Operating table cart position adjustment method, device, equipment, medium and product

Abstract

This invention discloses a method, apparatus, device, medium, and product for adjusting the position of a surgical cart. The method includes: for at least one robotic arm connected to a surgical cart, with the surgical instrument connected to the robotic arm fixed at a target position, acquiring the initial cart pose at an initial point and the target cart pose at the target point; calculating joint angles based on the kinematic parameters corresponding to the robotic arm, the initial cart pose, and the target cart pose, and determining the joint angle calculation results; and adjusting the joint angles of the robotic arm based on the joint angle set, provided that the joint angle calculation results include at least one set of joint angles and the position information of the surgical cart meets preset adjustment conditions. This technical solution achieves the effect of flexibly adjusting the position of the cart without needing to remove the fixed connection between the surgical instrument at the end of the robotic arm and the target object, and while ensuring that the robotic arm meets the telecentric fixed point constraint.

Description

Technical Field

[0001] This invention relates to the field of surgical robot control technology, and in particular to a method, device, equipment, medium, and product for adjusting the position of a surgical trolley. Background Technology

[0002] Surgical robot systems feature a fixed-point mechanism. This mechanism ensures that during surgery, the robotic arm moves around a fixed point that coincides with the surgical opening on the target object, preventing harm to the object during movement. However, the presence of this fixed point also limits the operating space of the surgical robot's instruments, further reducing their operability. Once the trocar connected to the robotic arm is fixed on the surgical cart, for the safety of the target object, the cart should not be moved again. However, to avoid collisions or optimize accessibility, the physical position of the surgical cart often needs to be adjusted.

[0003] In related technologies, adjusting the position of a surgical trolley typically involves unloading the cannula or even instruments to disconnect the trolley from the patient. The trolley is then moved to change its physical position, and the instrument installation process is repeated. This method of adjustment is complex, time-consuming, and labor-intensive, and can even cause significant harm to the patient. Summary of the Invention

[0004] This invention provides a method, device, equipment, medium, and product for adjusting the position of a surgical trolley, so as to achieve the effect of flexibly adjusting the position of the trolley without removing the fixed connection between the surgical instrument at the end of the robotic arm and the target object and ensuring that the robotic arm meets the telecentric fixed point constraint.

[0005] According to one aspect of the present invention, a method for adjusting the position of an operating table is provided, the method comprising:

[0006] For at least one robotic arm connected to a surgical cart, with a surgical instrument connected to the end of the robotic arm fixed at a target position on a target object, the initial cart pose at an initial point and the target cart pose at a target point are obtained; wherein, the initial point is used to characterize the position of the center point of the base of the surgical cart when the surgical instrument is fixed at the target position; the target point is used to characterize the position to which the center point of the base of the surgical cart is to be moved or has been moved to.

[0007] Based on the predetermined kinematic parameters corresponding to the robotic arm, the initial trolley pose, and the target trolley pose, the joint angles are calculated to determine the joint angle calculation results corresponding to the robotic arm.

[0008] If the joint angle calculation result includes at least one set of joint angles and the position information of the surgical trolley meets the preset adjustment conditions, the joint angles of the robotic arm are adjusted based on at least one set of joint angles.

[0009] The preset adjustment conditions include at least the fact that the center point of the base of the operating table has reached the target point.

[0010] According to another aspect of the present invention, a surgical cart position adjustment device is provided, the device comprising:

[0011] The attitude acquisition module is used to acquire, for at least one robotic arm connected to a surgical cart, the initial cart pose at an initial point and the target cart pose at a target point, when a surgical instrument connected to the end of the robotic arm is fixed at a target position on a target object; wherein, the initial point is used to characterize the position of the center point of the base of the surgical cart when the surgical instrument is fixed at the target position; the target point is used to characterize the position to which the center point of the base of the surgical cart is to be moved or has been moved to.

[0012] The joint angle calculation module is used to calculate the joint angles based on the pre-determined kinematic parameters corresponding to the robotic arm, the initial trolley pose, and the target trolley pose, and to determine the joint angle calculation results corresponding to the robotic arm.

[0013] A joint angle adjustment module is used to adjust the joint angles of the robotic arm based on at least one set of joint angles when the joint angle calculation result includes at least one set of joint angles and the position information of the surgical trolley meets preset adjustment conditions; wherein, the preset adjustment conditions include at least the center point of the base of the surgical trolley reaching the target point.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] At least one processor; and

[0016] A memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the surgical cart position adjustment method according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the surgical cart position adjustment method according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer program product is provided, the computer program product comprising a computer program that, when executed by a processor, implements the surgical cart position adjustment method according to any embodiment of the present invention.

[0020] The technical solution of this invention involves, for at least one robotic arm connected to a surgical cart, obtaining the initial cart pose at an initial point and the target cart pose at a target point when the surgical instrument connected to the end of the robotic arm is fixed at a target position on the target object; further, performing joint angle calculations based on pre-determined kinematic parameters corresponding to the robotic arm, the initial cart pose, and the target cart pose to determine the joint angle calculation results corresponding to the robotic arm; further, when the joint angle calculation results include at least one set of joint angles and the position information of the surgical cart meets preset adjustment conditions, based on at least one joint angle... The joint angle set adjusts the joint angles of the robotic arm, solving the problems of complex, time-consuming, and labor-intensive trolley position adjustment methods in related technologies, which can even cause great harm to the target object. It enables flexible adjustment of the trolley position without breaking the fixed connection between the surgical instrument at the end of the robotic arm and the target object, and ensures that the robotic arm meets the telecentric fixed point constraint. It further simplifies the steps of adjusting the trolley position when the surgical instrument at the end of the robotic arm is in a fixed connection with the target object, improves the efficiency of trolley position adjustment, and achieves the effect of effectively adjusting the trolley position while reducing labor costs.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart of a method for adjusting the position of a surgical cart according to Embodiment 1 of the present invention;

[0024] Figure 2 This is a flowchart of a surgical cart position adjustment method according to Embodiment 2 of the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of a surgical cart position adjustment device according to Embodiment 3 of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the surgical cart position adjustment method of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] Example 1

[0030] Figure 1 This is a flowchart of a surgical cart position adjustment method provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation where the position of the surgical cart is adjusted when the surgical instrument connected to the end of the robotic arm is fixed at a target position on the target object. The method can be executed by a surgical cart position adjustment device, which can be implemented in hardware and / or software and can be configured in a terminal and / or server.

[0031] like Figure 1 As shown, the method includes:

[0032] S110. For at least one robotic arm connected to the surgical cart, with the surgical instrument connected to the end of the robotic arm fixed at the target position on the target object, obtain the initial cart pose at the initial point and the target cart pose at the target point.

[0033] The surgical cart, as used in this context, can be a trolley within a surgical robot system. This cart typically carries key components of the surgical robot, such as the robotic arm and other surgical instruments. Furthermore, the surgical cart can move flexibly within the operating room to meet the needs of different surgical positions. The surgical cart generally consists of a base, wheels, and a platform that carries the robotic arm, control system, and other related equipment. The robotic arm is a highly precise mechanical device mounted on the surgical cart, primarily used to assist medical personnel in surgical procedures. The robotic arm typically consists of multiple joints and links, capable of mimicking the movements of a human arm. The end effector of the robotic arm is usually connected to various surgical instruments, such as scalpels and forceps, for performing specific surgical operations. It should be noted that the robotic arm can include at least two linkage structures. This configuration improves the flexibility of the robotic arm, enabling it to perform various complex movements and operations in real time. Surgical instruments are attached to the end effector of the robotic arm and used to perform surgical procedures. In this embodiment, the surgical instrument includes a trocar. The trocar typically consists of two parts: a cannula and a needle. A cannula is a tubular structure that provides access to the body; the cannula needle has a sharp tip for puncturing the surface of the object. Through the cannula, medical personnel can remotely operate surgical instruments to perform various surgical procedures. Typically, the cannula is attached to the end of a robotic arm, allowing for precise positioning and movement through the arm's control. The target object can be understood as the object targeted by the cannula attached to the robotic arm. The target location can be understood as the position on the target object where the cannula is positioned. This target location can be a surface location on the target object, or the endpoint of the cannula. Generally, fixing the surgical instrument attached to the end of the robotic arm at any position on the target object means stably securing the instrument in that position to ensure it will not move or detach during use.

[0034] The initial point characterizes the position of the center point of the surgical cart's base when the surgical instruments are fixed at the target location. The center point can be any point on the base. The initial cart pose can be understood as the measured pose of the surgical cart in the reference coordinate system when the center point of the base is at the initial point. The initial cart pose can be obtained through spatial measurement equipment. The initial cart pose can include the initial cart position and the initial cart orientation. The initial cart position can be the coordinate position of the surgical cart in the reference coordinate system when the center point of the base is at the initial point. The initial cart position can be represented based on the coordinate information of the center point of the base in the reference coordinate system. The initial cart orientation can be the direction of the surgical cart in the reference coordinate system when the center point of the base is at the initial point. The initial cart orientation can be represented in Euler angles or quaternions. The target point characterizes the position to which the center point of the surgical cart's base is to be moved or has already been moved to. The target cart pose can be the measured or expected pose of the surgical cart in the reference coordinate system when the center point of the base is at the target point. The target carriage pose can include the target carriage position and the target carriage orientation. In this embodiment, when the surgical instrument connected to the end effector of the robotic arm is fixed at the target position on the target object, the surgical carriage can be moved to any position first. At this time, the position of the center point of the surgical carriage base can be used as the target point. Further, the orientation of the surgical carriage is measured by a spatial measurement device, and the measured orientation is used as the target carriage pose corresponding to the target point. Alternatively, when the surgical instrument connected to the end effector of the robotic arm is fixed at the target position on the target object, the position to which the center point of the surgical carriage base will be moved can be determined, and this position can be used as the target point. Further, the expected carriage orientation of the surgical carriage at the target point is determined, and this carriage orientation is used as the target carriage pose.

[0035] In this embodiment, for at least one robotic arm connected to the operating trolley, when the surgical instrument connected to the end of the robotic arm is fixed at a target position on the target object, the pose of the operating trolley when the puncture cannula is fixed at the target position can be measured to obtain the initial trolley pose corresponding to the initial point. Furthermore, the target point to which the center point of the operating trolley is to be moved can be determined, and the target trolley pose corresponding to the target point can be determined.

[0036] As an optional implementation of this embodiment, when fixing the surgical instrument connected to the end effector of the robotic arm at the target position on the target object, the center point of the surgical cart's base can be used as the initial point, and the cart's pose can be measured to obtain the initial cart pose corresponding to the initial point. Further, the center point of the surgical cart's base can be moved to any position, and this position can be used as the target point. Further, the cart's pose can be measured to obtain the target cart pose corresponding to the target point.

[0037] As another optional implementation of this embodiment, when fixing the surgical instrument connected to the end effector of the robotic arm at the target position on the target object, the position of the center point of the surgical cart's base can be used as the initial point, and the cart's pose can be measured to obtain the initial cart pose corresponding to the initial point. Further, the position to which the center point of the surgical cart's base will be moved can be determined, and this position can be used as the target point. Further, the expected cart posture that the surgical cart will achieve at the target point can be determined, and this cart posture can be used as the target cart pose.

[0038] S120. Based on the pre-determined kinematic parameters corresponding to the robotic arm, the initial trolley pose, and the target trolley pose, calculate the joint angles to determine the joint angle calculation results corresponding to the robotic arm.

[0039] Kinematic parameters are parameters that describe the kinematic characteristics of a robotic arm. They characterize the inherent kinematic properties of the robotic arm. Generally, for a robotic arm, the corresponding kinematic parameters are inherent parameters, i.e., parameters determined at the factory and which cannot be changed without altering the robotic arm itself. Optionally, kinematic parameters include link length, link torsion angle, link offset, and the range of motion of joint angles. Kinematic parameters can be represented in the form of a parameter matrix. Joint angle calculation can be understood as solving for the joint angles of the robotic arm. Joint angle calculation can be implemented in various ways; optionally, inverse kinematics calculation can be used. The joint angle calculation result can be the result obtained after calculating the joint angles of the robotic arm. Optionally, the joint angle calculation result includes an uncalculated set of joint angles or a calculated set of at least one joint angle. The set of joint angles can include at least one joint angle, and each joint angle can be the angle to which the corresponding joint of the robotic arm is to be adjusted.

[0040] In practical applications, when surgical instruments connected to the end effector of a robotic arm are fixed at a target location on the target object, medical personnel are not permitted to move the trolley again for the safety of the target object. However, to avoid collisions or optimize accessibility, it is often necessary to adjust the physical position of the surgical trolley. In related technologies, adjusting the posture of the surgical trolley typically involves unloading the surgical instruments to disconnect the trolley from the object, then moving the trolley and repeating the instrument installation process. This method of position adjustment can be complex, time-consuming, labor-intensive, and may even pose a significant risk to the target object.

[0041] To address the above situation, in this embodiment, when the surgical instrument connected to the end effector of the robotic arm is fixed at the target position on the target object, the initial carriage pose at the initial point and the target carriage pose at the target point can be obtained. Furthermore, the kinematic parameters corresponding to the robotic arm can be determined based on the robotic arm structural parameters. Further, joint angle calculations can be performed based on the kinematic parameters, the initial carriage pose, and the target carriage pose to determine the joint angle calculation results corresponding to the robotic arm. Subsequently, the robotic arm can be adjusted based on the joint angle calculation results. Thus, it is possible to change the position of the surgical carriage without releasing the fixed state and while satisfying the robotic arm's fixed point constraints.

[0042] S130. When the joint angle calculation results include at least one set of joint angles and the position information of the operating table meets the preset adjustment conditions, the joint angles of the robotic arm are adjusted based on at least one set of joint angles.

[0043] The location information can be information representing the position of the operating table. The preset adjustment conditions can be pre-set conditions that determine whether the joint angles of the robotic arm connected to the operating table need to be adjusted. The preset adjustment conditions must include at least that the center point of the operating table's base has reached the target point. The joint angles of the robotic arm can be the joint angles of each joint on the robotic arm when the surgical instrument connected to the end effector of the robotic arm is fixed at the target position on the target object.

[0044] In this embodiment, when the joint angle calculation result includes at least one set of joint angles, and the position information of the surgical cart meets the preset adjustment conditions, the joint angles of the corresponding joints in the robotic arm can be adjusted according to the determined set of at least one set of joint angles. Furthermore, this allows for changing the position of the surgical cart without releasing the fixed state and while satisfying the distal fixed point constraint of the robotic arm, simplifying the process of adjusting the position of the surgical cart in a fixed state and improving the ease of use of the surgical cart.

[0045] In this embodiment, if the joint angle calculation result is that no joint angle set has been calculated, a failure prompt message can be generated, the failure prompt message can be displayed on the target terminal, and the operating trolley can be locked so that the operating trolley can no longer move.

[0046] The technical solution of this invention involves, for at least one robotic arm connected to a surgical cart, obtaining the initial cart pose at an initial point and the target cart pose at a target point when the surgical instrument connected to the end of the robotic arm is fixed at a target position on the target object; further, performing joint angle calculations based on pre-determined kinematic parameters corresponding to the robotic arm, the initial cart pose, and the target cart pose to determine the joint angle calculation results corresponding to the robotic arm; further, when the joint angle calculation results include at least one set of joint angles and the position information of the surgical cart meets preset adjustment conditions, based on at least one joint angle... The joint angle set adjusts the joint angles of the robotic arm, solving the problems of complex, time-consuming, and labor-intensive trolley position adjustment methods in related technologies, which can even cause great harm to the target object. It enables flexible adjustment of the trolley position without breaking the fixed connection between the surgical instrument at the end of the robotic arm and the target object, and ensures that the robotic arm meets the telecentric fixed point constraint. It further simplifies the steps of adjusting the trolley position when the surgical instrument at the end of the robotic arm is in a fixed connection with the target object, improves the efficiency of trolley position adjustment, and achieves the effect of effectively adjusting the trolley position while reducing labor costs.

[0047] Example 2

[0048] Figure 2 This is a flowchart of a surgical trolley position adjustment method provided in Embodiment 2 of the present invention. Based on the aforementioned embodiments, the process of joint angle calculation is further refined. Joint angle calculation is performed based on pre-determined kinematic parameters corresponding to the robotic arm, the initial trolley pose, and the target trolley pose to determine the joint angle calculation result corresponding to the robotic arm. This includes: determining the expected trolley pose corresponding to at least one data point to be processed based on the initial trolley pose and the target trolley pose; wherein, at least one data point to be processed includes a target point; the target trolley pose is the expected trolley pose corresponding to the target point; and performing joint angle calculation based on the kinematic parameters corresponding to the robotic arm and the expected trolley pose corresponding to at least one data point to be processed to determine the joint angle calculation result corresponding to the robotic arm. Specific implementation details can be found in the technical solution of this embodiment. Technical terms that are the same as or similar to those in the above embodiments will not be repeated here.

[0049] like Figure 2 As shown, the method includes:

[0050] S210. For at least one robotic arm connected to the operating trolley, with the surgical instrument connected to the end of the robotic arm fixed at the target position on the target object, obtain the initial trolley pose at the initial point and the target trolley pose at the target point.

[0051] S220. Based on the initial trolley pose and the target trolley pose, determine the expected trolley pose corresponding to at least one data point to be processed; wherein, at least one data point to be processed includes the target point; the target trolley pose is the expected trolley pose corresponding to the target point.

[0052] The data points to be processed can be data points for which joint angle calculations are required. At least one data point to be processed includes a target point. That is, the number of data points to be processed can be one or more. When there is only one data point to be processed, the target point can be used as the data point to be processed. When there are multiple data points to be processed, the target point can be used as one of the multiple data points to be processed. The expected carriage pose can be the carriage pose that the surgical carriage is expected to achieve at the corresponding data point to be processed.

[0053] In this embodiment, the number of data points to be processed can be determined. Further, the expected trolley position corresponding to each data point to be processed can be determined based on the initial trolley position in the initial trolley pose and the target trolley position in the target trolley pose. Moreover, the expected trolley posture corresponding to each data point to be processed can be determined based on the initial trolley posture in the initial trolley pose and the target trolley posture in the target trolley pose. Thus, the expected trolley posture corresponding to each data point to be processed can be obtained.

[0054] Optionally, when there is only one data point to be processed, the expected trolley pose corresponding to at least one data point to be processed is determined based on the initial trolley pose and the target trolley pose, including: taking the target point as the data point to be processed and taking the target trolley pose as the expected trolley pose corresponding to the data point to be processed.

[0055] As an optional implementation of this embodiment, when there is only one data point to be processed, the target point can be used as the data point to be processed, and the target trolley pose corresponding to the target point can be used as the expected trolley pose corresponding to the data point to be processed.

[0056] Optionally, when there are multiple data points to be processed, the expected car pose corresponding to at least one data point to be processed is determined based on the initial car pose and the target car pose. This includes: performing interpolation processing on the initial car pose and the target car pose according to a linear interpolation algorithm and a preset number of interpolation points to obtain the expected car pose corresponding to at least one interpolation point to be processed; and determining the expected car pose corresponding to at least one data point to be processed based on the expected car pose corresponding to at least one interpolation point to be processed and the target car pose corresponding to the target point.

[0057] Linear interpolation is an algorithm that uses two known data points to estimate the correlation data of an unknown point between those two points. The preset number of interpolation points can be a predetermined number of intermediate interpolation points between the initial point and the target point. The preset number of interpolation points can be any value, optionally 10, 20, or 30. The interpolation point to be processed can be any interpolation point between the initial point and the target point.

[0058] As another optional implementation of this embodiment, when there are multiple data points to be processed, the number of interpolation points can be predetermined. Then, a linear interpolation algorithm can be used to interpolate the initial trolley position in the initial trolley pose and the target trolley position in the target trolley pose, obtaining the expected trolley position corresponding to each interpolation point to be processed. Furthermore, a linear interpolation algorithm can be used to interpolate the initial trolley posture in the initial trolley pose and the target trolley posture in the target trolley pose, obtaining the expected trolley posture corresponding to each interpolation point to be processed. Further, the expected trolley posture corresponding to each interpolation point to be processed can be determined based on the expected trolley position and expected trolley posture. Further, each interpolation point to be processed and the target point can be used as the data points to be processed, and the target trolley posture corresponding to the target point can be used as the expected trolley posture corresponding to the data points to be processed. Thus, the expected trolley posture corresponding to each data point to be processed can be obtained.

[0059] S230. Based on the kinematic parameters corresponding to the robotic arm and the expected trolley pose corresponding to at least one data point to be processed, calculate the joint angles and determine the joint angle calculation results corresponding to the robotic arm.

[0060] In this embodiment, once the expected trolley pose corresponding to at least one data point to be processed is obtained, the joint angles can be calculated based on the pre-determined kinematic parameters corresponding to the robotic arm and the expected trolley pose corresponding to at least one data point to be processed, so as to determine the joint angle calculation result corresponding to the robotic arm.

[0061] Optionally, the number of data points to be processed is multiple; the joint angle calculation results include at least one set of joint angles; joint angle calculation is performed based on the kinematic parameters corresponding to the robotic arm and the expected trolley pose corresponding to at least one data point to be processed, and the joint angle calculation results corresponding to the robotic arm are determined, including: determining a target data point adjacent to the initial point from at least one data point to be processed according to a first preset direction; performing joint angle calculation on the kinematic parameters and the expected trolley pose corresponding to the target data point using a preset inverse kinematics calculation method; if the solution is successful, determining the set of joint angles corresponding to the target data point based on at least one set of joint angle solutions obtained from the calculation; using the target data point as the initial point, and repeatedly executing the steps of determining the target data point, solving at least one set of joint angle solutions corresponding to the target data point, and determining the set of joint angles corresponding to the target data point; if a preset stop execution condition is met, stopping the execution of the steps of determining the target data point, solving at least one set of joint angle solutions corresponding to the target data point, and determining the set of joint angles corresponding to the target data point, and obtaining at least one set of joint angles corresponding to the robotic arm.

[0062] The first preset direction includes the direction from the initial point to the target point. The target data point can be the data point closest to the initial point in the first preset direction among at least one data point to be processed. In this embodiment, the inverse kinematics solution method can be understood as a way to calculate the joint angles of the corresponding robotic arm based on the position and posture of the surgical trolley. Each set of joint angle solutions can include at least one joint angle, and each joint angle is calculated according to the inverse kinematics solution method. The preset stop execution condition can be a pre-set condition used to trigger the stop of the joint angle solution process. Optionally, the preset stop execution condition includes at least one of the following: determining the set of joint angles corresponding to the target point; the solution result corresponding to any target data point after at least one set of joint angles has been determined is a solution failure when the preset stop search condition is met; the execution time of the step of determining the set of joint angles reaches a second preset time threshold; the number of times the step of determining the set of joint angles is executed reaches a second preset number threshold. The second preset time threshold can be any duration, optionally 10 minutes, 20 minutes, or 30 minutes, etc. The second preset threshold number of times can be any number of times, such as 10, 20, or 30 times.

[0063] As an optional implementation of this embodiment, when there are multiple data points to be processed, a target data point adjacent to the initial point can be determined from at least one data point to be processed according to a first preset direction. Further, the inverse kinematic parameter matrix corresponding to the robotic arm can be determined to obtain the inverse kinematic parameter matrix corresponding to the robotic arm, and the product between the expected trolley pose corresponding to the target data point and the inverse kinematic parameter matrix can be determined to determine at least one set of joint angle solutions. Further, if the solution is successful, the set of joint angles corresponding to the target data point can be determined based on the at least one set of joint angle solutions obtained. Then, the target data point can be used as the initial point, and the steps of determining the target data point, solving for at least one set of joint angle solutions corresponding to the target data point, and determining the set of joint angles corresponding to the target data point can be repeated. Further, if a preset stop execution condition is met, the steps of determining the target data point, solving for at least one set of joint angle solutions corresponding to the target data point, and determining the set of joint angles corresponding to the target data point are stopped. Then, the determined at least one set of joint angles can be used as at least one set of joint angles corresponding to the robotic arm.

[0064] In this embodiment, in order to improve the intelligence and comprehensiveness of the joint angle solution process, if the solution fails at the target data point, a search can be performed in the area around the target data point to determine whether a joint angle solution corresponding to the target data point can be obtained.

[0065] Optionally, the method further includes: in the case of solution failure, constructing a data point search area with the data point to be processed as the center and a preset distance as the radius, and randomly determining a data point to be applied within the data point search area; determining the expected trolley pose corresponding to the data point to be applied based on the expected trolley pose corresponding to the data point to be processed; calculating joint angles for the kinematic parameters and the expected trolley pose corresponding to the interpolation point to be applied using a preset inverse kinematics solution method; in the case of solution success, determining the set of joint angles corresponding to the target data point based on at least one set of joint angle solutions corresponding to the data point to be applied obtained through the solution; in the case of solution failure, repeating the steps of randomly determining the data point to be applied and solving at least one set of joint angle solutions corresponding to the data point to be applied until a preset stop search condition is met, and obtaining the solution result corresponding to the target data point.

[0066] The preset distance can be any distance, optionally 10 cm, 20 cm, or 50 cm. The data points to be applied can be data points randomly searched within the data point search area. The preset stop search condition can be a pre-set condition used to trigger the cessation of the data point search operation. Optionally, the preset stop search condition includes at least one of the following: the search duration reaches a first preset duration threshold; the number of searches reaches a first preset number of searches threshold, etc. The first preset duration threshold can be any duration, optionally 10 minutes, 20 minutes, or 30 minutes, etc. The first preset number of searches threshold can be any number of times, optionally 10 times, 20 times, or 30 times, etc. The solution result includes obtaining the set of joint angles corresponding to the target data point or a solution failure.

[0067] As an optional implementation of this embodiment, if the joint angle solution for the target data point fails, a region can be constructed with the target data point as the center and a preset distance as the radius, and this region can be used as the data point search region. Further, a data point can be randomly determined within the data point search region and used as the data point to be applied. Further, the expected trolley position corresponding to the data point to be applied can be determined based on the expected trolley position corresponding to the target data point. And, the expected trolley posture corresponding to the data point to be applied can be determined based on the expected trolley posture corresponding to the target data point. Then, the expected trolley pose corresponding to the data point to be applied can be determined based on the expected trolley position and expected trolley posture. Further, the kinematic parameters and the expected trolley pose corresponding to the data point to be applied can be solved using a preset inverse kinematics solution method. Further, if the solution is successful, at least one set of joint angle solutions corresponding to the data point to be applied can be used as at least one set of joint angle solutions corresponding to the target data point, and the set of joint angles corresponding to the target data point can be determined based on the at least one set of joint angle solutions corresponding to the target data point. If the solution fails, the steps of randomly determining the data point to be applied and solving for at least one set of joint angle solutions corresponding to the data point to be applied are repeated until the preset stopping search condition is met. Then, the solution result corresponding to the target data point can be obtained.

[0068] Optionally, determining the set of joint angles corresponding to the target data point based on at least one set of joint angle solutions obtained from the calculation includes: filtering at least one set of joint angle solutions according to a preset angle filtering standard, and using the filtered joint angle solutions as the set of joint angles of the robotic arm corresponding to the target data point.

[0069] The preset angle selection criterion can be a pre-set standard used to select the optimal joint angle solution from at least one set of joint angle solutions. Optionally, the preset angle selection criterion includes the joint angle solution with the smallest difference from the current joint angle of the robotic arm.

[0070] As an optional implementation of this embodiment, for at least one set of joint angle solutions, the angle difference between the joint angle solution and the corresponding joint angles of the robotic arm can be determined. Furthermore, the set of joint angle solutions with the smallest angle difference can be used as the set of joint angles corresponding to the robotic arm at the target data point.

[0071] S240. When the joint angle calculation results include at least one set of joint angles and the position information of the operating table meets the preset adjustment conditions, the joint angles of the robotic arm are adjusted based on at least one set of joint angles.

[0072] The technical solution of this invention determines the expected carriage pose corresponding to at least one data point to be processed based on the initial carriage pose and the target carriage pose. Further, it calculates joint angles based on the kinematic parameters corresponding to the robotic arm and the expected carriage pose corresponding to at least one data point to be processed, determining the joint angle calculation results corresponding to the robotic arm. Further, when the joint angle calculation results include at least one set of joint angles and the surgical carriage meets preset adjustment conditions, it adjusts the joint angles of the robotic arm based on at least one set of joint angles. This achieves the effect of flexibly adjusting the carriage position without needing to remove the fixed connection between the surgical instrument at the end of the robotic arm and the target object, and while ensuring that the robotic arm meets the telecentric fixed point constraint. This further simplifies the steps of adjusting the carriage position when the surgical instrument at the end of the robotic arm and the target object are in a fixed connection state, improves the efficiency of carriage position adjustment, and achieves the effect of effectively adjusting the carriage position while reducing labor costs.

[0073] Example 3

[0074] Figure 3 This is a schematic diagram of the structure of a surgical cart position adjustment device provided in Embodiment 3 of the present invention. Figure 3 As shown, the device includes: a posture acquisition module 310, a joint angle calculation module 320, and a joint angle adjustment module 330.

[0075] The posture acquisition module 310 is used to acquire, for at least one robotic arm connected to the surgical cart, the initial cart pose at an initial point and the target cart pose at a target point, when the surgical instrument connected to the end of the robotic arm is fixed at a target position on the target object. The initial point represents the position of the center point of the base of the surgical cart when the surgical instrument is fixed at the target position; the target point represents the position to which the center point of the base of the surgical cart is to be moved or has already been moved. The joint angle calculation module 320 is used to calculate joint angles based on pre-determined kinematic parameters corresponding to the robotic arm, the initial cart pose, and the target cart pose, to determine the joint angle calculation result corresponding to the robotic arm. The joint angle adjustment module 330 is used to adjust the joint angles of the robotic arm based on at least one set of joint angles, provided that the joint angle calculation result includes at least one set of joint angles and the position information of the surgical cart meets preset adjustment conditions. The preset adjustment conditions include at least the center point of the base of the surgical cart reaching the target point.

[0076] The technical solution of this invention involves, for at least one robotic arm connected to a surgical cart, with the surgical instrument connected to the end of the robotic arm fixed at a target position on the target object, acquiring the initial cart pose at the initial point and the target cart pose at the target point; further, performing joint angle calculations based on pre-determined kinematic parameters corresponding to the robotic arm, the initial cart pose, and the target cart pose to determine the joint angle calculation results corresponding to the robotic arm; further, if the joint angle calculation results include at least one set of joint angles and the surgical cart meets preset adjustment conditions, based on at least one joint angle... This invention addresses the problem that adjusting the joint angles of the robotic arm solves the issue of complex, time-consuming, and labor-intensive trolley position adjustment methods in related technologies, which can even cause significant harm to the target object. It enables flexible adjustment of the trolley position without disengaging the surgical instrument at the robotic arm's end effector from the target object, while ensuring the robotic arm meets the telecentric fixed-point constraint. This further simplifies the steps for adjusting the trolley position when the surgical instrument at the robotic arm's end effector is fixedly connected to the target object, improving the efficiency of trolley position adjustment. Ultimately, it achieves the goal of effectively adjusting the trolley position while reducing labor costs.

[0077] Optionally, the joint angle calculation module 320 includes: an expected trolley pose determination submodule and a joint angle calculation submodule.

[0078] The expected trolley pose determination submodule is used to determine the expected trolley pose corresponding to at least one data point to be processed based on the initial trolley pose and the target trolley pose; wherein, the data point to be processed is a point that needs to be calculated for joint angles; at least one of the data points to be processed includes the target point; and the target trolley pose is the expected trolley pose corresponding to the target point.

[0079] The joint angle calculation submodule is used to calculate the joint angles based on the kinematic parameters corresponding to the robotic arm and the expected trolley pose corresponding to at least one of the data points to be processed, and to determine the joint angle calculation result corresponding to the robotic arm.

[0080] Optionally, the number of data points to be processed is multiple; the joint angle calculation result includes at least one set of joint angles; the joint angle calculation submodule includes: a target data point determination unit, a joint angle calculation unit, a first joint angle set determination unit, a repetitive execution unit, and a second joint angle set determination unit.

[0081] A target data point determination unit is configured to determine, based on a first preset direction, a target data point adjacent to the initial point from at least one of the data points to be processed; wherein, the first preset direction includes a direction from the initial point to the target point;

[0082] The joint angle calculation unit is used to calculate the joint angles of the kinematic parameters and the expected trolley pose corresponding to the target data points using a preset inverse kinematics calculation method.

[0083] The first joint angle set determination unit is used to determine the joint angle set corresponding to the target data point based on at least one set of joint angle solutions obtained when the solution is successful.

[0084] The repetitive execution unit is used to take the target data point as the initial point and repeatedly execute the steps of determining the target data point, solving at least one set of joint angle solutions corresponding to the target data point, and determining the set of joint angles corresponding to the target data point.

[0085] The second joint angle set determination unit is used to stop executing the steps of determining the target data point, solving at least one set of joint angle solutions corresponding to the target data point, and determining the joint angle set corresponding to the target data point when a preset stop execution condition is met, and to take the determined at least one set of joint angles as at least one set of joint angles corresponding to the robotic arm.

[0086] Optionally, the device further includes: a data point search region construction module, a expected trolley pose determination module, a joint angle solution module, a joint angle set determination module, and a solution result determination module.

[0087] The data point search region construction module is used to construct a data point search region with the data point to be processed as the center and a preset distance as the radius when the solution fails, and to randomly determine a data point to be applied within the data point search region;

[0088] The expected trolley pose determination module is used to determine the expected trolley pose corresponding to the data point to be applied based on the expected trolley pose corresponding to the data point to be processed.

[0089] The joint angle calculation module is used to calculate the joint angles of the kinematic parameters and the expected trolley pose corresponding to the interpolation point to be applied by using a preset inverse kinematics calculation method.

[0090] The joint angle set determination module is used to determine the joint angle set corresponding to the target data point based on at least one set of joint angle solutions corresponding to the data point to be applied, when the solution is successful.

[0091] The solution result determination module is used to repeatedly execute the steps of randomly determining the data point to be applied and solving at least one set of joint angle solutions corresponding to the data point to be applied in the case of solution failure, until the preset stop search condition is met, and the solution result corresponding to the target data point is obtained.

[0092] The preset stop search conditions include at least the following: the search duration reaches a first preset duration threshold; the number of searches reaches a first preset number of searches threshold; and the solution result includes obtaining a set of joint angles corresponding to the target data point or solution failure.

[0093] Optionally, the preset stop execution condition includes at least one of the following: at least one set of joint angle solutions corresponding to the target point is obtained; the joint angle solution result of any target data point after at least one set of joint angles has been determined fails when the preset stop search condition is met; the execution time of the step of determining the set of joint angles reaches a second preset time threshold; the number of times the step of determining the set of joint angles is executed reaches a second preset number threshold.

[0094] Optionally, the first joint angle set determination unit is specifically used to filter at least one set of the joint angle solutions according to a preset angle filtering standard, and to use the filtered joint angle solutions as the joint angle set of the robotic arm corresponding to the target data point.

[0095] Optionally, the number of data points to be processed is multiple, and the expected trolley pose determination submodule includes: an interpolation processing unit and an expected trolley pose determination unit.

[0096] An interpolation processing unit is used to perform interpolation processing on the initial trolley pose and the target trolley pose according to a linear interpolation algorithm and a preset number of interpolation points, so as to obtain the expected trolley pose corresponding to at least one of the interpolation points to be processed.

[0097] The expected trolley pose determination unit is used to determine the expected trolley pose corresponding to at least one data point to be processed based on the expected trolley pose corresponding to at least one interpolation point to be processed and the target trolley pose corresponding to the target point.

[0098] The surgical cart position adjustment device provided in this embodiment of the invention can execute the surgical cart position adjustment method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0099] Example 4

[0100] Figure 4 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0101] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0102] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0103] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the surgical cart position adjustment method.

[0104] In some embodiments, the surgical cart position adjustment method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the surgical cart position adjustment method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the surgical cart position adjustment method by any other suitable means (e.g., by means of firmware).

[0105] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0106] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0107] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0108] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0109] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0110] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0111] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0112] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for adjusting the position of an operating table, characterized in that, include: For at least one robotic arm connected to a surgical cart, with a surgical instrument connected to the end of the robotic arm fixed at a target position on a target object, the initial cart pose at an initial point and the target cart pose at a target point are obtained; wherein, the initial point is used to characterize the position of the center point of the base of the surgical cart when the surgical instrument is fixed at the target position; the target point is used to characterize the position to which the center point of the base of the surgical cart is to be moved or has been moved to. Based on the predetermined kinematic parameters corresponding to the robotic arm, the initial trolley pose, and the target trolley pose, the joint angles are calculated to determine the joint angle calculation results corresponding to the robotic arm. If the joint angle calculation result includes at least one set of joint angles and the position information of the surgical trolley meets the preset adjustment conditions, the joint angles of the robotic arm are adjusted based on at least one set of joint angles. The preset adjustment conditions include at least the fact that the center point of the base of the operating table has reached the target point.

2. The method for adjusting the position of the operating table cart according to claim 1, characterized in that, The step of calculating joint angles based on pre-determined kinematic parameters corresponding to the robotic arm, the initial trolley pose, and the target trolley pose, and determining the joint angle calculation results corresponding to the robotic arm, includes: Based on the initial trolley pose and the target trolley pose, a desired trolley pose corresponding to at least one data point to be processed is determined; wherein, the data point to be processed is a point for which joint angle calculation is required; at least one data point to be processed includes the target point; the target trolley pose is the desired trolley pose corresponding to the target point. Based on the kinematic parameters corresponding to the robotic arm and the expected trolley pose corresponding to at least one of the data points to be processed, the joint angle calculation results corresponding to the robotic arm are determined.

3. The method for adjusting the position of the operating table according to claim 2, characterized in that, The number of data points to be processed is multiple; the joint angle calculation results include at least one set of joint angles; the step of calculating joint angles based on the kinematic parameters corresponding to the robotic arm and the expected trolley pose corresponding to at least one of the data points to be processed, and determining the joint angle calculation results corresponding to the robotic arm, includes: A target data point adjacent to the initial point is determined from at least one of the data points to be processed according to a first preset direction; wherein, the first preset direction includes the direction from the initial point to the target point; The joint angles of the expected trolley posture corresponding to the kinematic parameters and the target data points are calculated using a preset inverse kinematics solution method. If the solution is successful, the set of joint angles corresponding to the target data point is determined based on at least one set of joint angle solutions obtained from the solution. The target data point is used as the initial point, and the steps of determining the target data point, solving at least one set of joint angle solutions corresponding to the target data point, and determining the set of joint angles corresponding to the target data point are repeatedly executed. If the preset stop execution conditions are met, the steps of determining the target data point, solving at least one set of joint angle solutions corresponding to the target data point, and determining the set of joint angles corresponding to the target data point are stopped, and the determined at least one set of joint angles is taken as at least one set of joint angles corresponding to the robotic arm.

4. The method for adjusting the position of the operating table cart according to claim 3, characterized in that, Also includes: If the solution fails, a data point search area is constructed with the data point to be processed as the center and a preset distance as the radius, and a data point to be applied is randomly determined within the data point search area; Based on the expected trolley pose corresponding to the data point to be processed, determine the expected trolley pose corresponding to the data point to be applied. The joint angles of the kinematic parameters and the expected trolley pose corresponding to the interpolation point to be applied are calculated using a preset inverse kinematics solution method. If the solution is successful, based on at least one set of joint angle solutions corresponding to the data point to be applied, determine the set of joint angles corresponding to the target data point; If the solution fails, repeat the steps of randomly determining the data point to be applied and solving at least one set of joint angle solutions corresponding to the data point to be applied until the preset stop search condition is met, and obtain the solution result corresponding to the target data point. The preset stop search conditions include at least the following: the search duration reaches a first preset duration threshold; the number of searches reaches a first preset number of searches threshold; and the solution result includes obtaining a set of joint angles corresponding to the target data point or a solution failure.

5. The method for adjusting the position of the operating table cart according to claim 3, characterized in that, The preset stop execution condition includes at least one of the following: Determine the set of joint angles corresponding to the target point; The solution result of any of the target data points after at least one set of joint angles has been determined is a solution failure when the preset stop search condition is met; The execution time of the step of determining the set of joint angles reaches the second preset time threshold. The number of times the step of determining the set of joint angles is executed reaches the second preset threshold.

6. The method for adjusting the position of the operating table cart according to claim 3, characterized in that, The determination of the set of joint angles corresponding to the target data point based on at least one set of joint angle solutions obtained from the calculation includes: At least one set of joint angle solutions is filtered according to a preset angle filtering standard, and the filtered joint angle solutions are used as the set of joint angles of the robotic arm corresponding to the target data point.

7. The method for adjusting the position of the operating table cart according to claim 2, characterized in that, The number of data points to be processed is multiple. The step of determining the expected carriage pose corresponding to at least one data point to be processed based on the initial carriage pose and the target carriage pose includes: The initial trolley pose and the target trolley pose are interpolated according to a linear interpolation algorithm and a preset number of interpolation points to obtain the expected trolley pose corresponding to at least one of the interpolation points to be processed. Based on the expected trolley pose corresponding to at least one interpolation point to be processed and the target trolley pose corresponding to the target point, determine the expected trolley pose corresponding to at least one data point to be processed.

8. A surgical cart position adjustment device, characterized in that, include: The attitude acquisition module is used to acquire, for at least one robotic arm connected to a surgical cart, the initial cart pose at an initial point and the target cart pose at a target point, when a surgical instrument connected to the end of the robotic arm is fixed at a target position on a target object; wherein, the initial point is used to characterize the position of the center point of the base of the surgical cart when the surgical instrument is fixed at the target position; the target point is used to characterize the position to which the center point of the base of the surgical cart is to be moved or has been moved to. The joint angle calculation module is used to calculate the joint angles based on the pre-determined kinematic parameters corresponding to the robotic arm, the initial trolley pose, and the target trolley pose, and to determine the joint angle calculation results corresponding to the robotic arm. A joint angle adjustment module is used to adjust the joint angles of the robotic arm based on at least one set of joint angles when the joint angle calculation result includes at least one set of joint angles and the position information of the surgical trolley meets preset adjustment conditions; wherein, the preset adjustment conditions include at least that the center point of the base of the surgical trolley has reached the target point.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, which is executed by the at least one processor to enable the at least one processor to perform the surgical cart position adjustment method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the surgical cart position adjustment method according to any one of claims 1-7.

11. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the surgical cart position adjustment method according to claims 1-7.

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