System precision determination method, test system and mechanical arm motion control method

Abstract

The invention relates to a system precision determination method, a mechanical arm motion control method and a system precision test system. The system precision determination method provided by the embodiment of the invention comprises the steps of obtaining an expected pose of a target position in a coordinate system of a laser tracker based on measurement of the laser tracker; determining a rotation translation matrix of a coordinate system of the tomography equipment relative to a coordinate system of the first tracing module based on the preset position; acquiring a real-time pose of the second tracing module under the coordinate system of the optical navigation equipment; determining a current pose of the position of the functional component in a coordinate system of the tomography equipment so as to perform feedback control on the movement of the position of the functional component to the target position until the movement is completed; and under the condition that the movement from the position of the functional part to the target position is completed, a final pose is obtained based on the measurement of the laser tracker, and the system precision is determined and obtained. According to the embodiment of the invention, the system precision, the test precision and the positioning precision of the mechanical arm can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical equipment, and in particular to a system accuracy determination method and a test system, and a robotic arm motion control method. Background Art

[0002] Surgical robotic systems can be used to precisely position surgical tools. In conjunction with medical imaging equipment, the system can provide real-time navigation for surgical tools, enabling surgical planning and positioning of surgical paths to assist the operator in completing the operation.

[0003] One of the most important evaluation indicators for surgical robotic systems is system accuracy, a key parameter for ensuring safe and successful surgical procedures. Therefore, determining or improving system accuracy is crucial. Summary of the Invention

[0004] In view of this, the embodiments of the present application provide a system accuracy determination method, a robotic arm motion control method, a system accuracy determination device, a robotic arm motion control device, an electronic device, a storage medium and a system accuracy testing system to solve at least one problem existing in the background technology.

[0005] In a first aspect, an embodiment of the present application provides a method for determining system accuracy, the method comprising:

[0006] Obtaining positions of a preset number of preset positions in the coordinate system of the tomography device to obtain, based on surface planning, a first pose of a target position corresponding to the preset positions in the coordinate system of the tomography device, and obtaining, based on measurement by the laser tracker, a desired pose of the target position in the coordinate system of the laser tracker;

[0007] Determining a rotation and translation matrix of a coordinate system of a tomography device relative to a coordinate system of a first tracking module based on the preset position; wherein the first tracking module is used to indicate a position of the tracking object corresponding to the preset position;

[0008] During the movement of the functional component position of the tool toward the target position, a real-time position and posture of the second tracer module in the coordinate system of the optical navigation device is obtained based on the measurement of the optical navigation device; and based on the real-time position and posture and the rotation and translation matrix, a current position and posture of the functional component position in the coordinate system of the tomography device is determined, so as to feedback control the movement of the functional component position toward the target position according to the first position and the current position until the movement is completed; wherein the second tracer module is used to indicate the position and posture of the end of the manipulator corresponding to the position of the functional component;

[0009] When the movement of the functional component position to the target position is completed, the final position and orientation of the functional component position in the coordinate system of the laser tracker is obtained based on the measurement of the laser tracker; and the system accuracy is determined based on the final position and the expected position and orientation.

[0010] In conjunction with the first aspect, in an optional embodiment, determining a rotation and translation matrix of a coordinate system of the tomography device relative to a coordinate system of the first tracing module based on the preset position includes:

[0011] Obtaining a second pose of the preset position in the coordinate system of the optical navigation device based on measurement by the optical navigation device, and determining a third pose of the preset position in the coordinate system of the first tracing module according to the second pose;

[0012] Obtaining a fourth posture of the preset position in a coordinate system of a tomography device based on the surface planning;

[0013] Based on the fourth posture and the third posture, a rotation and translation matrix of the coordinate system of the tomography device relative to the coordinate system of the first tracing module is determined.

[0014] In combination with the first aspect, in an optional implementation manner, obtaining the second pose of the preset position in the coordinate system of the optical navigation device based on measurement by the optical navigation device includes:

[0015] A marking device is used to obtain a second posture of the preset position in the coordinate system of the optical navigation device; wherein the marking device includes one or more active luminous markers or passive markers for indicating the posture of the preset position.

[0016] In conjunction with the first aspect, in an optional implementation, determining the current posture of the functional component position in the coordinate system of the tomography device based on the real-time posture and the rotation and translation matrix includes:

[0017] Obtaining a calibration pose of the functional component position in a coordinate system of a second tracing module;

[0018] Determining a first real-time pose of the second tracing module in the coordinate system of the first tracing module based on the real-time pose;

[0019] Based on the calibration pose, the first real-time pose and the rotation and translation matrix, the current pose of the functional component position in the coordinate system of the tomography device is determined.

[0020] In conjunction with the first aspect, in an optional implementation, the feedback control of the movement of the functional component position toward the target position according to the first posture and the current posture until the movement is completed includes:

[0021] When a posture deviation between the current posture and the first posture is greater than or equal to a deviation threshold, determining a target posture to which the manipulator needs to move based on the posture deviation and controlling the manipulator to move to the target posture; re-performing surface planning to re-determine the posture deviation between the current posture and the first posture;

[0022] In a case where the posture deviation between the current posture and the first posture is less than a deviation threshold, the movement is completed.

[0023] In a second aspect, an embodiment of the present application provides a method for controlling motion of a robotic arm, the method comprising:

[0024] Determine the system accuracy of the robot system using the system accuracy determination method as described in the first aspect;

[0025] The actual posture that the robot arm needs to move to is corrected based on the system accuracy to control the robot arm to move to the actual posture, so that the actual posture matches the expected posture.

[0026] In a third aspect, an embodiment of the present application provides a system accuracy determination device, the system accuracy determination device comprising:

[0027] a first determining module, configured to obtain positions of a preset number of preset positions in a coordinate system of a tomographic scanning device, so as to obtain a first pose of a target position corresponding to the preset positions in the coordinate system of the tomographic scanning device based on surface planning, and to obtain a desired pose of the target position in the coordinate system of the laser tracker based on measurement by a laser tracker;

[0028] a second determining module, configured to determine, based on the preset position, a rotation and translation matrix of a coordinate system of the tomography device relative to a coordinate system of a first tracing module; wherein the first tracing module is configured to indicate a position of the tracked object corresponding to the preset position;

[0029] a third determining module, configured to obtain, based on the measurement of the optical navigation device, a real-time position and posture of the second tracing module in the coordinate system of the optical navigation device during the movement of the functional component position of the execution tool toward the target position; and to determine, based on the real-time position and posture and the rotation and translation matrix, a current position and posture of the functional component position in the coordinate system of the tomography device, so as to perform feedback control on the movement of the functional component position toward the target position according to the first position and the current position and until the movement is completed; wherein the second tracing module is configured to indicate the position and posture of the end of the manipulator arm corresponding to the position of the functional component;

[0030] The fourth determination module is used to obtain the final posture of the functional component position in the coordinate system of the laser tracker based on the measurement of the laser tracker when the movement of the functional component position to the target position is completed; and determine the system accuracy according to the final posture and the expected posture.

[0031] In a fourth aspect, an embodiment of the present application provides a robotic arm motion control device, the robotic arm motion control device comprising:

[0032] Determine the system accuracy of the robot system using the system accuracy determination device as described in the third aspect;

[0033] The actual posture that the robot arm needs to move to is corrected based on the system accuracy, and the robot arm is controlled to move to the actual posture so that the actual posture matches the expected posture.

[0034] In a fifth aspect, an embodiment of the present application provides an electronic device, comprising:

[0035] a memory storing instructions; and

[0036] A processor is configured to execute the instructions to implement the system accuracy determination method as described in the first aspect and / or the robot arm motion control method as described in the second aspect.

[0037] In a sixth aspect, an embodiment of the present application provides a storage medium, in which a computer program is stored. When the computer program is executed, it can implement the system accuracy determination method as described in the first aspect and / or the robotic arm motion control method as described in the second aspect.

[0038] In a seventh aspect, an embodiment of the present application provides a system accuracy testing system for implementing the system accuracy determination method described in the first aspect and / or the robotic arm motion control method described in the second aspect, wherein the system accuracy testing system includes a laser tracker and a robot system;

[0039] The robotic system comprises:

[0040] Tomographic equipment for measuring the position of tracers;

[0041] An optical navigation device for measuring a posture comprising at least one of: a first tracing module; a second tracing module; a marking device;

[0042] A robotic arm, used to install an execution tool and drive the execution tool to move;

[0043] an execution tool, including a functional component position, adapted to move with the robotic arm to reach a desired posture;

[0044] a tracer mounted on a test fixture and / or an execution tool to indicate a position of a preset position and / or a position of a functional component of the execution tool;

[0045] a first tracking module, configured to indicate a position of the tracked object corresponding to the preset position;

[0046] A second tracing module is used to indicate the position of the end of the robotic arm corresponding to the position of the functional component;

[0047] A marking device is used to indicate the posture of the preset position.

[0048] The beneficial effects of the technical solution provided by the embodiment of the present application include: determining the first pose of the target position in the coordinate system of the tomography device through surface planning, and obtaining the desired pose of the target position in the coordinate system of the laser tracker based on the measurement of the laser tracker, which can improve the positioning accuracy of the desired pose and accurately locate the desired pose of any desired target position by utilizing the high-precision measurement of the laser tracker. In addition, by obtaining the real-time pose of the second tracer module in the coordinate system of the optical navigation device in real time during the movement of the functional component position of the execution tool to the target position, the optical navigation device can monitor the pose of the functional component position in real time during the movement to determine the current pose of the functional component position in the coordinate system of the tomography device in real time, thereby tracking the deviation between the current pose and the first pose corresponding to the target position in real time and performing visual closed-loop servo to control the movement of the robotic arm, ultimately causing the deviation to converge, thereby realizing system-based closed-loop servo control of the robotic arm. And after the deviation converges, the robotic arm almost stops moving, that is, when the functional component position moves to the target position, the laser tracker is used again to measure the final posture, so as to determine the system accuracy based on the final posture and the expected posture, complete the system accuracy test, and improve the accuracy of determining the system accuracy.

[0049] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0051] Figure 1 This is a flowchart of a specific example of a method for determining system accuracy in an embodiment of the present application;

[0052] Figure 2 A schematic diagram of a specific example of the above-mentioned embodiment of the present application;

[0053] Figure 3 This is a schematic diagram of a specific example of the combination of the marking device and the first tracing module in the embodiment of the present application;

[0054] Figure 4 A schematic diagram of a specific example of a coordinate system in an embodiment of the present application;

[0055] Figure 5 This is a flowchart of a specific example of a method for controlling the motion of a robotic arm according to an embodiment of the present application;

[0056] Figure 6 This is a schematic diagram of a principle block diagram of a specific example of a system accuracy determination device in an embodiment of the present application;

[0057] Figure 7 This is a schematic diagram of a principle block diagram of a specific example of a robot arm motion control device in an embodiment of the present application;

[0058] Figure 8 A schematic diagram of a principle block diagram of a specific example of an electronic device in an embodiment of the present application;

[0059] Figure 9 This is a schematic diagram of a specific example of a system accuracy testing system in an embodiment of the present application. DETAILED DESCRIPTION

[0060] To make the technical solutions and beneficial effects of the present invention more clearly understood, the following detailed description is given by way of specific embodiments. The accompanying drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly illustrate the details of the local features. Unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application belongs.

[0061] The embodiments of the present application are not exhaustive, but are merely illustrative of some embodiments and are not intended to be a specific limitation on the scope of protection of the present application. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional implementations in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined. For example, some or all of the steps in different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional implementations of other embodiments.

[0062] In each embodiment of the present application, unless otherwise specified or there is any logical conflict, the terms and / or descriptions between the embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form a new embodiment based on their inherent logical relationships.

[0063] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0064] In the embodiments of the present application, unless otherwise specified, elements expressed in the singular, such as "a", "an", "the", "above", "said", "the", "the", etc., can mean "one and only one", or "one or more", "at least one", etc. For example, when using articles such as "a", "an", "the" in English in translation, the noun following the article can be understood as a singular expression or a plural expression.

[0065] In the embodiments of the present application, "plurality" refers to two or more.

[0066] In some embodiments, the terms "at least one", "one or more", "a plurality of", "multiple" and the like can be used interchangeably.

[0067] The prefixes such as "first" and "second" in the embodiments of the present application are only used to distinguish different description objects and do not limit the position, order, priority, value or content of the description objects. For the statement of the description objects, please refer to the description in the context of the claims or embodiments, and no unnecessary restrictions should be imposed due to the use of prefixes. For example, the numerical value of the description object is not limited by the ordinal number and can be one or more. Taking "first device" as an example, the numerical value of "device" can be one or more. In addition, the objects modified by different prefixes can be the same or different. For example, if the description object is "device", then the "first device" and the "second device" can be the same device or different devices, and their types can be the same or different.

[0068] In some embodiments, the term "connection" may indicate the transmission of electrical signals or data between a connected end and a connected end, and may be understood as "electrical connection," "communication connection," etc. A "connection" may be a direct connection between two components, an indirect connection established through other components, internal connectivity between two components, or any other possible connection form.

[0069] This specification provides method operation steps such as embodiments or flowcharts, but may include more or fewer operation steps based on conventional or non-creative work. The order of steps listed in the embodiments is only one way of executing the steps among many steps and does not represent the only execution order. When an actual device, system or server product is executed, it can be executed in the order shown in the embodiments or the drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment).

[0070] In the process of implementing the present invention, the inventors discovered the following problems in the related art:

[0071] A robotic system can typically include a robotic arm with multiple degrees of freedom (e.g., 6 or more degrees of freedom). The movement of the robotic arm can drive the execution tool installed at the end of the robotic arm to move. Combined with optical navigation equipment (referred to as NDI equipment) and tomography equipment (Computed Tomography, electronic computed tomography equipment, referred to as CT equipment), etc., the execution tool can be moved to the target position.

[0072] However, robotic systems often suffer from various errors, including arm registration error, machining repositioning error, point cloud registration error, and NDI measurement error. These errors can easily lead to deviations during robotic arm movement, resulting in a discrepancy between the tool's intended position and the target position. The magnitude of this discrepancy reflects the system's accuracy; smaller discrepancies indicate higher system accuracy.

[0073] To this end, embodiments of the present application provide a method for determining system accuracy that can be applied to the robotic system to test and determine the system accuracy of the robotic system. The robotic system can be used in surgical scenarios, as well as in other scenarios, such as industrial production lines and laboratories.

[0074] Figure 1 A flow chart showing a specific example of a method for determining system accuracy in an embodiment of the present application is shown. As shown in the figure, the method for determining system accuracy may include the following steps:

[0075] S1001: Acquire positions of a preset number of preset positions in a coordinate system of a tomographic scanning device to obtain, based on surface planning, a first pose of a target position corresponding to the preset position in the coordinate system of the tomographic scanning device, and obtain, based on measurement by a laser tracker, a desired pose of the target position in the coordinate system of the laser tracker;

[0076] S1002: Determine, based on the preset position, a rotation and translation matrix of a coordinate system of a tomography device relative to a coordinate system of a first tracking module, wherein the first tracking module is used to indicate a position of a tracked object corresponding to the preset position;

[0077] S1003: During the movement of the functional component position of the tool toward the target position, a real-time position and posture of a second tracer module in the coordinate system of the optical navigation device is obtained based on measurements of the optical navigation device; and based on the real-time position and the rotation and translation matrix, a current position and posture of the functional component position in the coordinate system of the tomography device is determined, so as to perform feedback control on the movement of the functional component position toward the target position according to the first position and the current position until the movement is completed; wherein the second tracer module is used to indicate the position and posture of the end of the robotic arm corresponding to the position of the functional component;

[0078] S1004: When the movement of the functional component position to the target position is completed, the final position and orientation of the functional component position in the coordinate system of the laser tracker is obtained based on the measurement of the laser tracker; and the system accuracy is determined based on the final position and the expected position and orientation.

[0079] In some possible implementations, the laser tracker can be, for example, a Faro tracker or Leica tracker; alternatively, a three-coordinate tracker can be used. Optical navigation equipment can include at least one of the following: a binocular camera; an optical tracking system (OTS); an infrared tracker; or a structured light camera. The laser tracker's pose measurement accuracy can be higher than the calculation accuracy of NDI and CT equipment.

[0080] In some possible implementations, the preset location may be an area or a location point, and may be set according to actual needs.

[0081] Exemplarily, the installation location of the preset tracer can include at least one of the following: installation on the test tool; installation on the execution target object of the execution tool. For example, the execution target object can include at least one of the following: the body of a person or animal; an object. The body can include at least one of the following: the head; the neck; the torso; the limbs. Exemplarily, the tracer can also be installed on the execution tool, and the number of such tracers can be three or more. And the laser tracker can also measure the tracer. For example, the laser tracker can measure the desired pose of the target position in the coordinate system of the laser tracker; when the movement of the functional component position to the target position is completed, the laser tracker can measure the final pose of the functional component position in the coordinate system of the laser tracker, thereby recording and / or outputting it so that the electronic equipment (processor) of the robot system can obtain the desired pose and the final pose. Finally, the system accuracy is determined based on the final pose and the desired pose.

[0082] Among them, the target position can correspond to any one or more positions in the preset positions. The known position relationship between the preset position and the target position can be fixed and can be preset according to actual needs. For example, the preset position can overlap with the target position, that is, the same; or it can be different. Tracers can be set at the preset position and the target position, so that these preset positions and target positions can be measured using CT equipment and laser trackers. Then, in the process of determining the accuracy of the system, the laser tracker can realize the measurement of the target position. In the actual use of the system, that is, after the system accuracy is determined, the tracer no longer needs to be set at the target position, and the target position can be any desired position planned based on the known preset position.

[0083] For example, the tracer may include an active luminescent tracer or a passive tracer.

[0084] Figure 2A schematic diagram of a specific example of surface planning in an embodiment of the present application is shown. As shown in the figure, the preset positions A1, B1, C1, D1, E1, and F1 can be the edges of the small ball tracer, and the target positions A, B, C, D, E, and F can be the center of the small ball tracer. For example, based on the preset number of preset positions A1, B1, C1, D1, E1, and F1, any three preset positions that are not on the same straight line, and any three target positions that are not on the same straight line among the target positions A, B, C, D, E, and F can all be used for surface planning, such as selecting the three target positions B, E, and F (such as the geometric center of the tracer 32) to generate a surface. A coordinate system is established with the EF direction as the x-direction and the upward direction of the vertical plane EFB as the z-direction. In this way, based on the surface planning, the first pose of the target positions A, B, C, D, E, and F in the coordinate system of the CT device can be obtained. Of course, based on the surface planning, the fourth pose of the preset positions A1, B1, C1, D1, E1, and F1 in the coordinate system of the CT device can also be obtained.

[0085] For example, the test fixture 3 can be equipped with multiple detachable columns 31, with tracers 32 mounted at their ends. The tracers 32 can be measured by the CT device and the laser tracker. After the rotation and translation matrices are determined, point cloud registration is completed, and the target position is measured by the laser tracker, the columns 31 carrying the tracers 32 can be removed from the test fixture 3 to prevent interference with subsequent robotic arm movements.

[0086] Exemplarily, the preset number of preset positions can be greater than or equal to 6 to achieve the determination of three translation parameters (e.g., x, y, z coordinates) and three rotation parameters (e.g., rotation angles around the x-axis, y-axis, and z-axis) in three-dimensional space.

[0087] In an embodiment of the present application, a posture may be a description of the position and posture of an object in three-dimensional space. In some possible implementations, the description of the posture may include at least one of the following: three translation parameters of the object in three-dimensional space (e.g., x, y, z coordinates); three rotation parameters (e.g., rotation angles around the x-axis, y-axis, and z-axis). In some possible implementations, the representation of the three rotation parameters may include at least one of the following: Euler angles; quaternions; rotation matrices. The posture may be named differently, such as spatial coordinates, etc., and the names are not limited here.

[0088] In some possible implementations, the tracking object may include at least one of the following: a test fixture; an execution target object. The tracking object corresponding to the preset position may be a tracking object with a preset position. For example, the first tracking module may be installed at a predetermined position on the test fixture. The positional relationship between the preset position and the first tracking module may be fixed or may have a known posture transformation relationship. Then, the target position may be calculated using the posture transformation via the first tracking module based on measurements from the NDI device.

[0089] In some possible implementations, the functional component position Tcp of the execution tool may be a position on the execution tool that needs to reach the target position during the movement of the robot arm. For example, for a surgical tool, the functional component position Tcp of the execution tool may be the tool head of the surgical tool.

[0090] In some possible implementations, the end of the robotic arm may be the end of a robotic arm, for mounting components for gripping workpieces or performing operations, etc. The end of the robotic arm corresponding to the position of the functional component may be the end of a robotic arm for mounting an execution tool. Exemplarily, the second tracing module may be mounted at a predetermined position of the execution tool. The positional relationship between the position of the functional component and the second tracing module may be fixed or may have a known posture transformation relationship. Then, through the second tracing module, using posture transformation, based on the measurement of the NDI device, the position of the functional component can be calculated.

[0091] In the embodiment of the present application, the tracing module may include a first tracing module and a second tracing module.

[0092] In some possible implementations, the tracing module may include a tracking bracket and three or more (e.g., four) active luminous markers or passive markers, wherein the markers are fixed to the tracking bracket in a predetermined manner. The tracking bracket is fixed to the marking position to be located and calibrated (e.g., an execution tool or test fixture), so that the NDI device can identify and track the position of the marking position in the workspace. For example, the NDI device can measure the position of the tracing module in the coordinate system of the NDI device, that is, it can measure the position of the first tracing module and the second tracing module in the coordinate system of the NDI device, and record and / or output it.

[0093] In some possible implementations, the deviation between the current position of the functional component in the CT coordinate system and the target position in the CT coordinate system can be used to provide feedback control over the robot arm's motion, forming a visual closed-loop servo. The robot arm can be moved based on this deviation, reducing and converging the deviation. When the robot arm is almost motionless and the movement is complete, the deviation between the final position measured by the laser tracker and the desired position is calculated as the system accuracy.

[0094] In this way, the embodiment of the present application determines the first pose of the target position in the coordinate system of the tomography device through surface planning, and obtains the desired pose of the target position in the coordinate system of the laser tracker based on the measurement of the laser tracker. The high-precision measurement of the laser tracker can be used to improve the positioning accuracy of the desired pose and accurately locate the desired pose of any desired target position. In addition, by obtaining the real-time pose of the second tracer module in the coordinate system of the optical navigation device in real time during the movement of the functional component position of the execution tool to the target position, the optical navigation device can monitor the pose of the functional component position in real time during the movement to determine the current pose of the functional component position in the coordinate system of the tomography device in real time, thereby tracking the deviation between the current pose and the first pose corresponding to the target position in real time and performing visual closed-loop servo to control the movement of the robotic arm, ultimately causing the deviation to converge, thereby realizing system-based closed-loop servo control of the robotic arm. And after the deviation converges, the robotic arm almost stops moving, that is, when the functional component position moves to the target position, the laser tracker is used again to measure the final posture, so as to determine the system accuracy based on the final posture and the expected posture, complete the system accuracy test, and improve the accuracy of determining the system accuracy.

[0095] In an optional embodiment, determining the rotation and translation matrix of the coordinate system of the tomography device relative to the coordinate system of the first tracing module based on the preset position in step S1002 includes:

[0096] S201: obtaining a second pose of the preset position in the coordinate system of the optical navigation device based on measurement by the optical navigation device, and determining a third pose of the preset position in the coordinate system of the first tracing module according to the second pose;

[0097] S202: Obtaining a fourth posture of the preset position in a coordinate system of a tomography device based on the surface planning;

[0098] S203: Based on the fourth posture and the third posture, determine and obtain a rotation and translation matrix of the coordinate system of the tomography device relative to the coordinate system of the first tracing module.

[0099] In some possible implementations, a pose conversion can be used to convert the second pose of the preset position in the coordinate system of the NDI device into a third pose of the preset position in the coordinate system of the first tracing module. The pose conversion can be seen above and will not be repeated here.

[0100] In some possible implementations, a fixed or movable marking device (such as a movable blunt needle or NDI blunt needle, etc.) can be placed at each preset position. Exemplarily, the marking device can be the same as the above-mentioned tracing module and will not be described in detail here. Alternatively, the marking device can also be different from the above-mentioned tracing module and can include a support rod, one or two active luminous markers or passive markers, the markers of which are fixed on the support rod, and the support rod is fixed or movably placed at the position to be located and calibrated (such as each of the preset positions). One or two markers of the marking device can be combined with the markers of other tracing modules to form more than three markers for the NDI device to identify and track the position in the working space.

[0101] Figure 3 A schematic diagram of a specific example of the combination of a marking device and a first tracing module in an embodiment of the present application is shown. As shown in the figure, the first marker 11 and the second marker 12 of the marking device (blunt needle) 1 can form a tracing combination that can be recognized and measured by the NDI device together with the third marker 21 of the first tracing module 2 fixed on the test fixture 3, and is used for when the marking device is placed at the preset position A1, the NDI device can measure the second posture of the preset position A1 in the coordinate system of the NDI device, so that the electronic device (processor) of the robot system can obtain the second posture of the preset position A1 in the coordinate system of the NDI device, thereby calculating the third posture of the preset position A1 in the coordinate system of the first tracing module. Exemplarily, the test fixture 3 can be provided with a plurality of columns, and tracers are placed on the columns respectively to indicate the preset positions A1, B1, C1, D1, E1, F1, etc.

[0102] In some possible implementations, the method for determining the rotation and translation matrix may include at least one of the following: ICP (Iterative Closest Point) point cloud registration algorithm; ARAP (As Rigid As Possible) algorithm; PointNetLK algorithm; DCP (Deep Closest Point) point cloud registration algorithm based on deep neural network; PRNet algorithm.

[0103] Exemplarily, the ICP point cloud registration algorithm can be used to calculate the rotation and translation matrix T_tracker_ct of the coordinate system of the CT device relative to the coordinate system tracker of the first tracking module based on the set P1 of the fourth posture corresponding to the preset positions A1, B1, C1, D1, E1, and F1 and the set P1' of the third posture.

[0104] In this way, the second posture of the preset position obtained by measurement of the optical navigation device by the optical navigation device in the embodiment of the present application and the fourth posture of the preset position obtained based on surface planning in the coordinate system of the tomography device can determine the rotation and translation matrix, realize point cloud alignment, and improve the alignment accuracy.

[0105] In an optional implementation, obtaining the second posture of the preset position in the coordinate system of the low-precision device in step S201 includes:

[0106] A marking device is used to obtain a second posture of the preset position in the coordinate system of the low-precision device; wherein the marking device includes one or more active luminous markers or passive markers for indicating the posture of the preset position.

[0107] In an embodiment of the present application, if the marking device includes one or two active luminous markers or passive markers, they can cooperate with the first tracing module to indicate the position of the preset position. If the marking device includes three or more active luminous markers or passive markers, and the markers are fixed in a predetermined manner, they can directly indicate the position of the preset position.

[0108] In this way, the marking device can be moved to any preset position, and the NDI device can then perform measurements, thereby obtaining the second pose of each preset position in the NDI device's coordinate system, improving convenience and speed. Furthermore, the ends of the marking device's poles can also match the shapes of the ends of the columns. For example, the pole ends can be convex and the columns can be concave, which can improve the positioning accuracy of the marking device and, in turn, the measurement accuracy of the preset positions.

[0109] In an optional embodiment, determining the current position of the functional component in the coordinate system of the tomography device based on the real-time position and the rotation and translation matrix in step S1003 includes:

[0110] S3011: Obtaining the calibration pose of the functional component position in the coordinate system of the second tracing module;

[0111] S3012: Determine a first real-time pose of the second tracing module in the coordinate system of the first tracing module based on the real-time pose;

[0112] S3013: Based on the calibration pose, the first real-time pose and the rotation and translation matrix, determine the current pose of the functional component position in the coordinate system of the tomography device.

[0113] In the embodiment of the present application, before the robot moves, the robot alignment can be completed, the functional component position Tcp of the execution tool can be calibrated, and the calibration posture T_calib_Tcp of the functional component position Tcp in the coordinate system of the second tracing module can be recorded.

[0114] Figure 4 A schematic diagram illustrating a specific example of a coordinate system in an embodiment of the present application is shown. As shown, the coordinate systems of the robotic system may include: the coordinate system of the robotic arm base; the coordinate system calib of the second tracking module 4; the coordinate system tracker of the first tracking module 2; the coordinate system ct of the CT device 7; the coordinate system of the NDI device 8; and the coordinate system of the laser tracker 9.

[0115] In some possible implementations, the real-time pose of the second tracker module in the coordinate system of the NDI device may be converted into the first real-time pose T_tracker_calib of the second tracker module in the coordinate system of the first tracker module by using pose conversion.

[0116] Then, the calculation formula for the current position of the functional component in the coordinate system of the CT device can be:

[0117] T_ct_currenttcp=(T_tracker_ct) -1 ×T_tracker_calib×T_calib_Tcp (1)

[0118] Wherein, T_ct_currenttcp represents the current position of the functional component in the coordinate system of the CT device, T_tracker_ct represents the rotation and translation matrix of the coordinate system of the CT device relative to the coordinate system of the first tracking module, (*) -1 Represents the inverse matrix of *.

[0119] In this way, the embodiment of the present application utilizes the combination of NDI equipment and CT equipment to realize real-time monitoring of the current posture of the functional component position during the movement of the robotic arm, and obtains the current posture of the functional component position in the coordinate system of the CT device through conversion, which is used to reflect the error of the NDI device and the CT device in the navigation control process, thereby realizing the test of system accuracy.

[0120] In an optional embodiment, the step S1003 of performing feedback control on the movement of the functional component position toward the target position according to the first posture and the current posture until the movement is completed includes:

[0121] S3021: When a posture deviation between the current posture and the first posture is greater than or equal to a deviation threshold, determining a target posture to which the manipulator needs to move based on the posture deviation and controlling the manipulator to move to the target posture; re-performing surface planning to re-determine the posture deviation between the current posture and the first posture;

[0122] S3022: When the posture deviation between the current posture and the first posture is less than the deviation threshold, the movement is completed.

[0123] In the embodiment of the present application, the deviation threshold can be set according to actual needs.

[0124] In some possible implementations, the posture deviation between the current posture and the first posture can be calculated as follows:

[0125] T_tcpCompensation=(T_ct_currenttcp) -1 ×T_ct_P i (2)

[0126] Among them, T_tcpCompensation represents the posture deviation between the current posture and the first posture, T_ct_P i It represents the first pose of the i-th target position in the coordinate system of the CT device, i is a natural number greater than or equal to 1. For example, the i-th target position can be any one of the target positions A, B, C, D, E, and F, then the corresponding first poses are T_ct_P A 、T_ct_P B 、T_ct_P C 、T_ct_P D 、T_ct_P E 、T_ct_P F .

[0127] In some possible implementations, the calculation formula for the target pose that the robotic arm needs to move to can be:

[0128] T_base_Goaltcp=T_base_currenttcp×T_tcpCompensation (3)

[0129] Among them, T_base_Goaltcp represents the target posture that the robot arm needs to move to, and T_base_currenttcp represents the current movement posture of the robot arm.

[0130] In this way, the embodiment of the present application compares the posture deviation between the current posture and the first posture with the deviation threshold. Before the posture deviation is less than the deviation threshold, the posture deviation has not converged, and the robot arm needs to continuously adjust its movement to reduce the posture deviation, thereby improving the positioning accuracy of the robot arm. By re-planning the surface and re-determining the posture deviation under the new surface planning, the accuracy of the re-determined posture deviation can be improved, and the measurement accuracy of the system accuracy can be improved. For example, the re-surface planning can use a different position from the last surface planning to further improve the calculation accuracy.

[0131] Exemplarily, the system accuracy testing process may include the following steps:

[0132] T1: Fix the test fixture to obtain the registration point position (preset position) and verification point position (target position), for example, a total of 6, and use the laser tracker to obtain the position and posture of the verification point at the end of the column in the coordinate system of the laser tracker, that is, to obtain the desired position and posture;

[0133] T2: The NDI blunt needle obtains the registration point pose, performs ICP point cloud registration with the registration point pose obtained in step T1, and calculates the point cloud registration matrix (rotation and translation matrix); removes the column to prevent interference with subsequent robot arm movement;

[0134] T3: Select three verification points (target positions) for surface planning and calculate the first pose of the verification points in the coordinate system of the CT device; and use the laser tracker to measure and obtain the expected pose of the verification points in the coordinate system of the laser tracker;

[0135] T4: Calculate the posture deviation between the current posture of the functional component position Tcp obtained by real-time monitoring of the NDI device and the posture of the expected arrival point (the first posture);

[0136] T5: Send the posture deviation to the robotic arm (for example, the electronic device that controls the movement of the robotic arm, such as a processor), and control the robotic arm to move to the target posture;

[0137] T6: If the robot arm does not move to the desired final pose where the deviation converges, jump to step T3 to recalculate the pose deviation and control the robot arm movement until the error converges or is minimized, at which point the robot arm almost stops moving;

[0138] T7: Use a laser tracker to measure the target position (such as the functional component position Tcp) to obtain the final posture, compare it with the expected posture obtained in step T1, and calculate the difference to obtain the system accuracy.

[0139] The present application also provides a method for controlling the motion of a robotic arm. Figure 5A flow chart of a specific example of a method for controlling the motion of a robotic arm according to an embodiment of the present application is shown. As shown in the figure, the method for controlling the motion of a robotic arm may include the following steps:

[0140] S2001: Determine the system accuracy of the robot system using the system accuracy determination method described in the above embodiment;

[0141] S2002: Correcting the actual posture that the robotic arm needs to move to based on the system accuracy, and controlling the robotic arm to move to the actual posture so that the actual posture matches the expected posture.

[0142] In the embodiment of the present application, the actual posture can be corrected by utilizing the system accuracy to achieve the same as the expected posture, or the deviation is so small that it can be regarded as exactly the same.

[0143] In this way, the actual position after correcting the system accuracy is used to control the movement of the robot arm, which can improve the positioning accuracy of the robot arm and the navigation accuracy of the robot system.

[0144] The following describes the devices, electronic devices, storage media, etc. used to execute the system accuracy determination method and robotic arm motion control method provided in this application. The specific implementation process and technical effects are described above and will not be repeated below.

[0145] The embodiment of the present application also provides a system accuracy determination device, Figure 6 The following is a schematic block diagram showing a specific example of a system accuracy determination device in an embodiment of the present application. As shown in the figure, the system accuracy determination device includes:

[0146] A first determining module 101 is configured to obtain positions of a preset number of preset positions in a coordinate system of a tomographic scanning device, obtain a first pose of a target position corresponding to the preset positions in the coordinate system of the tomographic scanning device based on surface planning, and obtain a desired pose of the target position in the coordinate system of the laser tracker based on measurement by a laser tracker;

[0147] A second determining module 102 is configured to determine, based on the preset position, a rotation and translation matrix of a coordinate system of the tomography device relative to a coordinate system of a first tracking module, wherein the first tracking module is configured to indicate a position of the tracked object corresponding to the preset position;

[0148] The third determining module 103 is configured to obtain, based on the measurement of the optical navigation device, a real-time position and posture of the second tracing module in the coordinate system of the optical navigation device during the movement of the functional component position of the execution tool toward the target position; and determine, based on the real-time position and posture and the rotation and translation matrix, a current position and posture of the functional component position in the coordinate system of the tomography device, so as to perform feedback control on the movement of the functional component position toward the target position according to the first position and the current position and until the movement is completed; wherein the second tracing module is configured to indicate the position and posture of the end of the manipulator corresponding to the functional component position;

[0149] The fourth determination module 104 is used to obtain the final position of the functional component in the coordinate system of the laser tracker based on the measurement of the laser tracker when the movement of the functional component position to the target position is completed; and determine the system accuracy based on the final position and the expected position.

[0150] Regarding the above-mentioned device embodiment, the specific manner in which each module (for example, the first determination module 101, the second determination module 102, the third determination module 103, and the fourth determination module 104) performs operations can refer to the corresponding description in the above-mentioned method embodiment and will not be elaborated here.

[0151] The present application also provides a robot arm motion control device, Figure 7 The following is a schematic block diagram of a specific example of a robot arm motion control device according to an embodiment of the present application. As shown in the figure, the robot arm motion control device includes:

[0152] A fifth determining module 201 is configured to determine the system accuracy of the robot system using the system accuracy determining device described in the above embodiment;

[0153] The sixth determination module 202 is configured to correct the actual posture to which the manipulator needs to move based on the system accuracy, and control the manipulator to move to the actual posture so that the actual posture matches the expected posture.

[0154] It should be understood that the division of the various units or modules in the above-described apparatus is merely a division of logical functions. In actual implementation, they may be fully or partially integrated into a single physical entity, or they may be physically separate. Furthermore, the units or modules in the apparatus may be implemented in the form of a processor invoking software: for example, the apparatus includes a processor connected to a memory storing instructions, and the processor invokes the instructions stored in the memory to implement any of the above-described methods or the functions of the various units or modules in the apparatus.

[0155] The embodiment of the present application also provides an electronic device, Figure 8The following is a schematic block diagram of a specific example of an electronic device according to an embodiment of the present application. As shown in the figure, the electronic device includes:

[0156] a memory storing instructions; and

[0157] A processor is configured to execute the instructions to implement the system accuracy determination method and / or the robotic arm motion control method as described in the above embodiments.

[0158] like Figure 8 As shown, the electronic device may include a processor, a memory, a network interface, a display, and an input device connected via a system bus. The processor may be used to provide computing and control capabilities. The memory may include a non-volatile storage medium and an internal memory. The non-volatile storage medium may store an operating system and a computer program. The internal memory may provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface may be used to communicate with an external terminal via a network connection. The display may be a liquid crystal display or an electronic ink display. The input device may be a touch layer covering the display, or a button, trackball, or touchpad provided on the housing of the electronic device, or an external keyboard, touchpad, or mouse.

[0159] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the electronic device to which the solution of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0160] The present application also provides a computer-readable storage medium in which a computer program is stored. When the computer program is executed, the corresponding functions described in the above method embodiment can be realized. The computer program can also be stored in a computer-readable storage medium. Figure 8 The electronic device is operated on the electronic device shown. The memory of the electronic device contains various program modules constituting the above-mentioned system accuracy determination device and / or robotic arm motion control device. When the computer program composed of the various program modules is executed, it can realize the functions corresponding to the various steps in the system accuracy determination method and / or the functions corresponding to the various steps in the robotic arm motion control method described in the above embodiments.

[0161] The present application also provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform the system accuracy determination method and / or the robotic arm motion control method provided in the various implementations described above.

[0162] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0163] The present application also provides a system accuracy testing system. Figure 9 A schematic diagram of a specific example of a system accuracy test system in an embodiment of the present application is shown. As shown in the figure, the system accuracy test system is used to implement the system accuracy determination method and / or the robot arm motion control method described in the above embodiment, and the system accuracy test system includes a laser tracker 9 and a robot system;

[0164] The robotic system comprises:

[0165] a tomography device 7 for measuring the position of a tracer 32;

[0166] An optical navigation device 8 for measuring a posture comprising at least one of the following: a first tracing module 2; a second tracing module 4; a marking device 1;

[0167] A robotic arm 6, used to install the execution tool 5 and drive the execution tool 5 to move;

[0168] An execution tool 5, including a functional component position Tcp, adapted to move with the robotic arm 6 to reach a desired posture;

[0169] A tracer 32 , mounted on the test fixture 3 and / or the execution tool 5 , for indicating the position of a preset position and / or a position Tcp of a functional component of the execution tool 5 ;

[0170] A first tracking module 2, used to indicate the position of the tracking object corresponding to the preset position;

[0171] A second tracing module 4 is used to indicate the position of the end of the robotic arm corresponding to the position of the functional component;

[0172] The marking device 1 is used to indicate the posture of the preset position.

[0173] In an embodiment of the present application, the system accuracy testing system may further include a processor for implementing the system accuracy determination method and / or the robotic arm motion control method described in the above embodiments.

[0174] In the embodiments of the present application, the description of the various components of the robot system can be found above and will not be repeated here.

[0175] Thus, the embodiment of the present application can achieve system accuracy measurement and determination of the robot system through the above-mentioned robot system, and improve the measurement accuracy of the system accuracy. It can also improve the positioning accuracy of the robot arm and improve the measurement accuracy of the robot system.

[0176] It should be understood that the above embodiments are exemplary and are not intended to encompass all possible implementations of the claims. Various modifications and variations may be made to the above embodiments without departing from the scope of the present disclosure. Similarly, the various technical features of the above embodiments may be arbitrarily combined to form additional embodiments of the present application that may not be explicitly described. Therefore, the above embodiments merely illustrate several implementations of the present application and do not limit the scope of protection of the patent application.

Claims

1. A method for determining system accuracy, characterized in that: The system accuracy determination method includes: Obtaining positions of a preset number of preset positions in the coordinate system of the tomography device to obtain, based on surface planning, a first pose of a target position corresponding to the preset positions in the coordinate system of the tomography device, and obtaining, based on measurement by the laser tracker, a desired pose of the target position in the coordinate system of the laser tracker; Determining a rotation and translation matrix of a coordinate system of a tomography device relative to a coordinate system of a first tracking module based on the preset position; wherein the first tracking module is used to indicate a position of the tracking object corresponding to the preset position; During the movement of the functional component position of the tool toward the target position, a real-time position and posture of the second tracer module in the coordinate system of the optical navigation device is obtained based on the measurement of the optical navigation device; and based on the real-time position and posture and the rotation and translation matrix, a current position and posture of the functional component position in the coordinate system of the tomography device is determined, so as to feedback control the movement of the functional component position toward the target position according to the first position and the current position until the movement is completed; wherein the second tracer module is used to indicate the position and posture of the end of the manipulator corresponding to the position of the functional component; When the movement of the functional component position to the target position is completed, the final position and orientation of the functional component position in the coordinate system of the laser tracker is obtained based on the measurement of the laser tracker; and the system accuracy is determined based on the final position and the expected position and orientation.

2. The system accuracy determination method according to claim 1, characterized in that: The step of determining a rotation and translation matrix of a coordinate system of the tomography device relative to a coordinate system of the first tracing module based on the preset position includes: Obtaining a second pose of the preset position in the coordinate system of the optical navigation device based on measurement by the optical navigation device, and determining a third pose of the preset position in the coordinate system of the first tracing module according to the second pose; Obtaining a fourth posture of the preset position in a coordinate system of a tomography device based on the surface planning; Based on the fourth posture and the third posture, a rotation and translation matrix of the coordinate system of the tomography device relative to the coordinate system of the first tracing module is determined.

3. The system accuracy determination method according to claim 2, characterized in that: The obtaining, based on measurement by the optical navigation device, a second posture of the preset position in the coordinate system of the optical navigation device, comprises: A marking device is used to obtain a second posture of the preset position in the coordinate system of the optical navigation device; wherein the marking device includes one or more active luminous markers or passive markers for indicating the posture of the preset position.

4. The method for determining system accuracy according to claim 1, wherein: The determining, based on the real-time posture and the rotation and translation matrix, the current posture of the functional component position in the coordinate system of the tomography device includes: Obtaining a calibration pose of the functional component position in a coordinate system of a second tracing module; Determining a first real-time pose of the second tracing module in the coordinate system of the first tracing module based on the real-time pose; Based on the calibration pose, the first real-time pose and the rotation and translation matrix, the current pose of the functional component position in the coordinate system of the tomography device is determined.

5. The system accuracy determination method according to any one of claims 1 to 4, characterized in that: The feedback control of the movement of the functional component position toward the target position according to the first posture and the current posture until the movement is completed includes: When a posture deviation between the current posture and the first posture is greater than or equal to a deviation threshold, determining a target posture to which the manipulator needs to move based on the posture deviation and controlling the manipulator to move to the target posture; re-performing surface planning to re-determine the posture deviation between the current posture and the first posture; In a case where the posture deviation between the current posture and the first posture is less than a deviation threshold, the movement is completed.

6. A method for controlling the motion of a robotic arm, characterized in that: The robotic arm motion control method comprises: Determine the system accuracy of the robot system using the system accuracy determination method according to any one of claims 1 to 5; The actual posture that the robot arm needs to move to is corrected based on the system accuracy to control the robot arm to move to the actual posture, so that the actual posture matches the expected posture.

7. A system accuracy determination device, characterized in that: The system accuracy determination device comprises: a first determining module, configured to obtain positions of a preset number of preset positions in a coordinate system of a tomographic scanning device, so as to obtain a first pose of a target position corresponding to the preset positions in the coordinate system of the tomographic scanning device based on surface planning, and to obtain a desired pose of the target position in the coordinate system of the laser tracker based on measurement by a laser tracker; a second determining module, configured to determine, based on the preset position, a rotation and translation matrix of a coordinate system of the tomography device relative to a coordinate system of a first tracing module; wherein the first tracing module is configured to indicate a position of the tracked object corresponding to the preset position; a third determining module, configured to obtain, based on the measurement of the optical navigation device, a real-time position and posture of the second tracing module in the coordinate system of the optical navigation device during the movement of the functional component position of the execution tool toward the target position; and to determine, based on the real-time position and posture and the rotation and translation matrix, a current position and posture of the functional component position in the coordinate system of the tomography device, so as to perform feedback control on the movement of the functional component position toward the target position according to the first position and the current position and until the movement is completed; wherein the second tracing module is configured to indicate the position and posture of the end of the manipulator arm corresponding to the position of the functional component; The fourth determination module is used to obtain the final posture of the functional component position in the coordinate system of the laser tracker based on the measurement of the laser tracker when the movement of the functional component position to the target position is completed; and determine the system accuracy according to the final posture and the expected posture.

8. A robot arm motion control device, characterized in that: The robotic arm motion control device comprises: Determine the system accuracy of the robot system using the system accuracy determination device according to claim 7; The actual posture that the robot arm needs to move to is corrected based on the system accuracy, and the robot arm is controlled to move to the actual posture so that the actual posture matches the expected posture.

9. An electronic device, characterized in that: The electronic device comprises: a memory storing instructions; and A processor configured to execute the instructions to implement the system accuracy determination method according to any one of claims 1 to 5 and / or the robotic arm motion control method according to claim 6.

10. A storage medium, characterized in that: The storage medium stores a computer program, which, when executed, can implement the system accuracy determination method according to any one of claims 1 to 5 and / or the robotic arm motion control method according to claim 6.

11. A system accuracy testing system, used to implement the system accuracy determination method according to any one of claims 1 to 5 and / or the robot arm motion control method according to claim 6, characterized in that: The system accuracy testing system includes a laser tracker and a robot system; The robotic system comprises: Tomographic equipment for measuring the position of tracers; An optical navigation device for measuring a posture comprising at least one of: a first tracing module; a second tracing module; a marking device; A robotic arm, used to install an execution tool and drive the execution tool to move; an execution tool, including a functional component position, adapted to move with the robotic arm to reach a desired posture; a tracer mounted on a test fixture and / or an execution tool to indicate a position of a preset position and / or a position of a functional component of the execution tool; a first tracking module, configured to indicate a position of the tracked object corresponding to the preset position; A second tracing module is used to indicate the position of the end of the robotic arm corresponding to the position of the functional component; A marking device is used to indicate the posture of the preset position.

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