Automatic identification device and method for mounting tool at tail end of mechanical arm and electronic equipment

Abstract

The invention provides an automatic identification device and method for a mounting tool at the tail end of a mechanical arm and electronic equipment. The system comprises an RFID tag, a control module and an RFID reader-writer, and the RFID reader-writer is used for periodically reading tool load information in the RFID tag; the control module is used for sequentially calculating the confidence coefficient of each tool load at the current moment, sequentially judging whether the confidence coefficient of each tool load is larger than or equal to a first preset threshold value or not, and sequentially judging whether each tool load is currently identified as the tool load installed at the tail end of the mechanical arm or not according to the judgment result; according to the method, the mechanical arm preset control parameters of the tool load currently determined to be installed at the tail end of the mechanical arm are obtained, the mechanical arm preset control parameters are input into the mechanical arm controller, the tool load installed at the tail end of the mechanical arm can be automatically recognized, misjudgment possibly caused by manual recognition is avoided, and the accuracy of the whole mechanical arm operation system is improved.

Description

Technical Field

[0001] This invention relates to the field of automatic identification technology for end-effector tools of robotic arms, and specifically to an automatic identification device and method for end-effector tools of robotic arms, as well as an electronic device. Background Technology

[0002] During the use of robotic arms, especially in the process of zero-force dragging and force control, the accuracy of load compensation has a crucial impact on the overall performance of the system.

[0003] For robot-assisted surgery, the types of tools mounted on the end effector of the robotic arm are limited depending on the surgical procedure. However, during surgery, the load on the end effector may need to be changed at any time. Zero-force dragging and force control can easily cause the robotic arm to drift or drop. When the type of end effector needs to be changed, to ensure the feel of zero-force dragging and the accuracy of the six-dimensional force obtained when using a six-dimensional force sensor for motion control, manual setting is usually required if the load type is known. If the load type is unknown, the load mass and center of mass data usually need to be re-identified. Manually setting the load severely hinders the smoothness of operation, while re-identifying the load requires the robotic arm to perform several automatic movements in different poses without external interference, which is usually not allowed during robot-assisted surgery. These constraints severely limit the smoothness of the robotic arm's power control and the user experience.

[0004] Existing technologies typically rely on end-effector contact force detection methods based on joint torque sensors. These methods synthesize the end-effector force through joint torque and also require consideration of complex friction modeling issues. Consequently, they suffer from poor accuracy and detection failures when the Jacobian matrix is ​​not rank when the robotic arm is in a singular position.

[0005] Existing technologies have also proposed devices and methods for identifying surgical instruments using RFID (Radio-Frequency Identification), which can identify multiple instruments simultaneously. However, this method uses a conveyor belt detection scheme, which is spatially limited, and the identification speed may be limited by the conveyor belt speed. If the conveyor belt speed is increased, the RFID reading device may not have enough time to stably read the tag information, resulting in inaccurate identification.

[0006] Therefore, existing technologies still need further development. Summary of the Invention

[0007] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide an automatic identification device and method for tool installation at the end of a robotic arm, as well as an electronic device, to solve the problems existing in the prior art.

[0008] To achieve the above-mentioned technical objectives, according to a first aspect of the present invention, an automatic tool identification device for end effector of a robotic arm is provided, wherein a tool load is mounted on the end effector of the robotic arm, and the automatic tool identification device for end effector of the robotic arm comprises:

[0009] An RFID tag is attached to the tool load;

[0010] The control module is connected to the RFID reader and is used to control the RFID reader to read the tool load information in the RFID tag, and to obtain the preset control parameters of the robotic arm corresponding to the tool load information based on the tool load information, and to control the operation of the robotic arm based on the preset control parameters of the robotic arm corresponding to the tool load information.

[0011] An RFID reader / writer, used to read RFID tags.

[0012] Specifically, the robotic arm has a flange at its end, a machine head is mounted on the flange, and the tool load is mounted on the machine head.

[0013] Specifically, the automatic identification device for tool installation at the end of the robotic arm also includes an RFID antenna, which is disposed on the robotic head. The RFID antenna is used to generate an electromagnetic field, enabling the RFID reader to read the tool load information in the RFID tag within a first preset distance range of the RFID antenna.

[0014] Specifically, the control module includes an RFID tag processing module and a robotic arm controller;

[0015] The RFID tag processing module is communicatively connected to the robotic arm controller. The RFID tag processing module is used to process the tool load information of the RFID tag obtained by the RFID reader, thereby obtaining the preset control parameters of the robotic arm corresponding to the tool load information, and inputting the preset control parameters of the robotic arm to the robotic arm controller to control the operation of the robotic arm.

[0016] According to a second aspect of the present invention, an automatic identification method for end-effector tool mounting is provided, comprising:

[0017] S100: Periodically read the tool load information in all RFID tags within a first preset distance using an RFID reader / writer;

[0018] S200. Calculate the confidence level of each tool load at the current moment in sequence, determine whether the confidence level of each tool load is greater than or equal to the first preset threshold, and determine whether each tool load is identified as a tool load installed at the end of the robotic arm at the current moment based on the judgment result.

[0019] S300: Obtain the preset control parameters of the robotic arm that are currently identified as the tool load installed at the end of the robotic arm, and input the preset control parameters of the robotic arm into the robotic arm controller to control the operation of the robotic arm.

[0020] Specifically, the step of sequentially calculating the confidence level of each tool load at the current moment includes:

[0021] Determine whether the current tool load is included in the first preset tool list. Based on the determination result and the confidence level of the tool load at the previous moment, calculate the confidence level of the current tool load.

[0022] Specifically, the calculation of the confidence level of each tool load at the current moment includes:

[0023] Let f represent the confidence level of the tool load Tool at the current moment. t (Tool), whose confidence level at the previous time step is denoted as f. t-1 (Tool), then f t The calculation method for (Tool) is as follows:

[0024] f t (Tool) = f t-1 (Tool)+I(Tool)-r*(1-I(Tool));

[0025] Where r is the tool confidence parameter, and I(Tool) represents the judgment result of whether the tool Tool is in the first preset tool list: 1 if yes, 0 if no, as shown below:

[0026]

[0027] Among them, TollList RFID This indicates the first list of preset tools.

[0028] Specifically, the calculation of the confidence level of each tool load at the current moment also includes:

[0029] The first preset range for setting the confidence level of the tool load is [0, f]. max When the calculated confidence level of the tool load at the current moment exceeds the upper limit of the first preset range, the confidence level is set to the upper limit value f. max When the calculated confidence level of the tool's load at the current moment exceeds the lower limit, the confidence level is set to the lower limit, as specifically shown below:

[0030]

[0031] Among them, fmax 0 represents the upper limit of the confidence level, and 0 represents the lower limit of the confidence level.

[0032] Specifically, the step of determining whether each tool load is currently identified as a tool load installed at the end of the robotic arm based on the judgment result includes:

[0033] If the confidence level of the current tool load is greater than or equal to the first preset threshold, then the current tool load is determined to be a tool load installed at the end of the robotic arm.

[0034] If the confidence level of the tool load is less than the first preset threshold, it is determined that the current tool load is not the tool load installed at the end of the robotic arm, and the information of the tool load in the next RFID tag is read.

[0035] Specifically, the step of acquiring the preset control parameters of the robotic arm currently identified as the tool load installed at the end of the robotic arm, and inputting the preset control parameters into the robotic arm controller to control the operation of the robotic arm includes:

[0036] Determine whether all tool load combinations corresponding to the currently acquired preset control parameters of the robotic arm are included in the combination situation contained in the second preset tool combination list, and determine whether to output an abnormal signal based on the determination result.

[0037] Specifically, determining whether to output an abnormal signal based on the judgment result includes:

[0038] If all tool load combinations corresponding to the currently acquired preset control parameters of the robotic arm are within the combination scenarios included in the second preset tool combination list, no abnormal signal will be output, and the preset control parameters of the robotic arm will be input to the robotic arm controller to control the operation of the robotic arm.

[0039] If all tool load combinations corresponding to the currently acquired preset control parameters of the robotic arm are not included in the combination cases contained in the second preset tool combination list, then an abnormal signal is determined to be output and the abnormal signal is input to the robotic arm controller.

[0040] According to a third aspect of the present invention, an electronic device is provided, comprising: a memory; and a processor, wherein the memory stores computer-readable instructions, which, when executed by the processor, implement the above-described automatic identification method for end-effector tool installation.

[0041] Beneficial effects:

[0042] This invention proposes an automatic identification device and method for end-effector tools. By setting RFID tags on the tool load and using an RFID reader to read the tag information, the device can automatically identify the tool load installed at the end of the robotic arm, avoiding potential misjudgments caused by manual identification and improving the accuracy of the entire robotic arm operation system. By calculating the confidence level of the tool load and comparing it with a first preset threshold, the device determines whether the tool load can be installed at the end of the robotic arm, enabling a more accurate determination of the current tool load status at the end of the robotic arm. This solves the technical problem that in surgical scenarios, when changing the end-effector tool, zero-force dragging and force control can easily lead to the robotic arm drifting or falling. This method can identify the type of tool installed at the end of the robotic arm in real time and set the parameters of the robotic arm tool load in a timely manner, reducing errors and drifting / falling problems during surgery, improving the efficiency and safety of robot-assisted surgery, and greatly enhancing the intelligence, usability, and reliability of this invention. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the automatic identification device for the end-effector tool of the robotic arm provided in a specific embodiment of the present invention;

[0044] Figure 2 This is a flowchart of the automatic identification method for the end-effector installation tool provided in a specific embodiment of the present invention;

[0045] Figure 3 This is a schematic diagram of information interaction between the host computer and the end effector of the robotic arm provided in a specific embodiment of the present invention;

[0046] Figure 4 This is a schematic diagram of the internal process of the RFID tag processing module provided in a specific embodiment of the present invention;

[0047] Figure 5 This is a schematic diagram of the coverage area of ​​the electromagnetic field of the RFID antenna provided in a specific embodiment of the present invention;

[0048] Figure 6 This is a schematic diagram of the data read by the RFID reader when two tools are installed at the end of the robotic arm simultaneously, according to a specific embodiment of the present invention.

[0049] The reference numerals in the above figures are as follows:

[0050] 1. RFID tag; 2. Machine head; 3. RFID antenna; 4. Flange; 5. First tool load; 6. Second tool load. Detailed Implementation

[0051] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments in this application, other similar embodiments obtained by those skilled in the art without creative effort should all fall within the scope of protection of this application. Furthermore, directional terms mentioned in the following embodiments, such as "up," "down," "left," and "right," are only for reference to the directions in the accompanying drawings; therefore, the directional terms used are for illustrative purposes and not for limiting the invention.

[0052] The present invention will be further described below with reference to the accompanying drawings and preferred embodiments.

[0053] Please see Figure 1 This embodiment provides an automatic tool identification device for the end effector of a robotic arm. The end effector of the robotic arm is equipped with a tool load, and the automatic tool identification device for the end effector of the robotic arm includes:

[0054] RFID tag 1, the RFID tag 1 being disposed on the tool load;

[0055] The control module is connected to the RFID reader and is used to control the RFID reader to read the tool load information in the RFID tag 1, and according to the tool load information, obtain the preset control parameters of the robotic arm corresponding to the tool load information, and control the operation of the robotic arm according to the preset control parameters of the robotic arm corresponding to the tool load information.

[0056] An RFID reader / writer is used to read RFID tag 1.

[0057] As is understandable, RFID (Radio-Frequency Identification) is a wireless communication technology that automatically identifies target objects and collects data through radio waves. The core of this technology is the information exchange between the RFID tag and the RFID reader. A significant advantage of RFID identification is that the RFID tag can remain a passive instrument even when combined with surgical tools, facilitating pre-operative high-temperature sterilization. Furthermore, RFID technology can achieve real-time reading of multiple tags. When multiple tools are simultaneously installed at the end effector of a robotic arm, they can be identified one by one. By adjusting the power of the RFID reader, the range of RFID tag identification can be controlled.

[0058] Therefore, by combining RFID technology with the need for end-effector tool identification, this invention proposes an automatic identification device and method for tool installation on a robotic arm. This device can identify the tool load installed at the end of the robotic arm in real time and set it as the tool load of the robotic arm. This eliminates the need for manual setting and avoids operation when the end-effector tool load is incorrectly set, which could cause the robotic arm to fall or float unexpectedly. This greatly improves operational safety and user experience.

[0059] Specifically, the end of the robotic arm is provided with a flange 4, and a machine head 2 is mounted on the flange 4, with the tool load mounted on the machine head 2.

[0060] See Figure 1 Flange 4 is part of the robotic arm's end effector and is used to connect various components of the robotic arm, such as the end effector and sensors. The design of flange 4 ensures that these components can be securely connected to the robotic arm while providing the necessary interfaces for installation and maintenance. The surgical head 2 is mounted on flange 4 and cannot be disassembled during use. It integrates various electronic devices and facilitates communication between these devices and the controller. The tool load can be mounted on the surgical head 2 according to different operational needs during surgery. Figure 1 The first tool load 5 and the second tool load 6 in the figure are for illustration purposes, indicating that multiple tool segments can be installed at the end of the robotic arm for combined use. In actual use, other tools may still be installed on the head 2.

[0061] Specifically, the automatic identification device for tool installation at the end of the robotic arm also includes an RFID antenna 3, which is disposed on the head 2. The RFID antenna 3 is used to generate an electromagnetic field, enabling the RFID reader to read the tool load information in the RFID tag 1 within a first preset distance range of the RFID antenna 3.

[0062] See Figure 1 and Figure 5 The RFID antenna 3 is integrated on the head unit 2 and can generate an electromagnetic field to interact with the RFID tag 1. Figure 5The diagram illustrates the antenna coverage under ideal conditions. In an ideal state, the electromagnetic field of the RFID antenna 3 can completely cover the RFID tag 1 on the tool load, but the range is not so large that the tool not installed at the end of the robotic arm will be misidentified. In actual use, the coverage range of the magnetic field can be adjusted by adjusting the transmission power of the RFID antenna 3. In the usage scenario of this embodiment, the effective reading distance d between the RFID antenna 3 and the RFID tag 1 is about 0.5m, which is more suitable. That is, in this embodiment, the first preset distance is preferably 0.5m. The distance of 0.5m was determined after testing and optimization. At this distance, the above requirements can be met well. This distance can ensure effective signal interaction between the RFID antenna 3 and the RFID tag 1 without affecting the normal operation of the robotic arm.

[0063] Furthermore, a communication module is installed inside the head unit 2 to transmit the signals received by the RFID antenna to the RFID reader for processing.

[0064] Specifically, the control module includes an RFID tag 1 processing module and a robotic arm controller;

[0065] The RFID tag 1 processing module is communicatively connected to the robotic arm controller. The RFID tag 1 processing module is used to process the tool load information of the RFID tag 1 obtained by the RFID reader, thereby obtaining the preset control parameters of the robotic arm corresponding to the tool load information, and inputting the preset control parameters of the robotic arm to the robotic arm controller to control the operation of the robotic arm.

[0066] Furthermore, both the RFID reader and the control module belong to the host computer part. The RFID reader is installed at the rear of the robotic arm trolley, next to the robotic arm controller.

[0067] Please see Figure 3 The working principle of this embodiment will be illustrated below with specific examples:

[0068] In this embodiment, the modules involved in information interaction are as follows: Figure 3 As shown, it consists of two parts: a host computer and a robotic arm end effector. The host computer includes a robotic arm controller, an RFID tag 1 processing module, and an RFID reader / writer. The robotic arm controller and the RFID tag 1 processing module are control modules, which are located in the head unit 2. The robotic arm end effector includes an RFID antenna 3 and an RFID tag 1, which are mounted on the robotic arm.

[0069] In this example application, the RFID reader controls the RFID antenna 3 to generate an electromagnetic field to interact with the RFID tag 1, enabling the RFID reader to read the information of the RFID tag 1 within the radiation range of the RFID antenna 3. This information is processed in the RFID tag 1 processing module to generate the tool load parameters currently installed at the end of the robotic arm, and then passed to the robotic arm controller. The robotic arm controller sends a load setting command to the robotic arm so that the robotic arm matches the corresponding load.

[0070] It should be noted that this embodiment proposes an automatic identification device for the tool mounted at the end of a robotic arm. By setting an RFID tag 1 on the tool load and using an RFID reader to read the tag information, the device can automatically identify the tool load mounted at the end of the robotic arm. This avoids misjudgments that may occur with manual identification, improves the accuracy of the entire robotic arm operation system, and solves the technical problem that the robotic arm is prone to floating or falling when changing the tool mounted at the end of the robotic arm in a surgical setting and performing zero-force dragging and force control. This improves the efficiency and safety of robot-assisted surgery and greatly enhances the intelligence, usability, and reliability of the invention.

[0071] Please see Figure 2 This embodiment provides an automatic identification method for tool installation at the end effector of a robotic arm, the method comprising:

[0072] S100: Periodically read the tool load information in all RFID tags 1 within a first preset distance using an RFID reader / writer;

[0073] It is understandable that RFID communication uses UHF (ultra-high frequency) radio waves, and the transmission power of RFID antenna 3 and RFID tag 1 will jointly affect the communication distance. In the application scenario of robot-assisted surgery, the expected goal is to accurately identify all tools mounted on the end effector of the robotic arm, while ignoring tools not mounted on the end effector. Therefore, effective reading distance control of RFID tag 1 is necessary. Figure 5 As shown, in this embodiment, under ideal conditions, the first preset distance for effective reading by the RFID antenna 3 is controlled at approximately 0.5m. Because UHF radio waves are difficult to penetrate metal and liquid, there are requirements for the integrated design of the tool load and the RFID tag 1. To avoid the RFID tag 1 being blocked by the tool load and thus causing missed identification, in this embodiment, a tool will simultaneously integrate multiple RFID tags containing the same tool serial number EPC code (i.e., electronic product code).

[0074] It should be further explained that during use, the RFID reader will periodically read all RFID tag information within the coverage area of ​​RFID antenna 3 and transmit it to the RFID tag processing module. Based on the EPC code, the information of the tool load currently within the reading range can be confirmed, including the quantity and type of the tool load.

[0075] The EPC code in the RFID tag 1 on the tool payload is pre-written according to predetermined rules during production. The EPC code can use different lengths as needed and can include data check bits. The commonly used EPC code is 96 bits, which includes the manufacturer identification code, product code, serial number, etc. In this embodiment, due to the limited types of tool payloads used in surgery, a 32-bit EPC code is used for illustration.

[0076] As shown in Table 1, assuming that there are 5 tools that may be installed after the robotic arm head 2 in a single surgery, named Tool1-Tool5 respectively, then the corresponding EPC codes can be set as shown in Table 1.

[0077] Table 1. EPC codes corresponding to the five tool payload names

[0078] Tool load name EPC encoding (hexadecimal) Tool1 AAAA0001 Tool2 AAAA0002 Tool3 AAAA0003 Tool4 AAAA0004 Tool5 AAAA0005

[0079] Table 1 lists five tool payloads corresponding to five EPC codes. The first four digits of the code, "AAAA," are 16-bit check bits used to verify whether the RFID tag's EPC code conforms to the standard EPC code. If the first four digits are "AAAA," it conforms to the code standard, and the tool serial number is read. If the first four digits are not "AAAA," it does not conform to the code standard, and the code is discarded. The RFID reader transmits the read RFID tag information to the corresponding tool identification module in array format: EPC code length + EPC code. When there are multiple tags, several data entries of the same format are returned sequentially. The EPC code length is given in bytes. For the 32-bit EPC code used in this embodiment, the length is 4. The EPC codes are shown in Table 1.

[0080] See Figure 6 If both tool 1 and tool 3 from Table 1 are installed at the end effector of the robotic arm, the data read by the RFID reader should be 10 bytes in length. Figure 6 As shown,

[0081] In practical use, when the RFID tag-corresponding tool identification module receives the data in the above format from the RFID reader, it will parse the EPC code according to the data format, and find the corresponding tool name based on the tool name and EPC code mapping list, forming a first preset tool list ToolList containing the corresponding tools. RFID The data is then passed to the tool confidence calculation module for further processing.

[0082] S200. Calculate the confidence level of each tool load at the current moment in sequence, determine whether the confidence level of each tool load is greater than or equal to the first preset threshold, and determine whether each tool load is identified as a tool load installed at the end of the robotic arm at the current moment based on the judgment result.

[0083] It is understandable that, since the reading of RFID tag 1 occurs through magnetic field information exchange, signal quality may be unstable, and during periodic reading, missed or misreading may occur at some point. Therefore, a method for calculating tool confidence is proposed to obtain the names of tools that exist within a stable reading range.

[0084] It should be further explained that the first preset threshold is related to the device communication cycle and the upper limit of the tool confidence level, and will be adjusted according to the actual effect. Therefore, the present invention does not further limit the value of the first preset threshold. In this embodiment, the first preset threshold is preferably 5, which means that the tool load has been read in approximately more than 5 cycles in the most recent calculation cycle.

[0085] Specifically, the step of sequentially calculating the confidence level of each tool load at the current moment includes:

[0086] Determine whether the current tool load is included in the first preset tool list. Based on the determination result and the confidence level of the tool load at the previous moment, calculate the confidence level of the current tool load.

[0087] Furthermore, for all tools that may be installed at the end of the robotic arm during the current surgery, the confidence level of each tool will be calculated at the current time.

[0088] Specifically, the calculation of the confidence level of each tool load at the current moment includes:

[0089] Let f represent the confidence level of the tool load Tool at the current moment. t (Tool), whose confidence level at the previous time step is denoted as f. t-1 (Tool), then f t-1 The calculation method for (Tool) is as follows:

[0090] f t (Tool) = ft-1 (Tool)+I(Tool)-r*(1-I(Tool));

[0091] Where r is the tool confidence parameter, and I(Tool) represents the judgment result of whether the tool Tool is in the first preset tool list: 1 if yes, 0 if no, as shown below:

[0092]

[0093] ToolList RFID This indicates the first list of preset tools.

[0094] It should be noted that the tool confidence parameter r is used to adjust the impact of missed or misreading during the above calculation process. Based on the confidence of the tool Tool at the previous moment, the confidence of the tool Tool at the current moment is calculated: if the tool Tool is read from the corresponding RFID tag 1 at the current moment, the confidence will increase by 1; if the tool Tool is not read from the corresponding RFID tag at the current moment, the confidence will decrease by r.

[0095] Specifically, the calculation of the confidence level of each tool load at the current moment also includes:

[0096] The first preset range for setting the confidence level of the tool load is [0, f]. max When the calculated confidence level of the tool load at the current moment exceeds the upper limit of the first preset range, the confidence level is set to the upper limit. When the calculated confidence level of the tool load at the current moment exceeds the lower limit, the confidence level is set to the lower limit. Specifically, this is expressed as follows:

[0097]

[0098] Among them, f max 0 represents the upper limit of the confidence level, and 0 represents the lower limit of the confidence level.

[0099] It is understandable to set an upper limit f for the confidence level of the tool. max This means the maximum number of cycles that would affect confidence if there were no missed or misreads. It represents the system's ability to maintain high confidence during multiple consecutive reads; that is, within this number of cycles, the system can reliably identify tool load without errors, utilizing the first preset range [0, f]. maxThe confidence level of the tool is limited to a certain range. When the calculated confidence level value exceeds this range, it will be set to the nearest boundary value. The purpose of setting the first preset range is to prevent the calculated confidence level from increasing or decreasing indefinitely, which would make the system insensitive to the latest tool information. Setting the confidence level range can ensure that the system maintains appropriate sensitivity to new tool information within a certain range, so as to adjust the judgment of the tool status in a timely manner.

[0100] It should be further noted that the setting of the first preset range is related to the device communication cycle and the quality of the identification signal, and will be adjusted according to the actual effect. This invention does not further limit the value of the upper limit of the first preset range. In this embodiment, the upper limit of the confidence level f is... max The preferred value is 10, meaning that when the calculated confidence level of the tool load at the current moment exceeds 10, the confidence level is set to 10; when the calculated confidence level of the tool load at the current moment is less than 0, the confidence level is set to 0.

[0101] Specifically, the step of determining whether each tool load is currently identified as a tool load installed at the end of the robotic arm based on the judgment result includes:

[0102] If the confidence level of the current tool load is greater than or equal to the first preset threshold, then the current tool load is determined to be a tool load installed at the end of the robotic arm.

[0103] If the confidence level of the tool load is less than the first preset threshold, it is determined that the current tool load is not the tool load installed at the end of the robotic arm, and the information of the tool load in the next RFID tag 1 is read.

[0104] Furthermore, the specific judgment process is as follows:

[0105]

[0106] Here, flag(Toolk) represents the judgment result of whether the tool is currently identified as a tool installed at the end of the robotic arm; th represents the first preset threshold for determining whether the tool is installed at the end of the robotic arm. The confidence scores of each tool at the current moment are thresholded to determine whether the tool is currently installed at the end of the robotic arm. Based on the above confidence score calculations for all tools that may be installed at the end of the robotic arm during the surgery, a list of tools currently installed at the end of the robotic arm, ToolList, can be formed. installed The data is then passed to the tool suite and corresponding load matching module for further processing.

[0107] S300: Obtain the preset control parameters of the robotic arm that are currently identified as the tool load installed at the end of the robotic arm, and input the preset control parameters of the robotic arm into the robotic arm controller to control the operation of the robotic arm.

[0108] Specifically, the step of acquiring the preset control parameters of the robotic arm currently identified as the tool load installed at the end of the robotic arm, and inputting the preset control parameters into the robotic arm controller to control the operation of the robotic arm includes:

[0109] Determine whether all tool load combinations corresponding to the currently acquired preset control parameters of the robotic arm are included in the combination situation contained in the second preset tool combination list, and determine whether to output an abnormal signal based on the determination result.

[0110] Specifically, determining whether to output an abnormal signal based on the judgment result includes:

[0111] If all tool load combinations corresponding to the currently acquired preset control parameters of the robotic arm are within the combination scenarios included in the second preset tool combination list, no abnormal signal will be output, and the preset control parameters of the robotic arm will be input to the robotic arm controller to control the operation of the robotic arm.

[0112] If all tool load combinations corresponding to the currently acquired preset control parameters of the robotic arm are not included in the combination cases contained in the second preset tool combination list, then an abnormal signal is determined to be output and the abnormal signal is input to the robotic arm controller.

[0113] It should be further noted that during surgery, multiple tool combinations may be installed at the end of the robotic arm, and the corresponding loads are configured in this way. Therefore, a ToolList needs to be calculated based on the tool confidence level. installed Find the currently configured tool load combination and tool load;

[0114] The following uses the five tools in Table 1 as examples, assuming possible tool load combinations, i.e., the second preset tool combination list, as shown in Table 2:

[0115] Table 2. Five tool load combinations and their corresponding tool loads.

[0116] Tool load combination Includes tool load Group 1 Tool1 Group2 Tool1, Tool2 Group3 Tool1, Tool2, Tool3 Group4 Tool1, Tool4 Group5 Tool5

[0117] In this embodiment, based on the tool names in the tool list, a perfectly matching tool combination is selected sequentially from the tool combinations. The RFID tag processing module then retrieves the corresponding preset control parameters for the robotic arm. These preset control parameters (including mass, center of mass, inertia parameters, etc.) are output to the robotic arm controller to control the robotic arm's operation. If ToolList... installedIf "Tool1" and "Tool2" are in the list, then "Group2" will be returned, and the preset control parameters of the robotic arm corresponding to "Group2" will be output to the robotic arm controller to set the corresponding load. Although "Group3" also contains "Tool1" and "Tool2", "Tool3" is still not in the ToolList. installed Therefore, it does not meet the matching principle. Furthermore, if ToolList... installed If the tool name in the module does not correspond one-to-one with the tools in the tool combination, such as only containing "Tool4", the module will output an abnormal signal to the robotic arm controller. At this time, the robotic arm controller will prohibit the robotic arm from entering the zero-force drag and force control modes to prevent safety risks.

[0118] Furthermore, in this embodiment, the RFID tag 1 is used to identify tool usage. The readability and writability of the RFID tag 1 can also be used to write some parameters of the tool (such as tool status, number of uses, etc.) into the RFID tag 1 for software to read and use. The scope of application of this invention is not limited to surgical scenarios. For other scenarios where the end-effector load is replaceable, this invention can still be used to identify the load.

[0119] Please see Figure 4 The workflow within the RFID tag processing module in this embodiment is as follows:

[0120] The RFID tag processing module processes the RFID tag information acquired by the RFID reader, obtains the corresponding preset control parameters of the robotic arm from the robotic arm settings, and transmits them to the robotic arm settings. This module includes the following three steps:

[0121] Step 1: Control the RFID reader to read RFID tag information and perform tool load identification;

[0122] Step 2: Calculate tool confidence to determine whether each tool load is currently identified as a tool load installed at the end of the robotic arm;

[0123] Step 3: Tool combination and corresponding load matching. Based on the matching result, output the preset control parameters of the robotic arm to the robotic arm controller to control the operation of the robotic arm, or output an abnormal signal to the robotic arm controller.

[0124] It should be noted that this embodiment proposes an automatic identification method for tools mounted on the end effector of a robotic arm. By setting RFID tags on the tool load and using an RFID reader to read the tag information, the method can automatically identify the tool load mounted on the end effector of the robotic arm, avoiding misjudgments that may occur with manual identification and improving the accuracy of the entire robotic arm operation system. By calculating the confidence level of the tool load and comparing it with a first preset threshold, the method determines whether the tool load can be mounted on the end effector of the robotic arm, which can more accurately determine the current tool load status of the end effector of the robotic arm. This solves the technical problem that when changing the tool mounted on the end effector of the robotic arm in a surgical scenario, the robotic arm is prone to floating or falling when performing zero-force dragging and force control. This method can identify the type of tool mounted on the end effector of the robotic arm in real time and set the parameters of the tool load of the robotic arm in a timely manner, reducing errors and floating or falling problems during the surgical process, improving the efficiency and safety of robot-assisted surgery, and greatly improving the intelligence, usability and reliability of the invention.

[0125] In a preferred embodiment, this application also provides an electronic device, the electronic device comprising:

[0126] The computer device includes a memory and a processor. The memory stores computer-readable instructions that, when executed by the processor, implement the automatic identification method for tool attachment at the end effector of the robotic arm. This computer device can be broadly categorized as a server, terminal, or any other electronic device with the necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, memory, network interface, communication interface, etc., connected via a system bus. The processor of the computer device can be used to provide the necessary computing, processing, and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and internal memory. The non-volatile storage medium may store an operating system, computer programs, etc. The internal memory can provide an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface and communication interface of the computer device can be used to connect and communicate with external devices via a network. When the computer program is executed by the processor, it performs the steps of the method of the present invention.

[0127] This invention can be implemented as a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, causes the steps of the methods of embodiments of the invention to be performed. In one embodiment, the computer program is distributed across multiple network-coupled computer devices or processors, such that the computer program is stored, accessed, and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, may be executed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations may be executed by one or more computer devices or processors, and one or more other method steps / operations may be executed by one or more other computer devices or processors. One or more computer devices or processors may execute a single method step / operation, or execute two or more method steps / operations.

[0128] It should be noted that this invention, by setting RFID tags on the tool load and using an RFID reader to read the tag information, can automatically identify the tool load installed at the end of the robotic arm, avoiding potential misjudgments caused by manual identification and improving the accuracy of the entire robotic arm operation system. By calculating the confidence level of the tool load and comparing it with a first preset threshold, it can determine whether the tool load can be installed at the end of the robotic arm, thus more accurately determining the current tool load status at the end of the robotic arm. This solves the technical problem that in surgical scenarios, if the tool installed at the end of the robotic arm is changed, zero-force dragging and force control can easily cause the robotic arm to float or fall. This method can identify the type of tool installed at the end of the robotic arm in real time and set the parameters of the robotic arm tool load in a timely manner, reducing errors and floating / falling problems during the surgical process, improving the efficiency and safety of robot-assisted surgery, and greatly improving the intelligence, usability and reliability of this invention.

[0129] The technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features are described, any combination of these technical features should be considered to be covered by this specification, provided that such combination does not contain contradictions.

[0130] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An automatic identification device for a tool mounted at the end effector of a robotic arm, wherein the end effector of the robotic arm is equipped with a tool load, characterized in that, The automatic identification device for the end-effector tool of the robotic arm includes: An RFID tag (1) is disposed on the tool load; The control module is connected to the RFID reader and is used to control the RFID reader to read the tool load information in the RFID tag (1), and according to the tool load information, obtain the preset control parameters of the robotic arm corresponding to the tool load information, and control the operation of the robotic arm according to the preset control parameters of the robotic arm corresponding to the tool load information. An RFID reader / writer is used to read RFID tags (1).

2. The automatic identification device for end-effector tool installation according to claim 1, characterized in that, The end of the robotic arm is provided with a flange (4), and a machine head (2) is installed on the flange (4). The tool load is installed on the machine head (2).

3. The automatic identification device for end-effector tool installation according to claim 2, characterized in that, The automatic identification device for tool installation at the end of the robotic arm also includes an RFID antenna (3), which is mounted on the head (2). The RFID antenna (3) is used to generate an electromagnetic field, enabling the RFID reader to read the tool load information in the RFID tag (1) within a first preset distance range of the RFID antenna (3).

4. The automatic identification device for tool installation at the end of a robotic arm according to claim 1, characterized in that, The control module includes an RFID tag (1) processing module and a robotic arm controller; The RFID tag (1) processing module is communicatively connected to the robotic arm controller. The RFID tag (1) processing module is used to process the tool load information of the RFID tag (1) obtained by the RFID reader, thereby obtaining the robotic arm preset control parameters corresponding to the tool load information, and inputting the robotic arm preset control parameters to the robotic arm controller to control the operation of the robotic arm.

5. An automatic identification method for end-effector tools on a robotic arm, characterized in that, include: S100. Periodically read the tool load information in all RFID tags (1) within a first preset distance using an RFID reader (3); S200. Calculate the confidence level of each tool load at the current moment in sequence, determine whether the confidence level of each tool load is greater than or equal to the first preset threshold, and determine whether each tool load is identified as a tool load installed at the end of the robotic arm at the current moment based on the judgment result. S300: Obtain the preset control parameters of the robotic arm that are currently identified as the tool load installed at the end of the robotic arm, and input the preset control parameters of the robotic arm into the robotic arm controller to control the operation of the robotic arm.

6. The automatic identification method for end-effector tool installation according to claim 5, characterized in that, The step of sequentially calculating the confidence level of each tool load at the current moment includes: Determine whether the current tool load is included in the first preset tool list. Based on the determination result and the confidence level of the tool load at the previous moment, calculate the confidence level of the current tool load.

7. The automatic identification method for end-effector tool installation according to claim 6, characterized in that, The calculation of the confidence level of each tool load at the current moment includes: Let f represent the confidence level of the tool load Tool at the current moment. t (Tool), whose confidence level at the previous time step is denoted as f. t-1 (Tool), then f t The calculation method for (Tool) is as follows: f t (Tool)=f t-1 (Tool)+I(Tool)-r*(1-I(Tool)); Where r is the tool confidence parameter, and I(Tool) represents the judgment result of whether the tool Tool is in the first preset tool list: 1 if yes, 0 if no, as shown below: ToolList RFID This indicates the first list of preset tools.

8. The automatic identification method for end-effector tool installation according to claim 7, characterized in that, The calculation of the confidence level of each tool load at the current moment also includes: The first preset range for setting the confidence level of the tool load is [0, f]. max When the calculated confidence level of the tool load at the current moment exceeds the upper limit of the first preset range, the confidence level is set to the upper limit value f. max When the calculated confidence level of the tool's load at the current moment exceeds the lower limit, the confidence level is set to the lower limit, as specifically shown below: Among them, f max 0 represents the upper limit of the confidence level, and 0 represents the lower limit of the confidence level.

9. The automatic identification method for end-effector tool installation according to claim 8, characterized in that, The step of determining whether each tool load is currently identified as a tool load installed at the end of the robotic arm based on the judgment result includes: If the confidence level of the current tool load is greater than or equal to the first preset threshold, then the current tool load is determined to be a tool load installed at the end of the robotic arm. If the confidence level of the tool load is less than the first preset threshold, it is determined that the current tool load is not the tool load installed at the end of the robotic arm, and the tool load information in the next RFID tag (1) is read.

10. The automatic identification method for tool installation at the end of a robotic arm according to claim 9, characterized in that, The step of acquiring the preset control parameters of the robotic arm currently identified as the tool load installed at the end of the robotic arm, and inputting the preset control parameters into the robotic arm controller to control the operation of the robotic arm, includes: Determine whether all tool load combinations corresponding to the currently acquired preset control parameters of the robotic arm are included in the combination situation contained in the second preset tool combination list, and determine whether to output an abnormal signal based on the determination result.

11. The automatic identification method for end-effector tool installation according to claim 10, characterized in that, The step of determining whether to output an abnormal signal based on the judgment result includes: If all tool load combinations corresponding to the currently acquired preset control parameters of the robotic arm are within the combination scenarios included in the second preset tool combination list, no abnormal signal will be output, and the preset control parameters of the robotic arm will be input to the robotic arm controller to control the operation of the robotic arm. If all tool load combinations corresponding to the currently acquired preset control parameters of the robotic arm are not included in the combination cases contained in the second preset tool combination list, then an abnormal signal is determined to be output and the abnormal signal is input to the robotic arm controller.

12. An electronic device, characterized in that, include: Memory; The memory stores computer-readable instructions that, when executed by the processor, implement the automatic identification method for end-effector tool installation according to any one of claims 1 to 8.

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