A method and system for monitoring the motion state of a robot arm

Abstract

The application belongs to the technical field of mechanical arm control, and particularly relates to a mechanical arm motion state monitoring method and system, which comprises the following steps: acquiring first motion state data collected by a monitoring sensor; when the first motion state data indicates that any mechanical arm is in a moving state, waiting for a pair of mechanical arms to be in a stationary state and stationary for a first time length, then acquiring a stop sequence of the pair of mechanical arms, and then acquiring second motion state data; obtaining a first mechanical arm end coordinate and a second mechanical arm end coordinate according to the second motion state data and the stop sequence; obtaining a point symmetry coordinate according to the first mechanical arm end coordinate, obtaining a mechanical arm moving instruction according to the point symmetry coordinate and the second mechanical arm end coordinate, and then sending the mechanical arm moving instruction to the second mechanical arm; and sending a mutual looking instruction to the pair of mechanical arms after the second mechanical arm completes the mechanical arm moving instruction. The method can solve the problem that it is extremely difficult to perform perspective for some parts in a traditional perspective machine.

Description

Technical Field

[0001] This application belongs to the field of robotic arm control technology, and in particular relates to a method and system for monitoring the motion status of a robotic arm. Background Technology

[0002] During surgery, especially orthopedic surgery, X-ray fluoroscopy is often required to assist in the surgical procedure. Currently, common mobile fluoroscopy machines include C-arm machines, G-arm machines, and O-arm machines used in a few cases.

[0003] However, these traditional fluoroscopy machines have a significant drawback: the spatial relationship between the X-ray tube and the imaging panel is fixed. This limitation makes fluoroscopy extremely difficult for certain areas in practical use. For example, in some complex skeletal structures, the fixed position of the X-ray tube and panel is easily obstructed by surrounding tissues, the operating table, or the bone itself, making it impossible to obtain the required fluoroscopic image clearly. Or, in situations with limited surgical space, the overall structure of the machine makes it difficult to adjust the equipment to the ideal fluoroscopic position, and spatial obstacles may even prevent the machine from entering the appropriate working area altogether. To obtain effective fluoroscopic images, operators often need to adjust the machine's position and angle multiple times, which not only increases the number of fluoroscopy sessions and prolongs the operation time but also exposes patients and medical staff to more radiation damage. Summary of the Invention

[0004] This application provides a method and system for monitoring the motion state of a robotic arm. By using a pair of robotic arms that can be manually moved by an operator to replace the fixed C-arm, G-arm, or O-arm, the aforementioned problem of extreme difficulty in seeing through certain parts can be solved.

[0005] In a first aspect, embodiments of this application provide a method for monitoring the motion state of a robotic arm, applied to a server of a robotic arm motion state monitoring system. The robotic arm motion state monitoring system includes monitoring sensors and the server. The system is used to monitor a pair of robotic arms, ensuring that the end-effector coordinates of the pair are always symmetrical with respect to the midpoint. The method includes:

[0006] Acquire first motion state data collected by the monitoring sensor; wherein, the first motion state data is used to reflect the motion state of a pair of robotic arms, and the motion state includes stationary, moving, and being moved;

[0007] When the first motion state data indicates that any robotic arm is in a moving state, wait for a pair of robotic arms to be stationary and remain stationary for a first duration, then obtain the stopping sequence of the pair of robotic arms, and then obtain the second motion state data; wherein, the second motion state data is used to reflect the magnitude of each joint angle and rotation angle of the pair of robotic arms.

[0008] Based on the second motion state data and the order of stopping, the end coordinates of the first robotic arm and the end coordinates of the second robotic arm are obtained; wherein, the end coordinates of the first robotic arm refer to the end coordinates of the first robotic arm, and the first robotic arm refers to the robotic arm that stops later; the end coordinates of the second robotic arm refer to the end coordinates of the second robotic arm, and the second robotic arm is another robotic arm.

[0009] Based on the coordinates of the first robotic arm's end effector, a point-symmetric coordinate is obtained. Based on the point-symmetric coordinate and the coordinates of the second robotic arm's end effector, a robotic arm movement command is obtained, and then the robotic arm movement command is sent to the second robotic arm. Wherein, the point-symmetric coordinate is the coordinate symmetrical to the coordinates of the first robotic arm's end effector with respect to the midpoint, and the robotic arm movement command is a command used to move the coordinates of the second robotic arm's end effector to the point-symmetric coordinate.

[0010] After the second robotic arm completes the robotic arm movement command, a gaze-at-each-arm command is sent to a pair of robotic arms; wherein, the gaze-at-each-arm command is a command used to make the end caps of the first robotic arm and the end caps of the second robotic arm look at each other.

[0011] The technical solutions described in this application embodiment have at least the following technical effects:

[0012] The robotic arm motion state monitoring method provided in this application firstly acquires first motion state data collected by monitoring sensors. This first motion state data is used to determine whether a pair of robotic arms has been moved. Secondly, when the first motion state data indicates that either robotic arm has been moved, the system waits for the pair of robotic arms to be stationary for a first duration before acquiring second motion state data. In this step, after either robotic arm is moved, the system waits for it to remain stationary for a first duration before acquiring the second motion state data. The second motion state data reflects the magnitude of the joint angles and rotation angles of the moved robotic arm, thereby determining the amount of movement of the robotic arm. Then, based on the second motion state data and the order of stopping, the end-effector coordinates of the first and second robotic arms are obtained. In this step, the robotic arm that comes to a standstill later is designated as the first robotic arm, and the other robotic arm as the second robotic arm. Obtaining the end-effector coordinates of both robotic arms helps to ensure that the ends of the two robotic arms are symmetrical relative to their midpoints. Next, based on the coordinates of the first robotic arm's end effector, the point symmetry coordinates are obtained. Based on these coordinates, and the coordinates of the second robotic arm's end effector, a robotic arm movement command is generated and sent to the second robotic arm. In this step, the end effector of the second robotic arm is moved to the symmetric point of the end effector of the first robotic arm, ensuring symmetry between the end effectors of the two robotic arms. Furthermore, the second robotic arm moves while the first robotic arm remains stationary, enabling the two robotic arms to function as fixed arms. Finally, after the second robotic arm completes its movement command, a gaze-to-view command is sent to the pair of robotic arms. This step ensures that the end effectors of the two robotic arms gaze at each other, achieving the gaze-to-view relationship between the X-ray tube and the imaging plate in the moving fluoroscopy machine. This solves the problem of extremely difficult fluoroscopy of certain areas caused by the fixed arms of traditional fluoroscopy machines.

[0013] Secondly, embodiments of this application provide a robotic arm motion state monitoring system. The system monitors a pair of robotic arms, ensuring that the end-effector coordinates of the pair are always symmetrical with respect to the midpoint. The system includes monitoring sensors and a server. The server includes:

[0014] The first acquisition unit is used to acquire the first motion state data collected by the monitoring sensor; wherein, the first motion state data is used to reflect the motion state of a pair of robotic arms, and the motion state includes stationary, moving, and being moved;

[0015] The second acquisition unit is used to wait for a pair of robotic arms to be stationary and remain stationary for a first duration after the first motion state data indicates that any robotic arm is in a moved state, acquire the order in which the pair of robotic arms stop, and then acquire the second motion state data; wherein, the second motion state data is used to reflect the magnitude of the joint angles and rotation angles of the pair of robotic arms.

[0016] The calculation unit is used to obtain the end coordinates of the first robotic arm and the end coordinates of the second robotic arm based on the second motion state data and the order of stopping; wherein, the end coordinates of the first robotic arm refers to the end coordinates of the first robotic arm, and the first robotic arm refers to the robotic arm that stops later; the end coordinates of the second robotic arm refers to the end coordinates of the second robotic arm, and the second robotic arm is another robotic arm.

[0017] A symmetry unit is used to obtain point symmetry coordinates based on the coordinates of the end effector of the first robotic arm, obtain a robotic arm movement command based on the point symmetry coordinates and the coordinates of the end effector of the second robotic arm, and then send the robotic arm movement command to the second robotic arm; wherein, the point symmetry coordinates are coordinates that are symmetrical to the coordinates of the end effector of the first robotic arm with respect to the midpoint, and the robotic arm movement command is a command used to move the coordinates of the end effector of the second robotic arm to the point symmetry coordinates;

[0018] A gaze-at-a-time unit is used to send a gaze-at-a-time command to a pair of robotic arms after the second robotic arm completes the robotic arm movement command; wherein the gaze-at-a-time command is a command to make the end effector of the first robotic arm and the end effector of the second robotic arm look at each other.

[0019] Thirdly, embodiments of this application provide a server, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the method described in any of the first aspects above.

[0020] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in any of the first aspects above.

[0021] Fifthly, embodiments of this application provide a computer program product that, when running on a server, causes the server to execute the robotic arm motion state monitoring method described in any of the first aspects above.

[0022] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart illustrating a robotic arm motion state monitoring method provided in an embodiment of this application;

[0025] Figure 2 This is a top view of a pair of robotic arms and the midpoint position provided in an embodiment of this application;

[0026] Figure 3 This is a schematic diagram of the structure of the robotic arm motion status monitoring system provided in the embodiments of this application;

[0027] Figure 4 This is a schematic diagram of the server structure provided in an embodiment of this application. Detailed Implementation

[0028] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0029] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0030] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0031] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0032] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0033] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0034] In related technologies, X-ray fluoroscopy is frequently required during surgery, especially orthopedic surgery, to assist in the surgical procedure. Common mobile fluoroscopy machines include C-arm machines, G-arm machines, and, in rare cases, O-arm machines. However, these traditional fluoroscopy machines have a significant drawback: the spatial relationship between the X-ray tube and the imaging panel is fixed. This limitation makes fluoroscopy extremely difficult for certain areas in practical use. For example, in some complex bone structures, the fixed position of the X-ray tube and panel is easily obstructed by surrounding tissues, the operating table, or the bone itself, making it impossible to obtain clear fluoroscopic images. Alternatively, in situations with limited surgical space, the overall structure of the machine makes it difficult to adjust the equipment to the ideal fluoroscopic position, and spatial obstacles may even prevent the machine from entering the appropriate working area altogether. To obtain effective fluoroscopic images, operators often need to adjust the machine's position and angle multiple times, which not only increases the number of fluoroscopy sessions and prolongs the surgical time but also exposes patients and medical staff to more radiation exposure.

[0035] To address the aforementioned problems, this application provides a method for monitoring the motion state of a robotic arm. First, the method acquires first motion state data collected by a monitoring sensor. This first motion state data is used to determine whether a pair of robotic arms has been moved. Second, when the first motion state data indicates that either robotic arm has been moved, the method waits until both robotic arms are stationary for a first duration before acquiring second motion state data. In this step, after either robotic arm is moved, the method waits for it to remain stationary for a first duration before acquiring the second motion state data. The second motion state data reflects the magnitude of the joint angles and rotation angles of the moved robotic arm, thereby determining the amount of movement of the robotic arm. Then, based on the second motion state data and the order of stopping, the end-effector coordinates of the first and second robotic arms are obtained. In this step, the robotic arm that came to a stop later is designated as the first robotic arm, and the other robotic arm as the second robotic arm. Obtaining the end-effector coordinates of both robotic arms helps to ensure that the ends of the two robotic arms are symmetrical relative to their midpoints. Next, based on the coordinates of the first robotic arm's end effector, the point symmetry coordinates are obtained. Based on these coordinates, and the coordinates of the second robotic arm's end effector, a robotic arm movement command is generated and sent to the second robotic arm. In this step, the end effector of the second robotic arm is moved to the symmetric point of the end effector of the first robotic arm, ensuring symmetry between the end effectors of the two robotic arms. Furthermore, the second robotic arm moves while the first robotic arm remains stationary, enabling the two robotic arms to function as fixed arms. Finally, after the second robotic arm completes its movement command, a gaze-to-view command is sent to the pair of robotic arms. This step ensures that the end effectors of the two robotic arms gaze at each other, achieving the gaze-to-view relationship between the X-ray tube and the imaging plate in the moving fluoroscopy machine. This solves the problem of extremely difficult fluoroscopy of certain areas caused by the fixed arms of traditional fluoroscopy machines.

[0036] The robotic arm motion state monitoring method provided in this application embodiment can be applied to the server of the robotic arm motion state monitoring system. The robotic arm motion state monitoring system includes monitoring sensors and a server. The robotic arm motion state monitoring system is used to monitor a pair of robotic arms with viscosity and to ensure that the ends of the pair of robotic arms are always symmetrical with respect to the midpoint. At this time, the server is the execution subject of the robotic arm motion state monitoring method provided in this application embodiment. This application embodiment does not impose any restrictions on the specific type of server.

[0037] For example, the server may include a signal transmitting device and a control device. The control device is communicatively connected to the signal transmitting device, which can be a bus or wireless signal transmitting device. The server communicates with the two robotic arms through the signal transmitting device. The control device can control the signal transmitting device to send movement commands to the robotic arms and can also perform data processing.

[0038] The monitoring sensors include force sensors and angle sensors. The force sensor can be a common piezoelectric sensor, and the angle sensor can be any type of angle sensor. The monitoring sensors are used to collect the motion state, joint angles, and motion resistance of the two robotic arms.

[0039] The robotic arm includes an execution device and a control device. The execution device may include multiple segments and multiple motors, while the control device may be a microcontroller, microprocessor, etc. The control device can receive instructions sent by the wireless signal transmitter, decode the instructions, and then control the execution device to perform the corresponding operation.

[0040] The control device can be a microcontroller, microprocessor, mobile phone, tablet computer, laptop computer, netbook, desktop computer, computer, laptop computer, etc.

[0041] To better understand the robotic arm motion state monitoring method provided in the embodiments of this application, the specific implementation process of the robotic arm motion state monitoring method provided in the embodiments of this application will be described by way of example below.

[0042] Figure 1 A schematic flowchart of a robotic arm motion state monitoring method provided in an embodiment of this application is shown. The robotic arm motion state monitoring method includes:

[0043] S100: Acquire the first motion state data collected by the monitoring sensor. The first motion state data reflects the motion state of a pair of robotic arms, including stationary, moving, and being moved.

[0044] It is understood that the function to be achieved by the pair of robotic arms in this application is: after the operator manually moves one robotic arm to a position, the end of the other robotic arm automatically moves to a point-symmetrical position, so as to realize the function of a fixed arm and solve the defects of a fixed arm. Therefore, the first motion state data collected by the monitoring sensors is first obtained. The monitoring sensors used to measure the first motion state data are angle sensors and force sensors, both set at the joints of the robotic arms. At least one angle sensor is set at each joint of each robotic arm, and at least one force sensor is set at the first joint of each of the two robotic arms, for monitoring the pair of robotic arms. The first motion state data reflects the motion state of the pair of robotic arms. The motion state of the robotic arms includes stationary, moving, and being moved. Moving refers to the robotic arm moving under its own drive. Being moved refers to the robotic arm moving passively under the influence of human intervention, that is, reflecting whether the robotic arm is moved by the operator. When the angle detected by any angle sensor does not change, the motion state is stationary. When the force sensor detects a force less than the error threshold and the angle detected by any angle sensor changes, the motion state is moving. When the force sensor detects a force greater than the error threshold and the angle detected by any angle sensor changes, the motion state is being moved. At the same time, a pair of robotic arms needs to have viscosity, that is, the robotic arms can remain stationary when no human force moves them, but can be passively moved when human force is applied to them.

[0045] Point symmetry is relative to the midpoint. Even if the ends of a pair of robotic arms are symmetrical about the midpoint, the midpoint is the center of the patient's fluoroscopy. Therefore, the midpoint can be a pre-set position. For example, the midpoint could be the center point of the two robotic arms' starting points moved a certain distance in the X direction. Figure 2 A top view of a pair of robotic arms. Figure 2 The label 1 is a robotic arm, label 11 is the starting point of robotic arm 1, label 2 is another robotic arm, label 21 is the starting point of robotic arm 2, label 3 is the imaging plate, label 4 is the X-ray tube, label 5 is the midpoint, and label 6 is the mounting surface of the pair of robotic arms. Therefore, the position of the midpoint 5 is on the midline between the starting point 11 and the starting point 21, and it moves a first distance in the X direction (the X direction is the upward direction of the midline). The midpoint 5 is also the center position of the patient being fluoroscopically examined.

[0046] This setup allows the system to determine whether the robotic arm has been moved.

[0047] Optionally, the method also includes:

[0048] S110, Acquire the first image of the in-situ patient. The first image is a top-down view of the in-situ patient.

[0049] It is understandable that a camera can be placed above the patient and fixed relative to the patient to capture a top-down view of the patient, i.e., the first image.

[0050] With this setup, the first image will not be captured from different positions as the X-ray machine moves.

[0051] S120, Obtain the preloaded midpoint selected by the operator on the first image.

[0052] It is understandable that the preload midpoint is the point selected by the operator in the first image, and it is also the pre-fluoroscopic point of the patient in place. For example, if the operator wants to fluoroscopically examine the patient's legs, the preload midpoint is set on the patient's legs in the first image.

[0053] This setup allows for the visualization of pre-fluoroscopic points for patients in place, improving fluoroscopy efficiency.

[0054] S130, adjust the orientation of the mounting plate of the robotic arm according to the preload midpoint so that the preload midpoint is located on the first centerline, and then align the position of the midpoint with the position of the preload midpoint. Here, the first centerline refers to the centerline between the mounting starting points of the two robotic arms.

[0055] Understandable, Figure 2 Mounting surface 6 in the diagram is the mounting surface for the robotic arm. The orientation of mounting surface 6 is adjusted according to the position of the preload midpoint so that the preload midpoint is located on the first centerline (i.e., Figure 2 On the center line, since the camera that takes the first image is fixed, the ratio of the distance in the first image to the actual distance is also fixed. Therefore, based on this fixed ratio, the vertical distance between the center point and the mounting plate 6 is adjusted so that the position of the center point coincides with the position of the preloaded center point.

[0056] This setting allows for the customization of corresponding fluoroscopic points (i.e., midpoints) based on patients of different body types and fluoroscopic locations, thereby improving fluoroscopic quality.

[0057] In one possible implementation, in step S130, an infrared emitter is installed on the mounting surface 6. The infrared emitter emits infrared light from one side, which coincides with the mid-surface, where the mid-surface refers to the perpendicular bisector of the mounting points of the two robotic arms, and the infrared light is visible in the first image. The orientation of the mounting surface of the robotic arms is adjusted according to the preload midpoint so that the preload midpoint is located on the first centerline, including:

[0058] S140, adjust the orientation of the mounting plate of the robotic arm according to the infrared light in the first image, so that the preload midpoint coincides with the infrared light.

[0059] It is understandable that an infrared emitter is installed on the mounting plate 6. The infrared emitter emits one infrared beam, which coincides with the middle surface. The middle surface refers to the perpendicular bisector of the starting point 11 and the starting point 21. Since the camera that captures the first image can capture infrared light, the projection of one infrared beam can be captured in the first image. The projection is a line that coincides with the first center line. Therefore, the orientation of the mounting plate of the robotic arm is adjusted until the preload midpoint in the first image coincides with the infrared beam in the first image.

[0060] This setting can improve the accuracy of the overlap between the midpoint and the preloaded midpoint.

[0061] S200: When the first motion state data indicates that any robotic arm is in a moved state, wait for a pair of robotic arms to be stationary for a first duration, then obtain the stopping sequence of the pair of robotic arms, and then obtain the second motion state data. The second motion state data reflects the magnitude of the joint angles and rotation angles of the pair of robotic arms.

[0062] It is understandable that when the first motion state data indicates that any robotic arm is in a moved state, there are two possibilities for the robotic arm being moved: the first is that only one robotic arm is moved, and the second is that both robotic arms are moved. The first possibility indicates that the operator adjusted only one robotic arm, meaning that the adjusted robotic arm can be designated as the stationary robotic arm, and the other stationary robotic arm can be moved autonomously to make the ends of the two robotic arms symmetrical relative to the midpoint. The second possibility indicates that the operator adjusted both robotic arms together, meaning that the stationary robotic arm must be identified first before adjusting the other robotic arm to make the ends of the two robotic arms symmetrical relative to the midpoint. This application determines the stationary robotic arm by the order in which a pair of robotic arms stop. After waiting for the pair of robotic arms to be stationary for a first duration, the next step is to acquire the second motion state data. The second motion state data reflects the magnitude of the joint angles and rotation angles of the two robotic arms, thereby determining the positions of the ends of the two robotic arms.

[0063] This setup helps determine the positions of the ends of the two robotic arms, ensuring that the ends of the two robotic arms are symmetrical with respect to the midpoint.

[0064] S300, based on the second motion state data and the order of stopping, obtain the end-effector coordinates of the first and second robotic arms. The end-effector coordinates of the first robotic arm refer to the coordinates of the end of the first robotic arm, which is the robotic arm that stopped last; the end-effector coordinates of the second robotic arm refer to the coordinates of the end of the second robotic arm, which is the other robotic arm.

[0065] It can be understood that by determining the order in which the two robotic arms stop, they can be divided into the first robotic arm and the second robotic arm. The first robotic arm is the one that stops later and is also stationary, while the second robotic arm is the one that will autonomously move to a point-symmetric position. The second motion state data reflects the magnitude of the joint angles and rotation angles of the two robotic arms. Each segment of the robotic arm can be treated as a three-dimensional vector. The joint angles and rotation angles of each segment of the robotic arm can uniquely determine the direction of the three-dimensional vector of that segment. Since the length of each segment of the robotic arm is constant, the length of each segment can be measured and stored in advance, thus revealing the length of each three-dimensional vector. Subsequently, all three-dimensional vectors of the robotic arm are added together to obtain a sum vector. Starting from the origin (the installation point of the robotic arm), the endpoint of the sum vector is the end coordinate of the robotic arm. Based on this, the end coordinates of the first and second robotic arms can be calculated.

[0066] This setup allows for the rapid acquisition of the end-effector coordinates of both robotic arms.

[0067] S400: Based on the coordinates of the first robotic arm's end effector, the point-symmetric coordinates are obtained. Based on the point-symmetric coordinates and the second robotic arm's end effector coordinates, a robotic arm movement command is obtained, and then the robotic arm movement command is sent to the second robotic arm. The point-symmetric coordinates are those symmetrical to the first robotic arm's end effector coordinates relative to its midpoint, and the robotic arm movement command is used to move the second robotic arm's end effector coordinates to the point-symmetric coordinates.

[0068] It can be understood that the first robotic arm is stationary. The coordinates of the end point of the first robotic arm symmetrical about the midpoint are calculated, i.e., the point-symmetric coordinates. Then, the coordinates of the end point of the second robotic arm are taken as the starting point and the point-symmetric coordinates as the ending point. The distance from the starting point to the ending point is a three-dimensional vector, called the difference vector. The difference vector can be sent to the second robotic arm as a robotic arm movement command. Through the movement between each segment of the second robotic arm, the change in the sum vector becomes the difference vector, so that the end point coordinates of the second robotic arm move to the point-symmetric coordinates.

[0069] This configuration allows the ends of the two robotic arms to be symmetrical with respect to the midpoint.

[0070] Optionally, after sending the robotic arm movement command to the second robotic arm, the method further includes:

[0071] S410, acquire the first motion state data.

[0072] Understandably, the first step is to detect the motion state of a pair of robotic arms.

[0073] S420: When the first motion state data indicates that the second robotic arm is in a moving state, determine whether the first robotic arm is in a being moved state. If so, send a cancellation command to the second robotic arm. After receiving the cancellation command, the second robotic arm clears the robotic arm movement command and stops moving.

[0074] It is understandable that the symmetrical movement process of the second robotic arm takes time. During this time, if the first robotic arm is detected to be in a moving state, a cancellation command can be sent to the second robotic arm. After receiving the cancellation command, the second robotic arm clears the robotic arm movement command and stops moving.

[0075] With this setup, when the first robotic arm is detected to be in a moving state during the execution of the old robotic arm movement command, it means that the operator is not satisfied with the old robotic arm movement command. Therefore, instead of waiting for the second robotic arm to complete the entire old robotic arm movement command, the second robotic arm clears the old robotic arm movement command and stops moving, waiting for the new robotic arm movement command generated by the first robotic arm being moved. This can improve the movement efficiency and rationality of a pair of robotic arms.

[0076] Optionally, after sending the robotic arm movement command to the second robotic arm, the method further includes:

[0077] S430, acquire the first motion state data.

[0078] Understandably, the first step is to detect the motion state of a pair of robotic arms.

[0079] S440, when the first motion state data indicates that the second robotic arm is in a moving state, acquire the movement resistance of the second robotic arm collected by the monitoring sensor.

[0080] It is understandable that the symmetrical movement of the second robotic arm may encounter foreign objects or people. Therefore, it is necessary to detect the movement resistance of the second robotic arm through monitoring sensors to determine whether a collision with a foreign object or person has occurred during its symmetrical movement. The monitoring sensors may include a force sensor located at the first joint of the robotic arm to detect the movement resistance. The movement resistance is the resistance detected by the force sensor at the first joint during the movement of the robotic arm.

[0081] This setup helps determine whether the second robotic arm collides with foreign objects or people during its symmetrical movement.

[0082] S450, when the movement resistance of the second robotic arm is greater than the first threshold, a pause command is sent to the second robotic arm; after receiving the pause command, the second robotic arm stops moving and alarms.

[0083] It is understandable that when the monitoring sensor detects that the movement resistance of the second robotic arm is greater than the first threshold, it means that the second robotic arm has encountered a foreign object or person during its movement. Therefore, a stop signal is sent to the second robotic arm, and the second robotic arm stops moving and alarms after receiving the stop signal.

[0084] This configuration allows the second robotic arm to pause its movement and sound an alarm when it encounters a foreign object or person, preventing injury to operators or patients and also preventing damage from overload.

[0085] S460, after detecting the user's input to cancel the alarm command, sends a continue command to the second robotic arm; after receiving the continue command, the second robotic arm stops the alarm and continues to execute the robotic arm movement command.

[0086] It's understandable that after the operator inputs the alarm cancellation command, the second robotic arm stops the alarm and continues moving to execute the robotic arm movement command. A button can be installed on the robotic arm to allow the operator to quickly input the alarm cancellation command.

[0087] This configuration allows the robotic arm to continue executing its movement commands after removing foreign objects or people. Optionally, after sending a pause command to the second robotic arm and before sending a continue command, the method further includes:

[0088] S470, acquire the first motion state data.

[0089] Understandably, the first step is to detect the motion state of a pair of robotic arms.

[0090] S480, when the first motion state data indicates that any robotic arm is in a moving state, a cancellation command is sent to the second robotic arm; after receiving the cancellation command, the second robotic arm clears the robotic arm movement command and stops the alarm.

[0091] It is understandable that when the second robotic arm pauses its movement and alarms, the operator can still move either robotic arm as needed. When the first motion status data indicates that either robotic arm is in a moving state, a cancellation command is sent to the second robotic arm. After receiving the cancellation command, the second robotic arm clears the robotic arm movement command and stops the alarm.

[0092] With this setup, the robotic arm's movement resistance exceeding the first threshold could be due to a collision with a foreign object, or it could be caused by the operator attempting to move the second robotic arm. However, the robotic arm cannot distinguish between these two scenarios. The difference lies in the fact that in the second scenario, the second robotic arm can still be moved by the operator after it has come to a standstill. Therefore, when the second robotic arm pauses movement and triggers an alarm, if movement is detected, the second robotic arm clears its movement command and stops the alarm. Another possibility is that when the second robotic arm pauses movement and triggers an alarm, the operator may not want to cancel the alarm and allow the second robotic arm to continue executing the old movement command. Instead, they may move the first robotic arm to generate a new movement command for the second robotic arm to execute. Therefore, when the second robotic arm pauses movement and triggers an alarm, if movement is detected, the second robotic arm clears its movement command and stops the alarm. Combining these two scenarios, the solution is: when the second robotic arm pauses movement and triggers an alarm, if it detects that either robotic arm is being moved, the second robotic arm clears its movement command and stops the alarm. This improves the robotic arm's movement and alarm logic, enhancing the rationality of this method.

[0093] S500: After the second robotic arm completes its movement command, a gaze-at-each-arm command is sent to the pair of robotic arms. This gaze-at-each-arm command is used to instruct the end effectors of the first and second robotic arms to look at each other.

[0094] It is understood that the robotic arms in this application are used on a mobile fluoroscopy machine. Therefore, each of the two robotic arms is equipped with a X-ray tube and an imaging plate. The X-rays emitted from the X-ray tube need to be perpendicular to the imaging plate, meaning the ends of the pair of robotic arms need to look at each other. Therefore, after the ends of the two robotic arms are symmetrical about their midpoint, a look-at-a-gaze command is sent to the pair of robotic arms to make the ends of the first and second robotic arms look at each other. The coordinates of the ends of the two robotic arms can be connected to form a line segment, the vector angle of this line segment can be calculated, and then the vector angle can be sent as a look-at-a-gaze command to the two robotic arms. The ends of the two robotic arms will have positive and negative vector angles, respectively, to complete the look-at-a-gaze.

[0095] This configuration allows the robotic arm of this application to be used on a mobile X-ray machine.

[0096] Optionally, a laser correction device is fitted to the end of a pair of robotic arms. The laser correction device includes a laser emitter and a laser receiver. The laser emitter is located at the end of one robotic arm, and the laser receiver is located at the end of the other robotic arm. The method further includes:

[0097] S510, before executing the step of acquiring the first motion state data collected by the monitoring sensor, sends a symmetry command to a pair of robotic arms, and then sends a gaze command; after receiving the symmetry command, the ends of the pair of robotic arms are symmetrical with respect to the midpoint, and after receiving the gaze command, the ends of the pair of robotic arms are made to gaze at each other.

[0098] It is understandable that errors will gradually accumulate after the robotic arm moves multiple times. Therefore, before each execution of step S100 of this method, that is, before the patient is in position, the coordinates of the end points of a pair of robotic arms can be made symmetrical with respect to the midpoint before executing the eye-viewing command. Furthermore, a laser correction device, including a laser emitter and a laser receiver, is installed at the end points of the pair of robotic arms, which is in the same positional relationship as the X-ray tube and the imaging plate, so as to perform correction periodically.

[0099] This setup can correct errors generated during the movement of the robotic arm without producing additional ionizing radiation.

[0100] S520: The laser correction device is activated to obtain the visual error, and a correction movement command is obtained based on the visual error. The correction movement command is then sent to a pair of robotic arms. The correction movement command is used to instruct the pair of robotic arms to correct the visual error.

[0101] It can be understood that the laser correction device includes a laser emitter and a laser receiver, which are respectively installed on a pair of robotic arms. After symmetry and eye contact, the laser correction device is activated. The laser emitter on one robotic arm emits a laser, which is received by the laser receiver on the other robotic arm. Under error-free conditions, the laser will hit the center of the laser receiver and form an image. Therefore, the distance difference vector between the laser image point received by the laser receiver and the center point of the laser receiver can be used as the eye contact error. The distance difference vector / the distance between the coordinates of the two ends = tanθ, where θ is the angle to be adjusted at the end of the robotic arm, and the direction of the angle adjustment at the end of the robotic arm is the direction of the distance difference vector. Thus, the correction movement command (θ, the direction of the distance difference vector) is obtained. The correction movement command is sent to the pair of robotic arms. The ends of the two robotic arms can be adjusted by θ / 2 respectively, or the end of a single robotic arm can be adjusted by θ to correct the eye contact error at the ends of the pair of robotic arms.

[0102] This setup allows for periodic correction of the robotic arms' eye-to-eye error, ensuring that a pair of robotic arms can successfully make eye-to-eye contact.

[0103] Optionally, all segments of a pair of robotic arms can be of equal length.

[0104] It is understandable that not only should the ends of a pair of robotic arms be symmetrical, but the two robotic arms should also be equivalent, with the only difference being the order in which the two robotic arms stop. Therefore, in order to make each instruction universal in both robotic arms, the lengths of each segment of the two robotic arms should be equal.

[0105] This setup improves the versatility of various commands across the two robotic arms.

[0106] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0107] Corresponding to the robotic arm motion state monitoring method described in the above embodiments, this application also provides a robotic arm motion state monitoring system, in which each unit can implement each step of the robotic arm motion state monitoring method. Figure 3 A structural block diagram of the robotic arm motion status monitoring system provided in the embodiments of this application is shown. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0108] Reference Figure 3 The system includes monitoring sensors and a server, and is used to monitor a pair of robotic arms. The server includes:

[0109] The first acquisition unit is used to acquire the first motion state data collected by the monitoring sensor; wherein, the first motion state data is used to reflect the motion state of a pair of robotic arms, and the motion state includes stationary, moving, and being moved;

[0110] The second acquisition unit is used to wait for a pair of robotic arms to be stationary and remain stationary for a first duration when the first motion state data indicates that any robotic arm is in a moved state, then acquire the order in which the pair of robotic arms stop, and then acquire the second motion state data; wherein, the second motion state data is used to reflect the magnitude of the joint angles and rotation angles of the pair of robotic arms.

[0111] The calculation unit is used to obtain the end coordinates of the first robotic arm and the end coordinates of the second robotic arm based on the second motion state data and the order of stopping; wherein, the end coordinates of the first robotic arm refers to the end coordinates of the first robotic arm, and the first robotic arm refers to the robotic arm that stops later; the end coordinates of the second robotic arm refers to the end coordinates of the second robotic arm, and the second robotic arm is another robotic arm.

[0112] The symmetry unit is used to obtain the point symmetry coordinates based on the coordinates of the end of the first robotic arm, obtain the robotic arm movement command based on the point symmetry coordinates and the coordinates of the end of the second robotic arm, and then send the robotic arm movement command to the second robotic arm; wherein, the point symmetry coordinates are coordinates that are symmetrical to the coordinates of the end of the first robotic arm with respect to the midpoint, and the robotic arm movement command is a command used to move the coordinates of the end of the second robotic arm to the point symmetry coordinates.

[0113] The eye-watching unit is used to send eye-watching instructions to a pair of robotic arms after the second robotic arm completes the robotic arm movement instruction; wherein, the eye-watching instructions are instructions to make the end effectors of the first robotic arm and the end effectors of the second robotic arm look at each other.

[0114] It should be noted that the information interaction and execution process between the above-mentioned units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, which will not be repeated here.

[0115] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units is merely an example. In practical applications, the above functions can be assigned to different functional units as needed, that is, the internal structure of the device can be divided into different functional units to complete all or part of the functions described above. The functional units in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0116] This application also provides a server. Figure 4 This is a schematic diagram of the structure of a server provided in an embodiment of this application. The server includes a signal transmitting device and a control device, and the server is communicatively connected to two robotic arms through the signal transmitting device. Figure 4 As shown, the server control device 4 in this embodiment includes: at least one processor 40 ( Figure 4 Only one is shown in the image), at least one memory 41 ( Figure 4 (Only one is shown in the image) and a computer program 42 stored in the at least one memory 41 and executable on the at least one processor 40. When the processor 40 executes the computer program 42, it causes the server's control device 4 to implement the steps in any of the above embodiments of the robotic arm motion state monitoring method, or causes the server's control device 4 to implement the functions of each unit in the above embodiments of the device.

[0117] For example, the computer program 42 may be divided into one or more units, which are stored in the memory 41 and executed by the processor 40 to complete this application. The one or more units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program 42 in the control device 4 of the server.

[0118] The server control device 4 can be a microcontroller, microprocessor, mobile phone, tablet computer, wearable device, vehicle-mounted device, laptop computer, ultra-mobile personal computer (UMPC), netbook, personal digital assistant (PDA), desktop computer, smart screen, smart TV, or handheld device with wireless communication capabilities. The server control device 4 may include, but is not limited to, a processor 40 and a memory 41. Those skilled in the art will understand that... Figure 4 This is merely an example of the server control device 4 and does not constitute a limitation on the server control device 4. It may include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, buses, etc.

[0119] The processor 40 can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0120] In some embodiments, the memory 41 may be an internal storage unit of the server's control device 4, such as a hard disk or memory of the server's control device 4. In other embodiments, the memory 41 may be an external storage device of the server's control device 4, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the server's control device 4. Furthermore, the memory 41 may include both internal storage units and external storage devices of the server's control device 4. The memory 41 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 41 can also be used to temporarily store data that has been output or will be output.

[0121] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps in any of the above method embodiments.

[0122] This application provides a computer program product that, when run on a server, enables the server to implement the steps in any of the above method embodiments.

[0123] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a server, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0124] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0125] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0126] In the embodiments provided in this application, it should be understood that the disclosed robotic arm motion state monitoring method, robotic arm motion state monitoring system, and server can be implemented in other ways. For example, the robotic arm motion state monitoring method, robotic arm motion state monitoring system, and server embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0127] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0128] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for monitoring the motion state of a robotic arm, characterized in that, A server is used in a robotic arm motion state monitoring system, the robotic arm motion state monitoring system including monitoring sensors and the server, the system being used to monitor a pair of viscous robotic arms, ensuring that the end effectors of the pair of robotic arms are always symmetrical with respect to the midpoint, the method comprising: Acquire first motion state data collected by the monitoring sensor; wherein, the first motion state data is used to reflect the motion state of a pair of robotic arms, and the motion state includes stationary, moving, and being moved; When the first motion state data indicates that any robotic arm is in a moving state, wait for a pair of robotic arms to be stationary and remain stationary for a first duration, then obtain the stopping sequence of the pair of robotic arms, and then obtain the second motion state data; wherein, the second motion state data is used to reflect the magnitude of each joint angle and rotation angle of the pair of robotic arms. Based on the second motion state data and the order of stopping, the end coordinates of the first robotic arm and the end coordinates of the second robotic arm are obtained; wherein, the end coordinates of the first robotic arm refer to the end coordinates of the first robotic arm, and the first robotic arm refers to the robotic arm that stops later; the end coordinates of the second robotic arm refer to the end coordinates of the second robotic arm, and the second robotic arm is another robotic arm. Based on the coordinates of the first robotic arm's end effector, a point-symmetric coordinate is obtained. Based on the point-symmetric coordinate and the coordinates of the second robotic arm's end effector, a robotic arm movement command is obtained, and then the robotic arm movement command is sent to the second robotic arm. Wherein, the point-symmetric coordinate is the coordinate symmetrical to the coordinates of the first robotic arm's end effector with respect to the midpoint, and the robotic arm movement command is a command used to move the coordinates of the second robotic arm's end effector to the point-symmetric coordinate. After the second robotic arm completes the robotic arm movement command, a gaze-to-view command is sent to a pair of robotic arms; wherein, the gaze-to-view command is a command used to make the ends of the first robotic arm and the ends of the second robotic arm look at each other, so as to realize the gaze-to-view relationship between the X-ray tube and the imaging plate in the moving fluoroscopy machine; The method further includes: Acquire a first image of the in-situ patient; wherein the first image is a top-down view of the in-situ patient; Obtain the preloaded midpoint selected by the operator on the first image; Adjust the orientation of the mounting plate of the robotic arm according to the preload midpoint so that the preload midpoint is located on the first centerline; wherein, the first centerline refers to the centerline between the mounting starting points of the two robotic arms.

2. The robotic arm motion state monitoring method as described in claim 1, characterized in that, After sending the robotic arm movement command to the second robotic arm, the method further includes: Obtain the first motion state data; When the first motion state data indicates that the second robotic arm is in a moving state, it is determined whether the first robotic arm is in a being moved state. If so, a cancellation command is sent to the second robotic arm. After receiving the cancellation command, the second robotic arm clears the robotic arm movement command and stops moving.

3. The method for monitoring the motion state of a robotic arm as described in claim 1, characterized in that, After sending the robotic arm movement command to the second robotic arm, the method further includes: Obtain the first motion state data; When the first motion state data indicates that the second robotic arm is in a moving state, the movement resistance of the second robotic arm collected by the monitoring sensor is obtained; When the movement resistance of the second robotic arm exceeds the first threshold, a pause command is sent to the second robotic arm; upon receiving the pause command, the second robotic arm pauses its movement and issues an alarm. After detecting a user-inputted command to cancel the alarm, a continuation command is sent to the second robotic arm; upon receiving the continuation command, the second robotic arm stops the alarm and continues to execute the robotic arm movement command.

4. The method for monitoring the motion state of a robotic arm as described in claim 3, characterized in that, After sending a pause command to the second robotic arm and before sending a continue command to the second robotic arm, the method further includes: Obtain the first motion state data; When the first motion state data indicates that either robotic arm is in a moving state, a cancellation command is sent to the second robotic arm; after receiving the cancellation command, the second robotic arm clears the robotic arm movement command and stops the alarm.

5. The method for monitoring the motion state of a robotic arm as described in claim 1, characterized in that, A pair of robotic arms are equipped with laser correction devices at their ends. The laser correction device includes a laser emitter and a laser receiver. The laser emitter is located at the end of one robotic arm, and the laser receiver is located at the end of the other robotic arm. The method further includes: Before performing the step of acquiring the first motion state data collected by the monitoring sensor, a symmetry command is sent to a pair of robotic arms, followed by a gaze command; after receiving the symmetry command, the ends of the pair of robotic arms are symmetrical with respect to the midpoint, and after receiving the gaze command, the ends of the pair of robotic arms gaze at each other. The laser correction device is activated to obtain the visual error, and a correction movement command is obtained based on the visual error. The correction movement command is then sent to a pair of robotic arms. The correction movement command is used to instruct the pair of robotic arms to correct the visual error.

6. The method for monitoring the motion state of a robotic arm as described in claim 1, characterized in that, An infrared emitter is provided on the mounting surface of the robotic arm. The infrared emitter emits infrared light from one side, and the other side coincides with the mid-surface. The mid-surface refers to the perpendicular bisector of the mounting points of the two robotic arms, and the infrared light can be displayed in the first image. Adjusting the orientation of the mounting surface of the robotic arm according to the preload midpoint so that the preload midpoint is located on the first centerline includes: Adjust the orientation of the robotic arm's mounting surface according to the infrared light in the first image, so that the preload midpoint coincides with the infrared light.

7. The method for monitoring the motion state of a robotic arm as described in claim 1, characterized in that, All segments of a pair of robotic arms are of equal length.

8. A robotic arm motion status monitoring system, characterized in that, For implementing the method as described in any one of claims 1 to 7, the system is used to monitor a pair of robotic arms and ensure that the end-effector coordinates of the pair of robotic arms are always symmetrical with respect to the midpoint, the system comprising monitoring sensors and a server, the server comprising: The first acquisition unit is used to acquire the first motion state data collected by the monitoring sensor; wherein, the first motion state data is used to reflect the motion state of a pair of robotic arms, and the motion state includes stationary, moving, and being moved; The second acquisition unit is used to wait for a pair of robotic arms to be stationary and remain stationary for a first duration after the first motion state data indicates that any robotic arm is in a moved state, acquire the order in which the pair of robotic arms stop, and then acquire the second motion state data; wherein, the second motion state data is used to reflect the magnitude of the joint angles and rotation angles of the pair of robotic arms. The calculation unit is used to obtain the end coordinates of the first robotic arm and the end coordinates of the second robotic arm based on the second motion state data and the order of stopping; wherein, the end coordinates of the first robotic arm refers to the end coordinates of the first robotic arm, and the first robotic arm refers to the robotic arm that stops later; the end coordinates of the second robotic arm refers to the end coordinates of the second robotic arm, and the second robotic arm is another robotic arm. A symmetry unit is used to obtain point symmetry coordinates based on the coordinates of the end effector of the first robotic arm, obtain a robotic arm movement command based on the point symmetry coordinates and the coordinates of the end effector of the second robotic arm, and then send the robotic arm movement command to the second robotic arm; wherein, the point symmetry coordinates are coordinates that are symmetrical to the coordinates of the end effector of the first robotic arm with respect to the midpoint, and the robotic arm movement command is a command used to move the coordinates of the end effector of the second robotic arm to the point symmetry coordinates; The eye-viewing unit is used to send an eye-viewing instruction to a pair of robotic arms after the second robotic arm completes the robotic arm movement instruction; wherein, the eye-viewing instruction is used to make the end caps of the first robotic arm and the end caps of the second robotic arm look at each other, so as to realize the eye-viewing relationship between the X-ray tube and the imaging plate in the moving fluoroscopy machine.

9. A server comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 7.

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