From control methods, devices, medical systems and products for robotic arm motion following

Abstract

This application relates to the field of medical technology and provides a control method, device, medical system, and product for a robotic arm following motion. The method includes: acquiring a first actual pose and a first desired pose of the robotic arm at a previous moment; determining a first pose error of the robotic arm based on the first desired pose and the first actual pose; acquiring the pose change of the master robotic arm from the previous moment to the current moment, and determining a second desired pose of the robotic arm at the current moment based on the pose change of the master robotic arm and the first actual pose; determining a second pose error of the robotic arm based on the first and second desired poses; generating a slave arm control command based on the first and second pose errors; and using the slave arm control command to control the movement of the robotic arm. Using this method can improve the following effect when the robotic arm is moving.

Description

Technical Field

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

[0002] With the development of robotics technology, robots have been widely used in various industries. For example, consider medical robots that perform minimally invasive surgery. These medical robots typically employ a master-slave teleoperation structure, including a master robotic arm and slave robotic arms. Doctors indirectly control the slave robotic arms to treat patients by controlling the movement of the master robotic arm.

[0003] Currently, the typical approach is to map the end effector pose of the master robotic arm to the slave robotic arm, enabling the slave robotic arm to follow the movement. However, in real-world scenarios, there may be a pose difference between the actual pose of the slave robotic arm and the expected pose mapped from the end effector pose of the master robotic arm. Therefore, in existing technologies, pose following processing is required for the slave robotic arm to gradually reduce this pose difference.

[0004] However, when performing pose following processing on the slave robot, there may be scenarios where the master robot moves in the direction that reduces the pose difference, while the slave robot remains stationary. Consequently, the following effect is poor when the slave robot moves. Summary of the Invention

[0005] This application provides a control method, device, medical system, and product for following motion from a robotic arm, which can solve the problem of poor following effect when moving from a robotic arm.

[0006] In a first aspect, embodiments of this application provide a control method for following motion from a robotic arm, the method comprising:

[0007] Obtain the first actual pose and the first desired pose of the robotic arm at the previous moment;

[0008] Based on the first desired pose and the first actual pose, determine the first pose error of the robotic arm;

[0009] The change in pose of the master robot arm from the previous moment to the current moment is obtained, and based on the change in pose of the master robot arm and the first actual pose, the second expected pose of the slave robot arm at the current moment is determined.

[0010] Based on the first desired pose and the second desired pose, determine the second pose error of the robotic arm;

[0011] Slave control commands are generated based on the first pose error and the second pose error; the slave control commands are used to control the movement of the slave robotic arm.

[0012] In one embodiment, determining the second desired pose of the slave robot at the current moment based on the pose change of the master robot and the first actual pose includes:

[0013] Based on the pose change of the master robot arm and the preset master-slave pose mapping relationship, the pose change of the slave robot arm from the previous moment to the current moment is determined.

[0014] The second desired pose is determined based on the first actual pose and the change in pose of the robotic arm.

[0015] In one embodiment, generating slave arm control commands based on a first pose error and a second pose error includes:

[0016] The absolute pose difference value is obtained based on the first pose error and the preset absolute pose difference function; the absolute pose difference function is used to reflect the magnitude of the error between the actual pose and the desired pose of the robotic arm at various times; and,

[0017] The relative pose difference value is obtained based on the second pose error and the preset relative pose difference function; the relative pose difference function is used to reflect the magnitude of the change in the desired pose of the robotic arm at two adjacent moments.

[0018] Based on the absolute pose difference and the relative pose difference, control commands for the slave arm are generated.

[0019] In one embodiment, the absolute pose difference value is obtained based on the first pose error and a preset absolute pose difference function, including:

[0020] The first pose error is input into the absolute pose difference function to obtain the initial absolute pose difference value;

[0021] Determine the error torque corresponding to the first pose error of the robotic arm movement;

[0022] The initial absolute pose difference is corrected based on the error torque to obtain the absolute pose difference value.

[0023] In one embodiment, the initial absolute pose difference value is corrected based on the error torque to obtain the absolute pose difference value, including:

[0024] Determine the correction coefficient corresponding to the error torque;

[0025] The product of the correction coefficient and the initial absolute pose difference is determined as the absolute pose difference value.

[0026] In one embodiment, after obtaining the absolute pose difference value based on the first pose error and a preset absolute pose difference function, the method further includes:

[0027] Calculate the ratio of the change in pose of the main robotic arm to the error of the first pose.

[0028] The product of the ratio and the absolute pose difference is determined as the corrected absolute pose difference.

[0029] In one embodiment, the method further includes:

[0030] The first control command is generated based on the second pose error;

[0031] According to the first control command, the robotic arm is controlled to move from the first actual pose to the second actual pose;

[0032] The third pose error is determined based on the first desired pose and the second actual pose.

[0033] A second control command is generated based on the third pose error; the second control command is used to control the movement of the robotic arm according to the third pose error.

[0034] Secondly, embodiments of this application provide a control device for following the motion of a robotic arm, the device comprising:

[0035] The first acquisition module is used to acquire the first actual pose and the first expected pose of the robotic arm at the previous moment.

[0036] The first determining module is used to determine the first pose error of the robotic arm based on the first desired pose and the first actual pose.

[0037] The second determining module is used to obtain the change in pose of the main robotic arm from the previous moment to the current moment, and to determine the second expected pose of the slave robotic arm at the current moment based on the change in pose of the main robotic arm and the first actual pose.

[0038] The third determining module is used to determine the second pose error of the robotic arm based on the first desired pose and the second desired pose.

[0039] The first generation module is used to generate slave arm control commands based on the first pose error and the second pose error; the slave arm control commands are used to control the movement of the slave robotic arm.

[0040] Thirdly, embodiments of this application provide a medical system including a medical robotic arm, a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the method described in the first aspect above to control the medical robotic arm.

[0041] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect above.

[0042] Fifthly, embodiments of this application provide a computer program product that, when run on a medical system, causes the medical system to perform the method described in the first aspect.

[0043] The beneficial effects of this application embodiment compared with the prior art are as follows: The medical device can acquire the first actual pose and the first expected pose of the robotic arm at the previous moment, and determine the first pose error of the robotic arm from the previous moment to the current moment based on the first expected position and the first actual position. Furthermore, it acquires the change in the pose of the main robotic arm from the previous moment to the current moment, and determines the second expected pose of the robotic arm at the current moment based on the change in the pose of the main robotic arm and the first actual pose. Then, it determines the second pose error of the robotic arm based on the first expected pose and the second expected pose. Here, the first pose error is the difference between the first expected pose that the robotic arm expected to reach at the previous moment and the first actual pose that it actually reached. Therefore, the first pose error can be considered as the error generated when the robotic arm follows the main robotic arm. And, since the expected pose of the robotic arm at each moment is determined based on the change in the pose of the main robotic arm, it can be considered that the motion change corresponding to the second pose error of the robotic arm is the same as the change corresponding to the change in the pose of the main robotic arm. Furthermore, when generating control commands based on the first and second pose errors to control the slave robot arm, the introduction of the first pose error reduces the error after the slave robot arm moves, and the introduction of the second pose error ensures that the amount of motion change of the slave robot arm is the same as that of the master robot arm. In other words, the slave robot arm's movement follows the master robot arm's movement as closely as possible. For example, when the master robot arm stops moving, the slave robot arm also stops moving. Based on this, the above method can reduce the pose difference between the slave robot arm and the master robot arm and improve the following effect when the slave robot arm moves. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the structure of a medical system provided in one embodiment of this application;

[0046] Figure 2 This is a flowchart illustrating the implementation of a control method for following motion from a robotic arm, according to an embodiment of this application.

[0047] Figure 3This is a schematic diagram illustrating an implementation method for generating slave arm control commands from a control method for following the movement of a robotic arm, provided in an embodiment of this application.

[0048] Figure 4 This is a schematic diagram illustrating an implementation method for determining the first pose error from a control method for following the motion of a robotic arm, provided in an embodiment of this application.

[0049] Figure 5 This is a schematic diagram illustrating the relationship between error torque and correction coefficient in a control method for following motion of a robotic arm, provided in an embodiment of this application.

[0050] Figure 6 This is a schematic diagram of the structure of a control device that follows the movement of a robotic arm according to an embodiment of this application;

[0051] Figure 7 This is a schematic diagram of the structure of a medical system provided in one embodiment of this application. Detailed Implementation

[0052] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0053] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0054] It should be noted that the information collection process (such as patient information collection process, physiological information collection process, etc.) / feature extraction process involved in this application is carried out with the user's knowledge and permission. That is, the information collection process / feature extraction process complies with the requirements of laws and regulations and does not constitute an act that harms the public interest.

[0055] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0056] The control method for following motion from a robotic arm provided in this application can be applied to electronic devices such as mobile phones, tablets, wearable devices, in-vehicle devices, augmented reality (AR) / virtual reality (VR) devices, laptops, ultra-mobile personal computers (UMPCs), netbooks, and personal digital assistants (PDAs). This application does not impose any restrictions on the specific type of electronic device.

[0057] With the development of robotics technology, robots have been widely used in various industries, including, but not limited to, the medical and industrial fields. This embodiment uses a medical robot for minimally invasive surgery as an example. Medical robots typically employ a master-slave teleoperation structure, including a master robotic arm and slave robotic arms. The doctor indirectly controls the slave robotic arms to treat the patient by controlling the movement of the master robotic arm.

[0058] Currently, the typical approach is to map the end effector pose of the master robotic arm to the slave robotic arm, enabling the slave robotic arm to follow the movement. However, in real-world scenarios, there may be a pose difference between the actual pose of the slave robotic arm and the expected pose mapped from the end effector pose of the master robotic arm. Therefore, in existing technologies, pose following processing is required for the slave robotic arm to gradually reduce this pose difference.

[0059] However, when performing pose following processing on the slave robot, there may be scenarios where the master robot moves in the direction that reduces the pose difference, while the slave robot remains stationary. Consequently, the following effect is poor when the slave robot moves.

[0060] Alternatively, during the master-slave robotic arm control process, when the end-effector pose of the master robotic arm is mapped to the slave robotic arm, it may exceed the slave robotic arm's workspace, also resulting in the aforementioned pose difference. In this case, the doctor typically controls the master robotic arm to move backward so that the mapped pose is within the slave robotic arm's workspace. That is, the master robotic arm moves in the direction that reduces the pose difference.

[0061] However, there is still a pose difference caused by the slave robot arm's inability to follow when the master robot arm extends beyond its workspace. In this case, if the slave robot arm immediately responds to the master robot arm's posture when it moves backward, the pose difference during the master-slave movement cannot be reduced.

[0062] Therefore, in order to improve the following effect of the slave robotic arm during movement while reducing the pose difference between the slave and master robotic arms, one embodiment of this application provides a master-slave motion control method for a medical robotic arm. This method can be applied to electronic devices such as laptops and ultra-mobile personal computers (UMPCs), which can remotely control the medical robotic arm in a medical robot. This application embodiment does not limit the specific type of electronic device. In another embodiment, this method can also be applied to a medical robot or medical system containing a robotic arm, without limitation.

[0063] As an example, taking the application of the method to a healthcare system, please refer to [link to relevant documentation]. Figure 1 , Figure 1 This diagram illustrates the structure of a medical system according to an embodiment of this application. The medical system includes a main robotic arm carriage 1, a slave robotic arm carriage 2, and a vision carriage 3. The main robotic arm carriage 1, the slave robotic arm carriage 2, and the vision carriage 3 are interconnected. The connection methods include, but are not limited to, wired and wireless connections.

[0064] The robotic arm trolley 2 also includes a scanning device for scanning the patient's lesion area. During the procedure, the patient lies on the bed 4, and the vision trolley 3 displays its own settings (e.g., virtual on / off devices) and the two-dimensional planar images scanned by the scanning device. For example, the scanning device in the robotic arm trolley 2 includes an endoscope that can scan the patient's internal tissues and display the scans on the vision trolley 3. The doctor can control the main robotic arm in the main robotic arm trolley 1 based on the displayed two-dimensional planar images. Then, the controller in the main robotic arm trolley 1 maps the pose of the main robotic arm to the slave robotic arm in the robotic arm trolley 2, so that the end effector of the slave robotic arm can reproduce the pose of the main robotic arm in real time for the treatment of the patient.

[0065] It should be noted that the motion control methods for the master and slave robotic arms during surgery can be referred to the following: Figure 2 The various examples described herein.

[0066] Please see Figure 2 , Figure 2 The following is a flowchart illustrating the implementation of a master-slave motion control method for a medical robotic arm according to an embodiment of this application. The method includes the following steps:

[0067] S201. Obtain the first actual pose and the first desired pose of the robotic arm at the previous moment.

[0068] In one embodiment, pose can be considered as a general term for position and attitude. Therefore, the pose change can be considered as the position change and attitude change.

[0069] It should be noted that the pose of each robotic arm (including the master robotic arm and the slave robotic arm) can be represented by the pose at a preset position of each robotic arm. For example, the pose of the robotic arm can be represented by the pose at the beginning of the robotic arm, or it can be represented by the pose at the end of the robotic arm; there is no limitation on this. In this embodiment, since the doctor performs surgery on the patient through the end of the robotic arm, the pose at the end of the robotic arm can be used to represent the first actual pose mentioned above.

[0070] As an example, at the start of surgery, the initial pose of the robotic arm is typically fixed, and then the robotic arm adjusts its pose in response to slave arm control commands. Therefore, the current pose of the robotic arm can be obtained by the medical system through kinematic equation calculation based on the previous pose of the robotic arm and the control commands. These kinematic equations are existing equations and will not be described in detail.

[0071] In another embodiment, since the dimensions of the robotic arm are fixed, its pose typically differs at different joint angles. Based on this, the medical system can also determine the pose of the robotic arm at various moments by identifying its joint angles. The joint angles can be determined using angle sensors located at the joints of the robotic arm.

[0072] In this embodiment, the method for determining the pose of the robotic arm at each moment is not limited. It is understood that after obtaining the pose at each moment, the pose at the previous moment can be determined as the first actual pose.

[0073] Understandably, since the slave robot needs to replicate the movement of the master robot, it can be assumed that the movement changes of the slave robot should be consistent with those of the master robot. Based on this, the medical system can determine the first desired pose as the pose of the slave robot after moving from its first actual pose to the pose of the master robot at the moment preceding its movement.

[0074] The first desired pose can be considered as the pose that the robotic arm expected to achieve at the previous moment. Under this first desired pose, the robotic arm can correspondingly reproduce the pose of the master robotic arm at the previous moment.

[0075] S202. Determine the first pose error of the robotic arm based on the first desired pose and the first actual pose.

[0076] In one embodiment, the medical system can determine the first pose error as the difference between the first desired pose and the first actual position. For example, the first pose error can be considered to describe the position difference between the desired position and the actual position of the robotic arm at the previous moment, as well as the attitude difference between the desired pose and the actual pose.

[0077] S203. Obtain the change in pose of the main robotic arm from the previous moment to the current moment, and determine the second desired pose of the slave robotic arm at the current moment based on the change in pose of the main robotic arm and the first actual pose.

[0078] Based on the explanation in S201 above, it can be considered that the aforementioned change in the main robotic arm's pose can describe the change in the main robotic arm's position from the previous moment to the current moment, as well as the change in its posture from the previous moment to the current moment. Furthermore, the motion pose of the main robotic arm's end effector can be used to characterize the change in the main robotic arm's pose. That is, the change in the main robotic arm's pose can be considered as the difference between the actual pose of the main robotic arm at the previous moment and the actual pose at the current moment.

[0079] The method for determining the actual pose of the main robotic arm at each moment can be similar to the method for determining the first actual pose of the slave robotic arm at the previous moment, and the method for determining the pose of the main robotic arm at each moment will not be described in detail.

[0080] In one embodiment, after obtaining the pose change of the main robotic arm and the first actual pose, the pose of the robotic arm after moving from the first actual pose to the pose change of the main robotic arm can be used as the second desired pose.

[0081] It should be added that, since the coordinate system corresponding to the motion space of the slave robot is usually different from that of the master robot, when determining the second desired pose based on the pose change of the master robot and the first actual pose, it is necessary to first map the pose change of the master robot to the pose change of the slave robot. Then, based on the pose change of the slave robot and the first actual pose, the aforementioned second desired pose is determined.

[0082] Typically, the coordinate system of the master robotic arm is constructed with the master robotic arm or its trolley as the origin. The coordinate system of the slave robotic arm is typically constructed with the slave robotic arm as the origin, or it can be the endoscope imaging coordinate system of the slave robotic arm. Therefore, due to the different coordinate systems, the medical system needs to first determine the slave robotic arm's pose change from the previous moment to the current moment based on the master robotic arm's pose change and a preset master-slave pose mapping relationship; then, based on the first actual pose and the slave robotic arm's pose change, determine the second desired pose.

[0083] The preset master-slave pose mapping relationship can be determined in advance based on the coordinate transformation relationship between the coordinate system of the master robot and the coordinate system of the slave robot, which will not be explained in detail.

[0084] Based on the above example of determining the second desired pose at the current moment, it can be assumed that the method of obtaining the first desired pose is similar to the method of determining the second desired pose, and will not be described in detail.

[0085] It should be noted that after obtaining the second desired pose, since the second desired pose is the pose that the robotic arm expects to reach from the current moment, the movement of the robotic arm can be controlled based on the second desired pose. For example, the medical system can control the robotic arm to move from the first actual pose at the previous moment to the second desired pose.

[0086] As an example, after obtaining the second desired pose, the medical system can solve for the desired joint angles when the robotic arm reaches the second desired pose using inverse kinematics. Then, based on the first actual pose and the desired joint angles, a target control command is generated corresponding to the adjustment of the robotic arm to the desired joint angles. This target control command can be generated by the controller of the main robotic arm carriage in the medical system and sent to the slave robotic arm carriage.

[0087] However, in real-world scenarios, if there is a pose difference between the first actual pose of the slave arm at the previous moment and the first expected pose mapped to the end effector pose of the master arm at the previous moment, then when the slave arm is controlled to move in response to the target control command based on the second expected pose mapped to the end effector pose of the master arm at the current moment, there will still be a pose difference.

[0088] Therefore, in order to reduce pose difference, the medical system can generate control commands for the robotic arm to follow the movement according to steps S204-S205 below. Details are as follows:

[0089] S204. Determine the second pose error of the robotic arm based on the first desired pose and the second desired pose.

[0090] In one embodiment, the method for determining the second pose error can be similar to the method for determining the first pose error, and will not be described in detail.

[0091] It should be noted that since the desired pose of the slave robot at each moment is determined based on the pose change of the master robot, the motion change corresponding to the second pose error of the slave robot can be considered to be the same as the change corresponding to the pose change of the master robot. Based on this, when controlling the movement of the slave robot based on the second pose error, the movement state of the slave robot can follow the movement state of the master robot. For example, when the master robot stops moving, the slave robot also stops moving. When the master robot moves, the slave robot can also move. This allows the slave robot to reproduce the relative motion of the master robot at each moment.

[0092] Furthermore, the first pose error is the difference between the first desired pose that the robotic arm expects to reach and the first actual pose that it actually reaches at the previous moment. Therefore, the first pose error can be considered as the error generated when the slave robotic arm follows the master robotic arm. Based on this, when generating control commands to control the slave robotic arm based on the first pose error, the error of the slave robotic arm after movement (the difference between the desired pose and the actual pose at each moment) can be reduced.

[0093] It should be noted that the aforementioned first pose error may be caused by the following: the master and slave robotic arms have different workspaces and different motion capabilities. Therefore, the slave robotic arm may not be able to completely follow the master robotic arm's movement (i.e., it cannot completely follow the pose mapped by the master robotic arm). Furthermore, to ensure smooth control of the slave robotic arm, the medical system may allow for a certain degree of pose difference. That is, when a first pose error occurs and is small, no error correction is performed. Also, the slave robotic arm may experience a collision or exceed its workspace during movement, thus generating a first pose error. In this embodiment, the cause of the first pose error is not limited.

[0094] S205. Generate slave arm control commands based on the first pose error and the second pose error; the slave arm control commands are used to control the movement of the slave robotic arm.

[0095] In one embodiment, the medical system can generate slave arm control commands by calculating based on existing kinematic equations, or by simulating the first pose error, second pose error, first desired pose, and first actual pose based on a pre-built kinematic simulation model to generate slave arm control commands. In this embodiment, the method of generating slave arm control commands is not limited.

[0096] It should be noted that the slave arm control command can be generated by the controller of the master robotic arm carriage in the medical system and sent to the slave robotic arm carriage. Alternatively, it can be generated by the controller of the slave robotic arm carriage in the medical system, and when the slave robotic arm responds to the target control command sent by the controller of the master robotic arm carriage, the slave robotic arm is controlled to respond synchronously to the slave arm control command to reduce errors. Furthermore, due to the synchronous response to the control command, the following effect of the slave robotic arm can be guaranteed.

[0097] In another embodiment, the medical system can also be based on, for example... Figure 3 The steps S301-S303 shown generate slave arm control commands. Details are as follows:

[0098] S301. Obtain the absolute pose difference value based on the first pose error and the preset absolute pose difference function.

[0099] In one embodiment, the absolute pose difference function can be set according to actual conditions, and there is no limitation thereto. It should be noted that the absolute pose difference function is used to reflect the magnitude of the error between the actual pose and the desired pose of the robotic arm at various times. That is, the absolute pose difference value obtained based on this function can be considered as a scalar.

[0100] Based on the above explanation, it can be considered that when the absolute pose difference is larger, the actual pose after the robotic arm moves has deviated significantly from the desired pose at the corresponding moment. Conversely, when the absolute pose difference is smaller, the actual pose after the robotic arm moves is closer to the desired pose at the corresponding moment.

[0101] It should be noted that the pose described above includes both position and attitude. Therefore, when calculating the absolute pose difference, the first position difference can be calculated based on the first position difference in the first pose error and the absolute position difference function in the preset absolute pose difference function. Similarly, the first attitude difference can be calculated based on the first attitude difference in the first pose error and the absolute attitude difference function in the preset absolute pose difference function. Then, the sum of the first position difference and the first attitude difference is taken as the absolute pose difference. Alternatively, both the first position difference and the first attitude difference can be taken as the absolute pose difference.

[0102] The absolute position difference function and the absolute pose difference function are similar, differing only in their measurement methods. For example, the first position difference can be obtained by subtracting the position in the first desired pose from the position in the first actual pose. The first pose difference can be considered as the distance between the poses in the first desired pose and the poses in the first actual pose on the manifold (e.g., Riemannian manifold, SOC manifold), which can be obtained by taking the logarithm; this will not be explained in detail here.

[0103] S302. Obtain the relative pose difference value based on the second pose error and the preset relative pose difference function.

[0104] In one embodiment, the relative pose difference function can be set according to actual conditions, and there is no limitation thereto. It should be noted that the relative pose difference function is used to reflect the magnitude of the change in the desired pose of the robotic arm at two adjacent moments. That is, the absolute pose difference value obtained based on this function can be considered as a scalar.

[0105] Based on the above explanation, it can be assumed that the larger the relative pose difference, the greater the change in pose of the master robot, resulting in a greater pose change required by the slave robot at the current moment. Conversely, the smaller the relative pose difference, the smaller the change in pose of the master robot, resulting in a smaller pose change required by the slave robot at the current moment.

[0106] The method of obtaining the relative pose difference based on the second pose error is similar to the method of obtaining the absolute pose difference in S301 above, and will not be described in detail.

[0107] S303. Generate slave arm control commands based on absolute pose difference and relative pose difference.

[0108] In one embodiment, the medical system can input the absolute pose difference and the relative pose difference into a preset dynamic equation for processing to obtain corresponding control information. Then, based on the control information, the aforementioned slave arm control commands are generated. The control information includes, but is not limited to, one or more of the following: control torque, slave arm joint angle, and slave arm movement speed.

[0109] Alternatively, the medical system can first calculate the sum of the absolute pose difference and the relative pose difference to obtain the total pose difference. Then, the total pose difference is input into the aforementioned preset dynamic equation for processing to generate slave arm control commands.

[0110] Alternatively, the medical system can pre-set a neural network model to generate control information. This model can predict based on the first pose error and the second pose error, or simultaneously based on information such as the first actual pose, the first desired pose, and the second desired pose of the robotic arm, to obtain the aforementioned control information. Then, the slave arm control commands are generated based on the control information. In this embodiment, the method of generating slave arm control commands based on absolute pose difference and relative pose difference is not limited.

[0111] It is important to note that, as explained in S301-S302 above, when the change in the pose of the master robotic arm is small (i.e., the relative pose difference is small), it can be assumed that the slave robotic arm has not undergone significant changes between two adjacent moments. In this case, if the slave robotic arm follows the master robotic arm based on the absolute pose difference (i.e., controlling the slave robotic arm's movement to reduce error), there may be a scenario where the master robotic arm stops moving while the slave robotic arm continues to move. Based on this scenario, to ensure the coordination of the slave robotic arm's following motion, the slave arm control commands should be primarily generated based on the second pose error. That is, when generating slave arm control commands, the effect of the first pose error is less than the effect of the second pose error. This ensures that when the slave robotic arm responds to the slave arm control commands, it follows the master robotic arm's pose as closely as possible, while minimizing the pose difference between the slave and master robotic arms.

[0112] Furthermore, when the first pose error is small, it can be assumed that the first actual pose of the slave arm at the previous moment is close to the first desired pose. In this case, when generating slave arm control commands based on the first pose error, it can be assumed that even if the slave arm responds to the slave arm control commands, the pose difference between the slave arm's current actual pose and the second desired pose will not decrease further, or the decrease in pose difference will be small. Therefore, in this scenario, to ensure the coordination of the slave arm's following motion, the slave arm control commands should also be primarily generated based on the second pose error. That is, the effect of the first pose error is less than the effect of the second pose error when generating slave arm control commands. Consequently, when the slave arm responds to the slave arm control commands, it follows the master arm's pose as closely as possible, while minimizing the pose difference between the slave and master arms.

[0113] Furthermore, as illustrated in the above example, if the first pose error is large, it can be assumed that the first actual pose of the slave arm deviated significantly from the first desired pose at the previous moment. In this case, to ensure the accuracy of the slave arm's following motion, the effect of the first pose error should be amplified when generating slave arm control commands.

[0114] Therefore, in order to reasonably generate slave arm control commands based on the first and second pose errors, and to achieve a balance between the following effect and accuracy of the slave robotic arm, the medical system can, as follows: Figure 4 Steps S401-S403, as shown, process the first pose error to obtain a reasonable absolute pose difference value. Details are as follows:

[0115] S401. Input the first pose error into the absolute pose difference function to obtain the initial absolute pose difference value.

[0116] S402. Determine the error torque corresponding to the first posture error of the robotic arm movement.

[0117] In one embodiment, the absolute pose difference function has already been explained above and will not be repeated here. It should be noted that the error torque can be considered as the torque required when the robotic arm moves to the first pose error mentioned above.

[0118] As an example, the error torque corresponding to the first pose error can be considered as the control torque required for the robotic arm to move from the first actual pose to the first desired pose. Based on this, the error torque can be determined based on the first actual pose and the first desired pose. For example, the first actual pose and the first desired pose can be input into a pre-built dynamic simulation model of the robotic arm or a torque prediction neural network model to obtain the aforementioned error torque. In this embodiment, the method for determining the error torque corresponding to the first pose error is not limited.

[0119] S403. Correct the initial absolute pose difference value according to the error torque to obtain the absolute pose difference value.

[0120] In one embodiment, the medical system can first determine the correction coefficient corresponding to the error torque, and then multiply the correction coefficient by the initial absolute pose difference to obtain the absolute pose difference value. Alternatively, the error torque can be normalized in advance, and the normalized value can be multiplied by the initial absolute pose difference value to obtain the absolute pose difference value. In this embodiment, the method of correcting the initial absolute pose difference value is not limited.

[0121] As an example, a medical system can pre-set multiple error torque ranges and corresponding correction coefficients for each error torque range. Then, the correction coefficient corresponding to the target error torque range is multiplied by the initial absolute pose difference value to obtain the aforementioned absolute pose difference value.

[0122] In another embodiment, reference is made to Figure 5 , Figure 5 This is a schematic diagram illustrating the relationship between error torque and correction coefficient in a control method for following motion of a robotic arm, provided in an embodiment of this application. The medical system can also... Figure 5 The diagram shown determines the correction coefficient corresponding to the error torque. Then, the product of the correction coefficient and the initial absolute pose difference is used to determine the absolute pose difference value.

[0123] in, Figure 5 The horizontal axis represents the error torque f, and the vertical axis represents the correction coefficient. Based on Figure 5 It can be seen that when the error torque is greater than or equal to 0 and less than or equal to the preset torque f... tAs the error torque increases, the first pose error corresponding to the error torque also gradually increases. Therefore, to ensure the accuracy of the follow-up motion of the robotic arm, the effect of the first pose error should be increased when generating control commands for the slave arm. That is, as the error torque increases, the corresponding correction coefficient will also increase, and thus the effect of the first pose error will also increase. Figure 5 The correction factor of 0.5 corresponding to the error torque is only an example in this embodiment. In this embodiment, the relationship between the error torque and the correction factor is not limited.

[0124] And, when the error torque is greater than f t At this time, it can be assumed that the effect of the first pose error needs to be maximized when generating slave arm control commands. Therefore, the error torque can be greater than f. t At that time, the correction factor remains unchanged and is 1.

[0125] It should be noted that if the value of the correction coefficient is increased further to be greater than 1, the following effect of the slave robot arm during movement will deteriorate when the slave robot arm generates control commands and responds to them.

[0126] In another embodiment, after obtaining the error torque, the error torque can also be applied to the master robotic arm so that during the master-slave motion control process, the doctor can feel the force exerted by the slave robotic arm on the master robotic arm during operation, thereby achieving the purpose of precise control.

[0127] Based on the above description, in this embodiment, by using the method of generating absolute pose difference values, the proportion of the effect of the first pose error can be limited when generating slave arm control commands, and adaptive changes can be made based on the error torque during master-slave motion control. Furthermore, the coordination between the slave robotic arm's following motion and the error torque corresponding to the first pose error can be satisfied, ensuring the doctor's intuitive operation and achieving precise control of the slave robotic arm.

[0128] In another embodiment, in a real-world scenario, the first pose error of the slave robot may be much greater than the pose change of the master robot. In this case, when generating control commands for the slave arm, the effect of the first pose error will also be much greater than the effect of the second pose error corresponding to the pose change of the master robot. Consequently, the slave robot's following performance will be poor.

[0129] Therefore, to ensure the tracking effect of the robotic arm, the medical system can first calculate the ratio of the change in pose of the main robotic arm to the first pose error. Then, the product of this ratio and the absolute pose difference is determined as the corrected absolute pose difference.

[0130] Specifically, when calculating the aforementioned ratios, the ratio of the position change in the main robotic arm's pose change to the first position difference in the first pose error can be calculated separately; and the ratio of the attitude change in the main robotic arm's pose change to the first attitude difference in the first pose error can also be calculated. Then, the sum of the position change ratios and attitude change ratios is used as the aforementioned ratio for subsequent processing.

[0131] In another embodiment, after obtaining the ratio of position change and the ratio of attitude change, the ratio of position change can be used to correct the position difference in the absolute pose difference to obtain a corrected first position difference. Similarly, the ratio of attitude change can be used to correct the attitude difference in the absolute pose difference to obtain a corrected first attitude difference. Finally, the sum of the first position difference and the first attitude difference is taken as the absolute pose difference. Alternatively, both the first position difference and the first attitude difference can be taken as the absolute pose difference. In this embodiment, the method of correcting the absolute pose difference after obtaining the ratio is not limited.

[0132] Understandably, since the first pose error is much larger than the pose change of the master robot arm, the aforementioned ratio is usually much less than 1. Therefore, by proportionally reducing the absolute pose difference based on a value less than 1, the effect of the relative pose difference in generating slave arm control commands can be enhanced. Furthermore, when the slave robot arm moves based on the slave arm control commands corresponding to the proportionally reduced absolute pose difference, the amplitude of the slave robot arm's motion increment can be made as similar as possible to the amplitude of the master robot arm's motion increment (the pose change of the master robot arm), improving the tracking effect of the slave robot arm's movement.

[0133] It should be added that the medical system can calculate the aforementioned ratio and correct the absolute pose difference when it detects that the first pose error of the robotic arm may be greater than the pose change of the main robotic arm. For example, if the difference between the first motion position in the pose change of the main robotic arm and the first position difference in the first pose error is greater than a first preset difference, and / or the difference between the first motion posture in the pose change of the main robotic arm and the first posture difference in the first pose error is greater than a second preset difference, the aforementioned correction operation for the absolute pose difference is performed. Otherwise, if the difference between the first motion position and the first position difference is less than or equal to the first preset difference, and the difference between the first motion posture and the first posture difference is less than or equal to the second preset difference, the aforementioned correction operation is not required.

[0134] In one embodiment, as described in step S303 above, the medical system can also first calculate the sum of the absolute pose difference and the relative pose difference to obtain the total pose difference. Then, the total pose difference is input into the aforementioned preset dynamic equation for processing to generate slave arm control commands. As an example, the medical system can obtain the total pose difference using the following equation, detailed below:

[0135] C = Cr + k × k1 × Ca;

[0136] Where C is the total pose difference, Cr is the relative pose difference calculated based on the relative pose difference function, Ca is the initial absolute pose difference calculated based on the absolute pose difference function, k is the correction coefficient corresponding to the error torque, and k1 represents the ratio.

[0137] In another embodiment, S301 above also describes that both the first position difference and the first pose difference can be used as the absolute pose difference. Furthermore, S302 also describes a method for obtaining the relative pose difference based on the second pose error, which is similar to the method for obtaining the absolute pose difference in S301 above.

[0138] Based on this, when generating slave arm control commands based on absolute and relative pose differences, the medical system can also obtain a total position difference based on the second position difference in the first position difference and the second pose error, and generate position control commands to adjust the position of the slave robotic arm based on the total position difference. Furthermore, it can obtain a total attitude difference based on the second attitude difference in the first attitude difference and the second pose error, and generate attitude control commands to adjust the attitude of the slave robotic arm. Finally, both the position control commands and the attitude control commands are determined to be the aforementioned slave arm control commands.

[0139] Since pose includes position and attitude, the method for determining the total position difference and the total attitude difference can be similar to the method for determining the total pose difference described above. Similarly, the method for generating position control commands and attitude control commands can be similar to the method for generating slave arm control commands described above. These will not be explained in detail.

[0140] In another embodiment, the medical system may also control the reduction of the pose difference between the master and slave robotic arms as the primary objective, and the tracking effect of the slave robotic arm during movement as a secondary objective. For example, the medical system may also generate a relative pose difference value in a manner similar to steps S401-S403 described above. In this case, when generating slave arm control commands, the proportion of the effect of the second pose error is limited, and adaptive changes are made during the master-slave motion control process. Furthermore, the pose difference between the master and slave robotic arms during the master-slave motion control process can be reduced preferentially, so as to achieve precise control of the slave robotic arm while ensuring its tracking effect during movement.

[0141] In this embodiment, the medical device can acquire the first actual pose and the first expected pose of the robotic arm at the previous moment, and determine the first pose error of the robotic arm from the previous moment to the current moment based on the first expected position and the first actual position. It also acquires the change in the pose of the master robotic arm from the previous moment to the current moment, and determines the second expected pose of the robotic arm at the current moment based on the change in the master robotic arm pose and the first actual pose. Furthermore, it determines the second pose error of the robotic arm based on the first expected pose and the second expected pose. The first pose error is the difference between the first expected pose the robotic arm expected to reach at the previous moment and the first actual pose it actually reached. Therefore, the first pose error can be considered as the error generated when the robotic arm follows the master robotic arm. Since the expected pose of the robotic arm at each moment is determined based on the change in the master robotic arm pose, the change in motion corresponding to the second pose error of the robotic arm can be considered to be the same as the change in motion corresponding to the change in the master robotic arm pose. Furthermore, when generating control commands based on the first and second pose errors to control the slave robot arm, the introduction of the first pose error reduces the error after the slave robot arm moves, and the introduction of the second pose error ensures that the amount of motion change of the slave robot arm is the same as that of the master robot arm. In other words, the slave robot arm's movement follows the master robot arm's movement as closely as possible. For example, when the master robot arm stops moving, the slave robot arm also stops moving. Based on this, the above method can reduce the pose difference between the slave robot arm and the master robot arm and improve the following effect when the slave robot arm moves.

[0142] In another embodiment, to further ensure the following effect during the movement of the robotic arm (i.e., with the following effect as the primary objective), after obtaining the second pose error by performing step S203 above, the medical system can further generate a first control command based on the second pose error, and control the robotic arm to move from the first actual pose to the second actual pose according to the first control command. Then, based on the first desired pose and the second actual pose, a third pose error is determined, and a second control command is generated based on the third pose error. The second control command is used to control the robotic arm to move according to the third pose error.

[0143] The method for generating the first control command based on the second pose error can also be as follows: first, determine the relative pose difference value corresponding to the second pose error, and then input the relative pose difference value into a preset dynamic equation or neural network model for processing to obtain the corresponding control information. The slave arm control command is then generated based on the control information. This method, as well as the method for generating the second control command based on the third pose error, can be similar to the method for generating the slave arm control command in step S303 above. Furthermore, the method for determining the third pose error can be similar to the method for determining the first pose error above; these will not be described in detail here.

[0144] It should be noted that when controlling the movement of the slave robot arm using the above method, since the motion change corresponding to the second pose error of the slave robot arm is usually exactly the same as the change corresponding to the pose change of the master robot arm, the slave robot arm can prioritize the following effect after responding to the first control command. Furthermore, after responding to the second control command, the slave robot arm can reduce the error between its actual pose and the first desired pose. That is, it can achieve, as far as possible, that the motion change of the slave robot arm is the same as that of the master robot arm.

[0145] Please see Figure 6 , Figure 6 This is a structural block diagram of a control device for following the motion of a robotic arm, provided in an embodiment of this application. The control device for following the motion of a robotic arm in this embodiment includes modules for executing... Figures 1 to 5 The steps in the corresponding embodiments. Please refer to the details. Figures 1 to 5 as well as Figures 1 to 5 The relevant descriptions in the corresponding embodiments are shown below. For ease of explanation, only the parts relevant to this embodiment are shown. See also... Figure 6 The control device 600 for following the movement of the robotic arm may include: a first acquisition module 610, a first determination module 620, a second determination module 630, a third determination module 640, and a first generation module 650, wherein:

[0146] The first acquisition module 610 is used to acquire the first actual pose and the first desired pose of the robotic arm at the previous moment.

[0147] The first determining module 620 is used to determine the first pose error of the robotic arm based on the first desired pose and the first actual pose.

[0148] The second determining module 630 is used to obtain the change in pose of the main robotic arm from the previous moment to the current moment, and to determine the second expected pose of the slave robotic arm at the current moment based on the change in pose of the main robotic arm and the first actual pose.

[0149] The third determining module 640 is used to determine the second pose error of the robotic arm based on the first desired pose and the second desired pose.

[0150] The first generation module 650 is used to generate slave arm control commands based on the first pose error and the second pose error; the slave arm control commands are used to control the movement of the slave robotic arm.

[0151] In one embodiment, the second determining module 630 is further configured to:

[0152] Based on the pose change of the master robot arm and the preset master-slave pose mapping relationship, the pose change of the slave robot arm from the previous moment to the current moment is determined; based on the first actual pose and the pose change of the slave robot arm, the second desired pose is determined.

[0153] In one embodiment, the first generation module 650 is further configured to:

[0154] The absolute pose difference value is obtained based on the first pose error and the preset absolute pose difference function. The absolute pose difference function is used to reflect the magnitude of the error between the actual pose and the desired pose of the robotic arm at each moment. The relative pose difference value is obtained based on the second pose error and the preset relative pose difference function. The relative pose difference function is used to reflect the magnitude of the change in the desired pose of the robotic arm at two adjacent moments. Based on the absolute pose difference value and the relative pose difference value, the slave arm control command is generated.

[0155] In one embodiment, the first generation module 650 is further configured to:

[0156] The first pose error is input into the absolute pose difference function to obtain the initial absolute pose difference value; the error torque corresponding to the first pose error of the robotic arm movement is determined; the initial absolute pose difference value is corrected according to the error torque to obtain the absolute pose difference value.

[0157] In one embodiment, the first generation module 650 is further configured to:

[0158] Determine the correction coefficient corresponding to the error torque; multiply the correction coefficient by the initial absolute pose difference value to determine the absolute pose difference value.

[0159] In one embodiment, the control device 600 that follows the movement of the robotic arm further includes:

[0160] The calculation module is used to calculate the ratio of the change in pose of the main robotic arm to the first pose error.

[0161] The correction module is used to determine the corrected absolute pose difference value by multiplying the ratio by the absolute pose difference value.

[0162] In one embodiment, the control device 600 that follows the movement of the robotic arm further includes:

[0163] The second generation module is used to generate the first control command based on the second pose error.

[0164] The control module is used to control the movement of the robotic arm from a first actual pose to a second actual pose according to a first control command.

[0165] The fourth determination module is used to determine the third pose error based on the first desired pose and the second actual pose.

[0166] The third generation module is used to generate a second control command based on the third pose error; the second control command is used to control the movement of the robotic arm according to the third pose error.

[0167] When it is understood that, Figure 6 The block diagram of the control device shown illustrates the movement of the robotic arm, with each module used for execution. Figures 1 to 5 The steps in the corresponding embodiments, and for Figures 1 to 5 The steps in the corresponding embodiments have been explained in detail in the above embodiments. Please refer to them for details. Figures 1 to 5 as well as Figures 1 to 5 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0168] Figure 7 This is a structural block diagram of a medical system provided in one embodiment of this application. Figure 7 As shown, the medical system 700 of this embodiment includes: a medical robotic arm 710, a processor 720, a memory 730, and a computer program 740 stored in the memory 730 and executable by the processor 720, such as a program for a control method of following motion from the robotic arm. When the processor 720 executes the computer program 740, it implements the steps of the various embodiments of the control method of following motion from the robotic arm described above, for example... Figure 2 S201 to S205, as shown, are for controlling the medical robotic arm 710. Alternatively, the processor 720 may execute the above-described procedure when executing the computer program 740. Figure 6 The functions of each module in the corresponding embodiments, for example, Figure 6 For details on the functions of each module shown, please refer to [link / reference]. Figure 6 The relevant descriptions in the corresponding embodiments.

[0169] For example, the computer program 740 can be divided into one or more modules, one or more of which are stored in the memory 730 and executed by the processor 720 to implement the control method for following motion from a robotic arm provided in this embodiment. One or more modules can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 740 in the medical system 700. For example, the computer program 740 can implement the control method for following motion from a robotic arm provided in this embodiment.

[0170] The medical system 700 may include, but is not limited to, a processor 720 and a memory 730. Those skilled in the art will understand that... Figure 7 This is merely an example of a medical system 700 and does not constitute a limitation on the medical system 700. It may include more or fewer components than shown, or combine certain components, or different components. For example, a medical system may also include input / output devices, network access devices, buses, etc.

[0171] The processor 720 may be a central processing unit, or it may be other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0172] The memory 730 can be an internal storage unit of the medical system 700, such as a hard disk or memory of the medical system 700. The memory 730 can also be an external storage device of the medical system 700, such as a plug-in hard disk, smart memory card, flash memory card, etc., equipped on the medical system 700. Furthermore, the memory 730 can include both internal storage units and external storage devices of the medical system 700.

[0173] This application provides a computer-readable storage medium, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the control method for following the movement of a robotic arm as described in the above embodiments.

[0174] This application provides a computer program product that, when run on a medical system, causes the medical system to execute the control method for following the movement of a robotic arm as described in the above embodiments.

[0175] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A control method for following motion from a robotic arm, characterized in that, The method includes: Obtain the first actual pose and the first desired pose of the robotic arm at the previous moment; The first pose error of the robotic arm is determined based on the first desired pose and the first actual pose. The change in pose of the master robot arm from the previous moment to the current moment is obtained, and based on the change in pose of the master robot arm and the first actual pose, the second expected pose of the slave robot arm at the current moment is determined. The second pose error of the robotic arm is determined based on the first desired pose and the second desired pose. Based on the first pose error and the second pose error, a slave arm control command is generated; the slave arm control command is used to control the movement of the slave robotic arm.

2. The method according to claim 1, characterized in that, The step of determining the second desired pose of the slave robot at the current moment based on the pose change of the master robot and the first actual pose includes: Based on the master robot arm pose change and the preset master-slave pose mapping relationship, the slave robot arm pose change from the previous moment to the current moment is determined. The second desired pose is determined based on the first actual pose and the change in pose of the robotic arm.

3. The method according to claim 1, characterized in that, The step of generating slave arm control commands based on the first pose error and the second pose error includes: Based on the first pose error and a preset absolute pose difference function, the absolute pose difference value is obtained; the absolute pose difference function is used to reflect the magnitude of the error between the actual pose and the desired pose of the robotic arm at various times; and, The relative pose difference value is obtained based on the second pose error and the preset relative pose difference function; the relative pose difference function is used to reflect the magnitude of the change in the desired pose of the robotic arm at two adjacent moments. The slave arm control command is generated based on the absolute pose difference and the relative pose difference.

4. The method according to claim 3, characterized in that, The step of obtaining the absolute pose difference value based on the first pose error and a preset absolute pose difference function includes: The first pose error is input into the absolute pose difference function to obtain the initial absolute pose difference value; Determine the error torque corresponding to the first pose error of the robotic arm movement; The initial absolute pose difference is corrected based on the error torque to obtain the absolute pose difference value.

5. The method according to claim 4, characterized in that, The step of correcting the initial absolute pose difference value based on the error torque to obtain the absolute pose difference value includes: Determine the correction coefficient corresponding to the error torque; The product of the correction coefficient and the initial absolute pose difference is determined as the absolute pose difference value.

6. The method according to claim 3, characterized in that, After obtaining the absolute pose difference value based on the first pose error and the preset absolute pose difference function, the method further includes: Calculate the ratio of the change in pose of the main robotic arm to the first pose error; The product of the ratio and the absolute pose difference is determined as the corrected absolute pose difference.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: A first control command is generated based on the second pose error; The first control command controls the movement of the robotic arm from the first actual pose to the second actual pose. The third pose error is determined based on the first desired pose and the second actual pose. A second control command is generated based on the third pose error; the second control command is used to control the robotic arm to move according to the third pose error.

8. A control device for following the motion of a robotic arm, characterized in that, The device includes: The first acquisition module is used to acquire the first actual pose and the first expected pose of the robotic arm at the previous moment. The first determining module is used to determine the first pose error of the robotic arm based on the first desired pose and the first actual pose. The second determining module is used to obtain the change in pose of the main robotic arm from the previous moment to the current moment, and to determine the second desired pose of the slave robotic arm at the current moment based on the change in pose of the main robotic arm and the first actual pose. The third determining module is used to determine the second pose error of the robotic arm based on the first desired pose and the second desired pose. The first generation module is used to generate slave arm control commands based on the first pose error and the second pose error; the slave arm control commands are used to control the movement of the slave robotic arm.

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

10. A computer program product that, when run on a medical system, causes the medical system to perform the method as described in any one of claims 1 to 7.

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