool. This data includes information in six dimensions (Fx, Fy, Fz, Mx, My, Mz), capturing every subtle change through high-frequency data acquisition. At the same time, a near-infrared optical positioning system (NIRS) is used to real-time capture the positions of the retroreflective marker balls or other navigation markers in the operation area, ensuring that the relative position relationship between the operating tool and the anatomical structure can be accurately obtained, and the corresponding coordinate information is recorded.

[0077] Then, a second-order dynamic system is used to process the six-dimensional force sensor data to predict the displacement, velocity, and acceleration at the next moment, ensuring that the system can respond in advance to possible operation changes; the force feedback information is combined with the optical navigation information, and through algorithms such as Kalman filtering or particle filtering, the data from two different sources are fused to obtain a more accurate operation environment model. Based on the fused data, the current operation state is evaluated to check whether there are deviations or situations that need to be adjusted, such as detecting the impact of uncertain factors such as changes in bone tissue hardness and soft tissue occlusion on path planning, ensuring that the system can promptly identify and respond to any potential risks.

[0078] If a deviation or uncertainty is detected, based on the evaluation results, the path planning information is recalculated and adjusted to ensure that the new path planning can adapt to the current operation conditions, improving the safety and accuracy of the operation. For hard constraints (such as non-traversable bone boundaries), these restrictions are strictly adhered to prevent accidental injuries. The adjusted path planning information is applied to the robotic arm control system to update its servo pose, ensuring that the robotic arm executes actions according to the latest path planning information, maintaining the continuity and accuracy of the operation. When the robotic arm executes the adjusted path, its behavior is continuously monitored, and new force sensor and optical navigation data are collected to further fine-tune the path planning based on real-time feedback, forming a closed-loop control system to ensure the stability and reliability of the entire process.

[0079] Among them, the six-axis force sensor is installed at the end of the robotic arm or on the operating tool to ensure the accuracy and response speed of the sensor; equipped with a near-infrared optical positioning system (NIRS) to ensure the stable operation of the system and have sufficient resolution and refresh rate; equipped with special data recording and processing software, which can collect and process data from the force sensor and the optical positioning system in real time to ensure the accuracy and reliability of the calibration process.

[0080] As described in step S5 above, using the first coordinate transformation relationship determined in step S1 and the second coordinate transformation relationship determined in step S2, accurately calculate the servo pose of the robotic arm. This process ensures that the surgical robot can accurately control the movement of the robotic arm according to the latest path planning information and achieve high-precision operation.

[0081] First, confirm the position and orientation of the adjusted path planning information in the operating space. The key to this step is to ensure that the path planning information has been appropriately adjusted according to the real-time force sensor data and the navigation information of the optical positioning system, and that this adjusted information accurately reflects the current operating environment. By verifying the adjusted path planning information, it can be ensured that subsequent calculations are based on the most accurate data.

[0082] Next, based on the position and orientation of the path planning information in the operating space, transform the adjusted path planning information from the operating space to the end-effector coordinate system of the robotic arm through the first coordinate transformation relationship. This step involves using the coordinate transformation matrix determined during the previous hand-eye calibration process to transform the key point coordinates in the operating space into the corresponding positions in the end-effector coordinate system of the robotic arm. Ensure that the transformed coordinate information can match the actual motion range and capabilities of the robotic arm, providing an accurate basis for the next inverse kinematics solution.

[0083] Then, according to the dynamic model of the robotic arm, perform inverse kinematics solution for the position of each key point to calculate the motion parameters that the joints of the robotic arm need to reach, such as angles, speeds, and accelerations. Inverse kinematics solution is the process of converting the target position of the end effector into joint angles, which is the basis for controlling the movement of the robotic arm. To ensure the accuracy of the solution results, optimization algorithms (such as Jacobi iteration method or genetic algorithm) can be used to handle complex non-linear problems to ensure that the angles of each joint can meet the requirements of the path planning.

[0084] In addition, during the process of calculating the servo pose, based on the information of the robotic arm base coordinate system, calculate whether the joint angles conform to the overall motion limits and working space of the robotic arm. The key to this step is to combine the information of the robotic arm base coordinate system in the first coordinate transformation relationship to ensure that the calculation of the joint angles not only considers the position of the end effector but also takes into account the overall posture and motion range of the robotic arm.

[0085] Finally, specific servo pose commands are generated for the robotic arm control system. These commands include, but are not limited to, joint angles, speeds, accelerations, etc., to ensure that the robotic arm can move precisely according to the adjusted path planning information. To verify the accuracy of the servo pose commands, simulation tests can be conducted before formal execution to check whether the actions of the robotic arm meet the expectations. If necessary, further optimize the path to improve the safety and efficiency of the operation.

[0086] In summary, in step S5, based on the adjusted path planning information, using the first coordinate transformation relationship and the second coordinate transformation relationship, the servo pose of the robotic arm is accurately calculated to ensure that the surgical robot can accurately control the actions of the robotic arm according to the latest path planning information. This process not only ensures high-precision operation but also provides necessary real-time adjustment and safety guarantee, ensuring the safety and reliability of the operation process. Through accurate servo pose calculation, seamless connection from path planning to actual execution is achieved, providing a reliable guarantee for successful operation.

[0087] As shown in step S6 above, based on the calculated servo pose of the robotic arm, specific action commands are generated, and the robotic arm is precisely controlled to execute corresponding actions according to these commands. This process ensures that the surgical robot can operate accurately according to the adjusted path planning information, achieving closed-loop control from path planning to actual execution.

[0088] First, specific action commands are generated based on the calculated servo pose of the robotic arm. These commands define in detail the target positions (angles), moving speeds, accelerations, and other parameters of each joint of the robotic arm to ensure that each joint can move precisely along the predetermined path. The control system analyzes these action commands and converts them into a form that can be directly understood and executed by the robotic arm control system. For each joint, determine its target position, moving speed, acceleration, and other necessary control parameters (such as torque limit) to ensure that all motion parameters comply with the dynamic model and safety constraints of the robotic arm.

[0089] Next, the control system sends precise control signals to the joint motors of the robotic arm, and through a low-level controller (such as a servo driver), these signals are converted into specific currents or voltages to drive the motors to rotate to the specified positions. The key to this step is to ensure the accuracy and real-time performance of the control signals, enabling the robotic arm to respond quickly and accurately to the commands. To ensure the reliable transmission of the control signals, a high-performance communication interface and a real-time operating system need to be equipped to ensure low latency and high reliability of data transmission.

[0090] During the operation of the robotic arm, its status is monitored in real time, including the actual positions, speeds, and load conditions of each joint. Encoders or other sensors are used to obtain the actual motion data of the robotic arm, forming a closed-loop control system. Through a real-time feedback mechanism, the actual motion data is compared with the expected servo pose instructions to detect any deviations. If the detected deviation exceeds the allowable range, the control system automatically corrects the error and adjusts subsequent actions to ensure the accuracy of the final position. This step ensures that the robotic arm can maintain high-precision operation in a complex environment and respond promptly to any unexpected changes.

[0091] In addition, during the entire execution process, safety checks are continuously performed to ensure that no hard constraints (such as collision avoidance, torque limit, etc.) are violated. If potential safety risks are detected, immediate measures are taken, such as pausing the operation or triggering an emergency stop mechanism, to ensure the safety of the operating environment. Through real-time monitoring and feedback control, a highly reliable closed-loop control system is formed, which not only improves the accuracy and efficiency of the operation but also enhances the safety and adaptability of the system.

[0092] In summary, step S6 generates specific action instructions based on the calculated servo pose of the robotic arm and precisely controls the robotic arm to execute corresponding actions according to these instructions. Through closed-loop control and real-time feedback mechanisms, seamless connection from path planning to actual execution is achieved, ensuring the high-precision operation of the surgical robot.

[0093] In one embodiment, the step of determining the first coordinate transformation relationship between the robotic arm and the optical positioning system of the surgical robot includes:

[0094] S10. Determine the coordinate systems to be calibrated, including the robotic arm base coordinate system, the robotic arm end coordinate system, the tool coordinate system, and the optical positioning system coordinate system;

[0095] S11. By fixing the position of the robotic arm end and changing the attitude of the robotic arm end, calculate the translation matrix between the tool coordinate system and the robotic arm end coordinate system;

[0096] S12. By fixing the attitude of the robotic arm end and changing the position of the robotic arm end, calculate the rotation matrix and translation matrix between the robotic arm base coordinate system and the optical positioning system coordinate system;

[0097] S13. Based on the coordinates of the retroreflective marker ball in the tool coordinate system, obtain the relationship between the optical positioning system coordinate system and the tool coordinate system in real time;

[0098] S14. Based on the relationship between the optical positioning system coordinate system and the tool coordinate system, calculate the rotation matrix between the tool coordinate system and the robotic arm end coordinate system through the calibration loop; that is, obtain the final first coordinate transformation relationship.

[0099] In this embodiment, first, the coordinate systems to be calibrated are determined, including the robotic arm base coordinate system, the robotic arm end coordinate system, the tool coordinate system, and the optical positioning system coordinate system. Then, by fixing the position of the robotic arm end and changing its posture, the translation matrix between the tool coordinate system and the robotic arm end coordinate system is solved. Subsequently, by fixing the posture of the robotic arm end and changing its position, the rotation matrix and translation matrix between the robotic arm base coordinate system and the optical positioning system coordinate system are solved. Then, based on the coordinates of the reflective marker ball in the tool coordinate system, the relationship between the optical positioning system coordinate system and the tool coordinate system is obtained in real time. Finally, using the above relationship and the hand-eye calibration algorithm, the rotation matrix between the tool coordinate system and the robotic arm end coordinate system is calculated through the calibration loop, and finally the determination of the first coordinate conversion relationship is completed. This process ensures the accurate conversion between the robotic arm and the optical positioning system, providing a reliable coordinate framework for subsequent spatial registration and path planning.

[0100] In one embodiment, the step of calculating the second coordinate conversion relationship between the image and the operating space based on the position of the reflective marker ball includes:

[0101] S20. Extract the preoperative planned path based on the pre-taken image data;

[0102] S21. Extract the first position of the reflective marker ball in the image data;

[0103] S22. Through the optical positioning system, the second position of the real reflective marker point corresponding to the reflective marker ball in the operating space is obtained in real time during the operation;

[0104] S23. Based on the matching between the first position and the second position, establish the second coordinate conversion relationship from the image space to the operating space;

[0105] S24. Based on the first coordinate conversion relationship, convert the preoperative planned path from the image space to the actual operating space to obtain the path planning information of the operating space.

[0106] In this embodiment, first, a preoperative planning path is extracted based on pre-shot image data, which includes detailed anatomical structures and the operation path formulated by the doctor. Then, the first positions of the reflective marker balls in the image space in the image data are extracted, and these marker balls are used for subsequent spatial registration. Then, through an optical positioning system, the second positions of the corresponding real reflective marker points in the operation space are obtained in real time during the operation process to ensure that their positions can be accurately captured and recorded. Subsequently, based on the matching of the first position and the second position, a second coordinate transformation relationship from the image space to the operation space is established to ensure that the preoperative planning path can be accurately mapped to the actual operation environment. Finally, using this transformation relationship and the previously determined first coordinate transformation relationship, the preoperative planning path is transformed from the image space to the actual operation space to obtain the path planning information in the operation space. This process ensures that the surgical robot can perform operations according to the preset path, improving the accuracy and safety of the operation.

[0107] In one embodiment, the step of mapping the preset preoperative planning path to the actual operation space based on the second coordinate transformation relationship to obtain the path planning information in the operation space includes:

[0108] S30. Obtain the key points included in the preoperative planning path;

[0109] S31. Identify the positions of the key points in the image, and use the second coordinate transformation relationship to transform the key points from the image space to the operation space coordinate system;

[0110] S32. Generate the path planning information based on the coordinate information of the transformed key points in the operation space.

[0111] In this embodiment, first, the key points included in the preoperative planning path are obtained. These key points are the important node positions on the operation path selected by the doctor according to the image data. Then, the positions of these key points in the image are identified, and using the second coordinate transformation relationship, these key points are accurately transformed from the image space to the operation space coordinate system. This step ensures that the relative positions and directions of each key point remain unchanged during the transformation process, making the transformed path fully match the actual anatomical structure. Finally, based on the coordinate information of the transformed key points in the operation space, the final path planning information is generated. The generated path planning not only includes the positions of the key points but may also include other auxiliary information, such as speed limits and acceleration curves on the path, to guide the movement of the robotic arm. This process ensures that the surgical robot can strictly perform operations according to the predetermined path, improving the accuracy and safety of the operation and providing a reliable guarantee for a successful operation.

[0112] In one embodiment, the step of adjusting the path planning information by combining the real-time force sensor and the navigation information of the optical positioning system includes:

[0113] S40. Obtain the contact force data and the position data of the operating tool in real time from the six-axis force sensor and the optical positioning system;

[0114] S41. Based on the contact force data, use a second-order dynamic system to predict the movement information of the operating tool;

[0115] S42. Perform information fusion on the movement information and the path planning information;

[0116] S43. Adjust the path planning information according to the fused information.

[0117] In this embodiment, first, the contact force data and the position data of the operating tool are obtained in real time from the six-axis force sensor and the optical positioning system, ensuring a comprehensive understanding of the operating environment. Then, based on the contact force data, a second-order dynamic system is used to predict the movement information of the operating tool, including parameters such as displacement, velocity, and acceleration. This step anticipates the future movement state of the tool in advance through a mathematical model, improving the response speed and accuracy of the system.

[0118] Then, the predicted movement information is fused with the current path planning information. Through advanced algorithms such as Kalman filtering or particle filtering, data from different sources are fused to generate a more accurate model of the operating environment. The fused information not only considers the pre-operative planned path but also combines real-time changing environmental factors, ensuring that the path planning can adapt to the latest operating conditions.

[0119] Finally, the path planning information is adjusted according to the fused information. If deviations or uncertainties are detected, such as changes in bone tissue hardness or soft tissue occlusion, the system will recalculate and adjust the path planning to ensure that the new path is both safe and accurate. For hard constraints (such as non-traversable bone boundaries), these restrictions are strictly adhered to prevent accidental injuries. This process ensures that the surgical robot can flexibly adjust the path in a complex and changing operating environment, improving the accuracy and safety of the operation and providing a reliable guarantee for a successful operation.

[0120] In one embodiment, the step of calculating the servo pose of the robotic arm based on the adjusted path planning information by using the first coordinate transformation relationship and the second coordinate transformation relationship includes:

[0121] S50. Based on the second coordinate transformation relationship, confirm the position and orientation of the adjusted path planning information in the operating space;

[0122] S51. Based on the position and orientation of the path planning information in the operational space, convert the adjusted path planning information from the operational space to the end - effector coordinate system of the robotic arm through the first coordinate transformation relationship;

[0123] S52. According to the dynamic model of the robotic arm, perform inverse kinematics solution for the position of each key point, calculate the motion parameters that each joint of the robotic arm needs to reach, and obtain the servo pose of the robotic arm.

[0124] In this embodiment, first, based on the second coordinate transformation relationship, confirm the position and orientation of the adjusted path planning information in the operational space. This step ensures that the path planning information has been appropriately adjusted according to real - time environmental changes and accurately reflects the current operating conditions. By verifying the adjusted path planning information, a reliable basis is provided for subsequent coordinate transformation.

[0125] Next, based on the position and orientation of the path planning information in the operational space, convert the adjusted path planning information from the operational space to the end - effector coordinate system of the robotic arm through the first coordinate transformation relationship. This step uses the coordinate transformation matrix determined during the previous hand - eye calibration process to accurately convert the key - point coordinates in the operational space to the corresponding positions in the end - effector coordinate system of the robotic arm, ensuring that the converted coordinate information matches the actual motion range and capabilities of the robotic arm.

[0126] Finally, according to the dynamic model of the robotic arm, perform inverse kinematics solution for the position of each key point, calculate the motion parameters that each joint of the robotic arm needs to reach, and obtain the servo pose of the robotic arm. Inverse kinematics solution is the process of converting the target position of the end - effector to joint angles, which is the basis for controlling the motion of the robotic arm. To ensure the accuracy of the solution results, optimization algorithms (such as Jacobi iterative method or genetic algorithm) can be used to handle complex non - linear problems, ensuring that the angles of each joint can meet the requirements of path planning. In addition, during the process of calculating the servo pose, the information of the robotic arm base coordinate system also needs to be considered to ensure that all calculated joint angles comply with the overall motion limitations and workspace of the robotic arm.

[0127] In summary, through the above steps, the surgical robot can accurately calculate the servo pose of the robotic arm according to the latest path planning information, ensure that the robotic arm accurately executes operations according to the adjusted path planning information, improve the accuracy and safety of operations, and provide a reliable guarantee for successful operations.

[0128] In one embodiment, the step of controlling the robotic arm to execute the corresponding action instruction based on the servo pose of the robotic arm includes:

[0129] S60. Generate specific action instructions based on the servo pose of the robotic arm;

[0130] S61. Control each joint of the robotic arm to move based on the action instruction.

[0131] In this embodiment, in one embodiment, the steps of controlling the robotic arm to execute the corresponding action instruction based on the servo pose of the robotic arm include: First, generate specific action instructions based on the servo pose of the robotic arm. These instructions define in detail the target positions, speeds, accelerations and other parameters of each joint of the robotic arm to ensure that each joint can move precisely. Then, control each joint of the robotic arm to move based on the action instruction. The control system analyzes these instructions and sends precise control signals to the joint motors of the robotic arm to drive the motors to rotate to the specified positions. At the same time, monitor the state of the robotic arm in real time, and use the closed-loop control system and real-time feedback mechanism to ensure that the robotic arm can respond to the instructions quickly and accurately, and perform error correction in a timely manner to improve the accuracy and safety of the operation.

[0132] Refer to Figure 2 , which is a structural block diagram of the optical and force information fusion control system of the surgical robot in an embodiment of the present application. The system includes:

[0133] A determination module 100, configured to determine the first coordinate conversion relationship between the robotic arm and the optical positioning system of the surgical robot;

[0134] A first calculation module 200, configured to calculate the second coordinate conversion relationship between the image and the operation space based on the position of the retroreflective marker ball;

[0135] A mapping module 300, configured to map the preset preoperative planned path to the actual operation space based on the second coordinate conversion relationship to obtain the path planning information in the operation space;

[0136] An adjustment module 400, configured to adjust the path planning information by combining the real-time force sensor and the navigation information of the optical positioning system;

[0137] A second calculation module 500, configured to calculate the servo pose of the robotic arm based on the adjusted path planning information by using the first coordinate conversion relationship and the second coordinate conversion relationship;

[0138] A control module 600, configured to control the robotic arm to execute the corresponding action instruction based on the servo pose of the robotic arm.

[0139] Further, the determination module 100 includes a solution unit, and the solution unit is configured to:

[0140] Determine the coordinate systems to be calibrated, including the robotic arm base coordinate system, the robotic arm end coordinate system, the tool coordinate system, and the optical positioning system coordinate system;

[0141] By fixing the position change of the end of the robotic arm to change the attitude of the end of the robotic arm, the translation matrix between the tool coordinate system and the end coordinate system of the robotic arm is solved;

[0142] By fixing the attitude of the end of the robotic arm to change the position of the end of the robotic arm, the rotation matrix and the translation matrix between the base coordinate system of the robotic arm and the coordinate system of the optical positioning system are calculated;

[0143] Based on the coordinates of the reflective marker ball in the tool coordinate system, the relationship between the coordinate system of the optical positioning system and the tool coordinate system is obtained in real time;

[0144] Based on the relationship between the coordinate system of the optical positioning system and the tool coordinate system, the rotation matrix between the tool coordinate system and the end coordinate system of the robotic arm is calculated through the calibration loop; that is, the final first coordinate transformation relationship is obtained.

[0145] Further, the first calculation module 200 includes a planning unit, and the planning unit is used for:

[0146] Extract the preoperative planning path based on the pre-shot image data;

[0147] Extract the first position of the reflective marker ball in the image data;

[0148] Through the optical positioning system, the second position of the corresponding real reflective marker point in the operation space is obtained in real time during the operation;

[0149] Based on the matching of the first position and the second position, a second coordinate transformation relationship from the image space to the operation space is established;

[0150] Based on the first coordinate transformation relationship, the preoperative planning path is transformed from the image space to the actual operation space to obtain the path planning information in the operation space.

[0151] Further, the mapping module 300 includes a generating unit, and the generating unit is used for:

[0152] Obtain the key points included in the preoperative planning path;

[0153] Identify the positions of the key points in the image, and use the second coordinate transformation relationship to transform the key points from the image space to the operation space coordinate system;

[0154] Based on the coordinate information of the transformed key points in the operation space, the path planning information is generated.

[0155] Further, the adjustment module 400 includes a prediction unit, and the prediction unit is used for:

[0156] Obtain the contact force data and the position data of the operating tool in real time from the six-axis force sensor and the optical positioning system;

[0157] Based on the contact force data, use a second-order dynamic system to predict the movement information of the operating tool;

[0158] Perform information fusion on the movement information and the path planning information;

[0159] Adjust the path planning information according to the fused information.

[0160] Further, the second calculation module 500 includes a pose calculation unit, and the pose calculation unit is used for:

[0161] Based on the second coordinate transformation relationship, confirm the position and orientation of the adjusted path planning information in the operating space;

[0162] Based on the position and orientation of the path planning information in the operating space, convert the adjusted path planning information from the operating space to the end-effector coordinate system of the robotic arm through the first coordinate transformation relationship;

[0163] According to the dynamic model of the robotic arm, perform inverse kinematics solution on the position of each key point, calculate the motion parameters that each joint of the robotic arm needs to reach, and obtain the servo pose of the robotic arm.

[0164] Further, the control module 600 includes an instruction unit, and the instruction unit is used for:

[0165] Generate specific action instructions based on the servo pose of the robotic arm;

[0166] Control each joint of the robotic arm to move based on the action instructions.

[0167] Refer to Figure 3 , In the embodiment of the present application, a computer device is further provided. The computer device may be a server, and its internal structure may be as Figure 3As shown in the figure. The computer device includes a processor, an internal memory, a storage medium (non-volatile storage medium), and a network interface connected by a system bus. Among them, the processor of the computer design is used to provide computing and control capabilities. The memory of the computer device includes the above-mentioned storage medium (non-volatile storage medium) and the internal memory. The storage medium (non-volatile storage medium) stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the storage medium (non-volatile storage medium). The database of the computer device is used to store usage data and the like during the process of a method for fusing optical and force information of a surgical robot. The network interface of the computer device is used to communicate with an external terminal through a network connection. Further, the above-mentioned computer device may also be provided with an input device, a display screen, and the like. When the above-mentioned computer program is executed by the processor, it realizes a method for fusing optical and force information of a surgical robot, including the following steps: determining a first coordinate conversion relationship between the robotic arm and the optical positioning system of the surgical robot; calculating a second coordinate conversion relationship between the image and the operation space based on the position of the retroreflective marker ball; mapping a preset preoperative planned path to the actual operation space based on the second coordinate conversion relationship to obtain path planning information in the operation space; adjusting the path planning information by combining real-time force sensor and optical positioning system navigation information; based on the adjusted path planning information, using the first coordinate conversion relationship and the second coordinate conversion relationship, calculating the servo pose of the robotic arm; and controlling the robotic arm to execute corresponding action instructions based on the servo pose of the robotic arm.

[0168] Those skilled in the art can understand that Figure 3 the structure shown in the figure is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied.

[0169] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it realizes a method for fusing optical and force information of a surgical robot, including the following steps: determining a first coordinate conversion relationship between the robotic arm and the optical positioning system of the surgical robot; calculating a second coordinate conversion relationship between the image and the operation space based on the position of the retroreflective marker ball; mapping a preset preoperative planned path to the actual operation space based on the second coordinate conversion relationship to obtain path planning information in the operation space; adjusting the path planning information by combining real-time force sensor and optical positioning system navigation information; based on the adjusted path planning information, using the first coordinate conversion relationship and the second coordinate conversion relationship, calculating the servo pose of the robotic arm; and controlling the robotic arm to execute corresponding action instructions based on the servo pose of the robotic arm. It can be understood that the computer-readable storage medium in this embodiment may be a volatile readable storage medium or a non-volatile readable storage medium.

[0170] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium provided in this application and used in the embodiments can include non-volatile and / or volatile memories. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchl ink) DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0171] It should be noted that in this article, the terms "include", "comprise", or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, device, article, or method including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, device, article, or method. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, device, article, or method including that element.

[0172] The above are only the preferred embodiments of this application, and do not limit the patent scope of this application. Any equivalent structural or equivalent process transformation made by using the specification and drawings of this application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of this application.

Claims

1. A method for optical force information fusion control of a surgical robot, characterized in that: The method comprises: Determining a first coordinate transformation relationship between a mechanical arm of the surgical robot and an optical positioning system; Calculate the second coordinate transformation relationship between the image and the operation space based on the position of the reflective marker ball; Based on the second coordinate transformation relationship, the preset preoperative planning path is mapped to the actual operation space to obtain the path planning information in the operation space; adjusting the path planning information in combination with real-time force sensor and optical positioning system navigation information; Based on the adjusted path planning information, the robot arm servo posture is calculated using the first coordinate transformation relationship and the second coordinate transformation relationship; The robotic arm is controlled to execute corresponding action instructions based on the robotic arm servo posture.

2. The method for optical force information fusion control of a surgical robot according to claim 1, characterized in that: The step of determining a first coordinate transformation relationship between the mechanical arm of the surgical robot and the optical positioning system comprises: Determine the coordinate systems that need to be calibrated, including the robot base coordinate system, the robot end coordinate system, the tool coordinate system, and the optical positioning system coordinate system; By fixing the position of the end of the robotic arm, the posture of the end of the robotic arm is changed, and the translation matrix between the tool coordinate system and the coordinate system of the end of the robotic arm is solved; By changing the position of the end of the robotic arm by fixing the posture of the end of the robotic arm, a rotation matrix and a translation matrix between the coordinate system of the robotic arm base and the coordinate system of the optical positioning system are calculated; Based on the coordinates of the reflective marker ball in the tool coordinate system, the relationship between the optical positioning system coordinate system and the tool coordinate system is obtained in real time; Based on the relationship between the optical positioning system coordinate system and the tool coordinate system, the rotation matrix between the tool coordinate system and the robot end coordinate system is calculated through a calibration loop; that is, the final first coordinate transformation relationship is obtained.

3. The method for controlling the optical force information fusion of a surgical robot according to claim 1, characterized in that: The step of calculating the second coordinate transformation relationship between the image and the operation space based on the position of the reflective marker ball includes: Extract the preoperative planning path based on pre-captured image data; Extracting the first position of the reflective marker ball in the image data; The second position of the actual reflective marking point corresponding to the reflective marking ball in the operating space is obtained in real time during the operation through the optical positioning system; Based on matching the first position with the second position, a second coordinate transformation relationship from the image space to the operation space is established; Based on the first coordinate transformation relationship, the preoperative planned path is transformed from the image space to the actual operation space to obtain the path planning information of the operation space.

4. The method for controlling the optical force information fusion of a surgical robot according to claim 1, characterized in that: The step of mapping the preset preoperative planning path to the actual operation space based on the second coordinate transformation relationship to obtain the path planning information in the operation space includes: Acquire key points included in the preoperative planning path; Identify the position of the key point in the image, and transform the key point from the image space to the operation space coordinate system using the second coordinate transformation relationship; The path planning information is generated based on the coordinate information of the key points in the operation space after the conversion.

5. The method for controlling the optical force information fusion of a surgical robot according to claim 1, characterized in that: The step of adjusting the path planning information by combining the real-time force sensor and the navigation information of the optical positioning system comprises: Acquire contact force data and operating tool position data in real time from six-dimensional force sensors and optical positioning systems; Based on the contact force data, the movement information of the operating tool is predicted using a second-order dynamic system; Fusing the movement information with the path planning information; Adjust the path planning information based on the fused information.

6. The method for controlling the optical force information fusion of a surgical robot according to claim 1, characterized in that: The step of calculating the servo posture of the robot arm based on the adjusted path planning information by using the first coordinate transformation relationship and the second coordinate transformation relationship comprises: Based on the second coordinate transformation relationship, confirm the position and direction of the adjusted path planning information in the operation space; Based on the position and direction of the path planning information in the operation space, the adjusted path planning information is converted from the operation space to the robot end coordinate system through a first coordinate conversion relationship; According to the dynamic model of the robot arm, the inverse kinematics solution is performed on the position of each key point, the motion parameters that each joint of the robot arm needs to achieve are calculated, and the servo posture of the robot arm is obtained.

7. The method for controlling the optical force information fusion of a surgical robot according to claim 1, characterized in that: The step of controlling the robotic arm to execute a corresponding motion instruction based on the robotic arm servo posture comprises: Specific action instructions generated based on the servo posture of the robotic arm; The joints of the robot arm are controlled to move based on the action instructions.

8. A surgical robot optical force information fusion control system, characterized in that: include: A determination module, used to determine a first coordinate transformation relationship between a mechanical arm of the surgical robot and an optical positioning system; A first calculation module, used for calculating a second coordinate transformation relationship between the image and the operation space based on the position of the reflective marker ball; A mapping module, used to map the preset preoperative planning path to the actual operation space based on the second coordinate transformation relationship to obtain the path planning information in the operation space; An adjustment module, used to adjust the path planning information in combination with the real-time force sensor and the navigation information of the optical positioning system; A second calculation module is used to calculate the servo posture of the robot arm based on the adjusted path planning information and using the first coordinate transformation relationship and the second coordinate transformation relationship; A control module is used to control the robotic arm to execute corresponding action instructions based on the servo posture of the robotic arm.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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