Control method for robotic system, robotic system, and storage medium

Abstract

A control method for a robotic system, a robotic system, and a storage medium. The robotic system comprises a base station and a moving arm arranged on the base station. The base station and / or the moving arm comprise(s) at least one joint. The control method for the robotic system comprises: obtaining the current pose of a remote center of motion of the moving arm; obtaining a first pose relationship between the remote center of motion of the moving arm and a control reference point of the moving arm; obtaining adjustment information of the moving arm; and calculating, on the basis of the current pose of the remote center of motion, the first pose relationship, and the adjustment information of the moving arm, a control signal for the at least one joint to control the movement of the moving arm relative to a fixed point.

Description

Control methods for robot systems, robot systems and storage media

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 2024106694128, filed on May 28, 2024, entitled "Control Method for Robot System, Robot System and Computer Equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of medical devices, and more particularly to control methods for robotic systems, robotic systems, and storage media. Background Technology

[0004] Laparoscopic surgery is a surgical procedure that has gradually developed and been widely used in recent years. It has advantages such as smaller incisions, which greatly reduces patients' recovery time, discomfort, and postoperative side effects. Performing laparoscopic surgery using surgical robots, especially single-port laparoscopic surgery, allows for optimization of the surgical procedure through remote computer control technology.

[0005] In the process of performing surgery using a surgical robot system, the safety and efficiency of the robot system control are of paramount importance. Summary of the Invention

[0006] In some embodiments, this disclosure provides a control method for a robot system, the robot system including a base station and a motion arm disposed on the base station, the base station and / or the motion arm including at least one joint, the control method for the robot system including: obtaining the current pose of a remote motion center of the motion arm; obtaining the first pose relationship between the remote motion center of the motion arm and a control reference point of the motion arm; obtaining adjustment information of the motion arm; and calculating a control signal for at least one joint based on the current pose of the remote motion center of the motion arm, the first pose relationship, and the adjustment information, so as to control the motion arm to move relative to a fixed point.

[0007] In some embodiments, this disclosure provides a robot system including a base station; a motion arm disposed on the base station; and a control device connected to the base station and / or the motion arm for performing a control method for a robot system according to any one of the embodiments of this disclosure.

[0008] In some embodiments, this disclosure provides a computer-readable storage medium for storing at least one instruction, which, when executed by a computer, causes the computer to implement a control method for a robot system as described in any of some embodiments of this disclosure. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below. The accompanying drawings described below only show some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on the content of the embodiments of this disclosure and these drawings without creative effort.

[0010] Figure 1 shows a flowchart of a control method for a robot system according to some embodiments of the present disclosure.

[0011] Figure 2 shows a structural block diagram of a robot system according to some embodiments of the present disclosure.

[0012] Figure 3 shows a schematic diagram of the pose adjustment of a surgical connection device according to some embodiments of the present disclosure.

[0013] Figure 4A shows a schematic diagram of the posture adjustment of the surgical connection device in the cavity according to some embodiments of the present disclosure.

[0014] Figure 4B shows a schematic diagram of the posture adjustment of the surgical connection device within a cavity according to some embodiments of the present disclosure.

[0015] Figure 5 shows a schematic diagram of the structure of a robot system according to some embodiments of the present disclosure.

[0016] Figure 6 shows a schematic diagram of the structure of a robot system according to some other embodiments of the present disclosure.

[0017] Figure 7 shows a schematic diagram of kinematic modeling of a robot system according to some embodiments of the present disclosure.

[0018] Figure 8 illustrates a schematic diagram of fixed-point registration in a surgical robot system according to some embodiments of the present disclosure.

[0019] Figure 9 shows a schematic block diagram of a computer device according to some embodiments of the present disclosure. Detailed Implementation

[0020] To make the technical problems solved by this disclosure, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely exemplary embodiments of this disclosure, and not all embodiments.

[0021] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this disclosure, it should be noted that unless otherwise expressly specified and limited, the terms "installed," "connected," "coupled," and "coupled" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances. In this disclosure, the end closer to the operator (e.g., a doctor) is defined as the proximal end, proximal or rear end, or posterior end, and the end closer to the surgical patient is defined as the distal end, distal or anterior end, or anterior end. Those skilled in the art will understand that embodiments of this disclosure can be used in medical devices or surgical robots, as well as in other non-medical devices.

[0022] In this disclosure, the term "position" refers to the location of an object or part of an object in three-dimensional space (e.g., three translational degrees of freedom can be described using variations in Cartesian X, Y, and Z coordinates, such as three translational degrees of freedom along the Cartesian X, Y, and Z axes, respectively). In this disclosure, the term "pose" refers to the rotational setting of an object or part of an object (e.g., three rotational degrees of freedom, which can be described using roll, pitch, and yaw). In this disclosure, the term "pose" refers to a combination of the position and pose of an object or part of an object, which can be described, for example, using six parameters from the six degrees of freedom mentioned above. In this disclosure, the configuration or pose of a motion arm or part of it can be represented by a set of joint values ​​of the joints of the motion arm (e.g., a one-dimensional matrix of these joint values). In this disclosure, the joint values ​​of a joint can include the angle of rotation of the respective joint relative to the respective joint axis or the distance moved relative to an initial position. In this disclosure, a reference coordinate system can be understood as a coordinate system capable of describing the pose of an object. Depending on the actual positioning requirements, the reference coordinate system can be selected with either the origin of a virtual reference object or the origin of a physical reference object as the origin of the coordinate system.

[0023] Some embodiments of this disclosure provide a control method for a robotic system. FIG1 shows a flowchart of a control method 100 for a robotic system (hereinafter also referred to as "method 100") according to some embodiments of this disclosure. Method 100 may be implemented or performed at least in part by hardware, software, or firmware. In some embodiments, method 100 may be performed at least in part by a robotic system (e.g., robotic system 200 shown in FIG2, robotic system 500 shown in FIG5, robotic system 600 shown in FIG6, robotic system 700 shown in FIG7, or surgical robot system 800 shown in FIG8). In some embodiments, method 100 may be implemented as computer-readable instructions. These instructions may be read and executed by a general-purpose processor or a special-purpose processor (e.g., control device 230 shown in FIG2). For example, the control device of the robotic system (e.g., control device 230 shown in FIG2) may include a processor configured to perform method 100. In some embodiments, these instructions may be stored on a computer-readable medium.

[0024] Some embodiments of this disclosure provide a robot system. FIG2 shows a structural block diagram of a robot system 200 according to some embodiments of this disclosure. As shown in FIG2, the robot system 200 may include a base station 210, a motion arm 220, and a control device 230. The motion arm 220 may be mounted on the base station 210 for performing work tasks.

[0025] In some embodiments, the base station 210 may be a mobile platform with wheels at the bottom for wheeled movement, such as a steering wheel trolley, a differential trolley, an omnidirectional trolley, etc.

[0026] In some embodiments, the distal end of the motion arm 220 may be a telecentric motion mechanism that can determine the mechanical fixed point of the motion arm 220 and use this mechanical fixed point as the RCM (Remote Center of Motion) to allow the distal end of the motion arm 220 to rotate about the remote center of motion.

[0027] In some embodiments, the control device 230 may be connected to the base station 210 and / or the motion arm 220, for example, via a cable connection or a wireless connection. The control device 230 is used to execute control methods for robot systems (e.g., method 100) in some embodiments of this disclosure.

[0028] In some embodiments, the base station 210 and / or the motion arm 220 may include at least one joint, each joint may include a joint motor for driving the corresponding joint, driving the corresponding joint to rotate under the control of the control device 230, so that the motion arm 220 moves in space to form a desired configuration, thereby realizing the deployment and positioning of the motion arm 220. In this disclosure, positioning refers to the adjustment of the configuration of the motion arm 220 of the robot system 200 to achieve a positioning configuration in which the operation can be performed. In some embodiments, the positioning of the motion arm 220 may include the deployment, adjustment and positioning of the motion arm.

[0029] In some embodiments, the robot system 200 further includes a connection device (e.g., a surgical connection device) for docking with the motion arm 220. The connection device may include at least one sheath with a connecting portion for connecting the motion arm 220 to the sheath. The position of the connection device can be adjusted by the movement of the motion arm 220, such as clockwise, counterclockwise, upward, downward, clockwise, and counterclockwise rotation, or positional adjustments such as forward extension and backward retraction along the central axis of the connection device, to better perform the task. For example, in the preoperative preparation process for surgery using a surgical robot system, the surgical connection device (e.g., a sheath) is placed in an opening on the patient's body surface (e.g., an abdominal incision), and the motion arm is positioned so that its end cap docks with the surgical connection device. During the surgery, the surgical connection device can be adjusted by moving the arm to perform clockwise, counterclockwise, upward, downward, clockwise, and counterclockwise posture adjustments, or to perform forward and backward position adjustments along the central axis of the surgical connection device, thereby achieving the transfer of the surgical area and the adjustment of the surgical field.

[0030] Figure 3 shows a schematic diagram of the pose adjustment of the surgical connection device 310 according to some embodiments of the present disclosure. As shown in Figure 3, the surgical connection device 310 can be adjusted clockwise and counterclockwise around a first axis 321, tilted upward and downward around a second axis 322, rotated clockwise and counterclockwise around a third axis 323, or extended forward and retracted along the third axis 323. In some embodiments, the first axis 321 may be the z0 axis of the reference coordinate system {0} in some embodiments, and the second axis 322 may be the z0 axis of the reference coordinate system {0} cross product of the z0 axis of the reference coordinate system {0} and the control reference point coordinate system {CP} in some embodiments. CP The projection vector of the axis onto the x0-y0 plane of the reference coordinate system {0}, where the third axis 323 can be the z-axis of the control reference point coordinate system {CP} in some of the following embodiments. CPThe posture adjustment direction vectors for clockwise, counterclockwise, upward, downward, clockwise, and counterclockwise rotation of the surgical connection device 310, as well as the position adjustment direction vectors for forward and backward position adjustments, are described in detail in some of the following embodiments.

[0031] In some embodiments, when adjusting the posture of the surgical connector in a surgical robot system, the remote motion center of the surgical robot system's arm can be located at a specific position on the surgical connector. Furthermore, a fixed point, such as the center of the surgical connector's entry into the patient's incision (e.g., the center of the abdominal incision), is also located on the surgical connector. During adjustments to the arm and the surgical connector, rotation or longitudinal forward and backward movements are possible around the fixed point, but lateral movement is prohibited to avoid pulling on the patient's incision and causing a medical accident. The position of the fixed point in the world coordinate system remains unchanged; however, due to the movement of the arm, the distance or position of the remote motion center of the arm relative to the fixed point changes. Therefore, it is necessary to continuously update the distance or positional relationship between the remote motion center and the fixed point to constrain and control the movement of the arm.

[0032] Taking the attitude adjustment of the surgical connection device in a surgical robot system as an example:

[0033] Figure 4A shows a schematic diagram of the attitude adjustment of a surgical connector 410 according to some embodiments of the present disclosure. As shown in Figure 4A, the remote motion center 430 coincides with the fixed point (e.g., the center of the abdominal inlet) 420. When the attitude of the surgical connector (e.g., sheath) 410 in the surgical robot system is adjusted, the surgical connector 410 can be controlled to move around the remote motion center 430 on the surgical connector.

[0034] Figure 4B shows a schematic diagram of the posture adjustment of the surgical connection device 410 according to some embodiments of the present disclosure. As shown in Figure 4B, when the position of the surgical connection device 410 is adjusted (e.g., forward extension or retraction adjustment), the remote motion center 430 on the surgical connection device 410 may move away from the fixed point 420. If the posture of the surgical connection device 410 is directly adjusted based on the remote motion center 430 (e.g., clockwise, counterclockwise, upward tilt, downward tilt, clockwise rotation, counterclockwise rotation posture adjustment), it may pull on the opening on the patient's body surface, resulting in a safety hazard.

[0035] In the existing approach, after adjusting the position of the surgical connector 410 (e.g., forward or backward position adjustment) to change the distance of the surgical connector 410 into the patient's cavity, if the posture of the surgical connector 410 needs to be adjusted, the forward or backward position adjustment of the surgical connector 410 is required again to adjust the distance of the surgical connector 410 into the patient's cavity. This ensures that the remote motion center 430 on the surgical connector 410 is at the fixed point 420 before the posture of the surgical connector 410 is adjusted. After the posture adjustment of the surgical connector 410 is completed, the forward or backward position adjustment of the surgical connector 410 is performed again as needed to achieve the required surgical area and surgical field. This method is cumbersome and inefficient.

[0036] The control method for a robot system provided in this disclosure can be used to control the pose adjustment of a motion arm in a robot system relative to a spatial fixed point, wherein the position of the fixed point does not change during the pose adjustment process. In some embodiments, the fixed point can be any point or a designated point in space. For example, in a surgical robot system, the fixed point can be the center of an opening on the patient's body surface, such as the center of an abdominal incision. In some embodiments, by adjusting the pose of the motion arm relative to the fixed point, the connecting device docked to the motion arm can adjust its pose relative to the fixed point. In some embodiments, the fixed point can be registered before controlling the robot system to obtain its position. During the subsequent pose adjustment of the connecting device, the attitude can be adjusted around the fixed point. Moreover, after the connecting device has undergone position adjustments such as forward extension or backward retraction along the longitudinal direction of the connecting device (e.g., the central axis direction), the connecting device can still adjust its attitude around the fixed point. Detailed descriptions are provided in the following embodiments.

[0037] Those skilled in the art will understand that the robot system provided in this disclosure can be a surgical robot system (e.g., a laparoscopic surgical robot system). The robot system can also be a dedicated or general-purpose robot system for other fields (e.g., logistics, industrial manufacturing, etc.).

[0038] In some embodiments, the robot system 200 may include a base station 210 and a motion arm 220 disposed on the base station 210, wherein the base station 210 and / or the motion arm 220 may include at least one joint.

[0039] Those skilled in the art will understand that in some embodiments, the robot system 200 may further include multiple motion arms 220. The multiple motion arms 220 may be mounted on the same base station 210 or different base stations 210. The control methods for the robot system provided in some embodiments of this disclosure can adjust the pose of each of the multiple motion arms 220. This disclosure describes a robot system 200 including one motion arm 210 as an example, but the embodiments of this disclosure are not limited thereto.

[0040] Figure 5 shows a schematic diagram of the structure of a robot system 500 according to some embodiments of the present disclosure. As shown in Figure 5, the robot system 500 may include a base station 510 and a motion arm 520. The base station 510 and the motion arm 520 may include at least one joint, for example, joints 5111-5161 shown in Figure 5.

[0041] In some embodiments, as shown in FIG5, the motion arm 520 may include at least one arm body, such as the first horizontal arm 521, the second horizontal arm 522, the first arc arm 523, the second arc arm 524, and the third arc arm 525 shown in FIG5. In some embodiments, as shown in FIG5, at least one joint included in the base station 510 and the motion arm 520 may include: the lifting joint 5111 of the base station 510, and the first horizontal arm rotation joint 5121, the second horizontal arm rotation joint 5131, the first arc arm rotation joint 5141, the second arc arm rotation joint 5151, and the third arc arm rotation joint 5161 of the motion arm 520. The lifting joint 5111 is located between the main crossbeam 511 and the main column 512, and is used to lift the main crossbeam 511, thereby changing the position of the control point of the moving arm 520. The first horizontal arm rotation joint 5121 is connected between the main crossbeam 511 and the first horizontal arm 521. The second horizontal arm rotation joint 5131 is connected between the first horizontal arm 521 and the second horizontal arm 522. The first arc arm rotation joint 5141 is connected between the second horizontal arm 522 and the first arc arm 523. The second arc arm rotation joint 5151 is connected between the first arc arm 523 and the second arc arm 524. The third arc arm rotation joint 5161 is connected between the second arc arm 524 and the third arc arm 525.

[0042] Figure 6 shows a schematic diagram of the structure of a robot system 600 according to some other embodiments of the present disclosure. As shown in Figure 6, the robot system 600 may include a base station 610 and a motion arm 620. The motion arm 620 may include at least one joint, such as joints 6111-6161 shown in Figure 6.

[0043] In some embodiments, as shown in FIG6, the motion arm 620 may include at least one arm body, such as the first horizontal arm 621, the second horizontal arm 622, the vertical arm 623, the first arc arm 624, the second arc arm 625, and the third arc arm 626 shown in FIG6. In some embodiments, as shown in FIG6, at least one joint included in the motion arm 620 may include: a first horizontal arm rotation joint 6111, a second horizontal arm rotation joint 6121, a lifting joint 6131, a first arc arm rotation joint 6141, a second arc arm rotation joint 6151, and a third arc arm rotation joint 6161. The first horizontal arm rotation joint 6111 is used to connect the first horizontal arm 621 and the main crossbeam 611 of the base station 610; the second horizontal arm rotation joint 6121 is used to connect the second horizontal arm 622 and the first horizontal arm 621; the lifting joint 6131 is set on the vertical arm 623 and is used to realize the lifting and lowering of the control point of the moving arm 620; the first arc arm rotation joint 6141 is used to connect the vertical arm 623 and the first arc arm 624; the second arc arm rotation joint 6151 is used to connect the first arc arm 624 and the second arc arm 625; and the third arc arm rotation joint 6161 is used to connect the second arc arm 625 and the third arc arm 626.

[0044] Referring to Figure 1, in step 101, the current pose of the remote motion center of the motion arm is obtained.

[0045] Those skilled in the art will understand that the pose of the remote motion center of the motion arm (e.g., current pose, registered pose, etc.) involved in this disclosure should be understood as the pose of the remote motion center coordinate system of the motion arm with the remote motion center of the motion arm as the origin.

[0046] In some embodiments, the current pose of the remote center of motion of the robotic arm can be obtained based on the kinematic model of the robotic system.

[0047] Taking the robot system 500 shown in FIG5 as an example, FIG7 shows a kinematic modeling schematic diagram of a robot system 700 according to some embodiments of the present disclosure. Those skilled in the art will understand that joints 5111-5161 shown in FIG5 correspond to joints J1-J6 shown in FIG7, respectively.

[0048] In some embodiments, multiple coordinate systems can be constructed in the robot system 700, which may include a reference coordinate system {0}, a first coordinate system {1}, a second coordinate system {2}, a third coordinate system {3}, a fourth coordinate system {4}, a fifth coordinate system {5}, a sixth coordinate system {6}, a remote motion center coordinate system {7}, and a control reference point coordinate system {CP}. Figure 7 only illustrates the reference coordinate system {0} and the remote motion center coordinate system {7}. The specific definitions of the multiple coordinate systems in the robot system 700 are as follows:

[0049] Reference coordinate system {0}: The origin is located at the intersection of the ground and the axis of the second joint J2. The z0 axis is vertically upward, the x0 axis is along the extension direction of the main crossbeam 711, and the y0 axis is determined based on the x0 axis and the z0 axis using a right-hand rule.

[0050] First coordinate system {1}: The origin is located at the intersection of the lower surface of the main beam 711 and the axis of the second joint J2. The z1 axis is vertically upward, the x1 axis is along the extension direction of the main beam 711, and the y1 axis is determined based on the x1 and z1 axes using a right-hand rule. The first coordinate system {1} is a translation of the reference coordinate system {0} along the z0 axis by H. base +H 0column +q1, where H base H represents the height of the base 713 of the base station 710 (distance from the ground to the upper surface of the base 713). 0column q1 is the zero position height of the main column 711 of the base station 710 (the height from the upper surface of the base 713 to the lower surface of the main beam 711 when the main column 711 is at its lowest point), and q1 is the joint value of the first joint J1. The main column is raised and lowered, with vertical upward being positive, and q1 is 0 when the main column is at its lowest point.

[0051] The second coordinate system {2} has its origin coincident with the origin of the first coordinate system {1}. The z2 axis is vertically upward along the axis of the second joint J2, and the x2 axis points from the second joint J2 to the third joint J3 along the first horizontal arm. The y2 axis is determined based on the x2 and z2 axes using a right-hand rule. The second coordinate system {2} is the first coordinate system {1} rotated by q2 around the z2 axis, where q2 is the angle of the second joint J2. When the first horizontal arm is in the same direction as the main crossbeam 711 (i.e., x2 and x1 are in the same direction), q2 is defined as 0.

[0052] The third coordinate system {3} has its origin at the intersection of the axis of the third joint J3 and the upper surface of the second cross arm. The z3 axis is vertically upward along the axis of the third joint J3, the x3 axis is along the second cross arm from the third joint J3 to the fourth joint J4, and the y3 axis is determined by a right-hand rule based on the x3 and z3 axes. The third coordinate system {3} is the second coordinate system {2} translated by L1 along the x2 axis, translated by -H1 along the z2 axis, and then rotated by q3 around the z3 axis. Here, L1 is the length of the first cross arm (the distance between the axes of the second joint J2 and the third joint J3), H1 is the thickness of the first cross arm, and q3 is the angle of the third joint J3. When the second cross arm is in the same direction as the first cross arm (i.e., x3 and x2 are in the same direction), q3 is defined as 0.

[0053] The fourth coordinate system {4} has its origin at the remote motion center, the z4 axis is vertically upward along the axis of the fourth joint J4, the x4 axis is perpendicular to the plane containing the central arc of the first spherical link, the x4 axis direction is along the z5 cross product of the z4 direction, and the y4 axis is determined by the right-hand rule based on the x4 and z4 axes. The fourth coordinate system {4} is the third coordinate system {3} translated by L2 along the x3 axis, translated by -H2-R4 along the z3 axis, and then rotated by q4-π / 2 around the z4 axis. Here, L2 is the length of the second transverse arm (the distance between the axes of the third joint J3 and the fourth joint J4), H2 is the thickness of the second transverse arm, R4 is the radius of the first spherical link (the distance from the remote motion center to the lower surface of the second transverse arm), and q4 is the angle of the fourth joint J4. When the first spherical link extends along the second transverse arm (i.e., x4 rotates 90 degrees around the fourth joint J4 and is in the same direction as x3), q4 is defined as 0.

[0054] The fifth coordinate system {5} has its origin at the remote motion center, the z5 axis pointing upwards along the axis of the fifth joint J5, the x5 axis perpendicular to the plane containing the central arc of the second spherical link, the x5 axis direction along the z6 cross product of z5, and the y5 axis determined by the right-hand rule based on the x5 and z5 axes. The fifth coordinate system {5} is the fourth coordinate system {4} rotated by -α5 around the x4 axis and then rotated by q5 around the z5 axis, where α5 is the arc angle of the first spherical link (the angle between the axes of the fourth joint J4 and the fifth joint J5), q5 is the angle of the fifth joint J5, and q5 is defined as 0 when the two spherical links are fully extended (i.e., x5 and x4 are in the same direction).

[0055] The sixth coordinate system {6} has its origin at the remote motion center. The z6 axis points upward along the axis of the sixth joint J6, and the x6 axis is perpendicular to the plane containing the central arc of the third spherical link. The x6 axis direction is along the z6 cross product of z7. The y6 axis is determined by the right-hand rule based on the x6 and z6 axes. The sixth coordinate system {6} is the fifth coordinate system {5} rotated by -α6 around the x5 axis and then rotated by q6 around the z6 axis. Here, α6 is the arc angle of the second spherical link (the angle between the axes of the fifth joint J4 and the sixth joint J5), and q6 is the angle of the sixth joint J6. When the second spherical link and the spherical link on the linear module are unfolded and straightened (i.e., x6 and x5 are in the same direction), q6 is defined as 0.

[0056] Remote motion center coordinate system {7}: The origin is the remote motion center, the z7 axis points along the central axis of the connecting device in the feed direction of the connecting device, the x7 axis is in the same direction as the x6 axis, and the y7 axis is determined based on the x7 axis and the z7 axis using a right-hand rule. The remote motion center coordinate system {7} is the sixth coordinate system {6} rotated α7 around the x6 axis, where α7 is the angle between the axis of the sixth joint J6 and the central axis of the connecting device (along the feed direction of the connecting device).

[0057] Control reference point coordinate system {CP}: The origin is a control reference point coinciding with the fixed point. The control reference point coordinate system {CP} is parallel to the remote motion center coordinate system {7}. The control reference point coordinate system {CP} is the remote motion center coordinate system {7} translated RCM along the z7 axis. bias RCM bias Let be the distance between the fixed point and the remote motion center along the z7 axis of the coordinate system {7} of the remote motion center (hereinafter referred to as the fixed point distance).

[0058] In this disclosure, a fixed point is a fixed point in space, which can be any point or a designated point in space. For example, in some embodiments, for a surgical robot system, a fixed point can be the center of an opening on the patient's body surface, such as the center of an abdominal inlet.

[0059] In this disclosure, the control reference point of the motion arm is the actual control target point used during the motion arm control process, coinciding with the fixed point. During the control of the motion arm of the surgical robot, at the beginning of the control loop, the control reference point of the motion arm can be determined so that its position coincides with the fixed point and its posture is consistent with the posture of the remote motion center of the motion arm. During the control loop, the motion control of the motion arm in the robot system is determined by adjusting the position and posture of the control reference point. During the control loop, as the position and posture of the control reference point of the motion arm are adjusted, its position may change and deviate from the fixed point. Therefore, for a new control loop, the control reference point of the motion arm can be updated so that the updated control reference point coincides with the fixed point and its posture is consistent with the posture of the remote motion center of the motion arm, facilitating the start of a new control cycle.

[0060] In some embodiments, the kinematic model of the robot system can be constructed based on the DH parameter method or the exponential product representation method. For example, the coordinate systems in the robot system can be modeled to determine the transferable DH parameters between the coordinate systems in the robot system (e.g., reference coordinate system {0}, first coordinate system {1}, second coordinate system {2}, third coordinate system {3}, fourth coordinate system {4}, fifth coordinate system {5}, sixth coordinate system {6}, and remote motion center coordinate system {7}). The kinematic model of the robot system can be determined based on the transferable DH parameters between the coordinate systems.

[0061] As an example, in the robot system 700 shown in Figure 7, the transfer DH parameters between the reference coordinate system {0}, the first coordinate system {1}, the second coordinate system {2}, the third coordinate system {3}, the fourth coordinate system {4}, the fifth coordinate system {5}, the sixth coordinate system {6}, and the remote motion center coordinate system {7} are shown in Table 1:

[0062] Table 1. Transfer DH parameters between coordinate systems

[0063] In Table 1, a i-1 Let x be the coordinate system {i-1} i-1 The distance moved along the axis, α i-1 Let x be the x-axis around the coordinate system {i-1} i-1 The rotation angle of the axis, d i Let z be the coordinate system {i} i The distance moved along the axis, θ i For z around the coordinate system i The rotation angle of the axis.

[0064] Based on the DH parameters for coordinate system transfer in Table 1, the pose of coordinate system {i} relative to coordinate system {i-1} can be obtained. i-1 T i It can be expressed as shown in formula (1):

[0065] Based on formula (1), the kinematic model of the robot system shown in Figure 7 can be expressed as shown in formula (2): 0 T7 = 0 T1 1 T2 2 T3 3 T4 4 T5 5 T6 6 T7 (2)

[0066] in, 0 T7 represents the pose of the remote motion center coordinate system {7} relative to the reference coordinate system {0}.

[0067] In some embodiments, obtaining the current pose of the remote motion center of the motion arm may include obtaining the current joint value of at least one joint. For example, for the robot system shown in FIG7, the current joint values ​​of the first joint J1, the second joint J2, the third joint J3, the fourth joint J4, the fifth joint J5, and the sixth joint J6 can be obtained, corresponding to q1, q2, q3, q4, q5, and q6, respectively.

[0068] In some embodiments, the current pose of the remote motion center of the motion arm can be the pose of the remote motion center coordinate system of the motion arm relative to a reference coordinate system, for example, the pose of the remote motion center coordinate system {7} relative to the reference coordinate system {0}. 0T7. In some embodiments, obtaining the current pose of the remote motion center of the motion arm may further include: calculating the current pose of the remote motion center of the motion arm based on the current joint values ​​of at least one joint. For example, for the robot system shown in FIG7, the pose of the remote motion center coordinate system {7} relative to the reference coordinate system {0} can be calculated based on the current joint values ​​q1, q2, q3, q4, q5, and q6 of the first joint J1, the second joint J2, the third joint J3, the fourth joint J4, the fifth joint J5, and the sixth joint J6, as well as formulas (1) and (2). 0 T7.

[0069] Referring again to Figure 1, in step 103, the first pose relationship between the remote motion center of the motion arm and the control reference point of the motion arm is obtained.

[0070] Those skilled in the art will understand that the pose (e.g., current pose) of the control reference point of the motion arm involved in this disclosure should be understood as the pose of the coordinate system of the control reference point of the motion arm with the control reference point of the motion arm as the origin; the pose relationship (e.g., first pose relationship) between the remote motion center of the motion arm and the control reference point of the motion arm in this disclosure should be understood as the pose relationship between the coordinate system of the remote motion center of the motion arm with the remote motion center of the motion arm as the origin and the coordinate system of the control reference point of the motion arm with the control reference point of the motion arm as the origin.

[0071] In some embodiments, for each control cycle (e.g., at the beginning of each control cycle or at the end of the previous control cycle), the control reference point of the moving arm can be determined to have a position that coincides with the position of the fixed point and an attitude that is consistent with the attitude of the remote motion center of the moving arm.

[0072] In some embodiments, obtaining the first pose relationship between the remote motion center of the motion arm and the control reference point of the motion arm may include: obtaining the first pose relationship between the remote motion center of the motion arm and the control reference point of the motion arm based on the current pose of the remote motion center of the motion arm and the registered position of the fixed point.

[0073] In some embodiments, the current pose of the remote motion center of the motion arm can be the current pose of the remote motion center coordinate system of the motion arm relative to the reference coordinate system, for example, the pose of the remote motion center coordinate system {7} relative to the reference coordinate system {0}. 0 T7, 0 T7 can be obtained through formula (2). 0 T7 can be expressed as shown in formula (3):

[0074] in, 0 R7 represents the attitude of the remote motion center coordinate system {7} relative to the reference coordinate system {0}.0 p7 represents the position of the remote motion center coordinate system {7} relative to the reference coordinate system {0}.

[0075] In some embodiments, such as for each control loop, the control reference point of the motion arm can be determined to have its position coincide with the position of the fixed point and its posture consistent with the posture of the remote motion center of the motion arm. Alternatively, the current pose of the control reference point of the motion arm can be obtained based on the current pose of the remote motion center of the motion arm and the registered position of the fixed point. In some embodiments, the current pose of the remote motion center of the motion arm can be the current pose of the remote motion center coordinate system of the motion arm relative to the reference coordinate system (e.g., the pose of the remote motion center coordinate system {7} relative to the reference coordinate system {0}). 0 T7), the registered position of the fixed point can be the position of the fixed point in the reference coordinate system (for example, the position of the fixed point in the reference coordinate system {0} can be denoted as T7). 0 p G The current pose of the control reference point of the motion arm can be the current pose of the control reference point coordinate system relative to the reference coordinate system. For example, the current pose of the control reference point coordinate system {CP} relative to the reference coordinate system {0}. 0 T CP , 0 T CP This can be represented as shown in formula (4):

[0076] in, 0 p G The registered position of the fixed point indicates the position of the fixed point in the reference coordinate system {0}.

[0077] In some embodiments, the first pose relationship between the remote motion center and the control reference point of the motion arm can be obtained based on the current pose of the remote motion center and the current pose of the control reference point. This first pose relationship can be expressed as the pose of the control reference point coordinate system relative to the remote motion center coordinate system, for example, the pose of the control reference point coordinate system {CP} relative to the remote motion center coordinate system {7}. 7 T CP , 7 T CP This can be represented as shown in formula (5):

[0078] in, for 0 The inverse matrix of T7, 0 T7 can be obtained through formula (2).

[0079] In some embodiments, method 100 further includes outputting the fixed-point distance. For example, the fixed-point distance can be displayed on a monitor for operator reference. The fixed-point distance is the current distance along the longitudinal axis between the remote motion center coordinate system of the moving arm and the control reference point coordinate system of the moving arm. In some embodiments, the pose of the control reference point coordinate system of the moving arm relative to the remote motion center coordinate system of the moving arm can be obtained. For example, the pose of the control reference point coordinate system {CP} relative to the remote motion center coordinate system {7} can be obtained based on formula (5). 7 T CP Based on the pose of the control reference point coordinate system of the motion arm relative to the remote motion center coordinate system of the motion arm, the current distance between the remote motion center coordinate system and the control reference point coordinate system of the motion arm along the longitudinal coordinate axis can be obtained, i.e., the fixed point distance, which can be expressed as RCM. bias RCM bias RCM can be obtained through formula (6): bias = 7 T CP (3,4) (6)

[0080] in, 7 T CP (3,4) represents the matrix 7 T CP The element in the 3rd row and 4th column.

[0081] In some embodiments, method 100 may further include registering fixed points for robot system control to obtain the registered positions of the fixed points.

[0082] In some embodiments, obtaining the registered position of the fixed point includes determining the registered position of the fixed point based on the registered pose of the remote motion center of the motion arm and the registered distance of the fixed point. The registered pose of the remote motion center of the motion arm can be the pose of the remote motion center of the motion arm when the motion arm moves to the registered state. The registered distance of the fixed point can be the distance of the fixed point relative to the remote motion center of the motion arm along the longitudinal coordinate axis direction of the remote motion center coordinate system of the motion arm (e.g., the z7 axis of the remote motion center coordinate system {7}) when the motion arm moves to the registered state. Those skilled in the art will understand that the registered state refers to the state in which the motion arm moves to a ready configuration and can perform operations (e.g., surgical operations).

[0083] In some embodiments, the robot system further includes a connection device for docking with the motion arm. Method 100 may include controlling the motion arm to move to a registered state, whereby the motion arm docks with the connection device in the registered state. In some embodiments, method 100 may include obtaining the registered pose of the remote motion center of the motion arm using the registered joint values ​​of at least one joint. The registered joint value of at least one joint is the joint value corresponding to at least one joint when the motion arm moves to the registered state. In some embodiments, obtaining the registered pose of the remote motion center of the motion arm may include: obtaining the registered joint values ​​of at least one joint; and calculating the registered pose of the remote motion center of the motion arm based on the registered joint values ​​of at least one joint. This is similar to obtaining the current pose of the remote motion center of the motion arm in some of the above embodiments, and will not be repeated here. In some embodiments, the registered pose of the remote motion center of the motion arm may be the registered pose of the remote motion center coordinate system of the motion arm relative to a reference coordinate system, for example, the registered pose of the remote motion center coordinate system {7} relative to the reference coordinate system {0}, which can be represented as...

[0084] In some embodiments, the connecting device for docking with the motion arm may be marked with scale. After the motion arm docks with the connecting device, a first position of the connecting device coincides with the remote motion center of the motion arm, and this first position is marked as scale 0. Using scale 0 of the connecting device as a reference point, scale lines can be printed on the connecting device at predetermined intervals (e.g., equal or unequal intervals), and each scale line is marked based on its axial distance from the remote motion center of the motion arm. The scale lines on the connecting device may be pre-set.

[0085] In some embodiments, method 100 may include obtaining the registered distance of the fixed point through an initial scale reading of the fixed point. In some embodiments, the robot system further includes a connection device for docking with a motion arm, the connection device having at least one scale line, and method 100 may include: controlling the motion arm to move to a registered state, the motion arm docking with the connection device in the registered state; and obtaining an initial scale reading based on the scale line on the connection device and the fixed point in the registered state. Those skilled in the art will understand that the registered state can be the initial state of the robot system after the motion arm docks with the connection device, and in this initial state, there is a scale line on the connection device aligned with the fixed point, thereby allowing the initial scale reading to be obtained based on the position of the scale line on the connection device and the fixed point.

[0086] Figure 8 illustrates a schematic diagram of fixed-point registration in a surgical robot system 800 according to some embodiments of the present disclosure. For the surgical robot system 800, the center of the abdominal inlet 820 on the patient's body surface can be used as the fixed point. A surgical connector 810 (e.g., a sheath) can be connected to the abdominal inlet 820 on the patient's body surface, and the insertion depth of the surgical connector 810 can be adjusted. The fixed point is aligned with a scale line 840 on the surgical connector 810. By adjusting the position of the motion arm 850, the end of the motion arm 850 is docked with the surgical connector 810, and the motion arm 850 is in a registered state. In the registered state, the remote motion center 830 on the surgical connector 810 can be located within the patient's abdominal cavity and at a certain distance from the abdominal inlet 820. In some embodiments, the registered distance of the fixed point can be obtained by the scale reading of the scale line on the surgical connector 810 aligned with the fixed point.

[0087] In some embodiments, the registered pose of the control reference point of the motion arm can be determined based on the registered pose of the remote motion center of the motion arm and the registered distance of the fixed point. The registered position of the fixed point can also be determined based on the registered pose of the control reference point of the motion arm. In some embodiments, when the motion arm moves to the registered state, the positions of the control reference point and the fixed point coincide and their postures are consistent with the postures of the remote motion center of the motion arm. Furthermore, the coordinate system of the remote motion center of the motion arm is parallel to the coordinate system of the control reference point of the motion arm. The registered pose relationship between the remote motion center of the motion arm and the control reference point of the motion arm can be obtained based on the registered distance of the fixed point. This relationship can be expressed as the registered pose of the control reference point coordinate system relative to the remote motion center coordinate system of the motion arm. For example, the registered pose of the control reference point coordinate system {CP} relative to the remote motion center coordinate system {7}. This can be represented as shown in formula (7):

[0088] in, The registration distance of the fixed point.

[0089] In some embodiments, the registered pose of the control reference point of the motion arm can be determined based on the registered pose of the remote motion center of the motion arm and the registered pose relationship between the remote motion center of the motion arm and the control reference point of the motion arm. The registered pose of the control reference point of the motion arm can be the registered pose of the control reference point coordinate system relative to the reference coordinate system, for example, the registered pose of the control reference point coordinate system {CP} relative to the reference coordinate system {0}. This can be represented as shown in formula (8):

[0090] in, The registered pose of the remote motion center coordinate system {7} relative to the reference coordinate system {0}. To control the registered pose of the reference point coordinate system {CP} relative to the remote motion center coordinate system {7} To control the registered attitude of the reference point coordinate system {CP} relative to the reference coordinate system {0}, To control the registration position of the reference point coordinate system {CP} relative to the reference coordinate system {0}.

[0091] In some embodiments, the registered pose of the control reference point of the motion arm includes the registered position of the control reference point of the motion arm (e.g., the registered position of the control reference point coordinate system {CP} relative to the reference coordinate system {0}). The registered position of the fixed point coincides with the registered position of the control reference point of the motion arm. Therefore, the registered position of the fixed point (e.g., the position of the fixed point in the reference coordinate system {0}) can be obtained based on the registered position of the control reference point of the motion arm. 0 p G For example, the registered position of the control reference point coordinate system {CP} relative to the reference coordinate system {0} can be determined based on... Obtain the position of the fixed point in the reference coordinate system {0} 0 p G ,

[0092] Referring again to Figure 1, in step 105, the adjustment information of the moving arm is obtained.

[0093] In some embodiments, the configuration of the motion arm can be adjusted during the operation of the robotic system to better perform the task. For example, in a surgical robot system, during surgery, the motion arm can be used to adjust the surgical connection device (e.g., sheath) to perform various modes of motion, such as: clockwise motion, counterclockwise motion, upward motion, downward motion, clockwise rotation, counterclockwise rotation, and other posture adjustment motion modes, as well as forward extension motion, backward retraction, and other position adjustment motion modes, to achieve the transfer of surgical area and adjustment of surgical field. Specific details are provided in the following embodiments.

[0094] In some embodiments, the adjustment information includes attitude adjustment information of the control reference point of the motion arm and / or position adjustment information of the control reference point of the motion arm.

[0095] In some embodiments, the robot system includes a connection device for docking with a motion arm, and the pose adjustment (e.g., attitude adjustment and / or position adjustment) of the control reference point of the motion arm is reflected as the pose adjustment (e.g., attitude adjustment and / or position adjustment) of the connection device docked with the motion arm. Therefore, the attitude adjustment information and / or position adjustment information of the control reference point of the motion arm may include the motion mode of the connection device.

[0096] Those skilled in the art will understand that the pose adjustment (e.g., posture adjustment and / or position adjustment) of the control reference point of the motion arm involved in this disclosure should be understood as the pose adjustment of the coordinate system of the control reference point of the motion arm with the control reference point of the motion arm as the origin.

[0097] In some embodiments, the motion modes of the connecting device include a posture adjustment motion mode and a position adjustment motion mode. Correspondingly, the posture adjustment information of the control reference point of the motion arm includes the posture adjustment motion mode of the connecting device, and the position adjustment information of the control reference point of the motion arm includes the position adjustment motion mode of the connecting device. In some embodiments, the posture adjustment motion mode of the connecting device includes clockwise motion, counterclockwise motion, upward motion, downward motion, clockwise rotational motion, and counterclockwise rotational motion of the connecting device around a stationary point. In some embodiments, the position adjustment motion mode of the connecting device includes forward extension motion, backward retraction motion, etc., of the connecting device along the axial direction of the connecting device. In some embodiments, the motion mode of the connecting device can be obtained based on the operator's operation information.

[0098] Referring again to Figure 1, in step 107, based on the current pose of the remote motion center of the motion arm, the first pose relationship, and the adjustment information, a control signal for at least one joint is calculated to control the motion of the motion arm relative to the fixed point.

[0099] In some embodiments, the adjustment information includes attitude adjustment information and / or position adjustment information of the control reference point of the motion arm, as specifically described in some of the above embodiments. Method 100 may include obtaining the target angular velocity and / or target linear velocity of the control reference point of the motion arm based on the attitude adjustment information and / or position adjustment information.

[0100] Those skilled in the art will understand that the target angular velocity and / or target linear velocity of the control reference point of the motion arm involved in this disclosure should be understood as the target angular velocity and / or target linear velocity of the control reference point coordinate system of the motion arm with the control reference point of the motion arm as the origin. For example, in some embodiments, the target angular velocity of the control reference point of the motion arm can be the target angular velocity of the control reference point coordinate system of the motion arm relative to the reference coordinate system. For example, the target angular velocity of the control reference point coordinate system {CP} relative to the reference coordinate system {0} can be expressed as follows:0 ω CP The target linear velocity of the control reference point of the motion arm can be the target linear velocity of the control reference point coordinate system relative to the reference coordinate system. For example, the target linear velocity of the control reference point coordinate system {CP} relative to the reference coordinate system {0} can be expressed as... 0 v CP .

[0101] In some embodiments, obtaining the target angular velocity of the control reference point of the motion arm may include obtaining the attitude adjustment direction vector of the control reference point of the motion arm based on attitude adjustment information.

[0102] In some embodiments, obtaining the target linear velocity of the control reference point of the motion arm may include obtaining the position adjustment direction vector of the control reference point of the motion arm based on position adjustment information.

[0103] In some embodiments, the attitude adjustment direction vector of the control reference point of the motion arm may include the attitude adjustment direction vector of the control reference point of the motion arm in the reference coordinate system (e.g., reference coordinate system {0}) during the attitude adjustment motion mode of the connecting device. In some embodiments, the position adjustment direction vector of the control reference point of the motion arm may include the position adjustment direction vector of the control reference point of the motion arm in the reference coordinate system (e.g., reference coordinate system {0}) during the position adjustment motion mode of the connecting device.

[0104] In some embodiments, the longitudinal coordinate axis (e.g., z-axis) of the control reference point coordinate system of the motion arm can be obtained based on the current pose of the control reference point coordinate system (e.g., control reference point coordinate system {CP}) in the reference coordinate system (e.g., reference coordinate system {0}). CP The direction of the axis in the reference coordinate system can be denoted as [z]. x ,z y ,z z ] T This allows us to define the attitude adjustment direction vector and / or position adjustment direction vector of the control reference point of the motion arm in the reference coordinate system (e.g., reference coordinate system {0}) for each motion mode of the connecting device:

[0105] In clockwise motion mode, the connecting device can rotate in a first direction around a first axis (e.g., the first axis 321 shown in Figure 3). The attitude adjustment direction vector of the control reference point of the moving arm in the reference coordinate system (e.g., reference coordinate system {0}) is consistent with the direction vector of the first direction, which can be expressed as shown in formula (9): d cw =-[0,0,1] T (9)

[0106] In counter-clockwise motion mode, the connecting device can rotate in a second direction around a first axis (e.g., the first axis 321 shown in Figure 3). The attitude adjustment direction vector of the control reference point of the moving arm in the reference coordinate system (e.g., reference coordinate system {0}) is consistent with the direction vector of the second direction, which can be expressed as shown in formula (10): d ccw =[0,0,1] T (10)

[0107] In the upward motion mode, the connecting device can rotate in three directions around the second axis (e.g., the second axis 322 shown in Figure 3). The attitude adjustment direction vector of the control reference point of the motion arm in the reference coordinate system (e.g., reference coordinate system {0}) is consistent with the direction vector of the third direction, which can be expressed as shown in formula (11): d pup =-d up ×d fwd (11)

[0108] In the downward motion mode, the connecting device can rotate in a fourth direction around the second axis (e.g., the second axis 322 shown in Figure 3). The attitude adjustment direction vector of the control reference point of the moving arm in the reference coordinate system (e.g., reference coordinate system {0}) is consistent with the direction vector of the fourth direction, which can be expressed as shown in formula (12): d pdown =d up ×d fwd (12)

[0109] Where, d up Let d be the direction vector of the z0 axis in the reference coordinate system {0}. fwd To control the z-axis of the reference point coordinate system {CP} CP The projection vector of the axis onto the x0-y0 plane in the reference coordinate system {0}, d up =[0,0,1] T d fwd =[z x ,z y ,0] T / ||[z x ,z y ,0] T ||;

[0110] In clockwise rotation mode, the connecting device can rotate in the fifth direction around the third axis (e.g., the third axis 323 shown in Figure 3). The attitude adjustment direction vector of the control reference point of the moving arm in the reference coordinate system (e.g., reference coordinate system {0}) is consistent with the direction vector of the fifth direction, which can be expressed as shown in formula (13): d rollp =[z x ,z y,z z ] T (13)

[0111] In the reverse rotation mode, the connecting device can rotate in the sixth direction around the third axis (e.g., the third axis 323 shown in Figure 3). The attitude adjustment direction vector of the control reference point of the moving arm in the reference coordinate system (e.g., reference coordinate system {0}) is consistent with the direction vector of the sixth direction, which can be expressed as shown in formula (14): d rollm =-[z x ,z y ,z z ] T (14)

[0112] In the forward extension mode, the connecting device can move along the third axis (e.g., the third axis 323 shown in Figure 3) in the seventh direction. The position adjustment direction vector of the control reference point of the moving arm in the reference coordinate system (e.g., reference coordinate system {0}) is consistent with the direction vector of the seventh direction, which can be expressed as shown in formula (15): d in =[z x ,z y ,z z ] T (15)

[0113] In the backward movement mode, the connecting device can move in the eighth direction along the third axis (e.g., the third axis 323 shown in Figure 3). The position adjustment direction vector of the control reference point of the moving arm in the reference coordinate system (e.g., reference coordinate system {0}) is consistent with the direction vector of the eighth direction, which can be expressed as shown in formula (16): d out =-[z x ,z y ,z z ] T (16)

[0114] In some embodiments, obtaining the target angular velocity of the control reference point may further include obtaining the target angular velocity of the control reference point based on the magnitude of the angular velocity and the attitude adjustment direction vector of the control reference point of the moving arm. The attitude adjustment direction vector can be denoted as d (e.g., d cw d ccw d pup d pdown d rollp d rollm The magnitude of the angular velocity for attitude adjustment can be the angular velocity of the control reference point of the moving arm rotating based on the attitude adjustment direction vector d. The magnitude of the angular velocity for attitude adjustment can be preset and can be denoted as ω. adjThe target angular velocity of the control reference point can be obtained based on formula (17): 0 ω CP =ω adj d (17)

[0115] In some embodiments, obtaining the target linear velocity of the control reference point may further include obtaining the target linear velocity of the control reference point based on the magnitude of the linear velocity and the position adjustment direction vector of the control reference point of the moving arm. in d out The linear velocity of the position adjustment can be the linear velocity of the movement of the control reference point of the moving arm based on the position adjustment direction vector d. The magnitude of the linear velocity of the position adjustment can be preset and can be denoted as v. adj The target linear velocity of the control reference point can be obtained based on formula (18): 0 v CP =v adj d (18)

[0116] Those skilled in the art will understand that during the control of a surgical robot system, the movement of the motion arm and surgical connecting device is constrained by adjusting the position direction vector. This allows the motion arm and surgical connecting device to move longitudinally (e.g., forward or backward) but not laterally, so as not to pull on the opening on the patient's body surface and cause a medical accident.

[0117] In some embodiments, method 100 may include calculating the target angular velocity and / or target linear velocity of the remote motion center of the motion arm based on the current pose of the remote motion center of the motion arm, the first pose relationship, and the target angular velocity and / or target linear velocity of the control reference point of the motion arm.

[0118] Those skilled in the art will understand that the target angular velocity and / or target linear velocity of the remote motion center of the motion arm involved in this disclosure should be understood as the target angular velocity and / or target linear velocity of the coordinate system of the remote motion center of the motion arm with the remote motion center of the motion arm as the origin.

[0119] In some embodiments, the target angular velocity of the remote motion center of the motion arm can be calculated based on the target angular velocity of the control reference point of the motion arm. In some embodiments, the target angular velocity of the control reference point of the motion arm can be the target angular velocity of the control reference point coordinate system relative to the reference coordinate system. For example, the target angular velocity of the control reference point coordinate system {CP} relative to the reference coordinate system {0} can be expressed as follows: 0 ω CPThe target angular velocity of the remote motion center of the motion arm can be the target angular velocity of the remote motion center coordinate system relative to the reference coordinate system. For example, the target angular velocity of the remote motion center coordinate system {7} relative to the reference coordinate system {0} can be expressed as: 0 ω7. In some implementations, the target angular velocity of the remote motion center of the motion arm is consistent with the target angular velocity of the control reference point of the motion arm; for example, the target angular velocity of the remote motion center coordinate system {7} relative to the reference coordinate system {0}. 0 ω7 and the target angular velocity relative to the control reference point coordinate system {CP} and the reference coordinate system {0} 0 ω CP Consistency can be expressed as shown in formula (19): 0 ω7= 0 ω CP (19)

[0120] In some embodiments, the target linear velocity of the remote motion center of the motion arm can be calculated based on the current pose of the remote motion center of the motion arm, the first pose relationship, and the target angular velocity and target linear velocity of the control reference point of the motion arm.

[0121] In some embodiments, the current pose of the remote motion center of the motion arm may include the current position and current orientation of the remote motion center of the motion arm. Since the orientation of the control reference point of the motion arm is consistent with the orientation of the remote motion center of the motion arm, the current orientation of the control reference point of the motion arm can be obtained.

[0122] In some embodiments, the current pose of the remote motion center of the motion arm can be the pose of the remote motion center coordinate system of the motion arm relative to a reference coordinate system, such as the pose of the remote motion center coordinate system {7} relative to the reference coordinate system {0}. 0 T7, 0 T7 can be represented as shown in formula (3).

[0123] The current pose of the control reference point of the motion arm can be the pose of the control reference point coordinate system relative to the reference coordinate system. For example, the pose of the control reference point coordinate system {CP} relative to the reference coordinate system {0}. 0 R CP , 0 R CP It can be obtained based on formula (20): 0 R CP = 0 R7 (20)

[0124] In some embodiments, the first pose relationship between the remote center of motion of the motion arm and the control reference point of the motion arm can be the pose of the control reference point coordinate system of the motion arm relative to the remote center of motion coordinate system of the motion arm. For example, the pose of the control reference point coordinate system {CP} relative to the remote center of motion coordinate system {7}. 7 T CP , 7 T CP This can be represented as shown in formula (21):

[0125] in, 7 R CP To control the attitude of the reference point coordinate system {CP} relative to the remote motion center coordinate system {7}, 7 p CP To control the position of the reference point coordinate system {CP} relative to the remote motion center coordinate system {7}.

[0126] In some embodiments, the target linear velocity of the remote motion center of the motion arm can be calculated based on the current posture of the control reference point of the motion arm, the position of the control reference point coordinate system relative to the remote motion center coordinate system of the motion arm, the first pose relationship between the remote motion center and the control reference point, and the target angular velocity and target linear velocity of the control reference point. In some embodiments, the target linear velocity of the control reference point can be the target linear velocity of the control reference point coordinate system relative to the reference coordinate system. For example, the target linear velocity of the control reference point coordinate system {CP} relative to the reference coordinate system {0} can be expressed as... 0 v CP The target linear velocity of the remote center of motion of the motion arm can be the target linear velocity of the remote center of motion coordinate system of the motion arm relative to the reference coordinate system. For example, the target linear velocity of the remote center of motion coordinate system {7} relative to the reference coordinate system {0} can be expressed as: 0 v7, 0 v7 can be obtained based on formula (22):

[0127] In some embodiments, method 100 may include calculating control signals for at least one joint based on the target angular velocity and / or target linear velocity of the remote motion center of the motion arm.

[0128] In some embodiments, calculating the joint control signal may include: determining the joint value and joint velocity based on the target angular velocity and / or target linear angular velocity of the remote motion center of the moving arm; and determining the drive control signal for the joint motor based on the joint value and joint velocity. In some embodiments, the joint motor may be located at the joint it drives. The control device 230 of the surgical robot 200 may drive the joint motor based on the drive control signal of the joint motor, so that the joint motor drives its corresponding joint to move according to the determined joint value and joint velocity. Based on this, the remote motion center of the moving arm can achieve the target angular velocity and / or target linear velocity, thereby adjusting the pose of the remote motion center and thus adjusting the pose of the moving arm relative to the fixed point.

[0129] As an example, for the robot system shown in Figure 5, based on kinematic modeling, the target linear velocity and target angular velocity of the remote center of motion are expressed as […]. 0 v7 0 ω7] T The joint velocities of joints 5111-5161 shown in Figure 5 are expressed as follows: Formula (23) can be obtained:

[0130] in: J 11 =[J v1 J v2 J v3 ], J 21 =[J w1 J w2 J w3 ], J 22 =[J w4 J w5 J w6 ] J w1 =[0,0,0] T

[0131] in, Let {i} be the orientation of coordinate system {i} relative to reference coordinate system {0}. z is the coordinate system {i} i Axial direction, Let {i+1} be the position of coordinate system {i} relative to coordinate system {i}.

[0132] After determining the target linear velocity and target angular velocity of the remote center of motion of the motion arm, the joint velocity of at least one joint can be calculated using the Jacobian inverse. In some embodiments, the joint velocity of at least one joint can be determined based on the target angular velocity and / or target linear angular velocity of the remote center of motion of the motion arm using the following formulas (24) and (25):

[0133] In some embodiments, when J 11 or J 22 When the rank is not full (corresponding to the motion arm being in a singular configuration), or A damped pseudo-inverse matrix can be used instead. In some embodiments, solving equation (23) can be transformed into solving the following equation (26):

[0134] in,

[0135] Let J satisfy formula (27):

[0136] Then, the damped pseudo-inverse matrix This can be represented as shown in formula (28):

[0137] In some embodiments, a singularity threshold σ can be defined. threshold When the minimum singular value of J is less than the singular value threshold σ threshold When (approaching singular configuration), use a damped pseudo-inverse matrix. Solve for formula (26) When the minimum singular value of J is not less than the singular value threshold σ threshold When using the inverse matrix J -1 Solve for formula (26) This can be expressed as shown in formula (29):

[0138] In some embodiments, joint values ​​can be determined based on joint velocities. In some embodiments, joint values ​​can be determined based on joint velocities using the following formula (30):

[0139] Where q is the joint value of the joint in the current control cycle, q prev dt represents the joint value of the joint in the previous control cycle, and dt represents the control cycle.

[0140] In some embodiments, for the robot system 500 shown in FIG5, method 100 may include: determining the joint values ​​and joint velocities of the lifting joint 5111 of the base station 510, the first transverse arm rotation joint 5121, and the second transverse arm rotation joint 5131 of the robot arm 520 based on the target linear velocity of the remote center of motion of the robot arm; and determining the first arc arm rotation joint 5141, the second arc arm rotation joint 5151, and the third arc arm rotation joint 5131 of the robot arm 520 based on the joint velocities of the lifting joint 5111 of the base station 510, the first transverse arm rotation joint 5121, and the second transverse arm rotation joint 5131 of the robot arm 520, and the target angular velocity of the remote center of motion of the robot arm 520. The joint values ​​and joint speeds of the arm rotation joint 5161; and the joint values ​​and joint speeds of the lifting joint 5111 of the base station 510, the first horizontal arm rotation joint 5121, the second horizontal arm rotation joint 5131, the first arc arm rotation joint 5141, the second arc arm rotation joint 5151, and the third arc arm rotation joint 5161 of the moving arm 520, to determine the drive control commands for the joint motors of the lifting joint 5111 of the base station 510, the first horizontal arm rotation joint 5121, the second horizontal arm rotation joint 5131, the first arc arm rotation joint 5141, the second arc arm rotation joint 5151, and the third arc arm rotation joint 5161 of the moving arm 520.

[0141] In some embodiments, for the robot system 600 shown in FIG6, method 100 may include: determining the joint values ​​and joint velocities of the first transverse arm rotation joint 6121, the second transverse arm rotation joint 6122, and the lifting joint 6123 of the motion arm 620 based on the target linear velocity of the remote center of motion of the motion arm; and determining the first arc arm rotation joint 6141, the second arc arm rotation joint 6151, and the third arc arm rotation joint 6123 of the motion arm 620 based on the joint velocities of the first transverse arm rotation joint 6121, the second transverse arm rotation joint 6122, and the lifting joint 6123, and the target angular velocity of the remote center of motion of the motion arm 620. The joint values ​​and joint velocities of the arm rotation joint 6161; and the joint values ​​and joint velocities of the first horizontal arm rotation joint 6121, the second horizontal arm rotation joint 6122, the lifting joint 6123, the first arc arm rotation joint 6141, the second arc arm rotation joint 6151, and the third arc arm rotation joint 6161 of the motion arm 620, to determine the drive control commands for the joint motors of the first horizontal arm rotation joint 6121, the second horizontal arm rotation joint 6122, the lifting joint 6123, the first arc arm rotation joint 6141, the second arc arm rotation joint 6151, and the third arc arm rotation joint 6161 of the motion arm 620.

[0142] In some embodiments, the robot system 200 may further include at least one auxiliary arm, which may be mounted on the base station 210. The control device 230 may be connected to the at least one auxiliary arm, for example, via a cable or wirelessly. The control device 230 may control the coordinated movement of the motion arm 220 and the at least one auxiliary arm.

[0143] In some embodiments, the motion arm 220 may be a single arm, and at least one auxiliary arm may be multiple arms. For example, a surgical robot system may include a single motion arm and multiple auxiliary arms. The motion arm may be a vision arm for carrying an image acquisition device (e.g., an endoscope), and the auxiliary arms may be tool arms for carrying surgical instruments.

[0144] In some embodiments, the motion arm 220 may be similar to some of the embodiments described above. At least one auxiliary arm may have the same or similar structure as the motion arm 220, and the at least one auxiliary arm may include at least one joint. The distal end of the auxiliary arm may be a telecentric motion mechanism that can determine the remote center of motion of the auxiliary arm to allow the distal end of the auxiliary arm to rotate about the remote center of motion.

[0145] In some embodiments, the robot system 200 further includes a connection device (e.g., a surgical connection device) for docking with the motion arm 220 and at least one auxiliary arm. The connection device may include a plurality of sheaths, each sheath having a corresponding connection portion for connecting the motion arm 220 and at least one auxiliary arm to the sheath respectively, and constraining the relative pose relationship between the remote motion center of the motion arm 220 and the remote motion center of the at least one auxiliary arm.

[0146] In some embodiments, the control method for a robot system may include: calculating control signals for a plurality of joints of at least one auxiliary arm based on the current pose of the remote kinematic center of the motion arm, a first pose relationship, adjustment information, and a second pose relationship between the remote kinematic center of the motion arm and the remote kinematic center of at least one auxiliary arm, so as to control the motion of at least one auxiliary arm relative to a fixed point, and the remote kinematic center of the motion arm and the remote kinematic center of at least one auxiliary arm maintain the second pose relationship.

[0147] In some embodiments, similar to some of the embodiments described above, the target angular velocity and / or target linear velocity of the remote motion center of the motion arm can be calculated based on the current pose, first pose relationship, and adjustment information of the remote motion center of the motion arm.

[0148] In some embodiments, the target angular velocity and / or target linear velocity of the remote motion center of the at least one auxiliary arm can be calculated based on the target angular velocity and / or target linear velocity of the remote motion center of the motion arm and the second pose relationship between the remote motion center of the motion arm and the remote motion center of at least one auxiliary arm.

[0149] In some embodiments, similar to some of the embodiments described above, control signals for at least one joint of the motion arm can be calculated based on the target angular velocity and / or target linear velocity of the remote motion center of the motion arm. Control signals for at least one joint of at least one auxiliary arm can be calculated based on the target angular velocity and / or target velocity of the remote motion center of at least one auxiliary arm.

[0150] In some embodiments, the motion arm and at least one auxiliary arm may each include at least one joint, and the robot system may include at least one joint motor for driving at least one joint. In some embodiments, similar to some of the embodiments described above, the joint values ​​and joint velocities of at least one joint of the motion arm can be determined based on the target angular velocity and / or target linear velocity of the remote center of motion of the motion arm, and the drive control signal for at least one joint motor of the motion arm can be determined based on the joint values ​​and joint velocities of the at least one joint of the motion arm. Similarly, the joint values ​​and joint velocities of at least one joint of the auxiliary arm can be determined based on the target angular velocity and / or target linear velocity of the remote center of motion of the auxiliary arm, and the drive control signal for at least one joint motor of the auxiliary arm can be determined based on the joint values ​​and joint velocities of the at least one joint of the auxiliary arm.

[0151] Those skilled in the art will understand that the control method for a robot system provided in this disclosure may include multiple control loops. During the execution of a task by the robot system, the position of the fixed point is fixed. Only one registration operation is needed for the fixed point used for robot system control before the task is executed to obtain the registered position of the fixed point. During the control of the robot system's motion arm, in each control loop, the current pose of the motion arm's control reference point needs to be determined or updated based on the registered position of the fixed point and the current pose of the motion arm's remote motion center. This determines the first pose relationship between the motion arm's remote motion center and the motion arm's control reference point. Then, based on the current pose of the motion arm's remote motion center, the first pose relationship, and the motion arm's adjustment information, control signals for at least one joint in the robot system are calculated to control the motion arm's movement relative to the fixed point. During the control of at least one auxiliary arm of the robot system, the relative pose relationship between the motion arm's remote motion center and the remote motion center of at least one auxiliary arm can be used to constrain and control the at least one auxiliary arm, achieving coordinated movement between the at least one auxiliary arm and the motion arm.

[0152] In some embodiments of this disclosure, a computer device is also provided, comprising a memory and a processor. The memory may be used to store at least one instruction, and the processor is coupled to the memory for executing the at least one instruction to perform some or all of the steps in the method of this disclosure, such as some or all of the steps in method 100 disclosed in FIG1.

[0153] Figure 9 shows a schematic block diagram of a computer device 900 according to some embodiments of the present disclosure. Referring to Figure 9, the computer device 900 may include a central processing unit (CPU) 901, a system memory 904 including random access memory (RAM) 902 and read-only memory (ROM) 903, and a system bus 905 connecting the components. The computer device 900 may also include an input / output system and a mass storage device 907 for storing an operating system 912, application programs 913, and other program modules 914. The input / output system includes an input / output controller 906 mainly consisting of a display 908 and input devices 909.

[0154] Mass storage device 907 is connected to central processing unit 901 via a mass storage controller (not shown) connected to system bus 905. Mass storage device 907 or computer-readable media provides non-volatile storage for computer devices. Mass storage device 907 may include computer-readable media (not shown) such as hard disk or compact disc read-only memory (CD-ROM) drives.

[0155] Without loss of generality, computer-readable media can include computer storage media and communication media. Computer storage media include volatile and non-volatile, removable and non-removable media implemented using any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer storage media include RAM, ROM, flash memory or other solid-state storage technologies, CD-ROM, or other optical storage, magnetic tape cassettes, magnetic tape, disk storage, or other magnetic storage devices. Of course, those skilled in the art will recognize that computer storage media are not limited to the above-mentioned types. The aforementioned system memories and mass storage devices can be collectively referred to as memory.

[0156] Computer device 900 can be connected to network 911 via network interface unit 910 connected to system bus 905. System memory 904 or mass storage device 907 is also used to store one or more instructions. Central processing unit 901 implements all or part of the steps of the methods in some embodiments of this disclosure by executing one or more instructions, such as some or all of the steps in method 100 disclosed in FIG1.

[0157] In some embodiments of this disclosure, a computer-readable storage medium is also provided, storing at least one instruction that is executed by a processor to cause a computer to perform some or all of the steps in the methods of some embodiments of this disclosure, such as some or all of the steps in method 100 disclosed in FIG1. ​​Examples of computer-readable storage media include memory for computer programs (instructions), such as read-only memory (ROM), random access memory (RAM), compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage devices.

[0158] Note that the above are merely exemplary embodiments and technical principles of this disclosure. Those skilled in the art should understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, this disclosure is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this disclosure, the scope of which is determined by the scope of the appended claims.

Claims

1. A control method for a robot system, characterized in that, The robot system includes a base station and a motion arm mounted on the base station, wherein the base station and / or the motion arm includes at least one joint, and the method includes: Obtain the current pose of the remote motion center of the arm; Obtain the first pose relationship between the remote motion center of the motion arm and the control reference point of the motion arm; Obtain the adjustment information of the motion arm; and Based on the current pose of the remote motion center of the motion arm, the first pose relationship, and the adjustment information, a control signal for the at least one joint is calculated to control the motion arm relative to the fixed point.

2. The method according to claim 1, characterized in that, Obtaining the current pose of the remote motion center of the arm includes: Obtain the current joint value of the at least one joint; and The current pose of the remote motion center of the motion arm is calculated based on the current joint value of the at least one joint.

3. The method according to claim 1 or 2, characterized in that, The position of the control reference point of the moving arm coincides with the position of the fixed point and the posture is consistent with the posture of the remote motion center of the moving arm. The coordinate system of the control reference point of the moving arm is parallel to the coordinate system of the remote motion center of the moving arm.

4. The method according to claim 3, characterized in that, Obtaining the first pose relationship between the remote motion center of the motion arm and the control reference point of the motion arm includes: Based on the current pose of the remote motion center of the motion arm and the registered position of the fixed point, the first pose relationship between the remote motion center of the motion arm and the control reference point of the motion arm is obtained.

5. The method according to claim 4, characterized in that, The method includes: The registered position of the fixed point is determined based on the registered pose of the remote motion center of the motion arm and the registered distance of the fixed point.

6. The method according to claim 5, characterized in that, The method further includes: The registered pose is obtained by using the registered joint values ​​of the at least one joint.

7. The method according to claim 5 or 6, characterized in that, The method further includes: The registration distance is obtained by using the initial scale reading of the fixed point.

8. The method according to claim 7, characterized in that, The robot system further includes a connection device for docking with the motion arm, the connection device having at least one scale line, and the method further includes: Controlling the motion arm to move to the registration state, the motion arm docks with the connecting device in the registration state; and In the registered state, the initial scale reading is obtained based on the scale lines on the connection device and the fixed point.

9. The method according to any one of claims 3-8, characterized in that, The method further includes: Output the fixed point distance, which is the current distance between the remote motion center coordinate system of the motion arm and the control reference point coordinate system of the motion arm along the longitudinal coordinate axis.

10. The method according to any one of claims 1-9, characterized in that, The adjustment information of the motion arm includes the posture adjustment information of the control reference point of the motion arm and / or the position adjustment information of the control reference point of the motion arm.

11. The method according to claim 10, characterized in that, The method includes: Based on the posture adjustment information and / or the position adjustment information, the target angular velocity and / or target linear velocity of the control reference point of the motion arm are obtained; Based on the current pose of the remote motion center of the motion arm, the first pose relationship, and the target angular velocity and / or target linear velocity of the control reference point of the motion arm, calculate the target angular velocity and / or target linear velocity of the remote motion center of the motion arm; and Based on the target angular velocity and / or target linear velocity of the remote motion center of the motion arm, a control signal for the at least one joint is calculated.

12. The method according to claim 11, characterized in that, The method includes: Based on the posture adjustment information, the posture adjustment direction vector of the control reference point of the motion arm is obtained; and Based on the magnitude of the angular velocity of the attitude adjustment and the attitude adjustment direction vector, the target angular velocity of the control reference point of the motion arm is obtained; and / or Based on the position adjustment information, the position adjustment direction vector of the control reference point of the motion arm is obtained; and The target linear velocity of the control reference point of the motion arm is obtained based on the magnitude of the linear velocity of the position adjustment and the position adjustment direction vector.

13. The method according to claim 11 or 12, characterized in that, The method includes: Based on the target angular velocity of the control reference point of the motion arm, calculate the target angular velocity of the remote motion center of the motion arm; and / or Based on the current pose of the remote motion center of the motion arm, the first pose relationship, and the target angular velocity and target linear velocity of the control reference point of the motion arm, the target linear velocity of the remote motion center of the motion arm is calculated.

14. The method according to any one of claims 11-13, characterized in that, The robot system includes at least one joint motor for driving the at least one joint, and the calculation of control signals for the at least one joint includes: Based on the target angular velocity and / or target linear velocity of the remote motion center of the motion arm, determine the joint values ​​and joint velocities of the at least one joint; and Based on the joint value and joint speed of the at least one joint, the drive control signal of the motor of the at least one joint is determined.

15. The method according to any one of claims 11-14, characterized in that, The at least one joint includes: a lifting joint of the base station; and The first transverse arm rotation joint, the second transverse arm rotation joint, the first arc arm rotation joint, the second arc arm rotation joint, and the third arc arm rotation joint of the motion arm; or The at least one joint includes: The motion arm comprises a first horizontal arm rotation joint, a second horizontal arm rotation joint, a lifting joint, a first arc arm rotation joint, a second arc arm rotation joint, and a third arc arm rotation joint.

16. The method according to claim 15, characterized in that, The method includes: Based on the target linear velocity of the remote motion center of the motion arm, the joint values ​​and joint velocities of the lifting joint of the base station, the first horizontal arm rotation joint of the motion arm, and the second horizontal arm rotation joint are determined. Based on the lifting joints of the base station, the joint velocities of the first and second transverse arm rotation joints of the motion arm, and the target angular velocity of the remote motion center, the joint values ​​and joint velocities of the first, second, and third arc arm rotation joints of the motion arm are determined; and Based on the joint values ​​and joint speeds of the lifting joint of the base station, the first horizontal arm rotation joint, the second horizontal arm rotation joint, the first arc arm rotation joint, the second arc arm rotation joint, and the third arc arm rotation joint of the moving arm, drive control commands for the joint motors used to drive the lifting joint of the base station, the first horizontal arm rotation joint, the second horizontal arm rotation joint, the first arc arm rotation joint, the second arc arm rotation joint, and the third arc arm rotation joint of the moving arm are determined. or Based on the target linear velocity of the remote motion center of the motion arm, the joint values ​​and joint velocities of the first horizontal arm rotation joint, the second horizontal arm rotation joint, and the lifting joint of the motion arm are determined. Based on the joint velocities of the first horizontal arm rotational joint, the second horizontal arm rotational joint, and the lifting joint of the motion arm, and the target angular velocity of the remote motion center, the joint values ​​and joint velocities of the first arc arm rotational joint, the second arc arm rotational joint, and the third arc arm rotational joint of the motion arm are determined; and Based on the joint values ​​and joint velocities of the first horizontal arm rotation joint, the second horizontal arm rotation joint, the lifting joint, the first arc arm rotation joint, the second arc arm rotation joint, and the third arc arm rotation joint of the motion arm, drive control commands for the joint motors used to drive the first horizontal arm rotation joint, the second horizontal arm rotation joint, the lifting joint, the first arc arm rotation joint, the second arc arm rotation joint, and the third arc arm rotation joint of the motion arm are determined.

17. The method according to any one of claims 1-16, characterized in that, The robot system further includes at least one auxiliary arm, which is disposed on the base station, and the method further includes: Based on the current pose of the remote motion center of the motion arm, the first pose relationship, the adjustment information, and the second pose relationship between the remote motion center of the motion arm and the remote motion center of the at least one auxiliary arm, a control signal for at least one joint of the at least one auxiliary arm is calculated to control the at least one auxiliary arm to move relative to the fixed point while maintaining the second pose relationship between the remote motion center of the motion arm and the remote motion center of the at least one auxiliary arm.

18. A robot system, characterized in that, include: Base station; A motion arm, which is mounted on the base station; as well as A control device, connected to the base station and / or the motion arm, is used to perform the method as described in any one of claims 1-17.

19. The robot system according to claim 18, characterized in that, It also includes at least one auxiliary arm, which is disposed on the base station, and the control device is connected to the at least one auxiliary arm.

20. A computer-readable storage medium for storing at least one instruction, characterized in that, When the at least one instruction is executed by the computer device, it causes the computer to perform the method as described in any one of claims 1-17.

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