Methods, devices, and surgical robots for planning the motion trajectory of robotic arms

Abstract

This application relates to a method, apparatus, and surgical robot for planning the motion trajectory of a robotic arm. The method includes: acquiring multiple implantation paths at a target site, where each implantation path is the path taken by a surgical instrument from the implantation point to the target point; determining multiple candidate trajectories traversed by the robotic arm end-effector when it reaches all poses, based on the poses of each implantation path; determining the distance of each candidate trajectory; and determining the candidate trajectory corresponding to the shortest distance among all paths as the target trajectory. Using the robotic arm motion trajectory planning method provided in this application, trajectories for executing multiple implantation paths can be planned, and the efficiency of positioning operations according to the planned target trajectory can be improved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a method, apparatus, and surgical robot for planning the motion trajectory of a robotic arm. Background Technology

[0002] In stereotactic surgery, there are situations where multiple pathways need to be executed, such as stereotactic electroencephalography (SEEG) therapy. SEEG is a method of recording electroencephalogram (EEG) signals using deep electrodes (electrodes surgically implanted into brain tissue). Typically, more than 10 electrodes are implanted in the patient's brain. However, electrode implantation requires precise localization by the surgeon using stereotactic equipment. To improve the efficiency of localization, increasing the speed at which the stereotactic equipment moves between different pathways is crucial.

[0003] In traditional techniques, the movement trajectories between different paths are planned randomly by the doctor during the planning stage. However, performing positioning operations according to these movement trajectories is relatively inefficient. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, device, and surgical robot for planning the motion trajectory of a robotic arm that can improve the efficiency of positioning operations, in order to address the aforementioned technical problems.

[0005] In a first aspect, this application provides a method for planning the motion trajectory of a robotic arm, the method comprising:

[0006] Obtain multiple implantation paths at the target site; the implantation path is the route taken by the surgical instrument from the implantation point at the target site to the target point.

[0007] Based on the pose of the robotic arm end effector corresponding to each implantation path, multiple candidate trajectories traversed by the robotic arm end effector when it reaches all poses are determined.

[0008] Determine the distance of each candidate trajectory, and select the candidate trajectory with the shortest distance from all distances as the target trajectory.

[0009] In one embodiment, multiple candidate trajectories traversed by the robotic arm end-effector are determined when the end-effector reaches all poses, including:

[0010] The order in which the end effector of the robotic arm reaches each pose is sorted to generate multiple sets of candidate poses.

[0011] Determine the candidate trajectories of the robotic arm end effector corresponding to each candidate pose set.

[0012] In one embodiment, determining the path length of each candidate trajectory and identifying the candidate trajectory corresponding to the shortest path as the target trajectory includes:

[0013] For each candidate trajectory, the angle values ​​of each joint angle in the robot arm are determined based on inverse kinematics when the end effector of the robot arm reaches each pose in the candidate trajectory; and the angle change of each joint angle in the robot arm is determined based on the angle values ​​of each joint angle in the robot arm.

[0014] The candidate trajectory with the smallest sum of changes in the angles of all joints is determined as the target trajectory.

[0015] In one embodiment, after determining the candidate trajectory corresponding to the shortest path among all paths as the target trajectory, the method further includes:

[0016] Control the robotic arm to move along the target trajectory. When the end effector of the robotic arm moves to the current pose, receive the user's judgment operation on the current pose until the end effector of the robotic arm moves to all poses in the target trajectory. The judgment operation is used to indicate whether the implantation path corresponding to the current pose is executable.

[0017] In one embodiment, based on the pose of the robotic arm end effector corresponding to each implantation path, before determining the multiple candidate trajectories traversed by the robotic arm end effector when it reaches all poses, the method further includes:

[0018] The robot arm is controlled to move along a default trajectory. When the end effector of the robot arm moves to the current pose, it receives the user's judgment operation on the current pose until the end effector of the robot arm moves to all positions on the default trajectory. The judgment operation is used to indicate whether the implantation path corresponding to the current pose is executable.

[0019] In one embodiment, after receiving the user's judgment operation on the current pose, the method further includes:

[0020] If it is determined that the operation instruction implantation path is not executable, in response to the user's adjustment operation on the pose of the robotic arm end effector corresponding to the implantation path, the new pose of the robotic arm end effector corresponding to each implantation path is determined.

[0021] Based on the new pose of the robotic arm end effector corresponding to each implantation path, return to execute the steps of determining multiple candidate trajectories traversed by the robotic arm end effector when it reaches all poses, based on the pose of the robotic arm end effector corresponding to each implantation path; determining the path of each candidate trajectory; and determining the candidate trajectory corresponding to the shortest path among all paths as the target trajectory.

[0022] In one embodiment, after receiving the user's judgment operation on the current pose, the method further includes:

[0023] If the operation indicates that the implantation path is not executable, in response to the user's adjustment operation on the robotic arm configuration corresponding to the implantation path, the adjusted robotic arm configuration is determined, and the process of determining the path of each candidate trajectory is returned based on the adjusted robotic arm configuration. The candidate trajectory corresponding to the shortest path among all paths is then determined as the target trajectory.

[0024] In one embodiment, controlling the robotic arm to move along a target trajectory includes:

[0025] In response to the user's confirmation of the implantation path sorting, the execution order of multiple implantation paths corresponding to the target trajectory is displayed on the display interface;

[0026] In response to the user's triggering operations on each implantation path in the execution order, the robotic arm is controlled to move sequentially according to the execution order of multiple implantation paths.

[0027] Secondly, one embodiment of this application provides a surgical robot, including a control device, a robotic arm, and a display screen;

[0028] The display screen is used to show multiple implantation paths at the target site in the execution order of each implantation path in the target trajectory; the implantation path is the path of the surgical instrument from the implantation point to the target point at the target site.

[0029] The control device is used to receive user trigger operations on multiple implantation paths in the order of execution, and control the robotic arm to move sequentially in the order of execution.

[0030] Thirdly, one embodiment of this application provides a motion trajectory planning device for a robotic arm, the device comprising:

[0031] The acquisition module is used to acquire multiple implantation paths at the target site; the implantation path is the path taken by the surgical instrument from the implantation point at the target site to the target point.

[0032] The determination module is used to determine multiple candidate trajectories traversed by the robotic arm end-effector when it reaches all poses, based on the poses of the robotic arm end-effector corresponding to each implantation path.

[0033] The determination module is also used to determine the distance of each candidate trajectory, and to determine the candidate trajectory corresponding to the shortest distance among all the distances as the target trajectory.

[0034] Fourthly, one embodiment of this application provides a computer device including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the method provided in the first aspect above.

[0035] Fifthly, one embodiment of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method provided in the first aspect above.

[0036] In a sixth aspect, one embodiment of this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method provided in the first aspect above.

[0037] The aforementioned robotic arm motion trajectory planning method, device, and surgical robot involve obtaining multiple implantation paths at the target site. These implantation paths are the paths taken by surgical instruments from the implantation point to the target point. Based on the pose of the robotic arm's end effector corresponding to each implantation path, multiple candidate trajectories are determined when the end effector reaches all poses. The distance of each candidate trajectory is determined, and the candidate trajectory with the shortest distance is identified as the target trajectory. In this embodiment, by identifying the candidate trajectory with the shortest distance among the determined candidate trajectories as the target trajectory, the motion trajectory of the robotic arm can be planned, and the shortest target trajectory can be obtained. This minimizes the distance traveled during positioning operations according to the target trajectory, thereby improving the efficiency of the positioning operation. Attached Figure Description

[0038] Figure 1 This is a diagram illustrating the application environment of the motion trajectory planning method in one embodiment.

[0039] Figure 2 This is a flowchart illustrating the steps of a motion trajectory planning method in one embodiment;

[0040] Figure 3 This is a schematic diagram of multiple paths in one embodiment;

[0041] Figure 4 This is a flowchart illustrating the steps of a motion trajectory planning method in another embodiment;

[0042] Figure 5 This is a flowchart illustrating the steps of a motion trajectory planning method in another embodiment;

[0043] Figure 6 This is a flowchart illustrating the steps of a motion trajectory planning method in another embodiment;

[0044] Figure 7 This is a schematic diagram of the shortest path and the shortest distance in one embodiment;

[0045] Figure 8 This is a flowchart illustrating the steps of a motion trajectory planning method in another embodiment;

[0046] Figure 9 This is a flowchart illustrating the steps of a motion trajectory planning method in another embodiment;

[0047] Figure 10 This is a flowchart illustrating the steps of a motion trajectory planning method in another embodiment;

[0048] Figure 11 This is a schematic diagram of the motion trajectory planning device in one embodiment;

[0049] Figure 12 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0051] First, before introducing the technical solutions of the embodiments disclosed in this application, the background technology or technological evolution on which the embodiments of this application are based will be introduced. In the field of medical robotics, with the development of artificial intelligence, robots are used to assist surgical navigation and play an important role in some important medical surgeries, such as stereotactic electroencephalography (SEEG) therapy. SEEG therapy is a method of recording electroencephalogram (EEG) signals through deep electrodes (electrodes surgically implanted into brain tissue). Generally, more than 10 electrodes are implanted in the patient's brain. However, electrode implantation requires doctors to use stereotactic equipment for positioning. To improve positioning efficiency, it is crucial to increase the movement speed of the stereotactic equipment between different paths. In traditional technology, the movement trajectory between different paths is performed randomly by the doctor during the planning stage, that is, the trajectory movement between different paths is not planned. Positioning operations based on random movement trajectories are inefficient. To address this, this application provides a method for planning the motion trajectory of a robotic arm.

[0052] The motion trajectory planning method for the robotic arm provided in this application can be applied to surgical robots, the structure of which is as follows: Figure 1 As shown, the system includes a control device 11, a robotic arm 12, and a display screen 13. The control device 11 is communicatively connected to the robotic arm 12 to control its movement. The display screen 13 can be an automatic display screen of the control device 11 or an external display screen. The display screen 13 can be an LCD screen or a touch screen. The control device 11 can be, but is not limited to, an industrial computer, a laptop computer, a smartphone, or a tablet computer.

[0053] The technical solution of this application and how the technical solution of this application solves the technical problem are described in detail below with specific embodiments.

[0054] In one embodiment, such as Figure 2 As shown, a method for planning the motion trajectory of a robotic arm is provided. This embodiment illustrates the application of this method to the control device shown above. In this embodiment, the method includes the following steps:

[0055] Step 200: Obtain multiple implantation paths at the target site; the implantation path is the path of the surgical instrument from the implantation point at the target site to the target point.

[0056] The target site refers to the area within the object to be treated where a lesion exists. For SEEG treatment, multiple electrodes need to be implanted. The surgical instruments are the electrodes, and each electrode corresponds to an implantation path. This implantation path refers to the path from the electrode's implantation point to the target point during implantation. The implantation point is the defined surgical starting point on the skin corresponding to the target site of the object to be treated. The target point can be located within the lesion area of ​​the target site. Multiple implantation paths can be pre-stored in the control device's storage module, or they can be input by the user when the control device needs to perform motion trajectory planning. The control device acquires multiple implantation paths for the target site. This embodiment does not limit the specific method for acquiring multiple implantation paths for the target site, as long as the function can be achieved.

[0057] In an optional embodiment, the method for setting multiple implantation paths may include: acquiring a target three-dimensional image of the target part of the object to be processed; multiple implantation paths set by the user based on the target three-dimensional image; or, determining multiple implantation paths by inputting the target three-dimensional image into a pre-set path setting model.

[0058] Step 210: Based on the pose of the robotic arm end effector corresponding to each implantation path, determine the multiple candidate trajectories traversed by the robotic arm end effector when it reaches all poses.

[0059] During the execution of multiple implantation paths, the robotic arm's end effector needs to move to the vicinity of the implantation point for each path, aligning the guide channel of the end effector with the implantation path. This allows the electrode to be implanted into the patient's body along the guide channel. Therefore, the pose of the robotic arm's end effector corresponding to the implantation path is also the pose of the guide channel; when the end effector is in this pose, the guide channel is aligned with the implantation path. The control device can determine the pose of the robotic arm's end effector at each implantation path based on the acquired multiple implantation paths.

[0060] In an optional embodiment, when using a robotic arm to locate the implantation path, the position information of the pre-set implantation path can be transformed into the coordinate system of the robotic arm to determine the pose of the robotic arm end effector.

[0061] Suppose there are multiple implantation pathways, including 5 implantation pathways. The case of multiple implantation pathways is as follows: Figure 3 As shown. Figure 3 In the diagram, the coordinate system on the left represents the robotic arm's coordinate system, and the coordinate system on the right represents the coordinate system of the object to be processed. The five implantation paths obtained are: Path 1, Path 2, Path 3, Path 4, and Path 5. Based on the transformation relationship between the robotic arm's coordinate system and the coordinate system of the object to be processed, the position information of the implantation point and target point of each implantation path in the coordinate system of the object to be processed is transformed to the coordinate system of the robotic arm, thus obtaining the pose of the robotic arm's end effector corresponding to each implantation path.

[0062] A method for the control device to obtain the pose of the robotic arm end effector corresponding to each implantation path may include: the pose of the robotic arm end effector at each implantation path can be stored in the memory of the control device along with multiple pre-set implantation paths; the control device can obtain the pose of the robotic arm end effector corresponding to each implantation path while acquiring multiple implantation paths. Each implantation path may correspond to multiple initial poses of the robotic arm end effector. If, for each implantation path, one of the initial poses of the robotic arm end effector is pre-set as the default pose, the control device can obtain the default pose of the robotic arm end effector corresponding to each implantation path as the pose of the robotic arm end effector for that implantation path while acquiring multiple implantation paths. The default pose of the robotic arm end effector can be specified by the user based on practical experience, or it can be recommended by the control device through a pre-trained model. While the control device acquires multiple implantation paths, it can acquire the initial poses of multiple robotic arm ends corresponding to each implantation path and display the initial poses of multiple robotic arm ends. In response to the user's selection operation of the initial poses of multiple robotic arm ends according to actual needs, the pose of the robotic arm end corresponding to each implantation path is determined.

[0063] During the implantation path localization process using a robotic arm, the control device moves the robotic arm's end effector to the pose corresponding to each implantation path. If there are multiple pre-set implantation paths, the control device can control the robotic arm's end effector to move along multiple trajectories.

[0064] Based on the pose of the robotic arm end effector corresponding to each implantation path, the control device can determine multiple candidate trajectories traversed by the robotic arm end effector when it moves to the poses of all robotic arm end effectors. In other words, the control device can sort the poses of each robotic arm end effector, and when it moves the robotic arm end effector from the pose of the first robotic arm end effector to the pose of the last robotic arm end effector, the robotic arm end effector can traverse multiple candidate trajectories.

[0065] Assumptions: The acquired multiple implantation paths include: path 1, path 2, path 3, and path 4, and the corresponding multiple poses include pose 1, pose 2, pose 3, and pose 4. When the end effector of the robotic arm reaches all poses, the multiple candidate trajectories traversed by the end effector can include trajectory 1: pose 1 → pose 2 → pose 3 → pose 4; trajectory 2: pose 1 → pose 2 → pose 4 → pose 3; trajectory 3: pose 1 → pose 3 → pose 2 → pose 4; trajectory 4: pose 1 → pose 3 → pose 4 → pose 2; trajectory 5: pose 2 → pose 1 → pose 3 → pose 4, etc.

[0066] Step 220: Determine the distance of each candidate trajectory, and determine the candidate trajectory corresponding to the shortest distance among all the trajectories as the target trajectory.

[0067] After determining multiple candidate trajectories for the robotic arm's end effector, the control device determines the distance traveled along each candidate trajectory, i.e., the total distance the robotic arm's end effector moves along that candidate trajectory. This embodiment does not limit the specific method for determining the distance of each candidate trajectory, as long as the function can be achieved.

[0068] After determining the distance of each candidate trajectory, the control device compares the distances of each candidate trajectory, determines the shortest distance, and identifies the candidate trajectory corresponding to the shortest distance as the target trajectory.

[0069] The robotic arm motion trajectory planning method provided in this application obtains multiple implantation paths for the user's target site. Each implantation path is the path taken by the surgical instrument from the implantation point to the target point. Based on the pose of the robotic arm's end effector corresponding to each implantation path, multiple candidate trajectories are determined when the end effector reaches all poses. The distance of each candidate trajectory is determined, and the candidate trajectory with the shortest distance is identified as the target trajectory. In this embodiment, by identifying the candidate trajectory with the shortest distance among the determined candidate trajectories as the target trajectory, the motion trajectory of the robotic arm can be planned, and the shortest target trajectory can be obtained. This minimizes the distance traveled during positioning operations according to the target trajectory, thereby improving the efficiency of the positioning operation. Furthermore, in actual surgery, positioning operations according to the target trajectory can reduce the risk of infection and increase the success rate of the surgery.

[0070] In one embodiment, such as Figure 4 As shown, this relates to an implementation method for determining multiple candidate trajectories traversed by the end effector of a robotic arm when it reaches all poses. The steps of this implementation method include:

[0071] Step 400: Sort the order in which the end effector of the robotic arm reaches each pose to generate multiple sets of candidate poses.

[0072] After obtaining the pose of the robotic arm end effector corresponding to each implantation path, the control device sorts the order in which the robotic arm end effector moves to each pose, generating multiple sets of candidate poses. The number of candidate pose sets is the same as the number of sorting methods for the order in which the robotic arm moves to each pose.

[0073] Step 410: Determine the candidate trajectory of the robotic arm corresponding to each candidate pose set.

[0074] After determining multiple sets of candidate poses, the control device can determine a candidate trajectory for the end effector of a robotic arm for each set of candidate poses.

[0075] Assume that the poses of the robotic arm end effector corresponding to each implantation path include pose 1 for path 1, pose 2 for path 2, and pose 3 for path 3. The order in which the robotic arm end effector reaches each pose can be sorted as follows: the robotic arm end effector can reach pose 1 first, then pose 2, and finally pose 3, with the corresponding candidate pose set being {pose 1, pose 2, pose 3}; the robotic arm end effector can reach pose 1 first, then pose 3, and finally pose 2, with the corresponding candidate pose set being {pose 1, pose 3, pose 2}; the robotic arm end effector can reach pose 2 first, then pose 1, and finally pose 3, with the corresponding candidate pose set being {pose 2, pose 1, pose 3}, and so on. Among them, the candidate trajectory corresponding to the candidate pose set {pose1, pose2, pose3} is: pose1→pose2→pose3, the candidate trajectory corresponding to the candidate pose set {pose1, pose3, pose2} is: pose1→pose3→pose2, and the candidate trajectory corresponding to the candidate pose set {pose2, pose1, pose3} is: pose2→pose1→pose3.

[0076] In this embodiment, multiple candidate pose sets are generated by sorting the order in which the robotic arm's end effector arrives at each pose; then, candidate trajectories corresponding to each candidate pose set are determined. This method of determining candidate trajectories by sorting the order in which the robotic arm's end effector arrives at each pose is quick and easy to implement.

[0077] In one embodiment, such as Figure 5As shown, this involves determining the distance of each candidate trajectory and identifying the candidate trajectory corresponding to the shortest distance among all distances as the target trajectory. The steps of this implementation method include:

[0078] Step 500: For each candidate trajectory, determine the angle values ​​of each joint angle in the robot arm when the end of the robot arm reaches each pose in the candidate trajectory based on inverse kinematics; and determine the angle change of each joint angle of the robot arm based on the angle values ​​of each joint angle in the robot arm.

[0079] Inverse kinematics is the process of determining the parameters of the joints of a movable object to achieve the desired pose. For a robotic arm, inverse kinematics can be used to determine the angle values ​​of each joint in the robotic arm when the end effector is in the current pose.

[0080] Each candidate trajectory corresponds to a candidate pose set, which includes the poses of multiple robotic arm end effectors. Based on inverse kinematics, the control device can determine the angle values ​​of each joint angle in the robotic arm at each end effector's pose. Based on these angle values, the change in angle of each joint angle in the robotic arm for each candidate trajectory can be determined.

[0081] Step 510: Determine the candidate trajectory with the smallest sum of the angle changes of each joint angle as the target trajectory.

[0082] For each candidate trajectory, after determining the angular change of each joint angle of each robotic arm corresponding to the candidate trajectory, the control device determines the sum of the angular changes of each joint angle of each robotic arm, and thus obtains the distance of the candidate trajectory.

[0083] Specifically, for the candidate trajectory: pose 1 → pose 2 → pose 3, the control device can determine the angle values ​​of each joint angle in the robotic arm at pose 1, pose 2, and pose 3 based on inverse kinematics. Based on the angle values ​​of each joint angle in the robotic arm at pose 1 and pose 2, the angle change 1 between pose 1 and pose 2 can be determined. Based on the angle values ​​of each joint angle in the robotic arm at pose 2 and pose 3, the angle change 2 between pose 2 and pose 3 can be determined. By calculating the sum of angle change 1 and angle change 2, the path of the candidate trajectory can be determined. The path of each candidate trajectory can be determined using the same method.

[0084] After determining the sum of the angle changes of each joint angle corresponding to each candidate trajectory, the control device determines the minimum sum of angle changes and identifies the candidate trajectory corresponding to the minimum sum of angle changes as the target trajectory, that is, the candidate trajectory corresponding to the shortest path is identified as the target trajectory.

[0085] In this embodiment, for each candidate trajectory, the angle values ​​of each joint angle in the robotic arm are determined based on inverse kinematics when the end effector reaches each pose in the candidate trajectory. Then, based on the angle values ​​of each joint angle, the angular change of each joint angle is determined. The candidate trajectory with the smallest sum of angular changes of each joint angle is determined as the target trajectory. By representing the distance of each candidate trajectory by the sum of the angular changes of each joint angle, this method of determining the target trajectory is quick and easy to implement, improving the efficiency of trajectory planning for robotic arms.

[0086] In an optional embodiment, such as Figure 6 As shown, another implementation method involves determining the distance of each candidate trajectory and identifying the candidate trajectory corresponding to the shortest distance among all distances as the target trajectory. This implementation method includes:

[0087] Step 600: Based on inverse kinematics, determine the angle values ​​of each joint angle in the robotic arm when each end of the robotic arm is in a specific pose.

[0088] For a description of determining the angle values ​​of each joint in the robotic arm, please refer to the specific description in the above embodiments, which will not be repeated here.

[0089] Step 610: Determine the change in angle values ​​of each joint angle in the robotic arm between any two poses.

[0090] Assuming all poses include pose 1, pose 2, and pose 3, the changes in the angle values ​​of each joint angle in the robot arm between pose 1 and pose 2, the changes in the angle values ​​of each joint angle in the robot arm between pose 2 and pose 3, and the changes in the angle values ​​of each joint angle in the robot arm between pose 1 and pose 3 can be determined.

[0091] Step 620: For each candidate pose set corresponding to a candidate trajectory, determine the sum of the angle changes of each joint angle corresponding to the candidate trajectory, and determine the candidate trajectory with the smallest sum of the angle changes of each joint angle as the target trajectory.

[0092] For the candidate trajectory: pose 1 → pose 2 → pose 3, the control device determines the angle change 1 between pose 1 and pose 2 and the angle change 2 between pose 2 and pose 3 from the angle changes of each joint angle in the robotic arm between any two poses from all determined poses. The sum of angle change 1 and angle change 2 yields the sum of the angle changes of each joint angle corresponding to the candidate trajectory, i.e., the distance of the candidate trajectory.

[0093] In this embodiment, the angle values ​​of each joint angle in the robotic arm are determined based on inverse kinematics when the end effector is in each pose. The change in angle values ​​of each joint angle in the robotic arm between any two poses is determined. For each candidate trajectory corresponding to a set of candidate poses, the sum of the angle changes of each joint angle corresponding to the candidate trajectory is determined, and the candidate trajectory with the smallest sum of angle changes of each joint angle is determined as the target trajectory. This method of first determining the angle changes of each joint angle in the robotic arm between any two poses, and then directly selecting the required angle change from multiple angle changes of each joint angle to determine the target trajectory in the candidate trajectories during subsequent processing, is easy to understand and implement.

[0094] In one embodiment, the robotic arm includes multiple joint angles. The number of joint angles is related to the robotic arm's degrees of freedom; if the robotic arm has 2 degrees of freedom, it includes 2 joint angles; if the robotic arm has 6 degrees of freedom, it includes 6 joint angles. Assuming the robotic arm includes 6 joint angles, with angle values ​​of θ1, θ2, θ3, θ4, θ5, and θ6, and multiple implantation paths are T1, T2, ... T... N For candidate trajectories T1→T2→…T N The change in angle of each joint can be expressed as:

[0095]

[0096] Wherein, θ10, θ20, θ30, θ40, θ50, and θ60 are the angle values ​​of each joint angle of the robotic arm when the robotic arm is in its initial pose.

[0097] Candidate trajectory T1→T2→…T N The distance S can be represented as Assuming the joint angles of the robotic arm are consistent each time it moves, the total distance traveled can be expressed as: .

[0098] The formation of the longest and shortest candidate trajectories among multiple candidate trajectories for multiple implantation paths is as follows: Figure 7 As shown. Using the candidate trajectory with the shortest path as the target trajectory, and executing multiple paths along the target trajectory, the efficiency improvement achieved by performing localization operations can be expressed as: .

[0099] In one embodiment, after determining the candidate trajectory corresponding to the shortest path in the journey as the target trajectory, the method further includes:

[0100] Control the robotic arm to move along the target trajectory. When the end effector of the robotic arm moves to the current pose, receive the user's judgment operation on the current pose until the end effector of the robotic arm moves to all poses in the target trajectory. The judgment operation is used to indicate whether the implantation path corresponding to the current pose is executable.

[0101] After determining the target trajectory and completing the connection between the robotic arm (stereoscopic positioning device) and the patient, as well as the spatial registration of the robotic arm, the control device controls the movement of the robotic arm according to the target trajectory. When the robotic arm moves to the current pose within the target trajectory, the user will determine whether the implantation path corresponding to the current pose is executable. Using the same method, the control device can receive the user's judgment on each implantation path in the target trajectory. The judgment includes whether the implantation path is executable or not. The executableness of the implantation path includes whether the surgical instrument can reach the target point from the preset implantation point when the robotic arm moves to the implantation path for surgical instrument implantation, and whether the current configuration of the robotic arm will affect the subsequent surgical procedure (incision, bone drilling, or implantation). Specifically, when the control device moves the robotic arm to the implantation path corresponding to the current pose of the target trajectory, it will receive the user's judgment operation on the implantation path corresponding to the current pose. It will then continue to control the robotic arm to move to the implantation path corresponding to the next pose of the target trajectory, and will receive the user's judgment operation on the implantation path corresponding to the next pose. The control device will continue to control the robotic arm to move until it receives the user's judgment operation on all implantation paths in the target trajectory.

[0102] In this embodiment, for a determined target trajectory, the control device controls the robotic arm to move along the target trajectory. When the robotic arm's end effector reaches the current pose, it receives a judgment operation from the user regarding the current pose to determine whether the implantation path corresponding to the current pose is executable. By judging each implantation path, it can be determined whether each implantation path is executable, thereby determining whether the target trajectory meets the requirements. If the implantation path is determined to be unexecutable, it facilitates subsequent adjustments to the robotic arm's configuration or pose, and adjustments to the target trajectory. This allows for verification of the determined target trajectory, thereby improving the reliability of the robotic arm's motion trajectory planning method. Furthermore, this embodiment controls the robotic arm to move along the target trajectory to determine whether each implantation path within the target trajectory is executable. This minimizes the distance the robotic arm travels, reducing the time spent moving and thus improving the efficiency of determining the executableness of each implantation path.

[0103] In an optional embodiment, if the operation indicates that the implantation path is not executable, multiple implantation paths for the target site can be reacquired. That is, if the implantation path is not executable, the user can readjust the implantation path to provide the control device with multiple adjusted implantation paths. The user can adjust all implantation paths, or adjust only those that are not executable. Adjusting the implantation path can involve at least one of modifying, deleting, or adding implantation paths. If the operation indicates that the implantation path is executable, during the actual surgery, the robotic arm is controlled to execute multiple implantation paths according to the target trajectory, enabling the user to complete operations such as incision, bone drilling, and electrode implantation. The control device controls the robotic arm to move according to the target trajectory, and when the robotic arm end effector reaches the current pose, the user's judgment of the current pose is received in a sterile environment. During the actual surgery, the robotic arm is controlled to move according to the target trajectory, and the execution of each implantation path is performed in a sterile environment.

[0104] In one feasible embodiment, during the process of judging each implantation path, the user will simultaneously mark the implantation point corresponding to each implantation path on the object to be processed.

[0105] In one embodiment, before determining the multiple candidate trajectories traversed by the robotic arm end-effector when all poses are reached, based on the poses of the robotic arm end-effectors corresponding to each implantation path, the method further includes:

[0106] The robot arm is controlled to move along a default trajectory. When the end effector of the robot arm moves to the current pose, it receives the user's judgment operation on the current pose until the end effector of the robot arm moves to all poses. The judgment operation is used to indicate whether the implantation path corresponding to the current pose is executable.

[0107] A default trajectory can be a path randomly determined by the control device after acquiring multiple implantation paths, based on the pose of the robotic arm's end effector corresponding to each implantation path. Alternatively, a default trajectory can be set by the user after pre-setting multiple implantation paths, allowing the control device to acquire the default trajectory while acquiring multiple implantation paths at the target site.

[0108] The control device moves the robotic arm according to a default trajectory. When the robotic arm moves to the current pose within the default trajectory, the user determines whether the implantation path corresponding to the current pose is feasible. Using the same method, the control device can receive the user's determination operation for each implantation path. The description of the determination operation can be found in the specific description in the above embodiments, and will not be repeated here.

[0109] In this embodiment, the control device can control the robotic arm to move along a default trajectory. When the robotic arm's end effector reaches its current position, it receives the user's judgment operation on the current pose, continuing until the end effector moves to all poses along the default trajectory. This allows verification of the feasibility of each implantation path during movement along the default trajectory, thus determining whether the default trajectory meets the requirements. Furthermore, this embodiment first judges the feasibility of multiple implantation paths at the target site before determining the target trajectory, which aligns with user habits and has higher practicality.

[0110] In one optional embodiment, if the feasibility of each implantation path is determined before determining the target trajectory, after determining the target trajectory, the robotic arm can be controlled to move according to the target trajectory, and the feasibility of each implantation path can be determined again; or, after determining the target trajectory, it may not be necessary to determine the feasibility of each implantation path again, which can be set according to the user's needs.

[0111] In one embodiment, such as Figure 8 As shown, after receiving the user's judgment operation on the current pose, the method further includes the following steps:

[0112] Step 810: If it is determined that the operation instruction implantation path is not executable, in response to the user's adjustment operation on the pose of the robotic arm end effector corresponding to the implantation path, determine the new pose of the robotic arm end effector corresponding to each implantation path.

[0113] During the movement of the robotic arm along the target trajectory, if the control device receives a user's judgment operation on the implantation path, and this operation indicates that the implantation path is not executable, the user adjusts the pose of the robotic arm's end effector corresponding to that implantation path. When the pose of the robotic arm's end effector is adjusted, the joint angles of the robotic arm also change accordingly. Responding to the user's adjustment operation on the current pose, the control device can obtain a new pose for the robotic arm's end effector corresponding to that implantation path. In other words, after receiving user judgment operations on all implantation paths, if the pose of the robotic arm's end effector corresponding to that implantation path has been adjusted, the new pose of the robotic arm's end effector at that implantation path is the adjusted pose; if the pose of the robotic arm's end effector corresponding to that implantation path has not been adjusted, the new pose of the robotic arm at that implantation path is the unadjusted pose.

[0114] Step 820: Based on the new pose of the robotic arm end effector corresponding to each implantation path, return to the execution of the following steps: Based on the pose of the robotic arm end effector corresponding to each implantation path, determine the multiple candidate trajectories traversed by the robotic arm when the robotic arm end effector reaches all poses; determine the path length of each candidate trajectory, and determine the candidate trajectory corresponding to the shortest path length as the target trajectory.

[0115] The control device returns to steps 210 and 220 based on the pose of the robotic arm at each implantation path.

[0116] In this embodiment, when the control device receives a user's judgment operation indicating that the implantation path is not executable, it responds to the user's adjustment operation on the pose of the robotic arm end effector corresponding to the implantation path, and determines a new pose of the robotic arm end effector corresponding to each implantation path. Based on the new pose of the robotic arm end effector corresponding to each implantation path, it redetermines multiple candidate trajectories traversed by the robotic arm end effector when reaching all poses. It determines the distance of each candidate trajectory and identifies the candidate trajectory corresponding to the shortest distance as the target trajectory. In this way, when the control device controls the robotic arm to move according to the target trajectory or the default trajectory, if there is an implantation path that is not executable, by adjusting the pose of the robotic arm end effector corresponding to the implantation path and determining a new target trajectory, the accuracy and reliability of the finally determined target trajectory can be improved, thereby improving the efficiency of the positioning operation.

[0117] In one embodiment, after receiving the user's judgment operation on the current pose, the method further includes the following steps:

[0118] If the operation indicates that the implantation path is not executable, in response to the user's adjustment operation on the robotic arm configuration corresponding to the implantation path, the adjusted robotic arm configuration is determined, and the process of determining the path of each candidate trajectory is returned based on the adjusted robotic arm configuration. The candidate trajectory corresponding to the shortest path among all paths is then determined as the target trajectory.

[0119] During the process of controlling the robotic arm to move along the target trajectory, if the control device receives a user's judgment operation on the implantation path, and this judgment operation indicates that the implantation path is not executable, then the user's adjustment operation on the robotic arm configuration corresponding to the implantation path, i.e., the adjustment operation on each joint angle of the robotic arm, determines the adjusted robotic arm configuration. During the adjustment operation on the robotic arm configuration, the pose of the robotic arm does not change. After determining the adjusted robotic arm configuration, the control device returns to step 220 based on the adjusted robotic arm configuration.

[0120] In this embodiment, when the control device receives a user's judgment operation indicating that the implantation path is unexecutable, it responds to the user's adjustment operation on the robotic arm configuration corresponding to the implantation path, determines the adjusted robotic arm configuration, and returns to the step of determining the path of each candidate trajectory based on the adjusted robotic arm configuration, selecting the candidate trajectory corresponding to the shortest path as the target trajectory. Thus, when the control device controls the robotic arm movement according to the target trajectory or default trajectory, if an implantation path is unexecutable, adjusting the robotic arm configuration corresponding to the implantation path and determining a new target trajectory can improve the accuracy and reliability of the finally determined target trajectory, thereby improving the efficiency of the positioning operation.

[0121] In one embodiment, such as Figure 9 As shown, this relates to an implementation method for controlling a robotic arm to move along a target trajectory. The steps of this implementation method include:

[0122] Step 900: In response to the user's confirmation operation of the implantation path sorting, the execution order of multiple implantation paths corresponding to the target trajectory is displayed on the display interface.

[0123] The control device includes a display screen, which includes a display interface. If the user determines that multiple implantation paths need to be executed in order of implantation paths corresponding to the target trajectory, the user performs a confirmation operation on the display interface to determine the order of implantation paths corresponding to the target trajectory. In response to this confirmation operation, the control device displays the execution order of the multiple paths corresponding to the target trajectory on the display interface.

[0124] In an optional embodiment, the display interface includes an intelligent sorting control. When a user clicks or drags the intelligent sorting control, the control device responds to the click or drag operation and displays the execution order of multiple implantation paths corresponding to the target trajectory on the display interface.

[0125] In another optional embodiment, after the execution order of multiple implantation paths corresponding to the target trajectory is displayed on the interface, if the user adjusts the execution order of these paths, the control device responds to the user's adjustment operation and reorders the execution order of the implantation paths following the changed implantation path. For example, if the target trajectory corresponds to 5 implantation paths, and the execution order of these 5 paths is path 1, path 2, path 3, path 4, and path 5, and the user adjusts the execution order of multiple implantation paths, placing path 5 before path 2, then the adjusted execution order of path 1, path 5, path 2, path 3, and path 4 (including paths 2, 3, and 3 after path 5) is reordered. This facilitates user operation, better enables human-computer interaction, and thus improves the intelligence and flexibility of the robotic arm's motion trajectory planning method.

[0126] Step 910: In response to the user's triggering operation on each implantation path according to the execution order, control the robotic arm to move sequentially according to the execution order of multiple implantation paths.

[0127] After displaying the execution order of multiple implantation paths corresponding to the target trajectory on the display interface, the user triggers the first implantation path to be executed in the order shown on the display interface. The control device responds to the trigger operation and controls the robotic arm to move to the first implantation path. The user then triggers the second implantation path to be executed in the order shown on the display interface, and the control device responds to the trigger operation and controls the robotic arm to move to the second implantation path. The above steps are repeated until the control device controls the robotic arm to move to all implantation paths in the order shown on the display interface.

[0128] In this embodiment, in response to the user's operation of determining the implantation path order, the execution order of multiple implantation paths corresponding to the target trajectory is displayed on the display interface; in response to the user's trigger operation on each implantation path according to the execution order, the robotic arm is controlled to move sequentially according to the execution order of the multiple implantation paths. This human-computer interaction method of controlling the robotic arm to move to each implantation path improves the intelligence and flexibility of the robotic arm's motion trajectory planning method.

[0129] Please see Figure 10 One embodiment of this application provides a motion trajectory planning method for a robotic arm, the steps of which include:

[0130] Step 101: Obtain multiple implantation paths at the target site. The implantation path is the path of the electrode from the implantation point to the target point.

[0131] Step 102: Sort the order of the poses of the robotic arm end-effectors reaching each implantation path to generate multiple sets of candidate poses.

[0132] Step 103: Determine the candidate trajectory of the robotic arm end effector corresponding to each candidate pose set;

[0133] Step 104: For each candidate trajectory, determine the angle values ​​of each joint angle in the robot arm when the end of the robot arm reaches each pose in the candidate trajectory based on inverse kinematics, and determine the angle change of each joint angle of the robot arm based on the angle values ​​of each joint angle in the robot arm.

[0134] Step 105: Determine the candidate trajectory with the smallest sum of the angle changes of each joint angle as the target trajectory;

[0135] Step 106: Control the robotic arm to move along the target trajectory. When the end effector of the robotic arm moves to the current pose, receive the user's judgment operation on the current pose until the end effector of the robotic arm moves to all poses in the target trajectory. The judgment operation is used to indicate whether the implantation path corresponding to the current position is executable.

[0136] Step 107: If it is determined that the operation instruction implantation path is not executable, in response to the user's adjustment operation on the pose of the robotic arm end effector corresponding to the implantation path, determine the new pose of the robotic arm end effector corresponding to each implantation path.

[0137] Step 108: Based on the new pose of the robotic arm end effector corresponding to each implantation path, return to steps 102-107.

[0138] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0139] Based on the same inventive concept, this application also provides a trajectory planning device for implementing the trajectory planning method described above. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations in one or more trajectory planning device embodiments provided below can be found in the limitations of the trajectory planning method described above, and will not be repeated here.

[0140] In one embodiment, a surgical robot is provided, such as Figure 1 As shown, the surgical robot includes a control device 11, a robotic arm 12, and a display screen 13. The description of the control device 11, the robotic arm 12, and the display screen 13 can be found in the detailed description of the above embodiments, and will not be repeated here.

[0141] The display screen 13 is used to display multiple implantation paths at the target site according to the execution order of each implantation path in the target trajectory; the implantation path is the path of the surgical instrument from the implantation point to the target point at the target site. The control device 11 is used to receive the user's trigger operation on the multiple implantation paths according to the execution order, and control the robotic arm to move sequentially according to the execution order. The description of the target trajectory can be referred to the specific description in the above embodiments. The description of the control device 11 receiving the user's trigger operation on the multiple implantation paths according to the execution order and controlling the robotic arm to move sequentially according to the execution order can be referred to the specific description in the above embodiments of controlling the robotic arm to run sequentially according to the execution order of the multiple implantation paths in response to the user's trigger operation on each implantation path according to the execution order, and will not be repeated here.

[0142] In this embodiment, the surgical robot includes a control device 11, a robotic arm 12, and a display screen 13. The display screen 13 displays multiple implantation paths at the target site according to the execution order of each implantation path in the target trajectory. Each implantation path is the path taken by the surgical instrument from the implantation point to the target point at the target site. The control device 11 receives user trigger operations on the multiple implantation paths according to the execution order and controls the robotic arm to move sequentially according to the execution order. This human-computer interaction method, controlling the robotic arm to move sequentially according to the shortest path of each implantation path in the target trajectory, improves the efficiency of the positioning operation and enhances the intelligence and flexibility of the surgical robot.

[0143] In one embodiment, such as Figure 11 As shown, a motion trajectory planning device 20 for a robotic arm is provided, comprising: an acquisition module 21 and a determination module 22, wherein:

[0144] The acquisition module 21 is used to acquire multiple implantation paths at the target site; the implantation path is the path of the surgical instrument from the implantation point at the target site to the target point.

[0145] The determination module 22 is used to determine multiple candidate trajectories traversed by the robotic arm end-effector when the robotic arm end-effector reaches all poses, based on the pose of the robotic arm end-effector corresponding to each implantation path.

[0146] The determination module 22 is also used to determine the distance of each candidate trajectory, and to determine the candidate trajectory corresponding to the shortest distance among the candidate trajectories as the target trajectory.

[0147] In one embodiment, the determining module 22 includes a set determining unit and a candidate trajectory determining unit. The set determining unit is used to sort the order in which the robotic arm end effector arrives at each pose, generating multiple sets of candidate poses. The candidate trajectory determining unit is used to determine the candidate trajectory of the robotic arm end effector corresponding to each candidate pose set.

[0148] In one embodiment, the determining module 22 further includes an angle change determination unit and a target trajectory determination unit. The angle change determination unit is used to determine, for each candidate trajectory, the angle values ​​of each joint angle in the robotic arm when the end effector reaches each pose in the candidate trajectory based on inverse kinematics; and to determine the angle change of each joint angle of the robotic arm based on the angle values ​​of each joint angle. The target trajectory determination unit is used to determine the candidate trajectory with the smallest sum of angle changes of each joint angle as the target trajectory.

[0149] In one embodiment, the motion trajectory planning device 20 for the robotic arm further includes a control module. The control module is used to control the robotic arm to move along the target trajectory. When the end effector of the robotic arm moves to the current pose, it receives a judgment operation from the user on the current pose until the end effector of the robotic arm moves to all poses in the target trajectory. The judgment operation is used to indicate whether the implantation path corresponding to the current pose is executable.

[0150] In one embodiment, the control module is further configured to control the robotic arm to move along a default trajectory, and when the end effector of the robotic arm moves to the current pose, receive a judgment operation from the user on the current pose, until the end effector of the robotic arm moves to all poses in the default trajectory; the judgment operation is used to indicate whether the implantation path corresponding to the current pose is executable.

[0151] In one embodiment, the robotic arm motion trajectory planning device 20 further includes a response module and an execution module. The response module is used to determine a new pose of the robotic arm end effector corresponding to each implantation path if it determines that the operation indicates the implantation path is not executable, in response to the user's adjustment operation on the pose of the robotic arm end effector corresponding to the implantation path. The execution module is used to return to the steps executed by the execution determination module based on the new pose of the robotic arm end effector corresponding to each implantation path.

[0152] In one embodiment, the response module is further configured to, if it is determined that the operation indicates that the implantation path is not executable, in response to the user's adjustment operation on the robotic arm configuration corresponding to the implantation path, determine the adjusted robotic arm configuration, and return to the steps executed by the execution determination module based on the adjusted robotic arm configuration.

[0153] In one embodiment, the control module is specifically used to respond to the user's operation of determining the order of implantation paths, display the execution order of multiple implantation paths corresponding to the target trajectory on the display interface; and to respond to the user's trigger operation on each implantation path according to the execution order, control the robotic arm to move sequentially according to the execution order of the multiple implantation paths.

[0154] The various modules in the aforementioned robotic arm motion trajectory planning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0155] In one embodiment, a computer device is provided, the internal structure of which can be shown as follows: Figure 12 As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for planning the motion trajectory of a robotic arm. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0156] Those skilled in the art will understand that Figure 12 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0157] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0158] Obtain multiple implantation paths at the target site; the implantation path is the route taken by the surgical instrument from the implantation point at the target site to the target point.

[0159] Based on the pose of the robotic arm end effector corresponding to each implantation path, multiple candidate trajectories traversed by the robotic arm end effector when it reaches all poses are determined.

[0160] Determine the distance of each candidate trajectory, and select the candidate trajectory with the shortest distance from all distances as the target trajectory.

[0161] In one embodiment, when the processor executes the computer program, it further performs the following steps: sorting the order in which the end effector of the robotic arm reaches each pose to generate multiple sets of candidate poses; and determining the candidate trajectory of the end effector of the robotic arm corresponding to each set of candidate poses.

[0162] In one embodiment, when the processor executes the computer program, it further implements the following steps: for each candidate trajectory, based on inverse kinematics, the angle values ​​of each joint angle in the robotic arm are determined when the end effector of the robotic arm reaches each pose in the candidate trajectory; and based on the angle values ​​of each joint angle in the robotic arm, the angle change of each joint angle of the robotic arm is determined; and the candidate trajectory with the smallest sum of angle changes of each joint angle is determined as the target trajectory.

[0163] In one embodiment, when the processor executes the computer program, it further implements the following steps: controlling the robotic arm to move along the target trajectory, and receiving a user's judgment operation on the current pose when the end of the robotic arm moves to the current pose, until the end of the robotic arm moves to all poses in the target trajectory; the judgment operation is used to indicate whether the implantation path corresponding to the current pose is executable.

[0164] In one embodiment, when the processor executes the computer program, it further implements the following steps: controlling the robotic arm to move along a default trajectory, and receiving a user's judgment operation on the current pose when the end of the robotic arm moves to the current pose, until the end of the robotic arm moves to all poses in the default trajectory; the judgment operation is used to indicate whether the implantation path corresponding to the current pose is executable.

[0165] In one embodiment, when the processor executes the computer program, it further implements the following steps: if it is determined that the operation indicates that the implantation path is not executable, in response to the user's adjustment operation on the pose of the robotic arm end effector corresponding to the implantation path, it determines the new pose of the robotic arm end effector corresponding to each implantation path; based on the new pose of the robotic arm end effector corresponding to each implantation path, it returns to the step of determining multiple candidate trajectories traversed by the robotic arm when the robotic arm end effector reaches all poses based on the pose of the robotic arm end effector corresponding to each implantation path; determining the path length of each candidate trajectory, and determining the candidate trajectory corresponding to the shortest path length as the target trajectory.

[0166] In one embodiment, when the processor executes the computer program, it further implements the following steps: if it is determined that the operation indicates that the implantation path is not executable, in response to the user's adjustment operation on the robotic arm configuration corresponding to the implantation path, it determines the adjusted robotic arm configuration, and returns to the execution of determining the path of each candidate trajectory based on the adjusted robotic arm configuration, and determines the candidate trajectory corresponding to the shortest path among the paths as the target trajectory.

[0167] In one embodiment, when the processor executes the computer program, it further performs the following steps: in response to a user's determination of the implantation path order, displays the execution order of multiple implantation paths corresponding to the target trajectory on the display interface; in response to a user's triggering operation on each implantation path according to the execution order, controls the robotic arm to move sequentially according to the execution order of the multiple implantation paths.

[0168] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0169] Obtain multiple implantation paths at the target site; the implantation path is the route taken by the surgical instrument from the implantation point at the target site to the target point.

[0170] Based on the pose of the robotic arm end effector corresponding to each implantation path, multiple candidate trajectories traversed by the robotic arm end effector when it reaches all poses are determined.

[0171] Determine the distance of each candidate trajectory, and select the candidate trajectory with the shortest distance from all distances as the target trajectory.

[0172] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: sorting the order in which the end effector of the robotic arm reaches each pose to generate multiple sets of candidate poses; and determining the candidate trajectory of the end effector of the robotic arm corresponding to each set of candidate poses.

[0173] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: for each candidate trajectory, based on inverse kinematics, determine the angle values ​​of each joint angle in the robotic arm when the end of the robotic arm reaches each pose in the candidate trajectory; and based on the angle values ​​of each joint angle in the robotic arm, determine the angle change of each joint angle of the robotic arm; and determine the candidate trajectory with the smallest sum of angle changes of each joint angle as the target trajectory.

[0174] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: controlling the robotic arm to move along the target trajectory, and receiving a judgment operation from the user on the current pose when the end of the robotic arm moves to the current pose, until the end of the robotic arm moves to all poses in the target trajectory; the judgment operation is used to indicate whether the implantation path corresponding to the current pose is executable.

[0175] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: controlling the robotic arm to move along a default trajectory, and receiving a judgment operation from the user on the current pose when the end of the robotic arm moves to the current pose, until the end of the robotic arm moves to all poses in the default trajectory; the judgment operation is used to indicate whether the implantation path corresponding to the current pose is executable.

[0176] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if it is determined that the operation indicates that the implantation path is not executable, in response to the user's adjustment operation on the pose of the robotic arm end effector corresponding to the implantation path, determining the new pose of the robotic arm end effector corresponding to each implantation path; based on the new pose of the robotic arm end effector corresponding to each implantation path, returning to execute the step of determining multiple candidate trajectories traversed by the robotic arm when the robotic arm end effector reaches all poses based on the pose of the robotic arm end effector corresponding to each implantation path; determining the path length of each candidate trajectory, and determining the candidate trajectory corresponding to the shortest path length as the target trajectory.

[0177] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if it is determined that the operation indicates that the implantation path is not executable, in response to the user's adjustment operation on the robotic arm configuration corresponding to the implantation path, the adjusted robotic arm configuration is determined, and the process of determining the path of each candidate trajectory is returned to the execution based on the adjusted robotic arm configuration, and the candidate trajectory corresponding to the shortest path among the paths is determined as the target trajectory.

[0178] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: in response to a user's determination of the implantation path order, displays the execution order of multiple implantation paths corresponding to the target trajectory on the display interface; in response to a user's triggering operation on each implantation path according to the execution order, controls the robotic arm to move sequentially according to the execution order of the multiple implantation paths.

[0179] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0180] Obtain multiple implantation paths at the target site; the implantation path is the route taken by the surgical instrument from the implantation point at the target site to the target point.

[0181] Based on the pose of the robotic arm end effector corresponding to each implantation path, multiple candidate trajectories traversed by the robotic arm end effector when it reaches all poses are determined.

[0182] Determine the distance of each candidate trajectory, and select the candidate trajectory with the shortest distance from all distances as the target trajectory.

[0183] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: sorting the order in which the end effector of the robotic arm reaches each pose to generate multiple sets of candidate poses; and determining the candidate trajectory of the end effector of the robotic arm corresponding to each set of candidate poses.

[0184] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: for each candidate trajectory, based on inverse kinematics, determine the angle values ​​of each joint angle in the robotic arm when the end of the robotic arm reaches each pose in the candidate trajectory; and based on the angle values ​​of each joint angle in the robotic arm, determine the angle change of each joint angle of the robotic arm; and determine the candidate trajectory with the smallest sum of angle changes of each joint angle as the target trajectory.

[0185] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: controlling the robotic arm to move along the target trajectory, and receiving a judgment operation from the user on the current pose when the end of the robotic arm moves to the current pose, until the end of the robotic arm moves to all poses in the target trajectory; the judgment operation is used to indicate whether the implantation path corresponding to the current pose is executable.

[0186] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: controlling the robotic arm to move along a default trajectory, and receiving a judgment operation from the user on the current pose when the end of the robotic arm moves to the current pose, until the end of the robotic arm moves to all poses in the default trajectory; the judgment operation is used to indicate whether the implantation path corresponding to the current pose is executable.

[0187] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if it is determined that the operation indicates that the implantation path is not executable, in response to the user's adjustment operation on the pose of the robotic arm end effector corresponding to the implantation path, determining the new pose of the robotic arm end effector corresponding to each implantation path; based on the new pose of the robotic arm end effector corresponding to each implantation path, returning to execute the step of determining multiple candidate trajectories traversed by the robotic arm when the robotic arm end effector reaches all poses based on the pose of the robotic arm end effector corresponding to each implantation path; determining the path length of each candidate trajectory, and determining the candidate trajectory corresponding to the shortest path length as the target trajectory.

[0188] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if it is determined that the operation indicates that the implantation path is not executable, in response to the user's adjustment operation on the robotic arm configuration corresponding to the implantation path, the adjusted robotic arm configuration is determined, and the process of determining the path of each candidate trajectory is returned to the execution based on the adjusted robotic arm configuration, and the candidate trajectory corresponding to the shortest path among the paths is determined as the target trajectory.

[0189] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: in response to a user's determination of the implantation path order, displays the execution order of multiple implantation paths corresponding to the target trajectory on the display interface; in response to a user's triggering operation on each implantation path according to the execution order, controls the robotic arm to move sequentially according to the execution order of the multiple implantation paths.

[0190] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0191] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0192] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for planning the motion trajectory of a robotic arm, characterized in that, The method includes: Multiple implantation paths are obtained at the target site; the implantation path is the path taken by the surgical instrument from the implantation point at the target site to the target point. Based on the pose of the robotic arm end-effector corresponding to each implantation path, multiple candidate trajectories traversed by the robotic arm end-effector when the robotic arm end-effector reaches all of the poses are determined. The path of each candidate trajectory is determined, and the candidate trajectory corresponding to the shortest path among all the paths is determined as the target trajectory.

2. The method according to claim 1, characterized in that, The determination of the multiple candidate trajectories traversed by the robotic arm end-effector when it reaches all of the stated poses includes: The order in which the end effector of the robotic arm reaches each of the aforementioned poses is sorted to generate multiple sets of candidate poses. Determine the candidate trajectory of the robotic arm end effector corresponding to each of the candidate pose sets.

3. The method according to claim 1, characterized in that, The step of determining the distance of each candidate trajectory and determining the candidate trajectory corresponding to the shortest distance among the candidate trajectories as the target trajectory includes: For each candidate trajectory, the angle values ​​of each joint angle in the robotic arm are determined based on inverse kinematics when the end effector of the robotic arm reaches each pose in the candidate trajectory; and the angle change of each joint angle in the robotic arm is determined based on the angle values ​​of each joint angle in the robotic arm. The candidate trajectory with the smallest sum of the angle changes of each joint angle is determined as the target trajectory.

4. The method according to claim 1, characterized in that, After determining the candidate trajectory corresponding to the shortest path among the various paths as the target trajectory, the method further includes: The robotic arm is controlled to move along the target trajectory. When the end effector of the robotic arm moves to the current pose, the user's judgment operation on the current pose is received until the end effector of the robotic arm moves to all poses in the target trajectory. The judgment operation is used to indicate whether the implantation path corresponding to the current pose is executable.

5. The method according to claim 1, characterized in that, The method further includes determining, based on the pose of the robotic arm end-effector corresponding to each implantation path, before the robotic arm traverses multiple candidate trajectories when the robotic arm end-effector reaches all of the aforementioned poses: The robotic arm is controlled to move along a default trajectory. When the end effector of the robotic arm moves to the current pose, the user's judgment operation on the current pose is received until the end effector of the robotic arm moves to all poses in the default trajectory. The judgment operation is used to indicate whether the implantation path corresponding to the current pose is executable.

6. The method according to claim 4 or 5, characterized in that, After receiving the user's judgment operation on the current pose, the method further includes: If the determination operation indicates that the implantation path is not executable, in response to the user's adjustment operation on the pose of the robotic arm end effector corresponding to the implantation path, a new pose of the robotic arm end effector corresponding to each implantation path is determined. Based on the new pose of the robotic arm end effector corresponding to each implantation path, return to the step of determining multiple candidate trajectories traversed by the robotic arm end effector when it reaches all the poses, based on the poses of the robotic arm end effector corresponding to each implantation path; determining the path length of each candidate trajectory; and determining the candidate trajectory corresponding to the shortest path length as the target trajectory.

7. The method according to claim 4 or 5, characterized in that, After receiving the user's judgment operation on the current pose, the method further includes: If the judgment operation indicates that the implantation path is not executable, in response to the user's adjustment operation on the robotic arm configuration corresponding to the implantation path, the adjusted robotic arm configuration is determined, and the process of determining the path of each candidate trajectory and determining the candidate trajectory corresponding to the shortest path among the paths is returned to the step of determining the path of each candidate trajectory based on the adjusted robotic arm configuration.

8. The method according to claim 4, characterized in that, Controlling the robotic arm to move along the target trajectory includes: In response to the user's determination of the implantation path sorting, the execution order of multiple implantation paths corresponding to the target trajectory is displayed on the display interface; In response to the user's triggering operation on each of the implantation paths according to the execution order, the robotic arm is controlled to move sequentially according to the execution order of the multiple implantation paths.

9. A surgical robot, characterized in that, Includes control equipment, robotic arms, and displays; The display screen is used to display multiple implantation paths at the target site in the order of execution of each implantation path in the target trajectory; The implantation path is the path taken by the surgical instrument from the implantation point at the target site to the target point; A control device is used to receive trigger operations from the user on multiple implantation paths in the order of execution, and to control the robotic arm to move sequentially in the order of execution.

10. A motion trajectory planning device for a robotic arm, characterized in that, The device includes: The acquisition module is used to acquire multiple implantation paths at the target site; the implantation path is the path of the surgical instrument from the implantation point at the target site to the target point. The determination module is used to determine, based on the pose of the robotic arm end-effector corresponding to each implantation path, multiple candidate trajectories traversed by the robotic arm when the robotic arm end-effector reaches all of the poses; The determining module is also used to determine the distance of each of the candidate trajectories, and to determine the candidate trajectory corresponding to the shortest distance among the candidate trajectories as the target trajectory.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.

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