End tool control method and device

Abstract

The invention relates to an end tool control method and device. In the process of controlling a tail end tool of the mechanical arm to grind and file the planned grinding and filing area, according to the contact contour of the tail end tool and the planned grinding and filing area, the moving path of the center point of the tail end tool projected to the planned grinding and filing area is determined, and the pose of the mechanical arm is determined according to the moving path. And controlling the mechanical arm to drive the end tool to move according to the pose of the mechanical arm. In the embodiment of the invention, the pose of the mechanical arm is determined according to the moving path generated by the tail end tool, the mechanical arm is controlled to drive the tail end tool to move according to the pose of the mechanical arm so as to control the tail end tool to grind and file the planned grinding and filing area, and when the tail end tool is controlled to move, the moving path is generated on the basis of the contact contour. And the pose of the tail end tool on the moving path is converted into the pose of the mechanical arm to control the mechanical arm to move, and the efficiency and accuracy of man-machine cooperation are improved.

Description

Technical Field

[0001] This application relates to the technical field of surgical robots, and particularly to a method and device for controlling an end effector. Background Art

[0002] Hip replacement surgery is to replace the diseased hip joint with an artificial joint. Before replacing the diseased hip joint, it is necessary to first use the end effector of the robot to perform bone grinding on the planned grinding area of the acetabular fossa. In related technologies, the control of the end effector often adopts a passive control strategy. For example, when grinding or about to over-grind occurs, the robot's robotic arm is powered off, or a constraint area is set and the robotic arm is controlled to move within the constraint area.

[0003] However, the accuracy and efficiency of the above control of the end effector are not high. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide an end effector control method and device that can improve the accuracy and efficiency of the control of the end effector.

[0005] In a first aspect, this application provides an end effector control method, including:

[0006] During the process of controlling the end effector of the robotic arm to grind the planned grinding area, according to the contact profile between the end effector and the planned grinding area, determine the movement path of the center point of the end effector projected onto the planned grinding area;

[0007] Determine the pose of the robotic arm according to the movement path;

[0008] Control the robotic arm to drive the end effector to move according to the pose of the robotic arm.

[0009] In one embodiment, the movement path includes a first movement path. The step of determining the movement path of the center point of the end effector projected onto the planned grinding area according to the contact profile between the end effector and the planned grinding area includes:

[0010] Obtain the edge line of the planned grinding area, where the edge line includes an upper edge line and a lower edge line;

[0011] Obtain the contact profile between the end effector and the planned grinding area in real time;

[0012] Determine the first movement path according to the relative position relationship between the contact profile and the edge line of the planned grinding area; the contact profile is tangent to the upper edge line of the planned grinding area everywhere along the first movement path.

[0013] In one embodiment, determining the first movement path according to the relative positional relationship between the contact profile and the edge line of the planned grinding area includes:

[0014] If the relative positional relationship is that the first end of the upper edge line is tangent to the highest point of the contact profile, then when the first end of the upper edge line is tangent to the highest point of the contact profile, the projected position of the center point of the end tool is used as the starting position of the first movement path, and when the second end of the upper edge line is tangent to the highest point of the contact profile, the projected position of the center point of the end tool is used as the ending position of the first movement path.

[0015] In one embodiment, the movement path further includes a second movement path. Determining the movement path of the projected center point of the end tool onto the planned grinding area according to the contact profile between the end tool and the planned grinding area includes:

[0016] After controlling the robotic arm to drive the end tool to move and complete the first movement path, determine the ground area formed when the contact profile moves along the first movement path;

[0017] According to the planned grinding area and the ground area, determine the area to be ground in the planned grinding area;

[0018] Obtain the edge line of the area to be ground;

[0019] Determine the second movement path according to the relative positional relationship between the contact profile and the edge line of the area to be ground.

[0020] In one embodiment, determining the second movement path according to the relative positional relationship between the contact profile and the edge line of the area to be ground includes:

[0021] Determine the comparison result of the first height of the contact profile and the second height of the area to be ground according to the relative positional relationship between the contact profile and the edge line of the area to be ground;

[0022] Determine the second movement path according to the comparison result and the relative positional relationship between the contact profile and the edge line of the area to be ground.

[0023] In one embodiment, if the comparison result is that the first height is greater than or equal to the second height, then the contact profile is everywhere tangent to the upper edge line of the area to be ground along the second movement path.

[0024] In one embodiment, if the comparison result is that the first height is less than or equal to the second height, the contact profile is tangent to the lower edge line of the planned grinding area everywhere along the second movement path.

[0025] In one embodiment, determining the pose of the robotic arm according to the movement path includes:

[0026] Determining stepping points on the movement path based on a preset step size;

[0027] Determining the pose of the robotic arm according to the pose of the end effector corresponding to the stepping points.

[0028] In one embodiment, the method further includes:

[0029] Displaying a target structure model including the planned grinding area, the end effector, and the movement path.

[0030] In one embodiment, the method further includes:

[0031] Obtaining the pose of the end effector and the pose of the target structure;

[0032] Determining the contact profile according to the pose of the end effector, the pose of the target structure, and the planned grinding area.

[0033] In a second aspect, the present application further provides an end effector control device, including:

[0034] A first determination module, configured to determine a movement path of the center point of the end effector projected onto the planned grinding area according to a contact profile between the end effector and the planned grinding area during the process of controlling the end effector of the robotic arm to grind the planned grinding area;

[0035] A second determination module, configured to determine the pose of the robotic arm according to the movement path;

[0036] A control module, configured to control the robotic arm to drive the end effector to move according to the pose of the robotic arm.

[0037] In a third aspect, the present application further provides a computer device, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0038] During the process of controlling the end effector of the robotic arm to grind the planned grinding area, determining a movement path of the center point of the end effector projected onto the planned grinding area according to a contact profile between the end effector and the planned grinding area;

[0039] Determine the pose of the robotic arm according to the moving path;

[0040] Control the robotic arm to drive the end tool to move according to the pose of the robotic arm.

[0041] In a fourth aspect, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0042] During the process of controlling the end tool of the robotic arm to grind and file a planned grinding and filing area, determine the moving path of the center point of the end tool projected onto the planned grinding and filing area according to the contact profile between the end tool and the planned grinding and filing area;

[0043] Determine the pose of the robotic arm according to the moving path;

[0044] Control the robotic arm to drive the end tool to move according to the pose of the robotic arm.

[0045] In a fifth aspect, the present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, the following steps are implemented:

[0046] During the process of controlling the end tool of the robotic arm to grind and file a planned grinding and filing area, determine the moving path of the center point of the end tool projected onto the planned grinding and filing area according to the contact profile between the end tool and the planned grinding and filing area;

[0047] Determine the pose of the robotic arm according to the moving path;

[0048] Control the robotic arm to drive the end tool to move according to the pose of the robotic arm.

[0049] In the above end tool control method and device, during the process of controlling the end tool of the robotic arm to grind and file a planned grinding and filing area, determine the moving path of the center point of the end tool projected onto the planned grinding and filing area according to the contact profile between the end tool and the planned grinding and filing area, determine the pose of the robotic arm according to the moving path, and control the robotic arm to drive the end tool to move according to the pose of the robotic arm. In the embodiments of the present application, determine the pose of the robotic arm according to the moving path generated by the end tool, control the robotic arm to drive the end tool to move according to the pose of the robotic arm, so as to control the end tool to grind and file the planned grinding and filing area. When controlling the movement of the end tool, based on the moving path generated based on the contact profile, convert the pose of the end tool on the moving path into the pose of the robotic arm to control the movement of the robotic arm, thereby improving the efficiency and accuracy of human-robot collaboration. Description of the Drawings

[0050] To more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0051] Figure 1 It is an application environment diagram of the end effector control method in an embodiment;

[0052] Figure 2 It is a schematic diagram of the abduction angle in an embodiment;

[0053] Figure 3 It is a schematic diagram of the rake angle in an embodiment;

[0054] Figure 4 It is a schematic flowchart of the end effector control method in an embodiment;

[0055] Figure 5 It is a schematic diagram of meshing in an embodiment;

[0056] Figure 6 It is a schematic diagram of the end effector control method in an embodiment;

[0057] Figure 7 It is a schematic flowchart of the first moving path generation method in an embodiment;

[0058] Figure 8 It is a schematic diagram of the end effector control method in another embodiment;

[0059] Figure 9 It is a schematic flowchart of the second moving path generation method in an embodiment;

[0060] Figure 10 It is a schematic flowchart of the second moving path generation method in another embodiment;

[0061] Figure 11 It is a schematic flowchart of the method for determining the pose of the robotic arm in an embodiment;

[0062] Figure 12 It is a schematic flowchart of the contact profile determination method in an embodiment;

[0063] Figure 13 It is a schematic flowchart of the moving path generation method in an embodiment;

[0064] Figure 14 It is a structural block diagram of the end effector control device in an embodiment;

[0065] Figure 15 It is an internal structure diagram of a computer device in an embodiment. Detailed implementation manners

[0066] In order to make the objectives, technical solutions and advantages of the present application clearer, 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.

[0067] The end effector control method provided by the embodiments of the present application can be applied to, for example Figure 1 the hip replacement surgery as shown. The purpose of hip replacement surgery is to replace the diseased hip joint with an artificial joint. Before implanting the prosthesis, it is necessary to first use an end effector to perform bone grinding on the planned grinding area such as the acetabular fossa. When performing bone grinding on the acetabular fossa, attention should be paid to the position of the acetabular fossa; the abduction angle of the acetabular fossa, as shown in Figure 2 ; the anteversion angle of the acetabular fossa, as shown in Figure 3 . Figure 3 The abduction angle data in is only given as a possible situation, and can actually be determined by the patient's physiological structure during preoperative planning.

[0068] As shown in Figure 1 , the application environment of hip replacement surgery includes a surgical robot system. The surgical robot system includes a robotic joint 1, a robotic arm 2, a connecting rod 3, a constraint region 20, an optical array 41 fixed on the connecting rod 3, an optical array 43 fixed on the target structure 10. The robotic joint 1 is connected to the connecting rod 3 through the robotic arm 2. One end of the connecting rod 3 is connected with an end effector.

[0069] The poses of the optical array 41 and the optical array 43 are obtained by an optical camera 44. Based on the poses of the optical array 41 and the optical array 43, the pose of the end effector and the pose of the target structure are obtained. Thus, based on the pose of the end effector and the pose of the target structure, the contact profile of the end effector on the planned grinding area of the target structure 10 is determined. According to the contact profile, the movement path of the center point of the end effector projected onto the planned grinding area is determined. According to the movement path, the pose of the robotic arm is determined, and the robotic arm is controlled to drive the end effector to move according to the pose of the robotic arm.

[0070] The constraint region 20 is a virtual geometric region. Within this region, when the doctor drags the end effector to move or operate within the constraint region 20.

[0071] In an exemplary embodiment, as shown in Figure 4 , a method for controlling an end effector is provided. Taking the method applied to a computer device in a surgical robot system as an example, it includes the following S401 to S403. Among them:

[0072] S401. During the process of controlling the end effector of the robotic arm to file the planned filing area, determine the movement path of the projection of the center point of the end effector onto the planned filing area according to the contact profile between the end effector and the planned filing area.

[0073] In this embodiment, three-dimensional reconstruction can be performed based on medical images to obtain the initial planned filing area, and the initial planned filing area can be used as the planned filing area; or as Figure 5 shown, the initial planned filing area is meshed to obtain the planned filing area.

[0074] In a possible implementation, during the process of controlling the end effector of the robotic arm to file the planned filing area, the edge line of the planned filing area can be obtained, the contact profile of the end effector on the planned filing area is controlled to be tangent to one of the edge lines, the contact profile between the end effector and the planned filing area is obtained in real time, and the movement path is determined according to the relative position relationship between the contact profile and the edge line of the planned filing area.

[0075] As Figure 6 shown, if the highest point of the contact profile is tangent to one end of the upper edge line of the planned filing area, then when controlling the movement of the end effector, the highest point of the real-time contact profile generated is controlled to move along the upper edge line all the time, obtaining the first movement path. Then, the upper edge line of the area to be filed in the planned filing area is obtained, so that the highest point of the contact profile is tangent to one end of the upper edge line of the area to be filed, and the highest point of the real-time contact profile generated when controlling the movement of the end effector is controlled to move along the upper edge line of the area to be filed all the time, and layered filing is performed until the planned filing area is filed completely, obtaining the second movement path.

[0076] In another possible implementation, during the process of controlling the end effector of the robotic arm to file the planned filing area, the edge line of the planned filing area can be obtained, the contact profile of the end effector on the planned filing area is controlled to be tangent to the edge line, and it moves around the edge line of the planned filing area for one circle. Then, the edge line of the area to be filed in the planned filing area is obtained again, the contact profile is controlled to be tangent to the edge line of the area to be filed, and it moves along the edge line of the area to be filed until the planned filing area is filed completely, obtaining the movement path.

[0077] S402. Determine the pose of the robotic arm according to the movement path.

[0078] In this embodiment, multiple stepping points can be selected from the movement path according to a preset step size, and the pose of the robotic arm corresponding to each stepping point is determined according to the parameter information of the robotic arm itself.

[0079] In a possible implementation, the pose of the robotic arm on the movement path can also be directly obtained.

[0080] S403. Control the robotic arm to drive the end effector to move according to the pose of the robotic arm.

[0081] In this embodiment, during the process of controlling the movement of the end effector, the doctor triggers an external input signal through stepping on a pedal, pressing a button, or other actions. The robotic arm generates an active force and controls the robotic arm to drive the end effector to move for grinding and filing according to the pose of the robotic arm, so as to ensure the controllability and safety of the operation.

[0082] In the above method for controlling the end effector, during the process of controlling the end effector of the robotic arm to grind and file the planned grinding and filing area, according to the contact profile between the end effector and the planned grinding and filing area, determine the movement path of the center point of the end effector projected onto the planned grinding and filing area, determine the pose of the robotic arm according to the movement path, and control the robotic arm to drive the end effector to move according to the pose of the robotic arm. In the embodiment of the present application, determine the pose of the robotic arm according to the movement path generated by the end effector, control the robotic arm to drive the end effector to move according to the pose of the robotic arm, so as to control the end effector to grind and file the planned grinding and filing area. When controlling the movement of the end effector, based on generating the movement path based on the contact profile, convert the pose of the end effector on the movement path into the pose of the robotic arm to control the movement of the robotic arm, thereby improving the efficiency and accuracy of human-robot collaboration.

[0083] Figure 7 It is a schematic flowchart of the first movement path generation method in an embodiment, as Figure 7 shown. The embodiment of the present application relates to a possible implementation manner of how to determine the first movement path of the center point of the end effector projected onto the planned grinding and filing area according to the contact profile between the end effector and the planned grinding and filing area, including the following steps:

[0084] S701. Obtain the edge lines of the planned grinding and filing area, where the edge lines include the upper edge line and the lower edge line.

[0085] In this embodiment, an edge detection algorithm can be used to extract the edge lines of the planned area. For example, obtain the normal line of the planned grinding and filing area, and estimate the edge lines of the planned grinding and filing area based on the normal line and the point cloud data corresponding to the planned grinding and filing area.

[0086] S702. Obtain the contact profile between the end effector and the planned grinding and filing area in real time.

[0087] In this embodiment, an optical camera can be used to obtain the positions of the above optical arrays 41 and 43 under the optical camera. According to the positions of the optical arrays 41 and 43 under the optical camera, the point cloud data of the planned grinding and filing area, the pose of the end effector, the pose of the planned grinding and filing area, and the attribute information of the end effector, obtain the contact profile between the end effector and the planned grinding and filing area.

[0088] In a possible implementation, an optical camera can also be used as the ray source position, and the planned grinding and filing area can be planned as the imaging surface. The projection image of the end tool on the planned grinding and filing area is obtained through the optical camera, and the projection image is analyzed to obtain the contact profile between the end tool and the planned grinding and filing area.

[0089] S703. Determine the first movement path according to the relative position relationship between the contact profile and the edge line of the planned grinding and filing area; the contact profile is tangent to the upper edge line of the planned grinding and filing area everywhere along the first movement path.

[0090] In this embodiment, as Figure 8 shown in Figure a of [], if the relative position relationship is that the highest point of the contact profile and one end of the upper edge line of the planned grinding and filing area are not tangent, move the end tool so that the highest point of the contact profile of the end tool on the planned grinding and filing area is tangent to one end of the upper edge line, that is, Figure 8 shown in Figure b of []. Take the projected position of the center point of the end tool at this time as the starting position O1 of the first movement path, and control the end tool to move so that the highest point of the real-time contact profile of the end tool is tangent to the upper edge line everywhere during the movement until the highest point of the contact profile reaches the other end of the upper edge line. Take the projected position of the center point of the end tool at this time as the end position O2 of the first path.

[0091] In another possible implementation, if the relative position relationship is that the highest point of the contact profile and one end of the upper edge line of the planned grinding and filing area are tangent, directly control the end tool to move so that the highest point of the real-time contact profile of the end tool is tangent to the upper edge line everywhere during the movement to obtain the first movement path.

[0092] In the embodiment of the present application, by obtaining the edge line of the planned grinding and filing area, the contact profile between the end tool and the planned grinding and filing area is obtained in real time, and the first movement path is determined according to the relative position relationship between the contact profile and the edge line of the planned grinding and filing area. In the embodiment of the present application, the contact profile is continuously updated as the end tool moves, and the contact profile is tangent to the upper edge line of the planned grinding and filing area everywhere along the first movement path, making the generated first movement path more accurate.

[0093] In an embodiment, determining the first movement path according to the relative position relationship between the contact profile and the edge line of the planned grinding and filing area includes: if the relative position relationship is that the first end of the upper edge line is tangent to the highest point of the contact profile, then when the first end of the upper edge line is tangent to the highest point of the contact profile, take the projected position of the center point of the end tool as the starting position of the first movement path, and when the second end of the upper edge line is tangent to the highest point of the contact profile, take the projected position of the center point of the end tool as the end position of the first movement path.

[0094] In this embodiment, as Figure 8 shown, when the first end of the upper edge line and the highest point of the contact profile are tangent in the relative position relationship, the projected position of the center point of the end tool at this time is used as the starting position of the first movement path. Control the movement of the end tool. During the movement, the highest point of the contact profile of the end tool on the planned grinding and filing area is always tangent to the upper edge line until the highest point of the contact profile reaches the second end of the upper edge line, and the end tool stops moving. During the movement of the end tool, the path generated by the projection of the center point of the end tool is the first movement path O1O2.

[0095] Figure 9 FIG. is a schematic flowchart of a method for generating a second movement path in an embodiment. As Figure 9 shown, this embodiment of the present application relates to a possible implementation manner of determining the second movement path of the projection of the center point of the end tool onto the planned grinding and filing area according to the contact profile between the end tool and the planned grinding and filing area, including the following steps:

[0096] S901, after controlling the robotic arm to drive the end tool to move and complete the first movement path, determine the ground and filed area formed when the contact profile moves along the first movement path.

[0097] In this embodiment, after controlling the robotic arm to drive the end tool to move and complete the first movement path, update the point cloud data of the planned grinding and filing area to determine the ground and filed area in the planned grinding and filing area.

[0098] S902, according to the planned grinding and filing area and the ground and filed area, determine the area to be ground and filed in the planned grinding and filing area.

[0099] In this embodiment, the area to be ground and filed in the planned grinding and filing area can be determined according to the difference information between the planned grinding and filing area and the ground and filed area.

[0100] S903, obtain the edge line of the area to be ground and filed.

[0101] In this embodiment, the method for obtaining the edge line of the area to be ground and filed can refer to the specific implementation manner of obtaining the planned grinding and filing area described above.

[0102] S904, according to the relative position relationship between the contact profile and the edge line of the area to be ground and filed, determine the second movement path.

[0103] In this embodiment, according to the relative position relationship between the contact profile and the edge line of the area to be ground and filed, the comparison result of the first height of the contact profile and the second height of the area to be ground and filed can be determined. According to the comparison result and the relative position relationship between the contact profile and the edge line of the area to be ground and filed, the second movement path is determined.

[0104] In a possible implementation, it is also possible to control the contact profile generated during the movement of the end tool to always be tangent to the edge line of the area to be filed according to the relative positional relationship between the contact profile and the edge line of the area to be filed. By continuously updating the edge line of the area to be filed until the area to be filed is completely filed, a second movement path is obtained.

[0105] In the embodiments of the present application, after the manipulator is controlled to drive the end tool to move and execute the first movement path, the filed area formed when the contact profile moves along the first movement path is determined. According to the planned filing area and the filed area, the area to be filed in the planned filing area is determined, the edge line of the area to be filed is obtained, and the second movement path is determined according to the relative positional relationship between the contact profile and the edge line of the area to be filed. In the embodiments of the present application, the second movement path is determined according to the relative positional relationship between the contact profile and the edge line of the area to be filed, and the second movement path is generated by filing the area to be filed, making the determination of the second movement path more accurate.

[0106] Figure 10 For the flowchart of the method for generating the second movement path in another embodiment, as Figure 10 shown, the embodiments of the present application relate to a possible implementation of how to determine the second movement path according to the relative positional relationship between the contact profile and the edge line of the area to be filed, including the following steps:

[0107] S1001, determine the comparison result between the first height of the contact profile and the second height of the area to be filed according to the relative positional relationship between the contact profile and the edge line of the area to be filed.

[0108] In this embodiment, the comparison result between the first height of the contact profile and the second height of the area to be filed can be directly determined according to the relative positional relationship between the contact profile and the edge line of the area to be filed. As shown in Figure c above, the contact profile is the contact profile generated by the end tool in the pose at the end of the first movement path. The first height D1 of the contact profile and the second height D2 of the area to be filed are obtained, and the difference between the first height D1 and the second height D2 is obtained. Figure 8

[0109] In a possible implementation, it is also possible to adjust the relative positional relationship between the contact profile and the edge line of the area to be filed to obtain the comparison result between the first height of the contact profile and the second height of the area to be filed. For example, if the height of the contact profile generated by the end tool in the pose at the end of the first movement path is less than the second height D2 and this height is not the highest height of the contact profile, then the relative positional relationship is adjusted, that is, the pose of the end tool is adjusted to obtain the highest height of the contact profile, and the highest height is used as the first height D1, and the difference between the first height D1 and the second height D2 is obtained.

[0110] S1002. Determine a second movement path according to the comparison result and the relative positional relationship between the contact profile and the edge line of the area to be filed.

[0111] Among them, if the comparison result is that the first height is greater than or equal to the second height, the contact profile is tangent to the upper edge line of the area to be filed everywhere along the second movement path; if the comparison result is that the first height is less than the second height, the contact profile is tangent to the lower edge line of the planned filing area everywhere along the second movement path.

[0112] In this embodiment, as shown in Figures d and e above Figure 8 If the first height is greater than or equal to the second height, that is, the contact profile during the movement of the end tool can cover the area to be filed, move the end tool to make the lowest point of the contact profile tangent to the lower edge line to obtain a first sub-movement path O2O3. Then control the lowest point of the contact profile to move along the lower edge line to file the area to be filed to obtain a second sub-movement path O3O4. The first sub-movement path O2O3 and the second sub-movement path O3O4 are the second movement path.

[0113] If the first height is less than the second height, that is, the contact profile during the movement of the end tool cannot completely cover the area to be filed, move the end tool to make the highest point of the contact profile tangent to the upper edge line of the area to be filed to obtain a first sub-movement path O2O3. Then control the highest point of the contact profile to move along the upper edge line of the area to be filed to file the area to be filed to obtain a second sub-movement path O3O4.

[0114] Further obtain a new area to be filed after the first sub-movement path O2O3 and the second sub-movement path O3O4, obtain the edge line of the new area to be filed, and determine the comparison result between the first height of the contact profile and the third height of the new area to be filed according to the relative positional relationship between the edge line of the new area to be filed and the contact profile. If the comparison result is that the first height is greater than or equal to the third height, generate a third sub-movement path. The second movement path at this time includes the first sub-movement path, the second sub-movement path, and the third sub-movement path.

[0115] If the comparison result is that the first height is less than the third height, continue to repeat the above steps.

[0116] It should be noted that when obtaining the first sub-movement path O2O3, if the pose of the end tool corresponding to the end position of the first movement path, and the contact profile generated during the downward movement can cover the left edge line of the area to be filed, the pose of the end tool does not need to be adjusted during the downward movement, or the pose of the end tool can also be adjusted so that the leftmost point of the contact profile of the end tool is tangent to the left edge line everywhere to obtain the first sub-movement path O2O3.

[0117] If the pose of the end effector corresponding to the end position of the first movement path cannot cover the left edge line of the area to be filed when moving downward, adjust the pose of the end effector so that the leftmost point of the contact profile of the end effector is tangent to the left edge line everywhere, obtaining the first sub-movement path O2O3. Alternatively, adjust the pose of the end effector so that the contact profile generated when the end effector moves downward can cover the left edge line of the area to be filed.

[0118] In the embodiments of the present application, according to the relative positional relationship between the contact profile and the edge line of the area to be filed, the comparison result of the first height of the contact profile and the second height of the area to be filed is determined, and according to the comparison result and the relative positional relationship between the contact profile and the edge line of the area to be filed, the second movement path is determined. In this embodiment, determining the second movement path according to the comparison result of the first height of the contact profile and the second height of the area to be filed, that is, determining the movement path of the planned filing area in a hierarchical manner, improves the efficiency of determining the movement path.

[0119] Figure 11 is a schematic flowchart of a method for determining the pose of a robotic arm in an embodiment. As Figure 11 shown, the embodiments of the present application relate to a possible implementation manner of how to determine the pose of a robotic arm according to a movement path, including the following steps:

[0120] S1101, determining step points on the movement path based on a preset step size.

[0121] S1102, determining the pose of the robotic arm according to the pose of the end effector corresponding to the step point.

[0122] Optionally, the preset step size can be 2, 3, 4, etc., and the embodiments of the present application do not limit this.

[0123] In this embodiment, step points on the movement path are determined according to the preset step size. As shown in Figure e above, Figure 8 each dot in Figure e is a step point on the movement path. Obtain the pose of the end effector corresponding to this step point. According to the position of the end effector and the attribute information of the end effector, the pose of the center point of the end effector can be obtained. Determine the pose of the robotic arm according to the pose of the midpoint of the end effector and the parameter information of the robotic arm. Figure 8 In the embodiments of the present application, step points on the movement path are determined based on a preset step size, and the pose of the robotic arm is determined according to the pose of the end effector corresponding to the step point, making the determination of the pose of the robotic arm more in line with actual requirements and laying a foundation for subsequent controlling the movement of the end effector based on the pose of the robotic arm.

[0124] In the embodiments of the present application, step points on the movement path are determined based on a preset step size, and the pose of the robotic arm is determined according to the pose of the end effector corresponding to the step point, making the determination of the pose of the robotic arm more in line with actual requirements and laying a foundation for subsequent controlling the movement of the end effector based on the pose of the robotic arm.

[0125] In one embodiment, the method further includes: displaying a target structure model including a planned grinding area, an end effector, and a movement path.

[0126] In this embodiment, during the grinding process, the target structure model of the planned grinding area, the end effector, and the movement path can also be displayed on the surgical navigation interface to provide online visual display guidance for the doctor.

[0127] Optionally, the magnitude and direction of the force when the robotic arm moves from one pose to another can also be displayed. During the process where the robotic arm actively guides the grinding with force, the direction of the force is the direction pointing to the next approaching point as the force application direction.

[0128] Figure 12 is a schematic flowchart of a method for determining a contact profile in one embodiment, as Figure 12 shown, including the following steps:

[0129] S1201, obtaining the pose of the end effector and the pose of the target structure.

[0130] In this embodiment, as shown in Figure 13 , the pose of the optical array 41 and the pose of the optical array 43 can be obtained through an optical camera. The pose of the end effector can be obtained according to the pose of the optical array 41, and the pose of the target structure can be obtained according to the pose of the optical array 43.

[0131] S1202, determining the contact profile according to the pose of the end effector, the pose of the target structure, and the planned grinding area.

[0132] In this embodiment, the contact profile is obtained according to the pose of the end effector, the pose of the target structure, the pose of the planned grinding area, the point cloud data of the planned grinding area, and the attribute information of the end effector. In the subsequent process, according to the relative position relationship between the end effector and the planned grinding area, a real-time movement path can be obtained. The movement of the robotic arm is controlled according to the target pose, the direction and magnitude of the force of the robotic arm. The pose of the robotic arm changes, causing the pose of the end effector to change. A new contact profile is determined in the new pose, and thus a real-time movement path is obtained according to the relative position relationship between the new contact profile and the unground area. This process is repeated until the planned grinding area is completely ground to obtain the movement path.

[0133] In the embodiments of the present application, by obtaining the pose of the end effector and the pose of the target structure, and determining the contact profile according to the pose of the end effector, the pose of the target structure, and the planned grinding area, since the pose of the end effector is constantly changing, the real-time contact profile in different poses of the end effector can be obtained in real time, laying a foundation for determining the movement path based on the contact profile.

[0134] It should be understood that although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, 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 moment, but can be executed at different moments, and 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 the steps or stages in other steps or other steps.

[0135] Based on the same inventive concept, an embodiment of the present application also provides an end effector control device for implementing the above-mentioned end effector control method. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the end effector control device provided below can refer to the limitations on the end effector control method in the above text, and will not be repeated here.

[0136] In an exemplary embodiment, as Figure 14 shown, an end effector control device is provided, including: a first determination module 11, a second determination module 12, and a control module 13, where:

[0137] The first determination module 11 is configured to determine the movement path of the center point of the end effector projected onto the planned grinding and filing area according to the contact profile between the end effector and the planned grinding and filing area during the process of controlling the end effector of the robotic arm to grind and file the planned grinding and filing area;

[0138] The second determination module 12 is configured to determine the pose of the robotic arm according to the movement path;

[0139] The control module 13 is configured to control the robotic arm to drive the end effector to move according to the pose of the robotic arm.

[0140] In one embodiment, the first determination module includes:

[0141] The first acquisition unit is configured to acquire the edge lines of the planned grinding and filing area, and the edge lines include the upper edge line and the lower edge line;

[0142] The second acquisition unit is configured to acquire the contact profile between the end effector and the planned grinding and filing area in real time;

[0143] The first determination unit is configured to determine the first movement path according to the relative position relationship between the contact profile and the edge lines of the planned grinding and filing area; the contact profile is tangent to the upper edge line of the planned grinding and filing area everywhere along the first movement path.

[0144] In one embodiment, the first determination unit is further configured to, if the first end of the upper edge line is tangent to the highest point of the contact profile, use the projected position of the center point of the end effector when the first end of the upper edge line is tangent to the highest point of the contact profile as the starting position of the first movement path, and use the projected position of the center point of the end effector when the second end of the upper edge line is tangent to the highest point of the contact profile as the ending position of the first movement path.

[0145] In one embodiment, the first determination module includes:

[0146] A second determination unit, configured to determine the ground filing area formed when the contact profile moves along the first movement path after controlling the robotic arm to drive the end effector to move and execute the first movement path;

[0147] A third determination unit, configured to determine the area to be ground filed in the planned ground filing area according to the planned ground filing area and the ground filed area;

[0148] A third acquisition unit, configured to acquire the edge line of the area to be ground filed;

[0149] A fourth determination unit, configured to determine the second movement path according to the relative position relationship between the contact profile and the edge line of the area to be ground filed.

[0150] In one embodiment, the fourth determination unit is further configured to determine the comparison result of the first height of the contact profile and the second height of the area to be ground filed according to the relative position relationship between the contact profile and the edge line of the area to be ground filed; and determine the second movement path according to the comparison result and the relative position relationship between the contact profile and the edge line of the area to be ground filed.

[0151] In one embodiment, if the comparison result is that the first height is greater than or equal to the second height, the contact profile is tangent to the upper edge line of the area to be ground filed everywhere along the second movement path.

[0152] In one embodiment, if the comparison result is that the first height is less than or equal to the second height, the contact profile is tangent to the lower edge line of the planned ground filing area everywhere along the second movement path.

[0153] In one embodiment, the second determination module includes:

[0154] A fifth determination unit, configured to determine the step points on the movement path based on a preset step size;

[0155] A sixth determination unit, configured to determine the pose of the robotic arm according to the pose of the end effector corresponding to the step points.

[0156] In one embodiment, the end effector control device further includes:

[0157] A display module for displaying a target structure model including a planned grinding area, an end effector, and a movement path.

[0158] In one embodiment, the end effector control device further includes:

[0159] An acquisition module for acquiring the pose of the end effector and the pose of the target structure;

[0160] A third determination module for determining a contact profile according to the pose of the end effector, the pose of the target structure, and the planned grinding area.

[0161] Each module in the above end effector control device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in or independent of a processor in a computer device in the form of hardware, or stored in a memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0162] In an exemplary embodiment, a computer device is provided. The computer device can be a server, and its internal structure diagram can be as Figure 15 shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes 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 relevant data for end effector control. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication 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, it implements an end effector control method.

[0163] Those skilled in the art can understand that Figure 15 the structure shown in

[0164] In an exemplary 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, the steps of any of the above method embodiments are implemented.

[0165] In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above method embodiments are implemented.

[0166] In an embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps of any of the above method embodiments are implemented.

[0167] 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 authorized by the user or fully authorized by all parties. And the collection, use, and processing of relevant data need to comply with relevant regulations.

[0168] 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.

[0169] 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 recorded in this specification.

[0170] The above-described 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 controlling an end effector, characterized in that, The method includes: During the process of controlling the end effector of the robotic arm to grind and file a planned grinding and filing area, according to the contact profile between the end effector and the planned grinding and filing area, determine the movement path of the projection of the center point of the end effector onto the planned grinding and filing area; Determine the pose of the robotic arm according to the movement path; Control the robotic arm to drive the end effector to move according to the pose of the robotic arm.

2. The method according to claim 1, characterized in that, The movement path includes a first movement path. The step of determining the movement path of the projection of the center point of the end effector onto the planned grinding and filing area according to the contact profile between the end effector and the planned grinding and filing area includes: Obtain the edge line of the planned grinding and filing area, and the edge line includes an upper edge line and a lower edge line; Obtain the contact profile between the end effector and the planned grinding and filing area in real time; Determine the first movement path according to the relative position relationship between the contact profile and the edge line of the planned grinding and filing area; the contact profile is tangent to the upper edge line of the planned grinding and filing area everywhere along the first movement path.

3. The method according to claim 2, wherein The step of determining the first movement path according to the relative position relationship between the contact profile and the edge line of the planned grinding and filing area includes: If the relative position relationship is that the first end of the upper edge line is tangent to the highest point of the contact profile, then use the projection position of the center point of the end effector when the first end of the upper edge line is tangent to the highest point of the contact profile as the starting position of the first movement path, and use the projection position of the center point of the end effector when the second end of the upper edge line is tangent to the highest point of the contact profile as the ending position of the first movement path.

4. The method according to claim 2, wherein The movement path further includes a second movement path. The step of determining the movement path of the projection of the center point of the end effector onto the planned grinding and filing area according to the contact profile between the end effector and the planned grinding and filing area includes: After controlling the robotic arm to drive the end effector to move and complete the first movement path, determine the ground and filed area formed when the contact profile moves along the first movement path; Determine the area to be ground and filed in the planned grinding and filing area according to the planned grinding and filing area and the ground and filed area; Obtain the edge line of the area to be ground and filed; Determine the second movement path according to the relative position relationship between the contact profile and the edge line of the area to be ground and filed.

5. The method according to claim 4, wherein The step of determining the second movement path according to the relative position relationship between the contact profile and the edge line of the area to be ground and filed includes: Determine the comparison result between the first height of the contact profile and the second height of the area to be ground and filed according to the relative position relationship between the contact profile and the edge line of the area to be ground and filed; Determine the second movement path according to the comparison result and the relative position relationship between the contact profile and the edge line of the area to be ground and filed.

6. The method according to claim 5, characterized in that, If the comparison result is that the first height is greater than or equal to the second height, then the contact profile is tangent to the upper edge line of the area to be ground and filed everywhere along the second movement path.

7. The method according to claim 5, characterized in that, If the comparison result is that the first height is less than or equal to the second height, the contact profile is everywhere tangent to the lower edge line of the planned grinding area along the second movement path.

8. The method according to claim 1, wherein Determining the pose of the robotic arm according to the movement path includes: Determining step points on the movement path based on a preset step size; Determining the pose of the robotic arm according to the pose of the end effector corresponding to the step points.

9. The method according to claim 1, wherein The method further includes: Displaying a target structure model including the planned grinding area, the end effector, and the movement path.

10. The method according to claim 1, wherein The method further includes: Obtaining the pose of the end effector and the pose of the target structure; Determining the contact profile according to the pose of the end effector, the pose of the target structure, and the planned grinding area.

11. An end effector control device, characterized in that, The device includes: A first determination module, configured to determine a movement path of the center point of the end effector projected onto the planned grinding area according to a contact profile between the end effector and the planned grinding area during the process of controlling the end effector of the robotic arm to grind the planned grinding area; A second determination module, configured to determine the pose of the robotic arm according to the movement path; A control module, configured to control the robotic arm to drive the end effector to move according to the pose of the robotic arm.

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