Determination method and device of mechanical arm configuration, surgical robot system and equipment

Abstract

The invention relates to a mechanical arm configuration determining method and device, a surgical robot system and equipment. The method comprises the following steps: determining a positioning type based on an operation entry point coordinate and an operation target point coordinate of a target object under a mechanical arm base coordinate system; based on the positioning type, determining a candidate configuration recommendation range of the mechanical arm; and the target configuration of the mechanical arm is determined based on the candidate configuration recommendation range, the operation entry point coordinates and the operation target point coordinates. By adopting the method, the target configuration meeting the operation type and positioning requirements can be quickly and effectively recommended.

Description

Technical Field

[0001] This application relates to the field of medical technologies, and particularly to a method and apparatus for determining a robotic arm configuration, a surgical robot system, and a device. Background Art

[0002] In spinal or trauma surgeries, the role of the robotic arm is to provide positioning guidance to assist the doctor in implanting screws into the patient's body.

[0003] In the case where the entry point and target point of the screw are determined, in the related art, a target robotic arm configuration is usually randomly generated from multiple robotic arm configurations, and the target robotic arm configuration is used to complete the implantation of the screw into the patient's body.

[0004] However, the method in the related art cannot quickly and effectively recommend a target configuration that meets the surgical type and positioning requirements. Summary of the Invention

[0005] Based on this, to address the above technical problems, it is necessary to provide a method and apparatus for determining a robotic arm configuration, a surgical robot system, and a device that can quickly and effectively recommend a target configuration that meets the surgical type and positioning requirements.

[0006] In a first aspect, this application provides a method for determining a robotic arm configuration, the method including:

[0007] Determine a positioning type based on the operation entry point coordinates and operation target point coordinates of the target object in the robotic arm base coordinate system;

[0008] Determine a recommended range of candidate configurations of the robotic arm based on the positioning type;

[0009] Determine the target configuration of the robotic arm based on the recommended range of candidate configurations, the operation entry point coordinates, and the operation target point coordinates.

[0010] In one embodiment, determining the target configuration of the robotic arm based on the recommended range of candidate configurations, the operation entry point coordinates, and the operation target point coordinates includes:

[0011] Determine the reference position of the robotic arm end based on the operation target point coordinates and the operation entry point coordinates;

[0012] Determine the target angle transformation matrix of the robotic arm based on the recommended range of candidate configurations;

[0013] Use the product of the reference position and the target angle transformation matrix as the target configuration of the robotic arm.

[0014] In one embodiment, determining the reference position of the robotic arm end based on the operation target point coordinates and the operation entry point coordinates includes:

[0015] Based on the operation target coordinates and the operation entry point coordinates, determine the direction vector of the end of the robotic arm;

[0016] Obtain the preset distance between the end of the robotic arm and the operation entry point coordinates;

[0017] Based on the direction vector and the preset distance, determine the reference position of the end of the robotic arm.

[0018] In one embodiment, the direction vector includes the direction vectors on the X-axis, Y-axis, and Z-axis;

[0019] Based on the operation target coordinates and the operation entry point coordinates, determining the direction vector of the end of the robotic arm includes:

[0020] According to the difference in the X coordinates of the operation target coordinates and the operation entry point coordinates, determine the direction vector of the end of the robotic arm on the X-axis;

[0021] Based on the direction vector on the X-axis, determine the direction vector of the end of the robotic arm on the Y-axis and the direction vector on the Z-axis.

[0022] In one embodiment, based on the direction vector on the X-axis, determining the direction vector of the end of the robotic arm on the Y-axis and the direction vector on the Z-axis includes:

[0023] When the surgical procedure type is the first surgical procedure type, then use the product of the direction vector on the X-axis and the first reference coordinate as the direction vector on the Y-axis;

[0024] Use the product of the direction vector on the X-axis and the direction vector on the Y-axis as the direction vector on the Z-axis.

[0025] In one embodiment, based on the direction vector on the X-axis, determining the direction vector of the end of the robotic arm on the Y-axis and the direction vector on the Z-axis includes:

[0026] When the surgical procedure type is the second surgical procedure type, then use the product of the direction vector on the X-axis and the second reference coordinate as the direction vector on the Z-axis;

[0027] Use the product of the direction vector on the X-axis and the direction vector on the Z-axis as the direction vector on the Y-axis.

[0028] In one embodiment, based on the operation entry point coordinates and the operation target coordinates of the target object in the base coordinate system of the robotic arm, determine the positioning type, including:

[0029] According to the operation entry point coordinates and the operation target coordinates, determine the surgical procedure type and the positioning information;

[0030] Determine the positioning type according to the surgical procedure type and the positioning information.

[0031] In one embodiment, according to the operation entry point coordinates and the operation target point coordinates, the surgical procedure type is determined, including:

[0032] Based on the operation entry point coordinates and the operation target point coordinates, determine the direction vector of the positioning path;

[0033] According to the direction vector of the positioning path, determine the unit direction vector of the positioning path;

[0034] According to the direction components on the Y-axis and the Z-axis in the unit direction vector of the positioning path, determine the surgical procedure type.

[0035] In one embodiment, according to the operation entry point coordinates and the operation target point coordinates, the positioning information is determined, including:

[0036] Obtain the X coordinate in the operation entry point coordinates;

[0037] If the X coordinate is positive, determine that the positioning type is the first positioning type;

[0038] If the X coordinate is non-positive, determine that the positioning type is the second positioning type.

[0039] In one embodiment, based on the positioning type, the recommended range of the candidate configurations of the robotic arm is determined, including:

[0040] Based on the positioning type, determine the theoretical attitude rotation angle range of the end effector of the robotic arm; there is a mapping relationship between the positioning type and the theoretical attitude rotation angle range;

[0041] Determine the recommended range of the candidate configurations of the robotic arm from the theoretical attitude rotation angle range.

[0042] In a second aspect, the present application also provides a device for determining the configuration of a robotic arm, the device includes:

[0043] A positioning determination module, configured to determine the positioning type based on the operation entry point coordinates and the operation target point coordinates of the target object in the base coordinate system of the robotic arm;

[0044] A range determination module, configured to determine the recommended range of the candidate configurations of the robotic arm based on the positioning type;

[0045] A configuration determination module, configured to determine the target configuration of the robotic arm based on the recommended range of the candidate configurations, the operation entry point coordinates, and the operation target point coordinates.

[0046] In a third aspect, the present application also provides a surgical robot system, the surgical robot system includes a robotic arm and a device for determining the configuration of a robotic arm in the second aspect, and the robotic arm executes the target configuration determined by the determining device.

[0047] Fourthly, the present application also provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the content of any one of the embodiments of the method for determining the configuration of the robotic arm in the first aspect above.

[0048] Fifthly, the present application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, and when the computer program is executed by a processor, it implements the content of any one of the embodiments of the method for determining the configuration of the robotic arm in the first aspect above.

[0049] Sixthly, the present application also provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, it implements the content of any one of the embodiments of the method for determining the configuration of the robotic arm in the first aspect above.

[0050] For the above method, device, surgical robot system and equipment for determining the configuration of the robotic arm, based on the operation entry point coordinates and operation target point coordinates of the target object in the robotic arm base coordinate system, the positioning type is determined; based on the positioning type, the recommended range of candidate configurations of the robotic arm is determined; based on the recommended range of candidate configurations, the operation entry point coordinates and the operation target point coordinates, the target configuration of the robotic arm is determined. Through the operation entry point coordinates and operation target point coordinates of the target object in the robotic arm base coordinate system, the positioning path can be accurately determined, and based on this positioning path, the positioning type can be quickly and accurately inferred. The recommended range of candidate configurations determined according to the positioning type is more suitable for this positioning type, narrowing the selection range of configurations. Then, further selection is made from the recommended range of candidate configurations suitable for this positioning type. By gradually narrowing the selection range of configurations, the target configuration required for positioning can be quickly and accurately obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is an application environment diagram of the method for determining the configuration of the robotic arm in one embodiment;

[0052] Figure 2 It is a flowchart of the method for determining the configuration of the robotic arm in one embodiment;

[0053] Figure 3 It is a schematic diagram of the positioning type of spinal surgery in one embodiment;

[0054] Figure 4 It is a schematic diagram of the positioning type of spinal surgery in one embodiment;

[0055] Figure 5 It is a schematic diagram of the positioning type of spinal surgery in one embodiment;

[0056] Figure 6Schematic diagram of the positioning type for spinal surgery in an embodiment;

[0057] Figure 7 Schematic diagram of the positioning type for trauma surgery in an embodiment;

[0058] Figure 8 Schematic diagram of the positioning type for trauma surgery in an embodiment;

[0059] Figure 9 Schematic diagram of the positioning type for trauma surgery in an embodiment;

[0060] Figure 10 Schematic diagram of the positioning type for trauma surgery in an embodiment;

[0061] Figure 11 Schematic flowchart of the method for determining the configuration of a robotic arm in an embodiment;

[0062] Figure 12 Schematic flowchart of the method for determining the configuration of a robotic arm in an embodiment;

[0063] Figure 13 Schematic flowchart of the method for determining the configuration of a robotic arm in an embodiment;

[0064] Figure 14 Schematic flowchart of the method for determining the configuration of a robotic arm in an embodiment;

[0065] Figure 15 Schematic flowchart of the method for determining the configuration of a robotic arm in an embodiment;

[0066] Figure 16 Schematic flowchart of the method for determining the configuration of a robotic arm in an embodiment;

[0067] Figure 17 Schematic flowchart of the method for determining the configuration of a robotic arm in an embodiment;

[0068] Figure 18 Schematic flowchart of the method for determining the configuration of a robotic arm in an embodiment;

[0069] Figure 19 Schematic flowchart of the method for determining the configuration of a robotic arm in an embodiment;

[0070] Figure 20 Schematic diagram of the recommended areas for various surgical types in an embodiment;

[0071] Figure 21 Schematic flowchart of the method for determining the configuration of a robotic arm in an embodiment;

[0072] Figure 22Schematic diagram of the target configuration of the robotic arm for spinal operation A-1 or B-1 in an embodiment;

[0073] Figure 23 Schematic diagram of the target configuration of the robotic arm for spinal operation A-2 or B-2 in an embodiment;

[0074] Figure 24 Schematic diagram of the target configuration of the robotic arm for trauma operation A-1 or B-1 in an embodiment;

[0075] Figure 25 Schematic diagram of the target configuration of the robotic arm for trauma operation A-2 or B-2 in an embodiment;

[0076] Figure 26 Block diagram of the structure of the device for determining the robotic arm configuration in an embodiment. Detailed implementation manners

[0077] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0078] The method for determining the robotic arm configuration provided by the embodiments of the present application can be applied to an application environment as shown in Figure 1 For example, the computer device can be a server, a personal computer, a laptop computer, a smart phone, a tablet computer, a smart mobile phone, etc. The computer device may include a processor, a memory and a network interface connected through a system bus or connected wirelessly. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. The 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 non-volatile storage medium. The database of the computer device is used to store data during the process of determining the robotic arm configuration. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for determining the robotic arm configuration is implemented. Among them, the computer device can be implemented by an independent computer device or a computer device cluster composed of multiple computer devices. It should be noted that the memory of the computer device is not limited to the above-mentioned memory, and may also include a high-speed random access memory, a volatile solid-state memory, etc. In addition, the composition architecture of the computer device is not limited to the above situation, and some components can also be added or omitted.

[0079] In one embodiment, as shown in Figure 2 a method for determining the robotic arm configuration is provided, and this method is applied toFigure 1 Take the computer device in

[0080] S201, based on the operation entry point coordinates and operation target point coordinates of the target object in the base coordinate system of the robotic arm, determine the positioning type.

[0081] Among them, the base coordinate system of the robotic arm refers to the coordinate system used when the robotic arm moves, which is composed of three mutually perpendicular axes, and its origin is usually located at the installation position of the robotic arm. Before using the robotic arm for positioning and guiding, a end effector needs to be installed at the end of the robotic arm to facilitate positioning and guiding during the process of inserting the instrument. Among them, the instrument can be a screw. For example, the end effector can be a guide for providing a positioning path for inserting a screw in spinal surgery. The guide provides a positioning channel for positioning and guiding when inserting the screw. The embodiments of the present application do not limit the type of the end effector.

[0082] The above-mentioned operation entry point coordinates refer to the coordinates of the point on the target object that first contacts the instrument during the operation in the coordinate system of the robotic arm. The operation target point coordinates refer to the position of the deepest target point where the instrument enters the target object after the operation in the coordinate system of the robotic arm. The positioning type refers to the type of the positioning position of the robotic arm relative to the target object during the operation on the target object.

[0083] Taking the operation process as spinal surgery as an example, during the operation process, it is necessary to insert a screw from the operation entry point of the target bone of the target object into the operation target point inside the target object, and its positioning type includes 4 types. For example, the target bone can be the bone on the back of the target object. Figures 3 - 6 is a schematic diagram of the positioning type for spinal surgery. The rectangular frame in the figure refers to the surgical area. Figure 3 The positioning type in Figure 4 The positioning type in Figure 5 The positioning type in Figure 6 The positioning type in Figure 3 and Figure 4 In Figure 5 and Figure 6Among them, the left and right sides respectively correspond to the situations of the robotic arm display device on the caudal and cephalic sides of the patient. A-1 and B-1 are the situations of the robotic arm during the operation on the right side of the robotic arm display device, and A-2 and B-2 are the situations of the robotic arm during the operation on the left side of the robotic arm display device.

[0084] Taking the operation process as a trauma surgery as an example, the operation process requires inserting screws and the like from the operation entry point of the target bone of the target object into the operation target point inside the target object, and its positioning types also include 4 types. For example, the target bone can be the bone on the lateral waist of the target object. Figures 7 - 10 It is a schematic diagram of the positioning type for trauma surgery. The rectangular frame in the figure refers to the surgical area of the target object. Figure 7 The positioning type in it is A-1. Figure 8 The positioning type in it is A-2. Figure 9 The positioning type in it is B-1. Figure 10 The positioning type in it is B-2. The settings of the robotic arm and the robotic arm display device are the same as those in the above spinal surgery and will not be elaborated here.

[0085] It should be noted that the eight different positionings of spinal surgery and trauma surgery only correspond to two working spaces, that is, A-1 and B-1 correspond to the surgical space in the positive X-axis direction of the robotic arm, and A-2 and B-2 correspond to the surgical space in the negative X-axis direction of the robotic arm.

[0086] In the embodiments of the present application, the computer device can input the operation entry point coordinates and the operation target point coordinates into a preset positioning type determination model, and use the positioning type determination model for analysis to determine the positioning type. Or, the computer device can also determine the positioning path according to the operation entry point coordinates and the operation target point coordinates of the target object in the robotic arm base coordinate system. And determine the positioning type according to the positioning path.

[0087] S202, based on the positioning type, determine the recommended range of candidate configurations of the robotic arm.

[0088] Among them, the recommended range of candidate configurations refers to the angle range of the end tool of the robotic arm rotating around the X axis. For example, the recommended range of candidate configurations of the robotic arm can be -60° to 60°.

[0089] Optionally, the computer device can search the database for the historical positioning type most similar to this positioning type, and determine the recommended range of candidate configurations corresponding to this historical positioning type as the recommended range of candidate configurations of the robotic arm. Or, the computer device can also analyze this positioning type through the mapping relationship between the positioning type and the recommended range of configurations to determine the recommended range of candidate configurations of the robotic arm. The embodiments of the present application do not limit the method for determining the recommended range of candidate configurations of the robotic arm based on the positioning type.

[0090] S203. Determine the target configuration of the robotic arm based on the candidate configuration recommendation range, the operation entry point coordinates, and the operation target point coordinates.

[0091] In the embodiments of the present application, the computer device can determine the adaptability between each discrete candidate configuration in the candidate configuration recommendation range and the positioning type according to the operation entry point coordinates and the operation target point coordinates. Then select the discrete candidate configuration with the highest adaptability to the positioning type from multiple adaptabilities, and determine the discrete candidate configuration with the highest adaptability as the target configuration of the robotic arm.

[0092] In the above method for determining the robotic arm configuration, based on the operation entry point coordinates and the operation target point coordinates of the target object in the robotic arm base coordinate system, determine the positioning type; based on the positioning type, determine the candidate configuration recommendation range of the robotic arm; based on the candidate configuration recommendation range, the operation entry point coordinates, and the operation target point coordinates, determine the target configuration of the robotic arm. Through the operation entry point coordinates and the operation target point coordinates of the target object in the robotic arm base coordinate system, this method can accurately determine the positioning path, and thus based on this positioning path, quickly and accurately infer the positioning type. The candidate configuration recommendation range determined according to the positioning type is more suitable for this positioning type, narrowing the selection range of configurations. Then further select from the candidate configuration recommendation range suitable for this positioning type. By gradually narrowing the selection range of configurations, the target configuration required for positioning can be quickly and accurately obtained.

[0093] Based on the above embodiments, the embodiments of the present application introduce and explain the relevant content of Figure 2 step S203 in Figure 11 "Based on the candidate configuration recommendation range, the operation entry point coordinates, and the operation target point coordinates, determine the target configuration of the robotic arm". As

[0094] shown, as a non-limiting example, the above step S203 may include the following content:

[0095] S301. Determine the reference position of the robotic arm end based on the operation target point coordinates and the operation entry point coordinates.

[0096] In the embodiment of the present application, before using the end effector of the robotic arm to move the screw so that the screw is inserted into the operation target point from the operation entry point, it is necessary to move the end effector of the robotic arm to the reference position to facilitate the operation of the robotic arm. The reference position is generally a point on the extension line between the operation target point and the operation entry point. Therefore, the computer device can determine the positioning path of the operation process according to the coordinates of the operation target point and the coordinates of the operation entry point. And based on the distance between the reference position and the operation entry point, the reference position of the end of the robotic arm is determined from the extension line of the positioning path. Among them, the distance between the reference position and the operation entry point is a distance set in advance by humans, and the robotic arm is more convenient to operate at this distance.

[0097] S302. Determine the target angle transformation matrix of the robotic arm based on the candidate configuration recommendation range.

[0098] In the embodiment of the present application, the target angle transformation matrix refers to the Euler transformation matrix in which the end effector of the robotic arm rotates around the X axis by any angle in the candidate configuration recommendation range. The computer device can calculate the angle transformation matrix of any angle in the candidate configuration recommendation range based on the formula of the Euler transformation matrix. And the optimal matrix among multiple angle transformation matrices is used as the target angle transformation matrix of the robotic arm. For example, if the candidate configuration recommendation range can be expressed as (-thetaα, thetaα), and the angle corresponding to the optimal matrix is thetaα1, then the target angle transformation matrix can be expressed as: Eular_Matrix(theta, 0, 0,'sxyz').

[0099] S303. Take the product of the reference position and the target angle transformation matrix as the target configuration of the robotic arm.

[0100] In this embodiment, the computer device can multiply the reference position by the target angle transformation matrix and take the obtained product as the target configuration of the robotic arm. For example, the target configuration of the robotic arm can be expressed as:

[0101] In the above method for determining the configuration of the robotic arm, based on the coordinates of the operation target point and the coordinates of the operation entry point, the reference position of the end of the robotic arm is determined; based on the candidate configuration recommendation range, the target angle transformation matrix of the robotic arm is determined; and the product of the reference position and the target angle transformation matrix is taken as the target configuration of the robotic arm. Through the coordinates of the operation target point and the coordinates of the operation entry point, this method can accurately determine the positioning path, and based on this positioning path, the reference position of the end of the robotic arm can be determined. In addition, based on the candidate configuration recommendation range, the angle transformation matrix of each recommended configuration can be accurately obtained, and the target angle transformation matrix of the robotic arm can be accurately determined from it, so that the target configuration of the robotic arm can be accurately obtained based on the reference position and the target angle transformation matrix.

[0102] Based on the above embodiments, the embodiments of the present application introduce and explain the relevant content of step S301 "determine the reference position of the end of the robotic arm based on the operation target coordinates and the operation entry point coordinates" in Figure 11 . As shown in Figure 12 , as a non-limiting example, the above step S301 may include the following content:

[0103] S401, based on the operation target coordinates and the operation entry point coordinates, determine the direction vector of the end of the robotic arm.

[0104] Among them, the direction vector of the end of the robotic arm refers to the position information of the end of the robotic arm in three directions, which includes the direction vector on the X-axis, the direction vector on the Y-axis, and the direction vector on the Z-axis.

[0105] In the embodiments of the present application, the computer device may determine the positioning path according to the operation target coordinates and the operation entry point coordinates, and determine the direction vector of the end of the robotic arm based on the positioning path and the operation entry point coordinates. Among them, the operation entry point coordinates may be represented as pt1, and the operation target coordinates may be represented as pt2.

[0106] S402, obtain the preset distance between the end of the robotic arm and the operation entry point coordinates.

[0107] In the embodiments of the present application, the computer device may obtain the historical operation entry point coordinates most similar to the operation entry point coordinates from the database, and use the distance between the historical operation entry point coordinates and the end of the robotic arm as the preset distance between the end of the robotic arm and the operation entry point coordinates. Alternatively, the computer device may obtain operation data at multiple distances, and determine a more convenient operation distance based on the analysis of multiple operation data, and determine this distance as the preset distance between the end of the robotic arm and the operation entry point coordinates. This embodiment does not limit the method of obtaining the preset distance between the end of the robotic arm and the operation entry point coordinates. For example, the preset distance may be represented as L.

[0108] S403, based on the direction vector and the preset distance, determine the reference position of the end of the robotic arm.

[0109] In this embodiment, the computer device may determine the position of the end of the robotic arm based on the preset distance. The position of the end of the robotic arm may be expressed as: pos = pt1 - vec x ·L. Then, based on the direction vector and the position of the end of the robotic arm, determine the reference position of the end of the robotic arm. The reference position of the end of the robotic arm may be expressed as: T init = vec x , vec y , vec z , pos, 0, 0, 0, 1.

[0110] In the method for determining the configuration of the robotic arm described above, based on the coordinates of the operation target point and the coordinates of the operation entry point, the direction vector of the end of the robotic arm is determined; a preset distance between the end of the robotic arm and the coordinates of the operation entry point is obtained; based on the direction vector and the preset distance, the reference position of the end of the robotic arm is determined. This method can accurately obtain the direction vector of the end of the robotic arm through the coordinates of the operation target point and the coordinates of the operation entry point, and can accurately determine the reference position of the end of the robotic arm according to the preset distance between the end of the robotic arm and the coordinates of the operation entry point. In this way, the end of the robotic arm is moved to the reference position before the operation, and it will not interfere with the doctor's operation during the operation.

[0111] Based on the above embodiments, the direction vector includes the direction vectors on the X-axis, Y-axis, and Z-axis; this embodiment of the present application is an introduction and description of Figure 12 the relevant content of step S401 "Based on the coordinates of the operation target point and the coordinates of the operation entry point, determine the direction vector of the end of the robotic arm" in Figure 13 As shown, as a non-limiting example, the above step S401 may include the following content:

[0112] S501, according to the difference in the X coordinates of the operation target point coordinates and the operation entry point coordinates, determine the direction vector of the end of the robotic arm on the X-axis.

[0113] Wherein, the positive direction of the Y-axis is the direction away from the target object in the horizontal direction, the positive direction of the Z-axis is the vertically upward direction, and the positive direction of the X-axis is obtained by the cross product of the positive direction of the Y-axis and the positive direction of the Z-axis.

[0114] In this embodiment of the present application, the direction vector of the end of the robotic arm on the X-axis can be determined according to the extension line of the connection line between the operation target point and the operation entry point. Therefore, the computer device can calculate the difference between the operation target point coordinates and the operation entry point coordinates, and determine this difference as the direction vector of the end of the robotic arm on the X-axis. For example, the direction vector of the end of the robotic arm on the X-axis can be expressed as: vec x = pt2 - pt1.

[0115] S502, based on the direction vector on the X-axis, determine the direction vector of the end of the robotic arm on the Y-axis and the direction vector on the Z-axis.

[0116] In this embodiment of the present application, the direction vector of the end of the robotic arm on the Y-axis and the direction vector on the Z-axis are both determined by the direction vector on the X-axis. However, for different surgical procedure types, the calculation methods are different. When the surgical procedure type is a spinal surgical procedure type, first calculate the direction vector of the end of the robotic arm on the Y-axis through the direction vector on the X-axis. Then, based on the direction vector on the X-axis and the direction vector on the Y-axis, determine the direction vector on the Z-axis.

[0117] When the surgical procedure type is a traumatic surgical procedure type, first calculate the direction vector of the end of the robotic arm on the Z-axis through the direction vector on the X-axis. Then, based on the direction vector on the X-axis and the direction vector on the Z-axis, determine the direction vector on the Y-axis.

[0118] In the method for determining the above robotic arm configuration, according to the difference in the X coordinates between the operation target coordinates and the operation entry point coordinates, it is determined as the direction vector of the end of the robotic arm on the X-axis; based on the direction vector on the X-axis, determine the direction vector of the end of the robotic arm on the Y-axis and the direction vector on the Z-axis. This method subtracts the operation target coordinates from the operation entry point coordinates and uses the difference as the direction vector on the X-axis. Then, based on the direction vector on the X-axis, the direction vectors on the Y-axis and the Z-axis can be accurately obtained, and the direction vectors of the end of the robotic arm on each axis can be obtained.

[0119] Based on the above embodiments, the embodiments of the present application introduce and explain the relevant content of Figure 13 step S502 in " Figure 14 Determine the direction vector of the end of the robotic arm on the Y-axis and the direction vector on the Z-axis based on the direction vector on the X-axis". As

[0120] shown, as a non-limiting example, the above step S502 may include the following content:

[0121] S601, when the surgical procedure type is the first surgical procedure type, then use the product of the direction vector on the X-axis and the first reference coordinate as the direction vector on the Y-axis.

[0122] Among them, the first reference coordinate is the unit vector in the negative direction of the Y-axis. y =(0, -1, 0) × vec x .

[0123] S602, use the product of the direction vector on the X-axis and the direction vector on the Y-axis as the direction vector on the Z-axis.

[0124] In the embodiments of the present application, the computer device can multiply the direction vector on the X-axis by the direction vector on the Y-axis and use the obtained product as the direction vector on the Z-axis. The direction vector on the Z-axis can be expressed as: vec z =vec x ×vec y .

[0125] In the method for determining the above robotic arm configuration, when the surgical procedure type is the first surgical procedure type, the product of the direction vector on the X-axis and the first reference coordinate is used as the direction vector on the Y-axis; the product of the direction vector on the X-axis and the direction vector on the Y-axis is used as the direction vector on the Z-axis. Through the direction vector on the X-axis and the first reference coordinate, this method can accurately determine the direction vector on the Y-axis, and based on the direction vectors on the X-axis and Y-axis, the direction vector on the Z-axis can be accurately obtained.

[0126] Based on the above embodiments, the embodiments of the present application introduce and explain the relevant content of Figure 13 step S502 in " Figure 15 Determine the direction vector of the robotic arm end on the Y-axis and the direction vector on the Z-axis based on the direction vector on the X-axis". As

[0127] shown, as a non-limiting example, the above step S502 may include the following content:

[0128] S701, when the surgical procedure type is the second surgical procedure type, the product of the direction vector on the X-axis and the second reference coordinate is used as the direction vector on the Z-axis.

[0129] Among them, the second reference coordinate is the unit vector in the negative direction of the X-axis.

[0129] In the embodiments of the present application, taking the surgical procedure type of trauma surgery as an example for illustration, the second reference coordinate can be expressed as (-1, 0, 0). The computer device can multiply the direction vector on the X-axis by the second reference coordinate and use the product as the direction vector on the Z-axis. The direction vector on the Z-axis can be expressed as: vec z =(-1,0,0)×vec x .

[0130] S702, use the product of the direction vector on the X-axis and the direction vector on the Z-axis as the direction vector on the Y-axis.

[0131] In the embodiments of the present application, the computer device can multiply the direction vector on the X-axis by the direction vector on the Z-axis and use the obtained product as the direction vector on the Y-axis. The direction vector on the Y-axis can be expressed as: vec y =vec x ×vec z .

[0132] After obtaining the direction vectors on the X-axis, Y-axis, and Z-axis, the computer device also needs to perform normalization processing on the direction vectors on the X-axis, Y-axis, and Z-axis.

[0133] In the method for determining the configuration of the robotic arm described above, when the surgical procedure type is the second surgical procedure type, the product of the direction vector on the X-axis and the second reference coordinate is used as the direction vector on the Z-axis; the product of the direction vector on the X-axis and the direction vector on the Z-axis is used as the direction vector on the Y-axis. Through the direction vector on the X-axis and the first reference coordinate, this method can accurately determine the direction vector on the Z-axis, and based on the direction vectors on the X-axis and Z-axis, the direction vector on the Y-axis can be accurately obtained.

[0134] Based on the above embodiments, the embodiments of the present application introduce and explain the relevant content of Figure 2 step S201 in " Figure 16 Determine the positioning type based on the operation entry point coordinates and the operation target point coordinates of the target object in the robotic arm base coordinate system". As

[0135] shown, as a non-limiting example, the above step S201 may include the following content:

[0136] S801, Determine the surgical procedure type and the positioning information according to the operation entry point coordinates and the operation target point coordinates.

[0137] Among them, the surgical procedure type includes the spinal surgical procedure type and the trauma surgical procedure type, and each surgical procedure type includes two positioning information of A-1 or B-1, A-2 or B-2.

[0138] S802, Determine the positioning type according to the surgical procedure type and the positioning information.

[0139] In the embodiments of the present application, since the positioning type includes the surgical procedure type and the positioning information, the computer device can combine the surgical procedure type and the positioning information to determine the positioning type. Among them, the positioning type may be four types, namely: spinal operation A-1 or B-1, spinal operation A-2 or B-2, trauma operation A-1 or B-1, and trauma operation A-2 or B-2.

[0140] In the method for determining the configuration of the robotic arm described above, the surgical procedure type and the positioning information are determined based on the coordinates of the operation entry point and the coordinates of the operation target point; the positioning type is determined based on the surgical procedure type and the positioning information. Through the coordinates of the operation entry point and the coordinates of the operation target point, this method can accurately determine the surgical procedure type and the positioning information, so that the positioning type of the target object can be accurately obtained.

[0141] Based on the above embodiments, the embodiments of the present application introduce and explain the relevant content of Figure 2 step S801 "determine the surgical procedure type according to the coordinates of the operation entry point and the coordinates of the operation target point" in Figure 17 As shown, as a non-limiting example, the above step S801 may include the following content:

[0142] S901, based on the coordinates of the operation entry point and the coordinates of the operation target point, determine the direction vector of the positioning path.

[0143] Among them, the positioning path refers to the path formed by the operation entry point and the operation target point.

[0144] In the embodiments of the present application, when the coordinates of the operation entry point in the base coordinate system of the robotic arm are Pt_entry, and the coordinates of the operation target point in the base coordinate system of the robotic arm are Pt_target, the direction vector of the positioning path can be expressed as: vec = Pt_target - Pt_entry. Then, the computer device can also perform normalization processing on the obtained positioning path, and the normalized positioning path can be expressed as: vec_norm = vec / norm(vec).

[0145] S902, determine the unit direction vector of the positioning path according to the direction vector of the positioning path.

[0146] In the embodiments of the present application, the computer device can analyze the direction vector of the positioning path to determine the unit direction vectors of the positioning path in the X-axis, Y-axis, and Z-axis directions respectively.

[0147] S903, determine the surgical procedure type according to the direction components on the Y-axis and the Z-axis in the unit direction vector of the positioning path.

[0148] In the embodiments of the present application, the computer device may compare both the direction component of the Y-axis and the direction component of the Z-axis in the unit direction vector of the positioning path with a preset threshold, and determine the surgical procedure type according to the comparison result. Exemplarily, when the preset threshold is 0, if y_vec ≤ 0 and z_vec ≥ 0, the surgical procedure type can be determined as the first surgical procedure type. If y_vec ≤ 0 and z_vec < 0, the computer device may substitute the direction component of the Y-axis and the direction component of the Z-axis into the angle calculation formula, and the angle calculation formula can be expressed as: theta = arctan(|z| / |y|). And compare the obtained angle with the preset angle threshold, and determine the surgical procedure type according to the comparison result. That is, when y_vec ≤ 0, z_vec < 0, and theta < pi / 6, the surgical procedure type is also the first surgical procedure type; when y_vec ≤ 0, z_vec < 0, and theta ≥ pi / 6, the surgical procedure type is the second surgical procedure type.

[0149] In summary, the surgical procedure type being the first surgical procedure type includes two cases. The first case is y_vec ≤ 0 and z_vec ≥ 0; the second case is y_vec ≤ 0, z_vec < 0, and theta < pi / 6.

[0150] The surgical procedure type being the second surgical procedure type also includes two cases. The first case is y_vec ≤ 0, z_vec < 0, and theta ≥ pi / 6. The second case is y_vec > 0.

[0151] Among them, the first surgical procedure type is a trauma surgical procedure type, and the second surgical procedure type is a spinal surgical procedure type.

[0152] In the above method for determining the robotic arm configuration, based on the operation entry point coordinates and the operation target point coordinates, the direction vector of the positioning path is determined; the unit direction vector of the positioning path is determined according to the direction vector of the positioning path; and the surgical procedure type is determined according to the direction component of the Y-axis and the direction component of the Z-axis in the unit direction vector of the positioning path. Through the operation entry point coordinates and the operation target point coordinates, this method can accurately obtain the direction vector of the positioning path, and accurately determine the surgical procedure type based on the components of the positioning path on the Y-axis and the Z-axis.

[0153] Based on the above embodiments, the embodiments of the present application introduce and explain the relevant content of Figure 2 step S801 "determine the positioning information according to the operation entry point coordinates and the operation target point coordinates" in Figure 18 As shown, as a non-limiting example, the above step S801 may include the following content:

[0154] S1001, obtain the X coordinate in the operation entry point coordinates.

[0155] In the embodiment of the present application, after obtaining the coordinates of the operation entry point, the computer device can directly determine the X coordinate from the coordinates of the operation entry point.

[0156] S1002. If the X coordinate is positive, determine that the positioning type is the first positioning type.

[0157] Wherein, the X coordinate being positive is the situation shown in A-1 and B-1.

[0158] In the embodiment of the present application, since A-1 and B-1 correspond to the surgical space in the positive direction of the X axis of the robotic arm, and A-2 and B-2 correspond to the surgical space in the negative direction of the X axis of the robotic arm. Therefore, after obtaining the X coordinate, the computer device can determine whether the X coordinate is greater than 0. If the X coordinate is greater than 0, it can be determined that the positioning type is the first positioning type. Among them, the first positioning type is A-1 or B-1.

[0159] S1003. If the X coordinate is non-positive, determine that the positioning type is the second positioning type.

[0160] Wherein the X coordinate being non-positive is the direction shown in A-2 and B-2.

[0161] In the embodiment of the present application, if the X coordinate is less than 0, it can be determined that the positioning type is the second positioning type. Among them, the second positioning type is A-2 or B-2.

[0162] In the above method for determining the robotic arm configuration, obtain the X coordinate in the coordinates of the operation entry point; if the X coordinate is positive, determine that the positioning type is the first positioning type; if the X coordinate is non-positive, determine that the positioning type is the second positioning type. This method can accurately determine whether the Z coordinate is positive by obtaining the X coordinate in the coordinates of the operation entry point, and thus can accurately determine the positioning type according to the judgment result.

[0163] On the basis of the above embodiment, the embodiment of the present application introduces and explains the relevant content of Figure 2 step S202 "Based on the positioning type, determine the recommended range of candidate configurations of the robotic arm" in Figure 19 As shown, as a non-limiting example, the above step S202 may include the following content:

[0164] S1101. Based on the positioning type, determine the theoretical attitude rotation angle range of the end tool of the robotic arm; there is a mapping relationship between the positioning type and the theoretical attitude rotation angle range.

[0165] In the embodiments of the present application, since the theoretical attitude rotation angle ranges corresponding to different positioning types are different, and there is a one-to-one mapping relationship between the positioning type and the theoretical attitude rotation angle range. Therefore, the computer device can determine the theoretical attitude rotation angle range corresponding to the positioning type based on this mapping relationship. For example, when the positioning type is spinal operation A-1 or B-1, the theoretical attitude rotation angle range of the end effector of the robotic arm is -180° to 60°.

[0166] S1102. Determine the candidate configuration recommendation range of the robotic arm from the theoretical attitude rotation angle range.

[0167] In this embodiment, the computer device can determine the candidate configuration recommendation range suitable for each positioning type based on a large amount of historical data. And based on the positioning type, determine the candidate configuration recommendation range of the robotic arm from the theoretical attitude rotation angle range. The mapping relationship among the positioning type, the theoretical attitude rotation angle range, and the candidate configuration recommendation range is shown in Table 1.

[0168] Table 1

[0169]

[0170]

[0171] Figure 20 It is a schematic diagram of the recommended area for various surgical types. It can be seen from the figure that the candidate configuration recommendation range for spinal operation A-1 or B-1 is -60° to 60°, the candidate configuration recommendation range for spinal operation A-2 or B-2 is -60° to 60°, the candidate configuration recommendation range for trauma operation A-1 or B-1 is 0° to 60°, and the candidate configuration recommendation range for trauma operation A-2 or B-2 is -60° to 0°. Within the candidate configuration recommendation range, the target configuration of the robotic arm can be determined by the computer device, or the user can slide the arrow within the candidate configuration recommendation range to select the target configuration of the robotic arm.

[0172] In the above method for determining the robotic arm configuration, based on the positioning type, determine the theoretical attitude rotation angle range of the end effector of the robotic arm; there is a mapping relationship between the positioning type and the theoretical attitude rotation angle range; determine the candidate configuration recommendation range of the robotic arm from the theoretical attitude rotation angle range. This method uses the mapping relationship between the positioning type and the theoretical attitude rotation angle range to analyze the positioning type, and can accurately obtain the theoretical attitude rotation angle range of the end effector of the robotic arm. Then, the candidate configuration recommendation range of the robotic arm can be more accurately obtained from the theoretical attitude rotation angle range.

[0173] As a specific embodiment of the present application, such as Figure 21As shown, the method for determining the configuration of the robotic arm includes:

[0174] S1201, determining the direction vector of the positioning path based on the coordinates of the operation entry point and the operation target point;

[0175] S1202, determining the unit direction vector of the positioning path according to the direction vector of the positioning path;

[0176] S1203, determining the surgical procedure type according to the direction components on the Y-axis and Z-axis in the unit direction vector of the positioning path;

[0177] S1204, obtaining the X coordinate in the coordinates of the operation entry point;

[0178] S1205, if the X-axis direction is the positive direction, determining that the positioning type is the first positioning type;

[0179] S1206, if the X coordinate is non-positive, determining that the positioning type is the second positioning type;

[0180] S1207, determining the surgical procedure type and the positioning information as the positioning type;

[0181] S1208, determining the theoretical attitude rotation angle range of the end tool of the robotic arm based on the positioning type;

[0182] S1209, determining the recommended range of candidate configurations of the robotic arm from the theoretical attitude rotation angle range;

[0183] S1210, determining the direction vector of the end of the robotic arm on the X-axis as the difference between the operation target point coordinates and the operation entry point coordinates;

[0184] S1211, determining the direction vector of the end of the robotic arm on the Y-axis and the direction vector on the Z-axis based on the direction vector on the X-axis;

[0185] S1212, obtaining the preset distance between the end of the robotic arm and the operation entry point coordinates;

[0186] S1213, determining the reference position of the end of the robotic arm based on the direction vector and the preset distance;

[0187] S1214, determining the target angle transformation matrix of the robotic arm based on the recommended range of candidate configurations;

[0188] S1215, taking the product of the reference position and the target angle transformation matrix as the target configuration of the robotic arm.

[0189] For each surgical procedure type, there are multiple configuration options for the robotic arm. Figures 22 - 25is the target configuration of the robotic arm corresponding to different surgical procedure types, and four different target configurations are given for each surgical procedure type. Among them, Figure 22 is a schematic diagram of the target configuration of the robotic arm for spinal operation A-1 or B-1, Figure 22 is a schematic diagram of the target configuration of the robotic arm for spinal operation A-2 or B-2, Figure 23 is a schematic diagram of the target configuration of the robotic arm for trauma operation A-1 or B-1, Figure 24 is a schematic diagram of the target configuration of the robotic arm for trauma operation A-2 or B-2.

[0190] It should be understood that although the steps in the flowcharts involved in the above embodiments 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 there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0191] Based on the same inventive concept, the embodiments of the present application also provide a device for determining the robotic arm configuration for implementing the method for determining the robotic arm configuration involved above. The implementation solutions provided by this device to solve problems are similar to the implementation solutions recorded in the above method. Therefore, the specific limitations in one or more embodiments of the device for determining the robotic arm configuration provided below can refer to the limitations on the method for determining the robotic arm configuration in the above text, and will not be repeated here.

[0192] In one embodiment, as Figure 26 shown, a device for determining the robotic arm configuration is provided, including: a positioning determination module, a range determination module, and a configuration determination module, where:

[0193] The positioning determination module is used to determine the positioning type based on the operation entry point coordinates and operation target point coordinates of the target object in the robotic arm base coordinate system;

[0194] The range determination module is used to determine the candidate configuration recommendation range of the robotic arm based on the positioning type;

[0195] The configuration determination module is used to determine the target configuration of the robotic arm based on the candidate configuration recommendation range, the operation entry point coordinates, and the operation target point coordinates.

[0196] In one embodiment, the above configuration determination module includes: a position determination unit, a matrix determination unit, and a configuration determination unit, where:

[0197] The position determination unit is configured to determine a reference position of the end of the robotic arm based on the coordinates of the operation target point and the coordinates of the operation entry point;

[0198] The matrix determination unit is configured to determine a target angle transformation matrix of the robotic arm based on the candidate configuration recommendation range;

[0199] The configuration determination unit is configured to use the product of the reference position and the target angle transformation matrix as the target configuration of the robotic arm.

[0200] In one embodiment, the above position determination unit is further configured to determine a direction vector of the end of the robotic arm based on the coordinates of the operation target point and the coordinates of the operation entry point; obtain a preset distance between the end of the robotic arm and the coordinates of the operation entry point; and determine the reference position of the end of the robotic arm based on the direction vector and the preset distance.

[0201] In one embodiment, the above position determination unit is further configured to determine a direction vector of the end of the robotic arm on the X-axis according to the difference in the X coordinates of the operation target point and the coordinates of the operation entry point; and determine a direction vector of the end of the robotic arm on the Y-axis and a direction vector of the end of the robotic arm on the Z-axis based on the direction vector on the X-axis.

[0202] In one embodiment, the above position determination unit is further configured to, when the surgical procedure type is the first surgical procedure type, use the product of the direction vector on the X-axis and the first reference coordinate as the direction vector on the Y-axis; and use the product of the direction vector on the X-axis and the direction vector on the Y-axis as the direction vector on the Z-axis.

[0203] In one embodiment, the above position determination unit is further configured to, when the surgical procedure type is the second surgical procedure type, use the product of the direction vector on the X-axis and the second reference coordinate as the direction vector on the Z-axis; and use the product of the direction vector on the X-axis and the direction vector on the Z-axis as the direction vector on the Y-axis.

[0204] In one embodiment, the above positioning determination module includes: a type and information determination unit and a positioning determination unit, where:

[0205] The type and information determination unit is configured to determine the surgical procedure type and the positioning information according to the coordinates of the operation entry point and the coordinates of the operation target point;

[0206] The positioning determination unit is configured to determine the positioning type according to the surgical procedure type and the positioning information.

[0207] In one embodiment, the above type and information determination unit is further configured to determine a direction vector of the positioning path based on the coordinates of the operation entry point and the coordinates of the operation target point;

[0208] Determine the unit direction vector of the positioning path according to the direction vector of the positioning path;

[0209] Determine the surgical procedure type according to the direction component on the Y-axis and the direction component on the Z-axis in the unit direction vector of the positioning path.

[0210] In one embodiment, the above type and information determination unit is further configured to obtain the X coordinate in the operation entry point coordinates; if the X coordinate is positive, determine the positioning type as the first positioning type; if the X coordinate is non-positive, determine the positioning type as the second positioning type.

[0211] In one embodiment, the above range determination module includes: an angle determination unit and a range determination unit, where:

[0212] The angle determination unit is configured to determine the theoretical attitude rotation angle range of the end tool of the robotic arm based on the positioning type; there is a mapping relationship between the positioning type and the theoretical attitude rotation angle range;

[0213] The range determination unit is configured to determine the candidate configuration recommendation range of the robotic arm from the theoretical attitude rotation angle range.

[0214] Each module in the above robotic arm configuration determination device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above modules.

[0215] Based on the same inventive concept, the embodiments of the present application further provide a surgical robot system for implementing the above-mentioned robotic arm configuration determination device. The implementation solutions for solving problems provided by the surgical robot system are similar to the implementation solutions described in the above method. Therefore, the specific limitations in one or more embodiments of the surgical robot system provided below can refer to the limitations on the robotic arm configuration determination device in the above text, and will not be repeated here.

[0216] In one embodiment, a surgical robot system is further provided. The surgical robot system includes a robotic arm and a robotic arm configuration determination device, and the robotic arm executes the target configuration determined by the determination device.

[0217] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, it implements the content of any one of the embodiments of the above-mentioned robotic arm configuration determination method.

[0218] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the content of any one of the embodiments of the above method for determining the configuration of the robotic arm is implemented.

[0219] In one embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the content of any one of the embodiments of the above method for determining the configuration of the robotic arm is implemented.

[0220] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data that have been authorized by the user or fully authorized by all parties.

[0221] 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, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0222] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0223] The above embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method for determining a manipulator configuration, characterized in that, The method includes: Determining a positioning type based on the operation entry point coordinates and the operation target point coordinates of the target object in the base coordinate system of the robotic arm; Determining a recommended range of candidate configurations of the robotic arm based on the positioning type; Determining the target configuration of the robotic arm based on the recommended range of candidate configurations, the operation entry point coordinates, and the operation target point coordinates.

2. The method according to claim 1, characterized in that, The determining the target configuration of the robotic arm based on the recommended range of candidate configurations, the operation entry point coordinates, and the operation target point coordinates includes: Determining a reference position at the end of the robotic arm based on the operation target point coordinates and the operation entry point coordinates; Determining a target angle transformation matrix of the robotic arm based on the recommended range of candidate configurations; Taking the product of the reference position and the target angle transformation matrix as the target configuration of the robotic arm.

3. The method according to claim 2, characterized in that, The determining a reference position at the end of the robotic arm based on the operation target point coordinates and the operation entry point coordinates includes: Determining a direction vector at the end of the robotic arm based on the operation target point coordinates and the operation entry point coordinates; Obtaining a preset distance between the end of the robotic arm and the operation entry point coordinates; Determining a reference position at the end of the robotic arm based on the direction vector and the preset distance.

4. The method according to claim 3, wherein The direction vector includes direction vectors on the X-axis, Y-axis, and Z-axis; The determining a direction vector at the end of the robotic arm based on the operation target point coordinates and the operation entry point coordinates includes: Determining a direction vector of the end of the robotic arm on the X-axis according to the difference in X coordinates between the operation target point coordinates and the operation entry point coordinates; Determining a direction vector of the end of the robotic arm on the Y-axis and a direction vector on the Z-axis based on the direction vector on the X-axis.

5. The method according to claim 4, wherein The determining a direction vector of the end of the robotic arm on the Y-axis and a direction vector on the Z-axis based on the direction vector on the X-axis includes: In the case where the surgical procedure type is the first surgical procedure type, taking the product of the direction vector on the X-axis and a first reference coordinate as the direction vector on the Y-axis; Taking the product of the direction vector on the X-axis and the direction vector on the Y-axis as the direction vector on the Z-axis.

6. The method according to claim 4, characterized in that, The determining a direction vector of the end of the robotic arm on the Y-axis and a direction vector on the Z-axis based on the direction vector on the X-axis includes: In the case where the surgical procedure type is the second surgical procedure type, taking the product of the direction vector on the X-axis and a second reference coordinate as the direction vector on the Z-axis; Taking the product of the direction vector on the X-axis and the direction vector on the Z-axis as the direction vector on the Y-axis.

7. The method according to any one of claims 1-6, characterized in that, The determining the positioning type based on the operation entry point coordinates and the operation target point coordinates of the target object in the base coordinate system of the robotic arm includes: Determining a surgical procedure type and positioning information according to the operation entry point coordinates and the operation target point coordinates; Determining the positioning type according to the surgical procedure type and the positioning information.

8. The method according to claim 7, characterized in that Determining the surgical procedure type according to the operation entry point coordinates and the operation target point coordinates includes: Determining a direction vector of the positioning path based on the operation entry point coordinates and the operation target point coordinates; Determine the unit direction vector of the positioning path according to the direction vector of the positioning path; Determine the surgical procedure type according to the direction component on the Y-axis and the direction component on the Z-axis in the unit direction vector of the positioning path.

9. The method according to claim 7, characterized in that Determine the positioning information according to the operation entry point coordinates and the operation target point coordinates, including: Obtain the X coordinate in the operation entry point coordinates; If the X coordinate is positive, determine that the positioning type is the first positioning type; If the X coordinate is non-positive, determine that the positioning type is the second positioning type.

10. The method according to any one of claims 1-6, characterized in that, Based on the positioning type, determine the recommended range of candidate configurations of the robotic arm, including: Based on the positioning type, determine the theoretical attitude rotation angle range of the end effector of the robotic arm; there is a mapping relationship between the positioning type and the theoretical attitude rotation angle range; Determine the recommended range of candidate configurations of the robotic arm from the theoretical attitude rotation angle range.

11. A device for determining a robotic arm configuration, characterized in that The device includes: A positioning determination module, configured to determine the positioning type based on the operation entry point coordinates and the operation target point coordinates of the target object in the base coordinate system of the robotic arm; A range determination module, configured to determine the recommended range of candidate configurations of the robotic arm based on the positioning type; A configuration determination module, configured to determine the target configuration of the robotic arm based on the recommended range of candidate configurations, the operation entry point coordinates, and the operation target point coordinates.

12. A surgical robot system, characterized in that, The surgical robot system includes a robotic arm and a device for determining a configuration of the robotic arm as described in claim 11, and the robotic arm executes the target configuration determined by the determining device.

13. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method described in any one of claims 1 to 10 are implemented.

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