CN116019562A - Robot control system and method - Google Patents
Robot control system and method Download PDFInfo
- Publication number
- CN116019562A CN116019562A CN202310099385.0A CN202310099385A CN116019562A CN 116019562 A CN116019562 A CN 116019562A CN 202310099385 A CN202310099385 A CN 202310099385A CN 116019562 A CN116019562 A CN 116019562A
- Authority
- CN
- China
- Prior art keywords
- environment
- data
- coordinate system
- robot
- surgical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000001514 detection method Methods 0.000 claims description 44
- 230000007613 environmental effect Effects 0.000 claims description 32
- 230000008859 change Effects 0.000 claims description 24
- 238000012545 processing Methods 0.000 claims description 16
- 230000008569 process Effects 0.000 claims description 10
- 206010052428 Wound Diseases 0.000 claims description 7
- 208000027418 Wounds and injury Diseases 0.000 claims description 7
- 230000009466 transformation Effects 0.000 claims description 7
- 238000004422 calculation algorithm Methods 0.000 claims description 4
- 208000002847 Surgical Wound Diseases 0.000 claims description 3
- 238000001356 surgical procedure Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 4
- 238000005457 optimization Methods 0.000 description 4
- 230000008447 perception Effects 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000013500 data storage Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The application relates to a robot control system and method. The method comprises the following steps: establishing a relative position relationship between the data acquisition equipment and the surgical robot; the data acquisition equipment is used for carrying out data acquisition on the operation environment for a plurality of times to obtain a plurality of partial environment data of the operation environment under the coordinate system of the acquisition equipment; determining a plurality of partial environment data of the surgical environment under a robot coordinate system according to the relative position relation between the data acquisition equipment and the surgical robot and the plurality of partial environment data of the surgical environment under the acquisition equipment coordinate system; constructing overall environment data of the surgical environment in a robot coordinate system according to the partial environment data of the surgical environment in the robot coordinate system; wherein the global environment data includes spatial locations of a plurality of objects in the surgical environment. By adopting the method, the collision of the mechanical arm of the surgical robot can be avoided.
Description
The patent application of the invention is a divisional application of Chinese patent application of which the application date is 2021, 03 and 09, the application number is 202110253556.1, and the method and the system for constructing the surgical environment and controlling the robot are named as 'surgical environment'.
Technical Field
The present application relates to the field of surgical robots, and in particular, to a robot control system and method.
Background
The robotic surgical system is a complex integrating a plurality of modern high-tech means and is a shapely revolutionary surgical tool in the field of world minimally invasive surgery.
In the related art, an operation tool is mounted at the end of a robot arm of an operation robot, and a doctor manipulates the robot arm of the operation robot away from an operation table so that the operation tool can cut a tiny wound on a patient body and can be inserted into the patient body to perform an operation on a focus.
However, since the surgical robot generally has a plurality of mechanical arms, how to avoid collision between the plurality of mechanical arms and the operating table or the patient during the movement is a technical problem to be solved.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a robot control system and method that can avoid collisions between multiple mechanical arms of a surgical robot during movement.
A method of constructing a surgical environment, the method comprising:
establishing a relative position relationship between the data acquisition equipment and the surgical robot;
The method comprises the steps of carrying out multiple data acquisition on a surgical environment through data acquisition equipment to obtain multiple partial environment data of the surgical environment under an acquisition equipment coordinate system;
determining a plurality of partial environment data of the surgical environment in a robot coordinate system according to the relative position relation between the data acquisition equipment and the surgical robot and the plurality of partial environment data of the surgical environment in the acquisition equipment coordinate system;
constructing overall environment data of the surgical environment in the robot coordinate system according to a plurality of partial environment data of the surgical environment in the robot coordinate system; wherein the global environment data comprises spatial locations of a plurality of objects in the surgical environment.
In one embodiment, the data acquisition device performs multiple data acquisitions on the surgical environment to obtain multiple partial environmental data of the surgical environment under the coordinate system of the acquisition device, where the data acquisition device includes:
performing first data acquisition on the surgical environment through data acquisition equipment to obtain first partial environmental data under the coordinate system of the acquisition equipment; the data acquisition equipment performs first data acquisition on the surgical environment the pose is the same as that when the relative position relation is established;
and carrying out pose adjustment for a plurality of times on the data acquisition equipment, and carrying out data acquisition through the data acquisition equipment after each adjustment to obtain a plurality of partial environment data of the operation environment under the coordinate system of the acquisition equipment.
In one embodiment, the determining the plurality of partial environment data of the surgical environment in the robot coordinate system according to the relative positional relationship between the data acquisition device and the surgical robot and the plurality of partial environment data of the surgical environment in the acquisition device coordinate system includes:
according to the partial environment data under the coordinate system of each two adjacent acquisition devices, determining pose change information of each adjustment of the data acquisition devices;
determining the pose of the data acquisition equipment under the robot coordinate system after each adjustment according to the relative position relation and pose change information of each adjustment of the data acquisition equipment;
and carrying out transformation processing on the partial environment data under the corresponding acquisition equipment coordinate system according to the pose of the data acquisition equipment under the robot coordinate system after each adjustment, so as to obtain a plurality of partial environment data of the operation environment under the robot coordinate system.
In one embodiment, the constructing the overall environment data of the surgical environment in the robot coordinate system according to the plurality of partial environment data of the surgical environment in the robot coordinate system includes:
after each data acquisition, performing splicing processing on the acquired multiple partial environment data under the robot coordinate system to acquire spliced environment data;
After each splice, determining whether the splice environment data covers the surgical environment;
if the spliced environment data is determined to cover the operation environment, performing loop detection according to the first partial environment data and the last partial environment data in the robot coordinate system to obtain a loop detection result; the loop detection result is whether loop is realized;
if the loop detection result is that loop is realized, the spliced environment data is optimized to obtain the whole environment data of the operation environment under the robot coordinate system.
In one embodiment, determining whether the stitching environment data covers the surgical environment after each stitching includes:
comparing the spliced environment data with operation environment information acquired in advance;
if the splice environment data contains necessary elements in the surgical environment information, determining that the splice environment data covers the surgical environment.
In one embodiment, the establishing a relative positional relationship between the data acquisition device and the surgical robot includes:
data acquisition is carried out on the calibration component through data acquisition equipment, so that a first space position of the calibration component in a coordinate system of the acquisition equipment is obtained;
establishing a relative position relation between the data acquisition equipment and the surgical robot according to a second space position and a first space position of the calibration component in a robot coordinate system, which are acquired in advance;
Wherein, the demarcating component is installed in advance at the arm end of surgical robot.
In one embodiment, the establishing the relative positional relationship between the data acquisition device and the surgical robot according to the second spatial position and the first spatial position of the calibration component in the robot coordinate system, which are acquired in advance, includes:
determining a third spatial position of the data acquisition equipment in the coordinate system of the calibration part according to the first spatial position;
according to the second space position of the calibration part in the robot coordinate system and the third space position of the data acquisition equipment in the calibration part coordinate system, a fourth space position of the data acquisition equipment in the robot coordinate system is calculated, and a relative position relation between the data acquisition equipment and the surgical robot is established.
A robot control method, the robot control method comprising:
acquiring operation environment data;
according to the operation environment data, controlling a mechanical arm of the operation robot to perform initial positioning;
the operation environment data are the whole environment data of the operation environment under a robot coordinate system;
the whole environment data is constructed by adopting the construction method of the operation environment.
In one embodiment, the robot control method further includes:
According to the overall environment data of the surgical environment in the robot coordinate system, controlling the surgical robot to perform collision detection to obtain a collision detection result;
and controlling the mechanical arm of the surgical robot to perform corresponding operation according to the collision detection result.
A construction apparatus for a surgical environment, the apparatus comprising:
the relation establishing module is used for establishing a relative position relation between the data acquisition equipment and the surgical robot;
the data acquisition module is used for carrying out multiple data acquisition on the surgical environment through the data acquisition equipment to obtain multiple partial environment data of the surgical environment under the coordinate system of the acquisition equipment;
the data determining module is used for determining a plurality of partial environment data of the surgical environment under the robot coordinate system according to the relative position relation between the data acquisition equipment and the surgical robot and the plurality of partial environment data of the surgical environment under the acquisition equipment coordinate system;
the environment construction module is used for constructing overall environment data of the surgical environment in the robot coordinate system according to the plurality of partial environment data of the surgical environment in the robot coordinate system; wherein the global environment data comprises spatial locations of a plurality of objects in the surgical environment.
In one embodiment, the data acquisition module includes:
The first data acquisition sub-module is used for carrying out first data acquisition on the operation environment through the data acquisition equipment to obtain first partial environment data under the coordinate system of the acquisition equipment; the pose of the data acquisition equipment when the data acquisition equipment performs the first data acquisition on the surgical environment is the same as the pose when the relative position relation is established;
and the second data acquisition sub-module is used for carrying out pose adjustment on the data acquisition equipment for a plurality of times, and carrying out data acquisition through the data acquisition equipment after each adjustment to obtain a plurality of partial environment data of the operation environment under the coordinate system of the acquisition equipment.
In one embodiment, the data determining module includes:
the pose change determining submodule is used for determining pose change information of each adjustment of the data acquisition equipment according to partial environment data under the coordinate system of each two adjacent acquisition equipment;
the pose determining submodule is used for determining the pose of the data acquisition equipment under the robot coordinate system after each adjustment according to the relative position relation and pose change information of each adjustment of the data acquisition equipment;
the data determination submodule is used for carrying out transformation processing on partial environment data under the corresponding acquisition equipment coordinate system according to the pose of the data acquisition equipment under the robot coordinate system after each adjustment, so as to obtain a plurality of partial environment data of the operation environment under the robot coordinate system.
In one embodiment, the environment construction module includes:
the data splicing sub-module is used for carrying out splicing processing on the acquired multiple partial environment data under the robot coordinate system after each data acquisition to obtain spliced environment data;
the coverage determination submodule is used for determining whether the spliced environment data cover the operation environment after each splicing;
the loop detection sub-module is used for carrying out loop detection according to the first partial environment data and the last partial environment data under the robot coordinate system to obtain a loop detection result if the spliced environment data are determined to cover the operation environment; the loop detection result is whether loop is realized;
and the optimization processing sub-module is used for carrying out optimization processing on the spliced environment data to obtain the whole environment data of the operation environment under the robot coordinate system if the loop detection result is that loop is realized.
In one embodiment, the coverage determination submodule is specifically configured to compare the spliced environmental data with pre-acquired surgical environmental information; if the splice environment data contains necessary elements in the surgical environment information, determining that the splice environment data covers the surgical environment.
In one embodiment, the relationship establishing module includes:
the position determining sub-module is used for carrying out data acquisition on the calibration component through the data acquisition equipment to obtain a first space position of the calibration component in the coordinate system of the acquisition equipment;
the relation establishing sub-module is used for establishing the relative position relation between the data acquisition equipment and the surgical robot according to the second space position and the first space position of the calibration component in the robot coordinate system, which are acquired in advance;
wherein, the demarcating component is installed in advance at the arm end of surgical robot.
In one embodiment, the relationship establishing sub-module is specifically configured to determine a third spatial position of the data acquisition device in the calibration component coordinate system according to the first spatial position; according to the second space position of the calibration part in the robot coordinate system and the third space position of the data acquisition equipment in the calibration part coordinate system, a fourth space position of the data acquisition equipment in the robot coordinate system is calculated, and a relative position relation between the data acquisition equipment and the surgical robot is established.
A robot control system comprises computer equipment, data acquisition equipment, pose adjustment equipment and a surgical robot;
Computer equipment for controlling the data acquisition equipment, the pose adjustment equipment and the surgical robot to execute the steps of the method;
the data acquisition equipment is used for acquiring data from the operation environment under the control of the computer equipment;
the pose adjusting device is used for adjusting the pose of the data acquisition device under the control of the computer device;
the surgical robot is used for carrying out initial positioning and operation on the mechanical arm under the control of the computer equipment.
In the robot control system and method, the computer equipment establishes a relative position relationship between the data acquisition equipment and the surgical robot; the method comprises the steps of carrying out multiple data acquisition on a surgical environment through data acquisition equipment to obtain multiple partial environment data of the surgical environment under an acquisition equipment coordinate system; determining a plurality of partial environment data of the surgical environment in a robot coordinate system according to the relative position relation between the data acquisition equipment and the surgical robot and the plurality of partial environment data of the surgical environment in the acquisition equipment coordinate system; and constructing the whole environment data of the surgical environment in the robot coordinate system according to the plurality of partial environment data of the surgical environment in the robot coordinate system. Through the embodiment of the disclosure, the computer constructs the operation environment under the robot coordinate system, so that the operation robot can adaptively sense the environment in the operation process, and further the mechanical arms can be well controlled, and the mechanical arms are prevented from collision with each other or with an operation table and a patient.
Drawings
FIG. 1 is an application environment diagram of a method of constructing a surgical environment in one embodiment;
FIG. 2 is a flow diagram of a method of constructing a surgical environment in one embodiment;
FIG. 3 is a flowchart illustrating steps for obtaining a plurality of partial environmental data in a coordinate system of an acquisition device according to one embodiment;
FIG. 4 is a schematic illustration of pose adjustment in one embodiment;
FIG. 5 is a flowchart illustrating steps for obtaining a plurality of partial environment data in a robot coordinate system according to one embodiment;
FIG. 6 is a flow chart of the steps for constructing global environmental data in a robot coordinate system in one embodiment;
FIG. 7 is a schematic diagram of loop detection in one embodiment;
FIG. 8 is a flowchart illustrating a step of establishing a relative positional relationship in one embodiment;
FIG. 9 is a schematic diagram of an embodiment of a calibration feature;
FIG. 10 is one of the flow diagrams of the robot control method in one embodiment;
FIG. 11 is a second flow chart of a robot control method according to an embodiment;
FIG. 12 is a block diagram of a construction device of a surgical environment in one embodiment;
fig. 13 is an internal structural view of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The construction method of the operation environment can be applied to the application environment shown in the figure 1. The application environment comprises a computer device 101, a data acquisition device 102, a pose adjustment device 103 and a surgical robot 104; wherein the computer device 101 communicates with the data acquisition device 102, the pose adjustment device 103, and the surgical robot 104 via a network, respectively. The computer device 101 may be, but is not limited to, various personal computers, notebook computers, tablet computers; the data acquisition device 102 described above may be, but is not limited to, a three-dimensional perception camera; the pose adjustment device can be, but not limited to, a digital cradle head.
In one embodiment, as shown in fig. 2, a method for constructing a surgical environment is provided, and the method is applied to the computer device in fig. 1 for illustration, and includes the following steps:
in step 201, a relative positional relationship between the data acquisition device and the surgical robot is established.
The calibration component is arranged on the surgical robot in advance. The computer equipment controls the data acquisition equipment to acquire data of the calibration component, and the position of the calibration component in the coordinate system of the acquisition equipment is obtained. Meanwhile, the calibration component is arranged on the surgical robot, and the computer equipment can also know the position of the calibration component in the robot coordinate system. And then, the computer equipment can convert according to the position of the calibration part in the coordinate system of the acquisition equipment and the position of the calibration part in the coordinate system of the robot to obtain the relative position relationship between the data acquisition equipment and the surgical robot.
The calibration component may include at least one of a grid plate, a two-dimensional code, a coding dot matrix, and a coding concentric circle, and the embodiment of the present disclosure does not limit the calibration component.
The data acquisition device may include a three-dimensional perception camera, and thus the data acquired by the data acquisition device may include image data and point cloud data including depth information. The embodiments of the present disclosure are not limited in this regard.
In order to cover the whole operation environment, the computer equipment controls the data acquisition equipment to acquire data of the operation environment for a plurality of times, and part of information of the operation environment is acquired each time. For example, the data acquisition device acquires the data of the surgical robot, the operating table, the surgical object and the like for the first time to obtain partial environment data under the coordinate system of the acquisition device; after the pitch angle of the data acquisition equipment is adjusted, the computer equipment controls the data acquisition equipment to acquire the data of the partial environment under the coordinate system of the other acquisition equipment for the second time.
After each data acquisition, the data acquisition device sends the acquired data to the computer device, so that the computer device can obtain a plurality of partial environment data of the operation environment under the coordinate system of the acquisition device.
The computer device has obtained a relative positional relationship between the data acquisition device and the surgical robot, as well as a plurality of partial environmental data of the surgical environment in the acquisition device coordinate system. And mapping each part of environment data in the acquisition equipment coordinate system to the robot coordinate system according to the relative position relation, so that a plurality of parts of environment data in the robot coordinate system can be obtained.
Wherein the global environment data comprises spatial locations of a plurality of objects in the surgical environment. The global environment data of the surgical environment in the robot coordinate system includes spatial locations of a plurality of objects in the surgical environment in the robot coordinate system.
After the computer equipment obtains the plurality of partial environment data of the operation environment in the robot coordinate system, the computer equipment performs splicing processing on the plurality of partial environment data in the robot coordinate system, and then the whole environment data of the operation environment in the robot coordinate system can be constructed. The embodiment of the disclosure does not limit the splicing process, and can be set according to actual conditions.
In the construction method of the surgical environment, the computer equipment establishes the relative position relationship between the data acquisition equipment and the surgical robot; the method comprises the steps of carrying out multiple data acquisition on a surgical environment through data acquisition equipment to obtain multiple partial environment data of the surgical environment under an acquisition equipment coordinate system; determining a plurality of partial environment data of the surgical environment in a robot coordinate system according to the relative position relation between the data acquisition equipment and the surgical robot and the plurality of partial environment data of the surgical environment in the acquisition equipment coordinate system; and constructing the whole environment data of the surgical environment in the robot coordinate system according to the plurality of partial environment data of the surgical environment in the robot coordinate system. Through the embodiment of the disclosure, the computer constructs the operation environment under the robot coordinate system, so that the operation robot can adaptively sense the environment in the operation process, and further the mechanical arms can be well controlled, and the mechanical arms are prevented from collision with each other or with an operation table and a patient.
In one embodiment, as shown in fig. 3, the step of acquiring, by the data acquisition device, the plurality of data acquisitions of the surgical environment to obtain a plurality of partial environmental data of the surgical environment in the coordinate system of the acquisition device may include:
In step 2021, the first data acquisition is performed on the surgical environment by the data acquisition device, so as to obtain the first partial environmental data under the coordinate system of the acquisition device.
The pose of the data acquisition equipment when the data acquisition equipment performs the first data acquisition on the surgical environment is the same as the pose when the relative position relation is established.
The computer equipment firstly carries out data acquisition on the calibration component through the data acquisition equipment, and establishes the relative position relationship between the data acquisition equipment and the surgical robot according to the acquired data. And then, removing the calibration part from the surgical robot, and controlling the data acquisition equipment by the computer equipment to acquire the first data of the surgical environment under the same pose to obtain the first partial environment data under the coordinate system of the acquisition equipment.
It will be appreciated that the first partial environmental data in the acquisition device coordinate system only no longer contains the calibration component, and that the positions of other objects in the surgical environment in the acquisition device coordinate system still have a correspondence with the positions in the robot coordinate system.
And step 2022, performing pose adjustment on the data acquisition equipment for a plurality of times, and performing data acquisition through the data acquisition equipment after each adjustment to obtain a plurality of partial environment data of the operation environment under the coordinate system of the acquisition equipment.
The pose comprises a position and a posture, and the posture comprises a pitch angle, a yaw angle and an azimuth angle. The pose of the embodiment of the disclosure is not limited.
After the first data acquisition, the computer equipment controls the pose adjusting equipment to adjust the pose of the data acquisition equipment for a plurality of times. As shown in fig. 4, the pose adjusting device is a digital tripod head, the data collecting device is a three-dimensional sensing camera, and the computer device controls the digital tripod head to adjust the height of the three-dimensional sensing camera; or the computer equipment controls the digital cradle head to adjust the pitch angle of the three-dimensional perception camera. The digital cradle head comprises a free joint, and the posture of the three-dimensional sensing camera can be adjusted by adjusting the free joint. In practical applications, the minimum number of pose adjustments may also be set, which is not limited by the embodiments of the present disclosure.
After each adjustment, the computer equipment controls the data acquisition equipment to acquire data, and a plurality of partial environment data of the operation environment under the coordinate system of the acquisition equipment are obtained.
In the above embodiment, the computer device performs first data acquisition on the operation environment through the data acquisition device to obtain first partial environment data under the coordinate system of the acquisition device; and carrying out pose adjustment for a plurality of times on the data acquisition equipment, and carrying out data acquisition through the data acquisition equipment after each adjustment to obtain a plurality of partial environment data of the operation environment under the coordinate system of the acquisition equipment. According to the embodiment of the disclosure, the computer equipment acquires the partial environment data under the coordinate system of the acquisition equipment, and the surgical environment is covered as much as possible, so that the loss of environment information is avoided, and the collision of the mechanical arm of the surgical robot is avoided.
In one embodiment, as shown in fig. 5, the step of determining the plurality of partial environmental data of the surgical environment in the robot coordinate system according to the relative positional relationship between the data acquisition device and the surgical robot and the plurality of partial environmental data of the surgical environment in the acquisition device coordinate system may include:
Wherein the pose change information includes position change information and pose change information.
After the computer equipment obtains a plurality of partial environment data under the coordinate system of the acquisition equipment, the pose change information of the data acquisition equipment can be determined according to the nth partial environment data and the (n-1) th partial environment data.
For example, the nth partial environment data and the (n-1) th partial environment data have a plurality of common viewpoints, and the common viewpoints can comprise an edge right angle of an operation table, a fingertip of an operation object, a screw on a joint of an operation robot, and the like; the pose change information of the data acquisition equipment is calculated by a Visual odometer through a common view point, and can be expressed in a matrix mode and recorded as 
After the first data acquisition, the computer equipment can obtain the pose of the data acquisition equipment under the acquisition equipment coordinate system; and then, the computer equipment performs transformation processing on the pose of the acquisition equipment in the coordinate system according to the relative position relation to obtain the pose of the data acquisition equipment in the robot coordinate system.
The computer equipment can obtain the pose change information before and after the data acquisition equipment adjusts the pose every time, and the pose of the data acquisition equipment after adjustment under the robot coordinate system can be calculated according to the pose of the data acquisition equipment before adjustment and the pose change information under the robot coordinate system.
For example, the pose of the data acquisition device under the robot coordinate system before adjustment is T n-1 The pose change information is
The pose of the adjusted data acquisition equipment under the robot coordinate system is +.>
In practical application, the pose of the data acquisition equipment under the robot coordinate system is used as a reference pose when the data acquisition equipment acquires the data for the first time; after the second data acquisition, the computer equipment can determine the pose of the second data acquisition according to the pose change information and the reference pose, namely the pose of the data acquisition equipment after one-time adjustment. And by analogy, the pose of the data acquisition equipment after each adjustment can be represented by the reference pose and pose change information.
Because the data acquisition equipment performs data acquisition operation once after each adjustment, the pose of the data acquisition equipment after each adjustment and the acquired partial environmental data under the coordinate system of the acquisition equipment have a one-to-one correspondence. And mapping the partial environment data under the corresponding acquisition equipment coordinate system by utilizing the pose of the data acquisition equipment under the robot coordinate system after each adjustment, so that a plurality of partial environment data of the surgical environment under the robot coordinate system can be obtained.
For example, the partial environment data in the coordinate system of the acquisition device is P n The pose of the data acquisition equipment under the robot coordinate system after pose adjustment is T n The partial environment data of the corresponding operation environment under the robot coordinate system is
In the above embodiment, the computer device determines pose change information of each adjustment of the data acquisition device according to the partial environmental data under the coordinate system of each adjacent two acquisition devices; determining the pose of the data acquisition equipment under the robot coordinate system after each adjustment according to the relative position relation and pose change information of each adjustment of the data acquisition equipment; and carrying out transformation processing on the partial environment data under the corresponding acquisition equipment coordinate system according to the pose of the data acquisition equipment under the robot coordinate system after each adjustment, so as to obtain a plurality of partial environment data of the operation environment under the robot coordinate system. According to the embodiment of the disclosure, the partial environment data under the acquisition equipment coordinate system can be mapped to the robot coordinate system, so that the partial environment data under the robot coordinate system is obtained, and preparation is made for the follow-up construction of the whole environment data of the operation environment under the robot coordinate system.
In one embodiment, as shown in fig. 6, the step of constructing the overall environmental data of the surgical environment in the robot coordinate system according to the plurality of partial environmental data of the surgical environment in the robot coordinate system may include:
After each data acquisition, the computer equipment performs splicing processing on the acquired multiple partial environment data under the robot coordinate system to obtain spliced environment data. Wherein the stitching process may be a summation calculation.
For example, the acquired plurality of partial environment data in the robot coordinate system includes P 1 T 1 、P 2 T 2 、P 3 T 3 ……P n T n Splicing the environment data into
After each splice, the computer device determines whether the splice environment data covers the surgical environment. If the spliced environment data already covers the operation environment, the data acquisition can be stopped; if the spliced environment data does not cover the operation environment, the data acquisition equipment needs to be controlled to acquire the next data.
In one embodiment, if the spliced environmental data does not cover the surgical environment, the computer device may calculate an uncovered area, and control the pose adjustment device to adjust the pose of the data acquisition device according to the uncovered area, and control the data acquisition device to perform the next data acquisition.
In one embodiment, the determining whether the spliced environment data covers the surgical environment may include: comparing the spliced environment data with operation environment information acquired in advance; if the splice environment data contains necessary elements in the surgical environment information, determining that the splice environment data covers the surgical environment.
Wherein, the necessary elements in the operation environment information can comprise at least one of an operation object, sterile cloth and an operation table.
For example, judging whether the spliced environment data contains an operation object, sterile cloth and an operation table, and if so, indicating that the spliced environment data covers the operation environment; if one or more of the surgical object, sterile drape, and operating table are absent, it is indicated that the splice environment data does not cover the surgical environment.
The loop detection result is whether loop is realized or not.
After the computer equipment determines that the spliced environment data covers the operation environment, the calculated pose of the visual odometer has errors, and the errors are accumulated after multiple times of calculation, so loop detection is also needed. As shown in fig. 7, the loop detection process may include: calculating the data repetition degree between the first partial environment data and the last partial environment data; if the data repetition degree is larger than the preset repetition degree threshold value, determining that the loop detection result is loop realization.
If the loop detection result is that the loop is not realized, the data repeatability between the first part of environment data and the last part of environment data is low, and the data acquisition equipment is required to continue data acquisition.
It can be appreciated that loop detection can eliminate accumulated errors of the visual odometer and improve modeling accuracy of the surgical environment.
And step 304, if the loop detection result is that loop is realized, optimizing the spliced environment data to obtain the whole environment data of the operation environment under the robot coordinate system.
After the computer equipment determines that loop-back is realized, optimizing each part of environment data in the spliced environment data to obtain the whole environment data of the operation environment under the robot coordinate system.
In the above embodiment, after each data acquisition, the computer device performs a splicing process on the obtained plurality of partial environmental data under the robot coordinate system to obtain spliced environmental data; after each splice, determining whether the splice environment data covers the surgical environment; if the spliced environment data is determined to cover the operation environment, performing loop detection according to the first partial environment data and the last partial environment data in the robot coordinate system to obtain a loop detection result; the loop detection result is whether loop is realized; if the loop detection result is that loop is realized, the spliced environment data is optimized to obtain the whole environment data of the operation environment under the robot coordinate system. According to the embodiment of the disclosure, the computer equipment determines whether the spliced environment data cover the operation environment or not, and performs loop detection, so that the obtained whole environment data is ensured to be complete, and the collision of the mechanical arm of the operation robot caused by the data loss is avoided.
In one embodiment, as shown in fig. 8, the step of establishing a relative positional relationship between the data acquisition device and the surgical robot may include:
and step 401, data acquisition is carried out on the calibration component through data acquisition equipment, so that a first space position of the calibration component in an acquisition equipment coordinate system is obtained.
As shown in fig. 9, the calibration part is pre-installed at the end of the mechanical arm of the surgical robot; and the three-dimensional perception camera performs data acquisition on the calibration component.
The computer device obtains the first spatial position of the calibration component in the coordinate system of the acquisition device, and because the positions of the calibration component and the data acquisition device are corresponding, the third spatial position of the data acquisition device in the coordinate system of the calibration component can be determined according to the first spatial position. Then, the computer device can calculate a fourth spatial position of the data acquisition device in the robot coordinate system according to the second spatial position of the calibration component in the robot coordinate system and the third spatial position of the data acquisition device in the calibration component coordinate system, and establish a relative positional relationship between the data acquisition device and the surgical robot.
For example, the first spatial position of the calibration component in the acquisition device coordinate system is
The third spatial position of the data acquisition device in the calibration part coordinate system is +.>
The second spatial position of the calibration part in the robot coordinate system is +.>
The second spatial position can be obtained by forward kinematics of the robot, the fourth spatial position of the data acquisition device in the robot coordinate system is +.>
Namely, the relative position relation between the data acquisition equipment and the surgical robot is established.
In the above embodiment, the computer device performs data acquisition on the calibration component through the data acquisition device to obtain a first spatial position of the calibration component in the acquisition device coordinate system; and establishing a relative position relation between the data acquisition equipment and the surgical robot according to the second spatial position and the first spatial position of the calibration component in the robot coordinate system, which are acquired in advance. According to the embodiment of the disclosure, the computer equipment establishes the relative position relation between the data acquisition equipment and the surgical robot, and then partial environment data under the acquisition equipment coordinate system can be mapped to the robot coordinate system according to the relative position relation, so that the surgical environment under the robot coordinate system is obtained.
In one embodiment, as shown in fig. 10, a robot control method is provided, which may include the following steps on the basis of the above embodiment:
The operation environment data is overall environment data of the operation environment under a robot coordinate system, and the construction of the overall environment data refers to the embodiment.
After the computer equipment constructs the whole environment data of the surgical environment under the robot coordinate system, the whole environment data also comprises the relative position relation between the surgical wound and the surgical robot. Because the data acquired by the data acquisition equipment simultaneously contain image data and depth information, the surgical wound can be identified according to the image data, then the position of the wound is found in the whole environment data according to the depth information, and then the initial positioning is obtained by executing a positioning algorithm according to the position of the wound, and then the mechanical arm of the surgical robot is controlled to move to the initial positioning.
It can be appreciated that in the above process, the computer device fuses the spatial information of the surgical environment with the surgical robot, so that the wound position can be easily found, and the mechanical arm of the surgical robot is controlled to move to a preferred initial position before surgery according to the wound position, so as to obtain a better mechanical arm movement space.
In one embodiment, as shown in fig. 11, the method may further include:
and step 503, controlling the surgical robot to perform collision detection according to the overall environmental data of the surgical environment in the robot coordinate system to obtain a collision detection result.
The computer equipment acquires the whole environment data of the surgical environment under the robot coordinate system, and controls the surgical robot to perform collision detection, namely, the robot is enabled to adaptively sense the surgical environment.
The collision detection may employ GJK (Gilbert-Johnson-Keerthi Distance Algorithm), SAT (Separating Axis Theorem), etc., which is not limited by the embodiments of the present disclosure.
And step 504, controlling the mechanical arm of the surgical robot to perform corresponding operation according to the collision detection result.
In the above embodiment, the computer device may control the surgical robot to perform initial positioning and operation according to the overall environmental data of the surgical environment in the robot coordinate system, so as to provide a better movement space for the surgical robot and avoid the collision of the mechanical arm of the surgical robot.
It should be understood that, although the steps in the flowcharts of fig. 2 to 11 are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least a portion of the steps of fig. 2 to 11 may include a plurality of steps or stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the execution of the steps or stages is not necessarily sequential, but may be performed in turn or alternately with at least a portion of the steps or stages of other steps or other steps.
In one embodiment, as shown in fig. 12, there is provided a construction apparatus of a surgical environment, comprising:
a relationship establishing module 601, configured to establish a relative positional relationship between the data acquisition device and the surgical robot;
the data acquisition module 602 is configured to perform multiple data acquisitions on the surgical environment through the data acquisition device, so as to obtain multiple partial environmental data of the surgical environment under the coordinate system of the acquisition device;
a data determining module 603, configured to determine a plurality of partial environmental data of the surgical environment in the robot coordinate system according to a relative positional relationship between the data acquisition device and the surgical robot and the plurality of partial environmental data of the surgical environment in the acquisition device coordinate system;
an environment construction module 604, configured to construct overall environment data of the surgical environment in the robot coordinate system according to the plurality of partial environment data of the surgical environment in the robot coordinate system; wherein the global environment data comprises spatial locations of a plurality of objects in the surgical environment.
In one embodiment, the data acquisition module 602 includes:
the first data acquisition sub-module is used for carrying out first data acquisition on the operation environment through the data acquisition equipment to obtain first partial environment data under the coordinate system of the acquisition equipment; the pose of the data acquisition equipment when the data acquisition equipment performs the first data acquisition on the surgical environment is the same as the pose when the relative position relation is established;
And the second data acquisition sub-module is used for carrying out pose adjustment on the data acquisition equipment for a plurality of times, and carrying out data acquisition through the data acquisition equipment after each adjustment to obtain a plurality of partial environment data of the operation environment under the coordinate system of the acquisition equipment.
In one embodiment, the data determining module 603 includes:
the pose change determining submodule is used for determining pose change information of each adjustment of the data acquisition equipment according to partial environment data under the coordinate system of each two adjacent acquisition equipment;
the pose determining submodule is used for determining the pose of the data acquisition equipment under the robot coordinate system after each adjustment according to the relative position relation and pose change information of each adjustment of the data acquisition equipment;
the data determination submodule is used for carrying out transformation processing on partial environment data under the corresponding acquisition equipment coordinate system according to the pose of the data acquisition equipment under the robot coordinate system after each adjustment, so as to obtain a plurality of partial environment data of the operation environment under the robot coordinate system.
In one embodiment, the environment construction module 604 includes:
the data splicing sub-module is used for carrying out splicing processing on the acquired multiple partial environment data under the robot coordinate system after each data acquisition to obtain spliced environment data;
The coverage determination submodule is used for determining whether the spliced environment data cover the operation environment after each splicing;
the loop detection sub-module is used for carrying out loop detection according to the first partial environment data and the last partial environment data under the robot coordinate system to obtain a loop detection result if the spliced environment data are determined to cover the operation environment; the loop detection result is whether loop is realized;
and the optimization processing sub-module is used for carrying out optimization processing on the spliced environment data to obtain the whole environment data of the operation environment under the robot coordinate system if the loop detection result is that loop is realized.
In one embodiment, the coverage determination submodule is specifically configured to compare the spliced environmental data with pre-acquired surgical environmental information; if the splice environment data contains necessary elements in the surgical environment information, determining that the splice environment data covers the surgical environment.
In one embodiment, the relationship establishing module 601 includes:
the position determining sub-module is used for carrying out data acquisition on the calibration component through the data acquisition equipment to obtain a first space position of the calibration component in the coordinate system of the acquisition equipment;
The relation establishing sub-module is used for establishing the relative position relation between the data acquisition equipment and the surgical robot according to the second space position and the first space position of the calibration component in the robot coordinate system, which are acquired in advance;
wherein, the demarcating component is installed in advance at the arm end of surgical robot.
In one embodiment, the relationship establishing sub-module is specifically configured to determine a third spatial position of the data acquisition device in the calibration component coordinate system according to the first spatial position; according to the second space position of the calibration part in the robot coordinate system and the third space position of the data acquisition equipment in the calibration part coordinate system, a fourth space position of the data acquisition equipment in the robot coordinate system is calculated, and a relative position relation between the data acquisition equipment and the surgical robot is established.
For specific limitations of the construction device for the surgical environment, reference may be made to the above limitations of the construction method for the surgical environment, and no further description is given here. The various modules in the above-described construction apparatus of the surgical environment may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, as shown in fig. 1, a robot control system is provided, the robot control system including a computer device, a data acquisition device, a pose adjustment device, and a surgical robot;
computer equipment for controlling the data acquisition equipment, the pose adjustment equipment and the surgical robot to execute the steps in the above embodiments;
the data acquisition equipment is used for acquiring data from the operation environment under the control of the computer equipment;
the pose adjusting device is used for adjusting the pose of the data acquisition device under the control of the computer device;
the surgical robot is used for carrying out initial positioning and operation control on the mechanical arm under the control of the computer equipment
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure thereof may be as shown in fig. 13. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method of constructing a surgical environment. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 13 is merely a block diagram of a portion of the structure associated with the present application and is not limiting of the computer device to which the present application applies, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a non-transitory computer-readable storage medium is also provided, such as a memory, comprising instructions executable by a processor of a computer device to perform the above-described method. For example, the non-transitory computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. A robot control system, characterized in that the robot control system comprises a computer device, a data acquisition device and a surgical robot;
the computer equipment is used for controlling the data acquisition equipment to acquire data of the operation environment for a plurality of times, constructing the whole environment data of the operation environment under a robot coordinate system, and executing a positioning algorithm according to the space position of the operation wound in the whole environment data to obtain initial positioning;
The surgical robot is used for moving the mechanical arm to the initial positioning according to the control of the computer equipment before surgery so as to obtain a mechanical arm movement space.
2. The robotic control system of claim 1, wherein the computer device is configured to establish a relative positional relationship between the data acquisition device and the surgical robot; the data acquisition equipment is used for carrying out data acquisition on the operation environment for a plurality of times to obtain a plurality of partial environment data of the operation environment under the coordinate system of the acquisition equipment; determining a plurality of partial environment data of the surgical environment in a robot coordinate system according to the relative position relationship and the plurality of partial environment data of the surgical environment in the acquisition equipment coordinate system; constructing overall environment data of the surgical environment in a robot coordinate system according to the partial environment data of the surgical environment in the robot coordinate system; the global environment data includes spatial locations of a plurality of objects in the surgical environment, the objects including the surgical wound.
3. The robot control system of claim 2, further comprising a pose adjustment device;
The computer equipment is used for controlling the data acquisition equipment to acquire data of the first time of the operation environment to obtain first partial environment data under the coordinate system of the acquisition equipment, wherein the pose of the data acquisition equipment when the data acquisition equipment acquires the data of the first time of the operation environment is the same as the pose of the data acquisition equipment when the relative position relation is established; and controlling the pose adjusting equipment to adjust the pose of the data acquisition equipment for a plurality of times, and controlling the data acquisition equipment to acquire data after each adjustment to obtain a plurality of partial environment data of the surgical environment under the coordinate system of the acquisition equipment.
4. The robot control system according to claim 2, wherein the computer device is configured to determine pose change information of each adjustment of the data acquisition device according to partial environmental data in a coordinate system of each adjacent two acquisition devices; determining the pose of the data acquisition equipment under a robot coordinate system after each adjustment according to the relative position relation and pose change information of each adjustment of the data acquisition equipment; and carrying out transformation processing on the partial environment data under the corresponding acquisition equipment coordinate system according to the pose of the data acquisition equipment under the robot coordinate system after each adjustment, so as to obtain a plurality of partial environment data of the surgical environment under the robot coordinate system.
5. The robot control system according to claim 2, wherein the computer device is configured to perform a stitching process on the obtained plurality of partial environmental data in the robot coordinate system to obtain stitched environmental data after each data acquisition; after each splice, determining whether the splice environment data covers the surgical environment; if the spliced environment data is determined to cover the operation environment, loop detection is carried out according to the first partial environment data and the last partial environment data under the robot coordinate system to obtain a loop detection result; the loop detection result is whether loop is realized or not; and if the loop detection result is that loop is realized, optimizing the spliced environment data to obtain the whole environment data of the operation environment under the robot coordinate system.
6. The robotic control system according to claim 5, wherein the computer device is configured to compare the splice environment data to pre-acquired surgical environment information; and if the spliced environment data contains necessary elements in the operation environment information, determining that the spliced environment data covers the operation environment.
7. The robot control system of claim 2, wherein the computer device is configured to perform data acquisition on the calibration component by using the data acquisition device to obtain a first spatial position of the calibration component in a coordinate system of the acquisition device; establishing a relative position relationship between the data acquisition equipment and the surgical robot according to a second space position and the first space position of the calibration component in the robot coordinate system, which are acquired in advance;
wherein, the demarcating component is pre-installed at the mechanical arm end of the surgical robot.
8. The robotic control system of claim 7, wherein the computer device is configured to determine a third spatial position of the data acquisition device in a calibration component coordinate system based on the first spatial position; and calculating a fourth spatial position of the data acquisition equipment in the robot coordinate system according to the second spatial position of the calibration part in the robot coordinate system and the third spatial position of the data acquisition equipment in the calibration part coordinate system, and establishing a relative position relation between the data acquisition equipment and the surgical robot.
9. The robot control system of claim 8, wherein the computer device is further configured to control the surgical robot to perform collision detection according to overall environmental data of the surgical environment in a robot coordinate system to obtain a collision detection result; controlling the surgical robot according to the collision detection result;
the surgical robot is also used for controlling the mechanical arm to perform corresponding operation under the control of the computer equipment in the surgical process.
10. A robot control method, applied to the robot control system according to any one of claims 1 to 9, comprising:
controlling data acquisition equipment in the robot control system to acquire data of the surgical environment for a plurality of times, and constructing overall environment data of the surgical environment under a robot coordinate system;
executing a positioning algorithm according to the spatial position of the operation wound in the whole environment data to obtain initial positioning;
before operation, controlling a surgical robot in the robot control system to move the mechanical arm to the initial swing position so as to obtain a mechanical arm movement space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310099385.0A CN116019562A (en) | 2021-03-09 | 2021-03-09 | Robot control system and method |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110253556.1A CN113100944B (en) | 2021-03-09 | 2021-03-09 | Construction method of operation environment, robot control method and system |
| CN202310099385.0A CN116019562A (en) | 2021-03-09 | 2021-03-09 | Robot control system and method |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110253556.1A Division CN113100944B (en) | 2021-03-09 | 2021-03-09 | Construction method of operation environment, robot control method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116019562A true CN116019562A (en) | 2023-04-28 |
Family
ID=76710692
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110253556.1A Active CN113100944B (en) | 2021-03-09 | 2021-03-09 | Construction method of operation environment, robot control method and system |
| CN202310099385.0A Pending CN116019562A (en) | 2021-03-09 | 2021-03-09 | Robot control system and method |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110253556.1A Active CN113100944B (en) | 2021-03-09 | 2021-03-09 | Construction method of operation environment, robot control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN113100944B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113487655B (en) * | 2021-09-07 | 2022-03-01 | 成都博恩思医学机器人有限公司 | Indoor model generation method, electronic equipment and storage medium |
| CN114022612A (en) * | 2021-11-02 | 2022-02-08 | 武汉联影智融医疗科技有限公司 | Model construction method and device, computer equipment and storage medium |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7607440B2 (en) * | 2001-06-07 | 2009-10-27 | Intuitive Surgical, Inc. | Methods and apparatus for surgical planning |
| DE102014214935A1 (en) * | 2014-07-30 | 2016-02-04 | Siemens Aktiengesellschaft | Method for operating a medical robotic device |
| JP2017077609A (en) * | 2015-10-21 | 2017-04-27 | ファナック株式会社 | Calibration device and calibration method for calibrating mechanism parameter of wrist part of robot |
| CN105455901B (en) * | 2015-11-20 | 2018-02-02 | 清华大学 | For the avoidance planing method and avoidance planning system of operating robot |
| WO2017168187A1 (en) * | 2016-03-31 | 2017-10-05 | Siemens Industry Software Ltd. | Method and system for determining optimal positioning of a plurality of robots in a simulated production environment |
| CN107811710B (en) * | 2017-10-31 | 2019-09-17 | 微创（上海）医疗机器人有限公司 | Operation aided positioning system |
| WO2020190832A1 (en) * | 2019-03-20 | 2020-09-24 | Covidien Lp | Robotic surgical collision detection systems |
| CN110060332B (en) * | 2019-04-09 | 2022-12-02 | 上海科技大学 | High-precision three-dimensional mapping and modeling system based on airborne acquisition equipment |
| CN110587600B (en) * | 2019-08-20 | 2022-04-19 | 南京理工大学 | Point cloud-based autonomous path planning method for live working robot |
| CN110849367B (en) * | 2019-10-08 | 2021-12-10 | 杭州电子科技大学 | Indoor positioning and navigation method based on visual SLAM fused with UWB |
| CN110613511B (en) * | 2019-10-16 | 2021-03-16 | 武汉联影智融医疗科技有限公司 | Obstacle avoidance method for surgical robot |
| CN112263332B (en) * | 2020-10-23 | 2022-08-05 | 上海微创医疗机器人（集团）股份有限公司 | System, method, medium, and terminal for adjusting surgical robot |
| CN112325873B (en) * | 2021-01-04 | 2021-04-06 | 炬星科技（深圳）有限公司 | Environment map autonomous updating method, equipment and computer readable storage medium |
-
2021
- 2021-03-09 CN CN202110253556.1A patent/CN113100944B/en active Active
- 2021-03-09 CN CN202310099385.0A patent/CN116019562A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| CN113100944B (en) | 2022-12-20 |
| CN113100944A (en) | 2021-07-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11911914B2 (en) | System and method for automatic hand-eye calibration of vision system for robot motion | |
| CN113442169B (en) | Method and device for calibrating hands and eyes of robot, computer equipment and readable storage medium | |
| CN109613543B (en) | Method and device for correcting laser point cloud data, storage medium and electronic equipment | |
| US20160247269A1 (en) | Guiding method and information processing apparatus | |
| US20160199147A1 (en) | Method and apparatus for coordinating position of surgery region and surgical tool during image guided surgery | |
| CN112022355B (en) | Hand-eye calibration method and device based on computer vision and storage medium | |
| KR20180080630A (en) | Robot and electronic device for performing hand-eye calibration | |
| CN111195897B (en) | Calibration method and device for mechanical arm system | |
| KR20140008262A (en) | Robot system, robot, robot control device, robot control method, and robot control program | |
| CN113100944B (en) | Construction method of operation environment, robot control method and system | |
| JP2004062758A (en) | Information processor and information processing method | |
| CN113635311B (en) | Method and system for out-of-hand calibration of eye for fixing calibration plate | |
| CN110096152B (en) | Method, device, equipment and storage medium for positioning body part in space | |
| CN113524201B (en) | Active adjusting method and device for pose of mechanical arm, mechanical arm and readable storage medium | |
| CN108430032B (en) | Method and equipment for realizing position sharing of VR/AR equipment | |
| CN115153855B (en) | Positioning and aligning method and device for micro mechanical arm and electronic equipment | |
| CN115439633A (en) | Calibration method and device and electronic equipment | |
| CN117084788A (en) | Method and device for determining target gesture of mechanical arm and storage medium | |
| US20210156710A1 (en) | Map processing method, device, and computer-readable storage medium | |
| CN116459007A (en) | Method, device and equipment for determining mechanical arm configuration of surgical robot system | |
| CN115670660A (en) | Calibration method, calibration device, surgical robot, electronic device and storage medium | |
| CN110631586A (en) | Map construction method based on visual SLAM, navigation system and device | |
| CN114406985A (en) | Target tracking mechanical arm method, system, equipment and storage medium | |
| KR20210081797A (en) | Methods and devices for estimating camera coordinate system of augmented-reality device using hybrid marker pattern | |
| JP2004125637A (en) | Information processing system and method, information processing apparatus and method, and program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |