Medical robot system and its base calibration method, media and computing device

Abstract

This application provides a medical robot system and its base calibration method, medium, and computing device. The method includes acquiring the rotation angle of the rotating joint when a laser emitter emits a laser towards a marker point, as first information; acquiring the spatial position of the marker point in the reference coordinate system of the first base, as second information; and determining the transformation relationship between the reference coordinate systems of the first base and the second base based on the first information, the second information, and the spatial position of the laser emitter in the reference coordinate system of the second base. This method utilizes the rotation angle of the rotating joint obtained from the laser emitter emitting a laser towards the marker point, the spatial position of the marker point in the reference coordinate system of the first base, and the spatial position of the laser emitter in the reference coordinate system of the second base to determine the transformation relationship between the reference coordinate systems of the two bases, thereby accurately determining the relative position between the two bases.

Description

Technical Field

[0001] This application relates to the technical field of medical robots, and more particularly to a medical robot system and its base calibration method, medium and computing device. Background Technology

[0002] Medical robots are increasingly used in hospitals. In order to reduce space occupation and improve the flexibility of preoperative positioning, split-type medical robot systems have emerged.

[0003] Split-type medical robot systems typically have multiple operating devices, each with its own base. To enable these devices to work together, their bases need to be calibrated. However, existing calibration methods either require highly complex operations, leading to prolonged preoperative preparation time, or they fail to meet accuracy requirements, as insufficient calibration precision can affect the robot's intraoperative operational accuracy and reduce surgical safety. Summary of the Invention

[0004] In view of this, embodiments of this application propose a medical robot system and its base calibration method, medium, and computing device to solve the technical problems in the related art.

[0005] According to a first aspect of the embodiments of this application, a base calibration method for a medical robot system is provided. The medical robot system includes a first operating device and a second operating device. The first operating device includes a first base and a first robotic arm mounted to the first base, and the first robotic arm is provided with marking points. The second operating device includes a second base and a laser emitter mounted to the second base, and the laser emitter is connected to the second base via a rotating joint. The method includes:

[0006] The rotation angle of the rotating joint is obtained when the laser emitter emits a laser towards the marked point, and is used as the first information;

[0007] The spatial position of the marker point in the reference coordinate system of the first base is obtained as the second information;

[0008] Based on the first information, the second information, and the spatial position of the laser emitter in the reference coordinate system of the second base, the transformation relationship between the reference coordinate system of the first base and the reference coordinate system of the second base is determined.

[0009] According to a second aspect of the embodiments of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the method described in any one of the first aspects.

[0010] According to a third aspect of the embodiments of this application, a computing device is provided, including a memory and a processor, wherein the memory stores a computer program that can be executed by the processor, and when the processor executes the computer program, it implements the method described in any one of the first aspects.

[0011] According to a fourth aspect of the embodiments of this application, a medical robot system is provided, comprising:

[0012] A first operating device, comprising a first base and a first robotic arm mounted on the first base, wherein the first robotic arm is provided with marking points;

[0013] A second operating device, comprising a second base and a laser emitter mounted to the second base, the laser emitter being connected to the second base via a rotating joint; and

[0014] The computing device described in the third aspect.

[0015] According to a fifth aspect of the embodiments of this application, a medical robot system is provided, comprising:

[0016] Multiple operating devices; and

[0017] The master operating device is capable of communicating with multiple slave operating devices, enabling the master operating device to simultaneously control at least one of the multiple slave operating devices.

[0018] As can be seen from the above technical solution, this application has a first robotic arm installed on the first base of the first operating device, and a marker point set on the first robotic arm. A laser emitter is installed on the second base of the second operating device. By using the rotation angle of the rotating joint obtained by the laser emitter emitting laser to the marker point, the spatial position of the marker point in the reference coordinate system of the first base, and the spatial position of the laser emitter in the reference coordinate system of the second base, the transformation relationship between the reference coordinate systems of the two bases can be determined, thereby accurately determining the relative position between the two bases. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0020] Figure 1 This is a schematic diagram of a medical robot system according to an embodiment of this application;

[0021] Figure 2 This is a schematic diagram illustrating a first operating device according to an embodiment of this application;

[0022] Figure 3 This is a flowchart illustrating a base calibration method for a medical robot system according to an embodiment of this application;

[0023] Figure 4 yes Figure 1 The diagram shows a top view of the medical robot system.

[0024] Figure 5 yes Figure 4 The diagram shows the reference coordinate system of the first base, the reference coordinate system of the second base, and the reference coordinate system of the laser emitter in the medical robot system shown.

[0025] Figure 6 This is a schematic diagram illustrating another medical robot system according to an embodiment of this application;

[0026] Figure 7 yes Figure 6 The diagram shows the reference coordinate system of the first base, the reference coordinate system of the second base, and the reference coordinate system of the laser emitter in the medical robot system shown.

[0027] Figure 8 This is a schematic diagram of a computing device according to an embodiment of this application;

[0028] Figure 9 This is a schematic diagram of a medical robot system according to an embodiment of this application. Detailed Implementation

[0029] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0030] The surgical robot system of this application embodiment may include a master operating device and multiple slave operating devices. The master operating device is capable of communicating with the multiple slave operating devices, enabling the master operating device to simultaneously control at least one of the multiple slave operating devices. The multiple slave operating devices may be at least two slave operating devices, for example, they may include any two or more of single-port, single-arm, multi-port, flexible, or other patient-side operating devices.

[0031] The surgical robot system may include multiple switchable control modes. These control modes include at least one standalone control mode and at least one combined control mode. In the standalone control mode, the system can control only one slave actuator. In the combined control mode, depending on the complexity of the surgery or specific needs, the system may use one slave actuator alone or at least two slave actuators in combination.

[0032] The system can select a default control mode when a slave device is connected, for example, by matching the type of slave device with information pre-stored in the system and selecting the corresponding control mode. Alternatively, the system can trigger the main operating device's interactive interface when a slave device is connected, allowing the doctor to select the desired control mode.

[0033] Doctors can also manually switch control modes according to the needs of the surgical procedure. Specific switching methods include, but are not limited to, specific actions of the main hand controller of the main operating device or its buttons or sensors, physical triggers or sensor triggers such as pedals on the main operating device, interactive operations on the display interface of the main operating device (such as using the main hand controller as a mouse on the surgical scene display interface, or operating on a touchscreen on the armrest), or a combination of the above methods according to logical configuration. Furthermore, the system can automatically determine the appropriate control mode based on specific surgical process information and remind the doctor, for example, through text reminders on the surgical scene display interface or through voice announcements.

[0034] Furthermore, the main operating device includes two first operating components, each of which is used to receive user interaction operations to control one of a plurality of slave operating devices.

[0035] In single-use control mode, the two first operating components are used only to control the same instrument of the same slave operating device, or to control two different instruments of the same slave operating device respectively.

[0036] In the combined control mode, each first operating component can be used to control any one of the instruments from multiple slave operating devices. Two first operating components can control the same instrument or control two different instruments. The two different instruments can be mounted on the same slave operating device or on two different slave operating devices.

[0037] For example, the first operating component can be a device operated by the doctor's hands, controlled by the doctor's left and right hands respectively. In the combined control mode, for each first operating component, the corresponding control object can be freely selected from the instruments on multiple combined slave operating devices. For example, the system includes a first slave operating device and a second slave operating device. The doctor can operate an instrument on the first slave operating device with their left hand and an instrument on the second slave operating device with their right hand, or they can operate an instrument on either the first or second slave operating device with both hands, or they can operate two different instruments on the first or second slave operating device with their left and right hands respectively.

[0038] Furthermore, in the combined control mode, further restrictions or constraints can be imposed according to the doctor's guidance and teaching needs or special surgical scenarios, such as restricting the two first operating devices to control different instruments of the slave operating devices respectively.

[0039] Furthermore, in the joint control mode, possible faults include: depending on the location of the fault, they can include cross-system faults between multiple surgical robots and handling faults within the individual systems of each surgical robot; depending on the nature of the fault, they can include handling recoverable faults and handling unrecoverable faults. The main operating device can control and respond to faults based on current mature robot technologies to ensure patient surgical safety.

[0040] In one application scenario, multiple slave manipulators may include a single-port laparoscopic robot and at least one single-arm assistive robot.

[0041] Single-port surgical robots offer advantages such as fewer incisions and simpler positioning. A single-port surgical robot typically consists of a multi-degree-of-freedom endoscope inserted through a cannula and multiple surgical instruments. Surgical instruments used in single-port laparoscopic robots usually have 6 to 7 degrees of freedom for manipulating the end effector, primarily achieved by the elbow joint for positional movement and the wrist joint for directional changes. Due to the large number of joints and complex structure of the surgical instruments, their output force and stiffness are often limited, rendering them ineffective in situations requiring high output force. Furthermore, due to their high complexity, instruments suitable for single-port laparoscopic robots, such as ultrasonic scalpels, vascular closure devices, and anastomotic devices, often fail to meet the needs of certain surgical procedures.

[0042] To adapt to certain surgical procedures or more complex surgical scenarios and improve the flexibility and convenience of surgical operations, a single-arm assistive robot can be introduced before or during surgery. Single-arm surgical robots can be equipped with multi-port surgical instruments, achieving greater output force, and are compatible with instruments such as ultrasonic scalpels, vascular closure devices, and anastomotic devices to meet a wider range of clinical needs.

[0043] In this application scenario, the system can include a single-hole control mode, a single-arm control mode, and a single-hole-single-arm combined control mode, and the three can be switched between each other.

[0044] In single-port control mode, the main operating device can only control the single-port laparoscopic robot. The main operating device can control the single-port laparoscopic robot to perform surgical instrument movements, such as controlling the robot's robotic arm to move surgical instruments, or controlling the wrist or end effector of the surgical instruments to perform movements. In this control mode, the system can also switch between preset sub-modes corresponding to the surgical scenario based on the status of the cannula, endoscope, and surgical instruments. Examples include a preset mode for adjusting the endoscope to the optimal field of view, or a mode for retracting instruments.

[0045] In single-arm control mode, the main operating device can only control the single-arm assistive robot. The single-arm assistive robot can carry a single endoscope for the entire system, or additional endoscopes, uterine manipulators, ultrasonic scalpels and other energy instruments, and advanced instruments such as staplers. The main operating device can control the single-arm assistive robot to perform the actions of surgical instruments, such as controlling the robotic arm of the single-arm assistive robot to move surgical instruments. It is understandable that in single-arm control mode, the single-arm assistive robot can also be used in conjunction with traditional manual instruments for complementary surgical procedures.

[0046] In the single-port-single-arm combined control mode, the main operating device can control only the single-port laparoscopic robot, only the single-arm auxiliary robot, or simultaneously control both. For each first operating component of the main operating device, the corresponding control object can be freely selected from the instruments on the single-port laparoscopic robot and the single-arm auxiliary robot. For example, one first operating component can be used to control a specific instrument on the single-port laparoscopic robot, and another first operating component can be used to control an instrument on the single-arm auxiliary robot; alternatively, both first operating components can jointly operate the same instrument on the single-port laparoscopic robot; or two first operating components can operate two different instruments on the single-port laparoscopic robot respectively; or both first operating components can jointly operate an instrument on the single-arm auxiliary robot.

[0047] In another application scenario, multiple manipulators may include a multi-port laparoscopic robot and at least one single-arm assistive robot. In this scenario, the system may include a multi-port control mode, a single-arm control mode, and a multi-port / single-arm control mode. The system's operation in each control mode and the switching methods for these modes are similar to those in the aforementioned application scenario and will not be repeated here.

[0048] The selection and switching process for the control mode of the surgical robot system is as follows: When the system starts, it automatically selects the corresponding control mode based on the type of robot connected. For example, when a single-port laparoscopic robot and a single-arm assistive robot are connected simultaneously, the single-port-single-arm combined mode is selected. During system operation, the control mode switching function is activated when a relevant interactive operation is detected; otherwise, the current control mode is maintained. Interactive operations can include, for example, pressing a pedal or pressing a button on the main hand controller. When the control mode switching function is activated, the surgeon can switch control modes according to surgical needs. For example, the surgeon can manually select the mode through interactive physical operations on a specific main operating device or through the interactive interface displayed on the main operating device's display. For instance, the interactive interface can be overlaid on the visual surgical scene interface. The surgeon can scroll or slide through the options on the interactive interface using the main hand controller. When the desired control mode is selected, confirmation is made by double-clicking a button on the main hand controller or through other physical or interactive methods, thus completing the control mode switch.

[0049] Each slave operating device in the medical robot system of this embodiment has its own base. In order for the slave operating devices to work together, the bases of each slave operating device need to be calibrated. The inventors found that the calibration methods in related technologies either have high operational requirements, and the cumbersome operation and calculation methods lead to a prolong of preoperative preparation time; or they cannot meet the accuracy requirements, and insufficient calibration accuracy will affect the accuracy of the robot's operation during surgery and reduce the safety of the surgery.

[0050] Based on this, this application further provides a base calibration method for a medical robot system. A first robotic arm is mounted on a first base of a first operating device, and marker points are set on the first robotic arm. A laser emitter is mounted on a second base of a second operating device. By using the rotation angle of the rotating joint obtained by the laser emitter emitting laser light onto the marker points, the spatial position of the marker points in the reference coordinate system of the first base, and the spatial position of the laser emitter in the reference coordinate system of the second base, the transformation relationship between the reference coordinate systems of the two bases can be determined, thereby accurately determining the relative position between the two bases. This base calibration method can be applied to the above-mentioned medical robot system, wherein multiple operating devices include a first operating device and a second operating device.

[0051] For example, the base calibration method for a medical robot system can be executed by a computing device, including but not limited to servers, cloud servers, smartphones / phones, tablets, personal digital assistants (PDAs), laptops, desktop computers, media content players, video game consoles / systems, virtual reality systems, augmented reality systems, wearable devices (e.g., watches, glasses, gloves, headwear (e.g., hats, helmets, virtual reality headsets, augmented reality headsets, head-mounted devices (HMDs), headbands)) or any other type of device. It is understood that the base calibration method for a medical robot system can be executed by different computing devices or by the same computing device; this embodiment does not impose any limitations on this.

[0052] For example, please refer to Figure 1 , Figure 1 This is a schematic diagram of a medical robot system according to an embodiment of this application. A first operating device 101 may include a patient-side robot, in which the patient can be positioned in front of the patient-side robot during surgery. The patient-side robot may include a first base 101a and a first robotic arm 101b mounted to the first base 101a. Marking points 300 may be provided on the first robotic arm 101b. The end effector of the first robotic arm 101b can be used to hold one or more surgical instruments 001. The surgeon can control the first robotic arm 101b of the patient-side robot to control the surgical instruments 001 to perform surgical operations on the patient. For example, the patient-side robot may be a multi-port laparoscopic robot (such as...). Figure 1 (As shown). For example, the patient-side robot can be a single-port laparoscopic robot (not shown). The second manipulation device 202 may include an auxiliary manipulation robot, typically used for surgical or auxiliary operations. The auxiliary manipulation robot may include a second base 202a and a laser emitter 202b mounted to the second base 202a. The laser emitter 202b can be connected to the second base 202a via a rotary joint. Generally, the positions of the first base 101a and the second base 202a can be adjusted independently according to the positioning required for the surgical operation, and they are usually not physically connected.

[0053] For example, please refer to Figure 2A schematic diagram of a first operating device 101 is shown. The first operating device 101 may include a first base 101a, a push handle 101c, and at least one first robotic arm 101b (for ease of illustration, only one robotic arm 101b is shown in the figure). Each robotic arm 101b may include an adjusting arm 101b-1 and an operating arm 101b-2. Before operating the first operating device 101 to perform surgery, the adjusting arm 101b-1 can be operated to move the surgical instrument 001 mounted at the end of the operating arm 101b-2 to a designated position, and then the joint of the adjusting arm 101b-1 can be locked.

[0054] Please continue reading. Figure 2 The operating arm 101b-2 has a holding arm 101b-3 at its end for mounting one or more surgical instruments 001. The surgical instruments 001 can be instruments used to perform surgical procedures, such as electrocautery devices, clamps, or vascular occluders; they can also be cameras used to acquire images of the surgical area, such as endoscopes; or other surgical instruments. A cannula 002 is detachably mounted on the holding arm 101b-3. The cannula 002 is inserted into a small opening in the human body, through which the surgical instruments 001 pass into the abdominal or thoracic cavity for surgical procedures. The operating arm 101b-2 can drive the holding arm 101b-3 and the surgical instruments 001 to perform yaw movements about a deflection axis and pitch movements about a pitch axis. These deflection and pitch axes intersect at a predetermined position on the cannula 002 to ensure that the operating mechanism does not deviate from this predetermined position when moving the surgical instruments 001, i.e., pitching and / or yawing around this point. When the cannula 002 is inserted into the human body, the predetermined position is aligned with a small hole opened on the body, thereby preventing non-surgical trauma to the body. This predetermined position can also be called the remote center of motion (RCM).

[0055] For example, please refer to Figure 1 The second operating device 202 may further include at least one second robotic arm 202c. The second robotic arm 202c may have different configurations depending on different operational requirements. For example, in applications involving routine surgical procedures, the second robotic arm 202c may be configured with a structure similar to the first robotic arm 101b. For example, in applications involving auxiliary operations, such as uterine manipulation in gynecological surgery, the second robotic arm 202c may also be configured with a different structure than the first robotic arm 101b. Of course, the second robotic arm 202c may also be configured to perform both surgical and auxiliary operations.

[0056] In some application scenarios, during the preoperative setup phase, according to a pre-planned schedule, the first operating device 101 and the second operating device 202 are placed in suitable positions, and then the first base 101a and the second base 202a are locked, at which point their physical positions are fixed. Subsequently, the second base 202a needs to be calibrated to obtain the transformation matrix between the reference coordinate system of the second base 202a and the reference coordinate system of the first base 101a. Therefore, in subsequent operations, based on this transformation matrix, the kinematic data of the second robotic arm 202c of the second operating device 202 can be converted into values ​​in the reference coordinate system of the first base 101a, facilitating accurate control of the operation of the second robotic arm 202c.

[0057] In some embodiments, please refer to Figure 3 , Figure 3 This application illustrates a flowchart of a base calibration method for a medical robot system according to an exemplary embodiment. The method may include steps S301 to S303.

[0058] In step S301, the rotation angle of the joint of the laser emitter 202b when emitting laser to the mark point 300 is obtained as the first information.

[0059] As previously described, the laser emitter 202b is connected to the second base 202a via a rotary joint. The rotary joint has a degree of freedom of rotation about a rotation axis 202d. The rotation axis 202d can, for example, be perpendicular to the ground on which the second base 202a is placed. The laser emitter 202b can rotate with the rotation of the rotary joint, thereby changing the angle of the laser emitted by the light source of the laser emitter 202b. In some examples, during the rotation of the laser emitter 202b with the rotary joint, the position of the laser emitter 202b relative to the second base 202a remains unchanged; that is, the laser emitter 202b only has a degree of freedom of rotation about the rotation axis 202d relative to the second base 202a. Therefore, it can also be understood that the laser emitter 202b is rotatably connected to the second base 202a.

[0060] In some examples, an angle measuring device may be provided at the rotary joint to measure the rotation angle of the rotary joint. When the laser emitter 202b is rotated from its initial position to the alignment mark 300, the angle measuring device measures the rotation angle of the rotary joint, and this rotation angle is used as first information. The angle measuring device may include, for example, an encoder. The angle measuring device may communicate with a computing device to send the first information to the computing device.

[0061] In some examples, a drive mechanism may be provided at the rotary joint to drive its movement. The drive mechanism may include, for example, a motor. The drive mechanism may communicate with a computing device, thereby receiving commands from the computing device to start and / or stop the drive mechanism.

[0062] In this step, only the rotation angle of the rotating joint between the laser emitter 202b and the second base 202a needs to be measured, resulting in less measurement data and simpler operation. Furthermore, since the degree of alignment of the laser emitter 202b with the marker 300 has little impact on the measurement result of the rotation angle, meaning that the measurement error is very small when the laser emitter 202b is approximately aligned with the marker 300, high-precision alignment is not required to ensure calibration accuracy, saving the time spent on achieving perfect alignment.

[0063] In step S302, the spatial position of the marker point 300 in the reference coordinate system of the first base 101a is obtained as the second information.

[0064] As previously described, marker points 300 can be disposed on the first robotic arm 101b of the first operating device 101. The first robotic arm 101b includes multiple sequentially movably connected connecting arms, and adjacent connecting arms can be connected by joints (e.g., rotary joints or linear joints). Sensors, such as angle sensors and displacement sensors, are typically disposed within the joints or connecting arms to measure the kinematic data of each joint / connecting arm. Based on this kinematic data and in conjunction with the kinematic model of the first robotic arm 101b, the position of any point on the first robotic arm 101b in the reference coordinate system of the first base 101a can be calculated. Thus, based on the kinematic model of the first robotic arm 101b in which each marker point 300 is located, the spatial position of the marker point 300 in the reference coordinate system of the first base 101a can be determined.

[0065] Understandably, the kinematic model of a robotic arm is a mathematical model used to describe the relationship between the pose of marker points on the robotic arm and the joint variables of the robotic arm.

[0066] It is understandable that robotic arms can be classified according to dimensions such as degrees of freedom, joint type, and drive method. Different types of robotic arms may be subject to different kinematic models. In practical applications, the specific kinematic model applicable to each marker point can be determined based on the type of the first robotic arm to accurately determine the spatial position of the marker point in the reference coordinate system of the first base.

[0067] In some examples, the marker point 300 can be located on the cannula 002. As previously mentioned, the cannula 002 is detachably mounted to the end of the first robotic arm 101b (i.e., the holding arm 101b-3). Positioning the marker point 300 at the end of the first robotic arm 101b reduces the probability of the marker point 300 being obstructed by other robotic arms or other medical devices (such as monitors, anesthesia injectors, etc.), thereby ensuring the accuracy of the base calibration.

[0068] Furthermore, the marker point 300 can be set at a predetermined position on the sleeve 002, that is, coinciding with the remote motion center. In some application scenarios, the sleeve 002 itself carries a marker for the remote motion center, so it can be directly used as the marker point 300 in this method. In some application scenarios, after the sleeve 002 is docked with the first robotic arm 101b, the computing device can calculate the position of the remote motion center in the reference coordinate system of the first base 101a in real time through the kinematic data acquired in real time. Therefore, by setting the marker point 300 to coincide with the remote motion center, the position information of the remote center point can be directly used as the second information without additional calculation.

[0069] In some application scenarios, during the preoperative setup phase, medical staff first deploy the cannula 002 according to a pre-planned layout. After the cannula 002 is deployed, the position of the remote center point is fixed relative to the first base 101a. Then, the first robotic arm 101b is dragged to dock with the cannula 002. Further, after the cannula 002 is deployed but before docking with the first robotic arm 101b, the laser emitter 202b can be rotated to the alignment mark 300, and the rotation angle of the rotating joint can be measured by an angle measuring device. At this time, the computing device can first obtain the first information, and then obtain the second information after the cannula 002 docks with the first robotic arm 101b. Alternatively, after the cannula 002 docks with the first robotic arm 101b, the laser emitter 202b can be rotated to the alignment mark 300, and the rotation angle of the rotating joint can be measured by an angle measuring device. At this time, the computing device can first obtain the second information, and then obtain the first information after the angle measuring device completes the measurement.

[0070] In step S303, based on the first information, the second information, and the spatial position of the laser emitter 202b in the reference coordinate system of the second base 202a, the transformation relationship between the reference coordinate system of the first base 101a and the reference coordinate system of the second base 202a is determined.

[0071] In some embodiments, determining the transformation relationship between the reference coordinate system of the first base 101a and the reference coordinate system of the second base 202a in step S303 may include steps S3031 to S3033.

[0072] In step S3031, a first transformation relationship is established based on at least one of the first information and the second information, as well as the reference coordinate system of the laser emitter 202b.

[0073] In step S3032, based on the spatial position of the laser emitter 202b in the reference coordinate system of the second base 202a, the transformation relationship between the reference coordinate system of the second base 202a and the reference coordinate system of the laser emitter 202b is determined as the second transformation relationship.

[0074] It is easy to understand that the execution order of steps S3031 and S3032 can be determined according to actual design requirements. For example, one of the steps can be executed first, or the two steps can be performed in parallel.

[0075] In step S3033, based on the first transformation relationship and the second transformation relationship, the transformation relationship between the reference coordinate system of the first base 101a and the reference coordinate system of the second base 202a is determined.

[0076] As an example, in this embodiment, the robotic arm on the first base 101a has a marker point 300, and the laser emitter 202b on the second base 202a can emit laser light towards the marker point 300. Thus, using the marker point 300 as a medium, a connection can be established between the first base 101a and the laser emitter 202b, and the transformation relationship between the reference coordinate system of the first base 101a and the reference coordinate system of the laser emitter 202b can be determined as a first transformation relationship. Simultaneously, since the laser emitter 202b is on the second base 202a, the connection between the laser emitter 202b and the second base 202a can be used to determine the transformation relationship between the reference coordinate system of the second base 202a and the reference coordinate system of the laser emitter 202b as a second transformation relationship. Therefore, based on the first and second transformation relationships, the transformation relationship between the reference coordinate system of the first base 101a and the reference coordinate system of the second base 202a can be determined.

[0077] There are many possible ways to achieve the above steps. Several specific examples are listed below.

[0078] In some examples, refer to Figure 4 As shown, a laser emitter 202b, hereinafter referred to as the first laser emitter 202b, can be installed on the second operating device 202. The first laser emitter 202b can be connected to the second base 202a through the first rotating joint. The laser emitter 202b can emit lasers to the markers 300 located at at least three different positions, thereby obtaining at least three rotation angles of the rotating joint as first information.

[0079] In the case of only one laser emitter 202b, the laser emitter 202b can emit lasers to the marker points 300 located at at least three different positions in a variety of ways, which are illustrated below.

[0080] As an example, the marker point 300 set on the first robotic arm 101b can be one, and the marker point 300 located in at least three different positions can mean that the marker point 300 moves to at least three different positions as the first robotic arm 101b moves. The position of the marker point 300 is moved by changing the pose of the first robotic arm 101b, that is, the first robotic arm 101b can be in at least three poses. When the first robotic arm 101b is in one of the poses in sequence, the rotation angle of the first rotating joint when the first laser emitter 202b emits a laser to the marker point 300 is obtained as one of the first pieces of information, and the spatial position of the marker point 300 in the reference coordinate system of the first base 101a is obtained as one of the second pieces of information.

[0081] As an example, there can be two marker points 300 on the first robotic arm 101b. The positions of these two marker points 300 can be moved by changing the pose of the first robotic arm 101b, that is, the first robotic arm 101b can be in at least two poses. When the first robotic arm 101b is in one of the poses in sequence, the rotation angle of the first rotary joint when the first laser emitter 202b emits lasers to the two marker points 300 in sequence is obtained as one piece of first information. And when the first robotic arm 101b is in one of the poses in sequence, the spatial position of the marker point 300 in the reference coordinate system of the first base 101a is obtained as one piece of second information. It is understood that the two marker points 300 can be set on the same first robotic arm 101b or on two different first robotic arms 101b. This application does not limit this.

[0082] As an example, the marker points 300 set on the first robotic arm 101b can be at least three. The rotation angle of the first rotating joint when the first laser emitter 202b emits lasers sequentially to these at least three marker points 300 can be obtained as first information, and the spatial position of each of the at least three marker points 300 in the reference coordinate system of the first base 101a can be obtained as second information. It is understood that these at least three marker points 300 can be set on the same first robotic arm 101b, or they can be set on at least two first robotic arms 101b respectively. This application does not limit this.

[0083] The number of laser emitters 202b is not limited to one. In some examples, refer to Figure 6As shown, two laser emitters 202b, hereinafter referred to as the first laser emitter 202b-1 and the second laser emitter 202b-2, can be installed on the second operating device 202. The first laser emitter 202b-1 can be connected to the second base 202a via a first rotating joint, and the second laser emitter 202b-2 can be connected to the second base 202a via a second rotating joint. The rotation axis (not shown) of the first rotating joint can be parallel to the rotation axis (not shown) of the second rotating joint. Optionally, both can be perpendicular to the ground on which the second base 202a is placed. The first laser emitter 202b-1 and the second laser emitter 202b-2 can emit lasers to at least two different marker points 300, thereby obtaining at least two rotation angles of the first rotating joint and at least two rotation angles of the second rotating joint, which are respectively used as first information.

[0084] With two laser emitters 202b installed, at least two rotation angles of the first rotary joint and at least two rotation angles of the second rotary joint can be obtained in various ways, as illustrated below.

[0085] As an example, the marker point 300 set on the first robotic arm 101b can be one. The marker point 300 located in at least two different positions can mean that this one marker point 300 is located in at least two different positions. The position of the marker point 300 can be moved by changing the pose of the first robotic arm 101b, that is, the first robotic arm 101b can be made to present at least two poses. When the first robotic arm 101b is in one of the poses in sequence, the rotation angle of the first rotating joint when the first laser emitter 202b-1 emits a laser to the marker point, and the rotation angle of the second rotating joint when the second laser emitter 202b-2 emits a laser to the marker point 300 are obtained, which are respectively used as first information. The spatial position of the marker point 300 in the reference coordinate system of the first base 101a when the first robotic arm 101b is in one of the poses in sequence is used as one of the second information.

[0086] As an example, the marker points 300 set on the first robotic arm 101b can be at least two. The first information may include the rotation angle of the first rotating joint when the first laser emitter 202b-1 emits lasers to the at least two marker points 300 in sequence, and the rotation angle of the second rotating joint when the second laser emitter 202b-2 emits lasers to the at least two marker points 300 in sequence. The second information may include the spatial position of each of the at least two marker points 300 in the reference coordinate system of the first base 101a. It is understood that the at least two marker points 300 can be set on the same first robotic arm 101b, or they can be set on at least two first robotic arms 101b respectively, and this application does not limit this.

[0087] In some examples not shown, three laser emitters 202b, hereinafter referred to as the first laser emitter, the second laser emitter, and the third laser emitter, can be installed on the second operating device 202. The first laser emitter can be connected to the second base 202a via a first rotating joint, the second laser emitter can be connected to the second base 202a via a second rotating joint, and the third laser emitter can be connected to the second base 202a via a third rotating joint. The rotation axes of the first rotating joint, the second rotating joint, and the third rotating joint can be parallel to each other. Furthermore, all three can be perpendicular to the ground on which the second base 202a is placed.

[0088] As an example, the marker point 300 set on the first robotic arm 101b can be at least one. The first laser emitter, the second laser emitter, and the third laser emitter can emit lasers toward the at least one marker point 300 respectively. The first information can include the rotation angle of the first rotating joint when the first laser emitter emits lasers toward the at least one marker point 300, the rotation angle of the second rotating joint when the second laser emitter emits lasers toward the at least one marker point 300, and the rotation angle of the third rotating joint when the third laser emitter emits lasers toward the at least one marker point 300. The second information can include the spatial position of the at least one marker point 300 in the reference coordinate system of the first base 101a.

[0089] The following are two examples of applying the above embodiments to an application scenario. For example... Figure 4In the illustrated medical robot system, the first operating device 101 includes three first robotic arms 101b, which are mounted on a first base 101a. Each first robotic arm 101b has a marker point 300, which are designated as first marker point P1, first marker point P2, and first marker point P3 for easy identification. The second operating device 202 includes a second robotic arm 202c and a laser emitter 202b, both mounted on the second base 202a. The laser emitter 202b can sequentially emit laser light towards the first marker points P1, P2, and P3.

[0090] like Figure 5 As shown, {G} can represent the reference coordinate system of the first base 101a of the first operating device 101, {R} can represent the reference coordinate system of the second base 202a of the second operating device 202, and {L} can represent the reference coordinate system of the laser emitter 202b on the second operating device 202 (the origin passes through the rotation axis of the laser emitter 202b). The dashed lines in the figure represent the laser propagation path; for simplicity, Figure 5 The diagram only shows the propagation path of the laser when the laser emitter 202b emits laser light to the first marker point P1. By analogy, the propagation paths of the laser when the laser emitter 202b emits laser light to the second marker point P2 and the third marker point P3 can be deduced.

[0091] The process of determining the transformation relationship between the reference coordinate system {G} of the first base 101a and the reference coordinate system {R} of the second base 202b can be as follows. In step S301, the following first information is obtained: the rotation angle θ1 of the first rotating joint when the laser emitter 202b emits a laser to the marker point P1, the rotation angle θ2 of the first rotating joint when the laser emitter 202b emits a laser to the marker point P2, and the rotation angle θ3 of the first rotating joint when the laser emitter 202b emits a laser to the marker point P3.

[0092] In step S302, the second information is obtained: the spatial position of the marker point P1 in the reference coordinate system {G} of the first base 101a. G P1:

[0093] G P1 = [x1y11]

[0094] Spatial position of marker P2 in the reference coordinate system {G} of the first base 101a G P2:

[0095] G P2 = [x2y21]

[0096] Spatial position of marker P3 in the reference coordinate system {G} of the first base 101a G P v :

[0097] G P3 = [x3 y3 1]

[0098] In step S3031, a first transformation relationship can be determined based on the first information, the second information, and the laser reference coordinate system. The first transformation relationship can be determined by the transformation matrix of the reference coordinate system {G} of the first base 101a relative to the reference coordinate system {L} of the laser emitter 202b. L T G To represent this, we first establish the transformation matrix. L T G The mathematical expression:

[0099]

[0100] Wherein, α can characterize the angle between the X-axis of the reference coordinate system {G} of the first base 101a and the X-axis of the reference coordinate system {R} of the second base 202a, (l x , l y The origin of the reference coordinate system {L} of the laser emitter 202b can be characterized in the position of the origin of the reference coordinate system {G} of the first base 101a.

[0101] The unknown variable change matrix of the above formula L T G The solution process is as follows:

[0102] In this step, taking the marked point P1 as an example, it is known that:

[0103] L P1 = L T G · G P1

[0104]

[0105] Based on the above two relationships, we can obtain formula (1):

[0106] sin(α)·[x1+y1·tan(θ1)]+cos(α)·[y1-x1·tan(θ1)]+l t -l x ·tan(θ1)=0

[0107] Similarly, the marked points P2 and P3 can also be solved in the same way, yielding formulas (2) and (3):

[0108] sin(α)·[x2+y2·tan(θ1)]+cos(α)·[y2-x2·tan(θ1)]+l y -l x ·tan(θ2)=0

[0109] sin(α)·[x3+y3·tan(θ1)]+cos(α)·[y3-x3·tan(θ1)]+l y -l x ·tan(θ3)=0

[0110] Based on the above formulas (1), (2) and (3), the unknowns α and l can be solved numerically. x and l y Therefore, the transformation matrix of the reference coordinate system {G} of the first base 101a relative to the reference coordinate system {L} of the laser emitter 202b can be determined. L T G .

[0111] In step S3032, the second transformation relationship is obtained: the laser emitter 202b is mounted on the second base 202a of the second operating device 202, from which the transformation matrix of the reference coordinate system {L} of the laser emitter 202b relative to the reference coordinate system {R} of the second base 202a can be determined. R T L :

[0112]

[0113] In step S3033, the transformation relationship between the reference coordinate system {G} of the first base 101a and the reference coordinate system {R} of the second base 202a is determined: Based on the first transformation relationship and the second transformation relationship, the transformation matrix between the reference coordinate system {G} of the first base 101a and the reference coordinate system {R} of the second base 202a can be determined. R T G :

[0114]

[0115] Therefore, the transformation matrix between the reference coordinate system {G} of the first base 101a and the reference coordinate system {R} of the second base 202a is used. R T G This allows us to determine the transformation relationship between the reference coordinate system {G} of the first base 101a and the reference coordinate system {R} of the second base 202a.

[0116] like Figure 6In the illustrated medical robot system, the first operating device 101 includes three first robotic arms 101b, which are mounted on a first base 101a. Two of the first robotic arms 101b each have a marker point 300, which are designated as first marker point P1 and first marker point P2 for easy identification. The second operating device 202 includes one second robotic arm 202c and two laser emitters 202b, which are mounted on the second base 202a. The two laser emitters 202b may include a first laser emitter 202b-1 and a second laser emitter 202b-2. The first laser emitter 202b-1 and the second laser emitter 202b-2 can each emit laser light sequentially towards the first marker point P1 and the first marker point P2.

[0117] like Figure 7 As shown, {G} can represent the reference coordinate system of the first base 101a of the first operating device 101, {R} can represent the reference coordinate system of the second base 202a of the second operating device 202, and {L} can represent the reference coordinate system of the second base 202a of the second operating device 202. a} can characterize the reference coordinate system of the first laser emitter 202b-1 on the second operating device 202 (the origin passes through the rotation axis of the first laser emitter 202b-1), {L b The reference coordinate system (origin passing through the rotation axis of the second laser emitter 202b-2 on the second operating device 202) can be used to characterize the second laser emitter 202b-2. The dashed lines in the figure represent the laser propagation path; for simplicity, Figure 7 The diagram only shows the propagation path of the laser when the first laser emitter 202b-1 and the second laser emitter 202b-2 each emit lasers toward the first marker point P1. By analogy, the propagation path of the laser when the first laser emitter 202b-1 and the second laser emitter 202b-2 each emit lasers toward the second marker point P2 can be deduced.

[0118] The process of determining the transformation relationship between the reference coordinate system {G} of the first base 101a and the reference coordinate system {R} of the second base 202a can be as follows.

[0119] In step S301, the first information is obtained: Figure 7 Taking marker point P1 as an example, when the first laser emitter 202b-1 emits a laser towards marker point P1, the rotation angle θ of the first rotating joint is... a1 When the second laser emitter 202b-2 emits a laser towards the marked point P1, the rotation angle θ of the second rotating joint is... b1 .

[0120] In step S302, the second information is obtained: the spatial position of the marker point P1 in the reference coordinate system {G} of the first base 101a.G P1 (represented in homogeneous form below for ease of calculation):

[0121] G P1 = [x1y11]

[0122] Spatial position of marker P2 in the reference coordinate system {G} of the first base 101a G P2:

[0123] G P2 = [x2y21]

[0124] In step S3031, a first transformation relationship can be established using the first information and the reference coordinate system of the laser emitter 202b: for the marker point P1, the spatial position of the marker point P1 on the second base 202a can be established. R P1 and rotation angle θ a1 θ b1 The transformation relationship can be established. Similarly, for marker point P2, the spatial position of marker point P2 on the second base 202a can be established. R P2 and rotation angle θ a2 θ b2 The transformation relationship.

[0125] Taking the marked point P1 as an example, the expression for the first transformation relation can be established as follows:

[0126]

[0127] Since the first laser emitter 202b-1 and the second laser emitter 202b-2 are mounted on the second base 202a of the second operating device 202, it can be known that the reference coordinate system {R} of the second base 202a is relative to the reference coordinate system {L} of the first laser emitter 202b-1. a The transformation matrix of} and the reference coordinate system {R} of the second base 202a relative to the reference coordinate system {L} of the second laser emitter 202b-2 b The transformation matrix of}

[0128]

[0129] Therefore, the expression for the first transformation relation can be subjected to the following mathematical operations:

[0130] A·[rx1ry1] T =B

[0131]

[0132] The expression for the first transformation relation above is transformed into:

[0133] [x1 y1] T =A -1 ·B

[0134] Therefore, the unknown quantity can be obtained:

[0135] R P1 = [rx1 ry1 1]

[0136] A similar process can be used to determine the spatial position of marker P2 on the second base 202a. R P2:

[0137] R P2 = [rx2 ry2 1]

[0138] In step S3032, the second transformation relationship is obtained: this can be achieved using the transformation matrix mentioned in step S3031. and transformation matrix This characterizes the second transformation relationship.

[0139] In step S3033, the transformation relationship between the reference coordinate system {G} of the first base 101a and the reference coordinate system {R} of the second base 202a is determined: Based on the first transformation relationship and the second transformation relationship, the transformation matrix between the reference coordinate system {G} of the first base 101a and the reference coordinate system {R} of the second base 202a can be determined. G T R :

[0140] The spatial position of any marker point Pn in the reference coordinate system {G} of the first base 101a and the reference coordinate system {R} of the second base 202a is related by the following formula:

[0141] G P n = G T R · R P n

[0142] Therefore, for the marked point P1, the following formulas (1) and (2) can be derived:

[0143] cos(α)·rx1-sin(α)·ry1+l x =x

[0144] sin(α)·rx1+cos(α)·ry1+l y =y

[0145] For the marked point P2, the following formulas (3) and (4) can be derived:

[0146] cos(α)·rx2-sin(α)·ry y +l x =x

[0147] sin(α)·rx2+cos(α)·ry2+l y =y2

[0148] Based on the above formulas (1), (2), (3) and (4), the unknowns α and l can be solved by numerical or analytical methods. x and l y Therefore, the transformation matrix of the reference coordinate system {R} of the second base 202a relative to the reference coordinate system {G} of the first base 101a can be determined. G T R .

[0149] This application also provides a computing device, which includes at least a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the methods described in any of the foregoing embodiments. The main operating device of this application may include this computing device.

[0150] Figure 8 This illustration shows a more specific hardware structure diagram of a computing device 400 provided in an embodiment of this application. The device may include: a processor 410, a memory 420, an input / output interface 430, a communication interface 440, and a bus 450. The processor 410, memory 420, input / output interface 430, and communication interface 440 are interconnected internally via the bus 450.

[0151] The processor 410 can be implemented using a general-purpose central processing unit (CPU), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0152] The memory 420 can be implemented in the form of read-only memory (ROM), random access memory (RAM), static storage device, dynamic storage device, etc. The memory 420 can store the operating system and other applications. When the technical solutions provided in the embodiments of this application are implemented by software or firmware, the relevant program code is stored in the memory 420 and is called and executed by the processor 410.

[0153] Input / output interface 430 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touch screens, microphones, various sensors, etc., and output devices may include displays, speakers, vibrators, indicator lights, etc.

[0154] The communication interface 440 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (e.g., USB, Ethernet cable) or wireless means (e.g., mobile network, Wi-Fi, Bluetooth).

[0155] Bus 450 includes a pathway for transmitting information between various components of the device (e.g., processor 410, memory 420, input / output interface 430, and communication interface 440).

[0156] It should be noted that although the above-described device only shows the processor 410, memory 420, input / output interface 430, communication interface 440, and bus 450, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this application, and not necessarily all the components shown in the figures.

[0157] See Figure 9 This application also provides a medical robot system, which may include:

[0158] A first operating device 101 includes a first base and a first robotic arm mounted on the first base, with marking points provided on the first robotic arm.

[0159] The second operating device 202 includes a second base and a laser emitter mounted on the second base. The laser emitter is connected to the second base via a rotating joint.

[0160] And the computing device 400 in the aforementioned embodiments.

[0161] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the methods described in any of the foregoing embodiments.

[0162] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0163] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that the embodiments of this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions of the embodiments of this application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computing device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0164] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A base calibration method of a medical robot system, characterized by, The medical robot system includes a first operating device and a second operating device. The first operating device includes a first base and a first robotic arm mounted on the first base. Marking points are provided on the first robotic arm. The second operating device includes a second base and a laser emitter mounted on the second base. The laser emitter is connected to the second base via a rotating joint. The rotation axis of the rotating joint is perpendicular to the ground, and an angle measuring device is provided at the rotating joint. The method includes: Using the angle measuring device, the rotation angle of the rotating joint is obtained when the laser emitter emits a laser towards the marked point, and this is used as the first information; The spatial position of the marker point in the reference coordinate system of the first base is obtained as the second information; A first transformation relationship is established based on at least one of the first information and the second information, as well as the reference coordinate system of the laser emitter. Based on the spatial position of the laser emitter in the reference coordinate system of the second base, the transformation relationship between the reference coordinate system of the second base and the reference coordinate system of the laser emitter is determined as the second transformation relationship; Based on the first transformation relationship and the second transformation relationship, the transformation relationship between the reference coordinate system of the first base and the reference coordinate system of the second base is determined.

2. The method of claim 1, wherein, The laser emitter includes a first laser emitter, which is connected to the second base via a first rotating joint, and the first information includes at least three rotation angles of the first rotating joint.

3. The method of claim 2, wherein, The number of marker points is one, and the first robotic arm where the marker point is located includes at least three poses; The first information includes the rotation angle of the first rotating joint when the first laser emitter emits a laser towards the marked point when the first robotic arm is in one of the poses in sequence; The second information includes the spatial position of the marker point in the reference coordinate system of the first base when the first robotic arm is in one of the poses in sequence.

4. The method of claim 2, wherein, The number of marker points is two, and the first robotic arm where the marker points are located includes at least two poses; The first information includes the rotation angle of the first rotating joint when the first robotic arm is in one of the poses in sequence, and the first laser emitter emits lasers to the two marked points in sequence; The second information includes the spatial position of the marker point in the reference coordinate system of the first base when the first robotic arm is in one of the poses in sequence.

5. The method of claim 4, wherein, The two marker points are set on the same first robotic arm, or the two marker points are set on two different first robotic arms.

6. The method of claim 2, wherein, The number of marker points is at least three; The first information includes the rotation angle of the first rotating joint when the first laser emitter emits lasers sequentially toward at least three of the marked points; The second information includes the spatial positions of at least three of the marker points in the reference coordinate system of the first base.

7. The method of claim 6, wherein, At least three of the marker points are set on the same first robotic arm, or at least three of the marker points are set on at least two first robotic arms.

8. The method of claim 1, wherein, The laser emitter includes a first laser emitter and a second laser emitter; the first laser emitter is connected to the second base via a first rotating joint, and the second laser emitter is connected to the second base via a second rotating joint. The rotation axis of the first rotating joint and the rotation axis of the second rotating joint are parallel. The first information includes at least two rotation angles of the first rotating joint and at least two rotation angles of the second rotating joint.

9. The method of claim 8, wherein, The number of marker points is one, and the first robotic arm where the marker point is located includes at least two poses; The first information includes the rotation angle of the first rotating joint when the first laser emitter emits a laser towards the marker point when the first robotic arm is in one of the poses in sequence, and the rotation angle of the second rotating joint when the second laser emitter emits a laser towards the marker point; The second information includes the spatial position of the marker point in the reference coordinate system of the first base when the first robotic arm is in one of the poses in sequence.

10. The method of claim 8, wherein, The number of marker points is at least two; The first information includes the rotation angle of the first rotating joint when the first laser emitter emits lasers sequentially toward at least two of the marked points, and the rotation angle of the second rotating joint when the second laser emitter emits lasers sequentially toward at least two of the marked points; The second information includes the spatial positions of at least two of the marker points in the reference coordinate system of the first base.

11. The method of claim 10, wherein, At least two of the marker points are set on the same first robotic arm, or at least two of the marker points are set on at least two first robotic arms respectively.

12. The method of claim 1, wherein, The laser emitter includes a first laser emitter, a second laser emitter, and a third laser emitter; the first laser emitter is connected to the second base via a first rotating joint, the second laser emitter is connected to the second base via a second rotating joint, and the third laser emitter is connected to the second base via a third rotating joint. The rotation axes of the first rotating joint, the second rotating joint, and the third rotating joint are parallel to each other, and the number of the marking points is at least one. The first information includes the rotation angle of the first rotating joint when the first laser emitter emits laser to at least one of the marked points, the rotation angle of the second rotating joint when the second laser emitter emits laser to at least one of the marked points, and the rotation angle of the third rotating joint when the third laser emitter emits laser to at least one of the marked points. The second information includes the spatial position of at least one of the marker points in the reference coordinate system of the first base.

13. The method according to any one of claims 1 to 12, characterized in that, The spatial position of the marker point in the reference coordinate system of the first base is determined based on the kinematic model of the first robotic arm to which each marker point is located.

14. The method according to claim 13, characterized in that, The first operating device further includes a sleeve for detachably mounting to the end of the first robotic arm, and the marking point is disposed on the sleeve.

15. The method according to claim 14, characterized in that, The angle measuring device is used to detect the rotation angle of the joint when the laser emitter emits a laser towards the marked point after the sleeve is docked with the first robotic arm.

16. The method according to claim 14, characterized in that, The angle measuring device is used to detect the rotation angle of the joint when the laser emitter emits a laser towards the marked point before the sleeve is docked with the first robotic arm.

17. The method according to claim 16, characterized in that, When the angle measuring device detects the rotation angle of the joint when the laser emitter emits a laser towards the mark point, the sleeve is configured such that the position of the mark point relative to the first base is fixed.

18. The method according to claim 14, characterized in that, The spatial position of the marker point in the reference coordinate system of the first base is determined based on the kinematic model of the first robotic arm where each marker point is located after the sleeve is docked with the first robotic arm.

19. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the method described in any one of claims 1 to 18.

20. A computing device comprising a memory and a processor, wherein the memory stores a computer program that can be executed by the processor, characterized in that, When the processor executes the computer program, it implements the method according to any one of claims 1 to 18.

21. A medical robot system, characterized in that, include: A first operating device, comprising a first base and a first robotic arm mounted on the first base, wherein the first robotic arm is provided with marking points; The second operating device includes a second base and a laser emitter mounted on the second base, the laser emitter being connected to the second base via a rotating joint; and The computing device according to claim 20.

22. A medical robot system, characterized in that, include: Multiple operating devices; and The master operating device is capable of communicating with multiple slave operating devices, enabling the master operating device to simultaneously control at least one of the multiple slave operating devices; The main operating device includes the computing device according to claim 20.

23. The medical robot system according to claim 22, characterized in that, The medical robot system includes multiple control modes that can be switched between each other. The multiple control modes include at least one single control mode and at least one combined control mode. In the single control mode, the master operating device controls only one of the multiple slave operating devices. In the combined control mode, the master operating device controls at least one of the multiple slave operating devices.

24. The medical robot system according to claim 23, characterized in that, The main operating device includes two first operating components, each of which is used to receive user interaction operations to control one of the plurality of slave operating devices; When the medical robot system is in single-use control mode, the two first operating components are used to control the same instrument of the slave operating device; When the medical robot system is in a combined control mode, each first operating component is used to control any one of the instruments from a plurality of slave operating devices.

25. The medical robot system according to any one of claims 22 to 24, characterized in that, The plurality of slave manipulators include at least one single-port laparoscopic robot and at least one single-arm robot; or the plurality of slave manipulators include at least one multi-port laparoscopic robot and at least one single-arm robot.

26. The medical robot system according to any one of claims 22 to 24, characterized in that, The plurality of operating devices include a first operating device and a second operating device. The first operating device includes a first base and a first robotic arm mounted on the first base. The first robotic arm is provided with marking points. The second operating device includes a second base and a laser emitter mounted on the second base. The laser emitter is connected to the second base through a rotating joint. The rotation axis of the rotating joint is perpendicular to the ground. An angle measuring device is provided at the rotating joint.

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