WO2022037356A1

WO2022037356A1 - Robot system and control method

Info

Publication number: WO2022037356A1
Application number: PCT/CN2021/108037
Authority: WO
Inventors: 徐凯; 赵江然; 杨皓哲
Original assignee: 北京术锐技术有限公司
Priority date: 2020-08-19
Filing date: 2021-07-23
Publication date: 2022-02-24

Abstract

A control method for a robot system. The robot system comprises a plurality of robotic arms (12a and 12b), the plurality of robotic arms (12a and 12b) comprising a first robotic arm (12a) and a second robotic arm (12b). The control method comprises: obtaining a current pose of a first tail end of the first robotic arm (12a); determining a target pose of a second tail end on the basis of the current pose of the first tail end and a relative pose relationship between the second tail end of the second robotic arm (12b) and the first tail end, the target pose comprising a target position and a target posture; determining a movement path of the second robotic arm (12b) on the basis of the target pose of the second tail end; and controlling, on the basis of the movement path, the second tail end of the second robotic arm (12b) to move to the target pose, such that the relative pose relationship is formed between the second tail end and the first tail end, thereby enabling the robotic arms (12a and 12b) to accurately, quickly, and safely move to the target pose, thus shortening the preoperative preparation time, and achieving an efficient and safe preoperative preparation.

Description

Robot system and control method

CROSS-REFERENCE TO RELATED APPLICATIONS

This application requires the application number 202010837998.6 submitted on August 19, 2020, the title of the invention is "control method for medical equipment, medical equipment control system and storage medium", filed on August 19, 2020, application number It is the priority of Chinese patent application No. 202010837241.7 with the invention title of "Control Method for Medical Equipment, Medical Equipment Control System and Storage Medium", the full text of which is hereby incorporated by reference in its entirety.

technical field

The present disclosure relates to the field of medical devices, and in particular, to a robot system and a control method.

Background technique

Laparoscopic surgery is a widely used surgical form with advantages such as small incision. In recent years, surgical robots have used moving arms to achieve higher stability and precision in surgical procedures. During surgery, the moving arm pushes the surgical instrument into the surgical site in the body (eg, human or animal) by poking to perform the surgical procedure.

At present, the surgical process realized by the use of surgical robots mainly includes preoperative positioning, intraoperative operation and postoperative finishing. Before surgery, it is usually necessary for a surgical assistant (such as an assistant doctor or a nurse) to adjust the moving arm to a suitable posture according to the type of surgery and the surgical posture, connect the moving arm to the stamping card fixedly, and then set it at the end of the moving arm Surgical instruments, so that the surgical instruments enter the body by poking. Movement of the kinematic arm can be manually adjusted by the surgical assistant from its distal end (i.e., near the patient end), or by the surgical assistant or physician by operating controls at the proximal end of the kinematic arm (i.e., near the physician's control end) control. However, due to the possible bulk and weight of the kinematic arm, there are stability issues and the risk of collision, especially in single-port surgery. Therefore, the kinematic arm adjustment is complicated and time-consuming. Similarly, during and after surgery, the adjustment of the exercise arm has the above problems.

SUMMARY OF THE INVENTION

In some embodiments, the present disclosure provides a control method for a robotic system including a plurality of motion arms including a first motion arm and a second motion arm, the control The method includes: acquiring the current pose of the first end of the first moving arm; based on the current pose of the first end and the relative pose of the second end of the second moving arm and the first end relationship, determine a target pose of the second end, the target pose includes a target position and a target pose; based on the target pose of the second end, determine the motion path of the second moving arm; and based on the The movement path is controlled, and the second end of the second moving arm is controlled to move to the target posture, so that the second end and the first end form the relative posture relationship.

In some embodiments, the present disclosure provides a robotic system comprising: a plurality of motion arms, the plurality of motion arms including a first motion arm and a second motion arm; a control device configured to acquire The current pose of the first end of the first moving arm is determined based on the current pose of the first end and the relative pose relationship between the second end of the second moving arm and the first end. the target pose of the second end, the control device is further configured to determine a motion path of the second moving arm based on the target pose of the second end, and based on the motion path, control the first The second ends of the two moving arms move to the target posture, so that the second ends and the first ends form the relative posture relationship.

In some embodiments, the present disclosure provides a computer-readable storage medium comprising one or more instructions executed by a processor that has configured the processor to perform a control method, the control method comprising: obtaining the The current pose of the first end of the first moving arm; based on the current pose of the first end and the relative pose relationship between the second end of the second moving arm and the first end, determine the A target pose of the second end, the target pose includes a target position and a target pose; based on the target pose of the second end, determining a motion path of the second moving arm; and based on the motion path, controlling The second end of the second moving arm moves to the target posture, so that the second end and the first end form the relative posture relationship.

Description of drawings

In order to clearly illustrate the technical solutions in the embodiments of the present disclosure, the accompanying drawings that are required to be used in the description of the embodiments of the present disclosure will be briefly introduced below. The accompanying drawings in the following description only show some embodiments of the present disclosure. For those of ordinary skill in the art, without any creative effort, others can also be obtained according to the contents of the embodiments of the present disclosure and these drawings. Example.

FIG. 1 shows a structural block diagram of a robot system according to some embodiments of the present disclosure;

FIG. 2 shows a schematic three-dimensional structure diagram of a robot system according to some embodiments of the present disclosure;

FIG. 3 shows a schematic structural diagram of a moving arm of a robot system according to some embodiments of the present disclosure;

4 shows a partial cross-sectional view of an auxiliary connection device according to some embodiments of the present disclosure;

FIG. 5 shows a flowchart of a control method for a robotic system according to some embodiments of the present disclosure;

FIG. 6 shows another structural block diagram of a robot system according to some embodiments of the present disclosure;

FIG. 7 shows a flowchart of a method for determining a motion path of a moving arm according to some embodiments of the present disclosure;

8 shows a flowchart of a method for determining a target pose of a moving arm according to some embodiments of the present disclosure;

FIG. 9 shows a flowchart of another method for determining a movement path of a moving arm according to some embodiments of the present disclosure;

FIG. 10 shows a flowchart of a method for determining a mid-rotation pose of a moving arm according to some embodiments of the present disclosure;

FIG. 11 shows an architectural schematic diagram of a controller according to some embodiments of the present disclosure.

detailed description

In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the embodiments of the present disclosure will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only the present disclosure. Exemplary embodiments, but not all embodiments.

In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation or a specific orientation. construction and operation, and therefore should not be construed as limiting the present disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed to indicate or imply relative importance. In the description of the present disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected" and "coupled" should be understood in a broad sense, for example, it may be a fixed connection, or It can be a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific situations. In the present disclosure, the end close to the user (eg doctor) is defined as proximal, proximal or rear, posterior, and the end close to the surgical patient is defined as distal, distal or anterior, anterior. Those skilled in the art can understand that the embodiments of the present disclosure can be used in medical instruments or surgical robots, and can also be used in other non-medical devices.

In this disclosure, the term "position" refers to the location of an object or a portion of an object in three-dimensional space (eg, the three translational degrees of freedom can be described using changes in Cartesian X, Y, and Z coordinates, such as along the Cartesian X, respectively axis, three translational degrees of freedom in Y-axis and Z-axis). In this disclosure, the term "pose" refers to a rotational setting of an object or a portion of an object (ie, three rotational degrees of freedom, which may be described, for example, using roll, pitch, and yaw). In the present disclosure, the term "pose" refers to a combination of position and pose of an object or a part of an object, which can be described, for example, using the six parameters of the six degrees of freedom mentioned above. In the present disclosure, the pose of the moving arm or a part thereof refers to the pose of the coordinate system defined by the moving arm or a part thereof relative to the coordinate system defined by the support, the base, or the world coordinate system where the moving arm is located. In the present disclosure, the pose of the moving arm may be represented by a set of joint values (eg, a one-dimensional matrix composed of these joint values) of a plurality of joints included in the moving arm when the moving arm is in the pose. In the present disclosure, a joint value of a joint indicates an angle by which the corresponding joint is rotated with respect to a corresponding joint axis or a distance moved with respect to an initial position. In the present disclosure, the movement path of the moving arm or a part thereof refers to the path through which the moving arm or a part thereof moves from one pose to another pose. In the present disclosure, the lateral or horizontal direction refers to the lateral direction in the coordinate system or the world coordinate system defined by the support and base where the moving arm is located, and the longitudinal or vertical direction refers to the coordinates defined by the support and base where the moving arm is located vertical in the coordinate system or in the world coordinate system.

FIG. 1 shows a structural block diagram of a robotic system 10 according to some embodiments of the present disclosure. As shown in FIG. 1 , the robotic system 10 may include a control device 11 and a plurality of motion arms connected with the control device 11 . In some embodiments, as shown in FIG. 1, the plurality of movement arms may include a first movement arm 12a and a second movement arm 12b. The control device 11 may be used to control the first moving arm 12a and the second moving arm 12b. For example, the control device 11 can adjust the movement, posture, mutual coordination and the like of the first moving arm 12a and the second moving arm 12b. In some embodiments, the ends of the first kinematic arm 12a and the second kinematic arm 12b may include a first end (eg, end arm 128a or the distal end of end arm 128a) and a second end (eg, end arm 128b or distal end of end arm 128b). The control device 11 may control the movement of the first moving arm 12a or the second moving arm 12b so as to move the first end 128a or the second end 128b to a desired position and posture.

The present disclosure, for the sake of brevity, illustrates an exemplary robotic system 10 in FIG. 1 and subsequent figures as including two kinematic arms. However, those skilled in the art will understand that the robotic system 10 may also include three, four or more kinematic arms. The robotic system 10 may include a surgical robotic system, such as a laparoscopic surgical robotic system. It should be understood that robotic system 10 may also include specialized or general-purpose robotic systems used in other fields (eg, manufacturing, machinery, etc.).

FIG. 2 shows a schematic three-dimensional structure diagram of the robot system 10 according to some embodiments of the present disclosure. As shown in FIG. 2 , the robot system 10 may include an operating cart 13 and a first moving arm 12a and a second moving arm 12b disposed on the operating cart 13. In some embodiments, the surgical cart 13 may include a base 131 and a beam 132 . In some embodiments, the first moving arm 12a and the second moving arm 12b can be movably arranged on the beam 132 . It should be understood that multiple moving arms of the robot system 10 may also be arranged on multiple operating trolleys, for example, each moving arm is correspondingly arranged on one operating trolley. Or one moving arm is arranged on one operating trolley, and the other multiple moving arms are arranged on another operating trolley.

In some embodiments, each moving arm (eg, the first moving arm 12 a and the second moving arm 12 b ) of the robot system 10 may include multiple links and multiple joints connected in series. In some embodiments, each joint of each moving arm may include a motor for driving the corresponding joint to rotate, thereby driving the corresponding link to rotate.

FIG. 3 shows a schematic structural diagram of a moving arm of the robot system 10 according to some embodiments of the present disclosure. As shown in FIG. 3, the second moving arm 12b (or the first moving arm 12a) may include joints 1201b-1208b and links 121b-128b. The proximal end of the link 121b (the end close to the beam 132 is defined as the proximal end of the moving arm in the present disclosure) is connected with the beam 132, and the links 121b-127b are serially connected in sequence. The joint 1201b may be located at the proximal end of the connection between the beam 132 and the link 121b, the joint 1202b may be located at the connection of the link 121b and the second link 122b, the joint 1203b may be located at the connection of the link 122b and the link 123b, the joint 1204b can be located at the connection of link 123b and link 124b, joint 1205b can be located at the connection of link 124b and link 125b, joint 1206b can be located at the connection of link 125b and link 126b, joint 1207b can be located at the connection of link 126b At the connection with link 127b, joint 1208b may be located at the connection between link 127b and link 128b. The link 128b serves as the most distal link of the second moving arm 12b, forming a second end arm 128b of the second moving arm 12b. The determination and representation of the position and attitude of the end arm requires a joint decision of each of the aforementioned joints.

In some embodiments, robotic system 10 may include one or more surgical instruments 14 , as shown in FIG. 3 . As shown in FIG. 2, the surgical instrument 14a may be removably mounted on the first end arm 128a of the first kinematic arm 12a, and the surgical instrument 14b may be removably mounted on the second end arm 128b of the second kinematic arm 12b . It should be understood that

surgical instruments

14a and 14b may include, but are not limited to, clamps for performing surgery, electrosurgical knives, or image capture devices (e.g., endoscopic tools) for performing illuminated imaging, and the like. Surgical instrument 14a and a portion of surgical instrument 14b may enter a body part of a human or animal to perform a medical procedure, such as surgery.

In some embodiments, as shown in FIG. 2, the robotic system 10 may also include an auxiliary connection device 15, such as a sheath. A part of the auxiliary connecting device 15 can be positioned at the body part of the human or animal requiring surgery, such as a surgical port (such as an incision or natural opening), and the other part is used for connecting with the moving arm (for example, with the first and second moving arms 12a, The first and

second end arms

128a, 128b) of 12b are detachably connected to better serve the surgery.

FIG. 4 shows a partial cross-sectional view of the auxiliary connection device 15 according to some embodiments of the present disclosure. In some embodiments, as shown in FIG. 4 , auxiliary connection device 15 may include a plurality of sheaths, such as sheaths 151 and 152 . In some embodiments, the auxiliary connecting device 15 may also include a plurality of connecting portions (eg, connecting portions 153 and 154 ) disposed on the plurality of sheaths. The connection part may include, but is not limited to, a clamp, a snap-fit structure, an adhesive structure, a plug-in structure, and a pull-in structure. The connecting

parts

153 and 154 may be fixedly arranged on the sheath tubes 151 and 152, respectively.

In some embodiments, each moving arm (eg, the first and second moving

arms

12a, 12b ) may include a connecting member (eg, the connecting member shown in FIG. 2 ) that cooperates with the connecting portion (eg, connecting portions 153 and 154 ) 1281a and 1281b). The auxiliary connecting device 15 can be detachably and fixedly connected to the connecting

pieces

1281 a and 1281 b of the first and second moving

arms

12 a and 12 b through the connecting

parts

153 and 154 , respectively. In some embodiments, as shown in FIG. 2 , the connecting

pieces

1281a and 1281b can be fixedly disposed on the first end arm 128a and the second end arm 128b, respectively, and the connecting

pieces

1281a and 1281b are respectively connected with the connecting part 153 and the connecting part 154 , so that the auxiliary connecting device 15 can be detachably and fixedly connected with the first and second moving

arms

12a, 12b.

It should be understood that the distal end of the first kinematic arm 12a (eg, the first distal arm 128a, the distal end of the first distal arm 128a, the distal center of motion (RCM) or link 1281a) and the distal end of the second kinematic arm 12b (eg, , the pose of the second end arm 128b, the distal end of the second end arm 128b, the distal motion center or the connector 1281b) may be the end coordinate system relative to the bracket, base (eg, the operating trolley 10) on which the motion arm is located ) of the coordinate system or the pose of the world coordinate system. In some embodiments, the relative pose relationship of the distal ends of the plurality of motion arms may be based on the current surgical type or the configuration of the auxiliary connecting device. For example, the configuration of the auxiliary connection device may be determined based on the current procedure type. Based on the configuration of the auxiliary connecting device, the shapes and relative positional relationships between the multiple sheath tubes of the auxiliary connecting device are determined, so as to determine the relative pose relationship of the ends of the multiple moving arms. For example, the relative pose relationship of the end of the first moving arm 12a and the end of the second moving arm 12b may be determined based on the shapes and relative positional relationship of the sheath tubes 151 and 152 . The relative posture relationship between the ends of the first moving arm 12a and the second moving arm 12b may indicate the relative positional relationship and relative posture relationship between the ends of the first moving arm 12a and the ends of the second moving arm 12b. For example, the relative pose relationship of the ends may include, for example, a first end arm 128a or a portion of the first end arm 128a of the first movement arm 12a and a second end arm 128b or a portion of the second end arm 128b of the second movement arm 12b The relative pose relationship between them. Alternatively, the relative pose relationship of the tips may also include the relative pose relationship between the

surgical instruments

14a and 14b mounted on the first tip arm 128a and the second tip arm 128b. Alternatively, the relative pose relationship of the ends may also include the relative pose relationship between the connecting

pieces

1281a and 1281b fixedly disposed on the first end arm 128a and the second end arm 128b. In some embodiments, the relative pose relationship may be stored in an associated relative pose model for use in computing the distal end of the second kinematic arm 12b (eg, distal arm 128b or a portion thereof, surgery mounted on the distal arm 128b ) The target pose of the instrument 14b or the connector 1281b) fixed on the distal arm 128b. Since the connecting

pieces

1281a and 1281b are respectively fixed on the first end arm 128a and the second end arm 128b, when the first end arm 128a and the second end arm 128b conform to the relative pose relationship of the ends, the connecting

pieces

1281a and 1281b can be are connected to the connecting

portions

153 and 154, respectively.

It should be understood that when the first moving arm 12a moves to the target posture, the target posture of the surgical instrument 14a installed at the end of the first moving arm 12a can be determined, and when the second moving arm 12b moves to the target posture, it can be determined that the surgical instrument 14a installed at the end of the first moving arm 12a The target pose of the surgical instrument 14b at the end of the moving arm 12b. In some embodiments of the present disclosure, the ends of each moving arm (eg, the first and

second end arms

128a, 128b, and the connecting

members

1281a, 1281b, 1281a, 1281b, The target position or posture of the

surgical instruments

14a, 14b) mounted on the first and second moving

arms

12a, 12b can be achieved by one or more joints among a plurality of joints included in the corresponding moving arms. In some embodiments, the joints of the distal end of the kinematic arm (eg, the first and second

distal arms

128a, 128b ) used to achieve the target pose are moved closer together relative to the joints of the kinematic arm used to achieve the target position distal end of the arm. It should be understood that the multiple joints for realizing the target posture and target position of the end of the moving arm may also include other setting manners, which may be set according to specific requirements.

In some embodiments, after the surgical instrument is mounted on the end arm, the

surgical instruments

14a and 14b can pass through the sheath tubes 151 and 152 of the auxiliary connecting device 15, respectively pass through the sheath tubes 151 and 152, and enter the human body along the sheath tubes 151 and 152. , and achieve the target pose. In some embodiments, the sheaths 151 and 152 of the auxiliary connection device 15 may be flexible, and the portion of the

surgical instruments

14a, 14b extending through the auxiliary connection device 15 may also be flexible, which may facilitate the connection between the first distal arm 128a and the second When the two end arms 128b deviate from the relative posture relationship, the connecting

parts

153 and 154 on the auxiliary connecting device 15 can be connected with the connecting

parts

1281a and 1281b on each moving arm. The flexible part of the auxiliary connecting device 15 can facilitate that each surgical instrument can enter the surgical area through the sheath when there is a certain error in the posture of the end arm.

During the preoperative preparation, one of the first moving arm 12a and the second moving arm 12b, for example, the first moving arm 12a, can be moved to a proper position when the moving arm is placed. For example, a suitable position may include a posture suitable for surgery, which may refer to the distal end of the moving arm (eg, the first and second

distal arms

128a, 128b) having a position and posture suitable for a surgical operation. The second moving arm 12b moves to a suitable posture corresponding to the first moving arm 12a already in place, so that the end of the second moving arm 12b also has a position and posture suitable for surgical operation. In some embodiments, the correspondence between the first moving arm 12a and the second moving arm 12b is constrained by an auxiliary connecting device 15 connected to the first moving arm 12a and the second moving arm 12b. It should be understood that for different surgical procedures and surgical sites, different auxiliary connecting devices may be selected, and for different auxiliary connecting devices, the shapes of the multiple sheath tubes and the relative positional relationship between them may be different, thereby The relative pose relationship between the end of the first moving arm 12a and the end of the second moving arm 12b is expected to be different accordingly.

It should be understood that the auxiliary connection device 15 shown in FIG. 4 is merely exemplary. In some embodiments, robotic system 10 may include three, four, or more kinematic arms, and auxiliary connection device 15 may include three, four, or more sheaths, each sheath including a corresponding connection thereon A part is used for connecting each sheath with each moving arm and constraining the relative pose relationship between the ends of the plurality of moving arms.

The present disclosure provides a control method that can be used in a robotic system. FIG. 5 shows a flowchart of a control method 500 for the robotic system 10 according to some embodiments of the present disclosure. FIG. 6 illustrates another simplified block diagram of robotic system 10 in accordance with some embodiments of the present disclosure. As shown in FIGS. 5 and 6 , the method 500 may be performed by a control device (eg, control device 11 ) for the robotic system 10 , and may be implemented by software, firmware, and/or hardware. The control device 11 may be implemented by a computing device.

As shown in FIG. 5, in step 501, the current pose of the first end of the first moving arm is acquired. For example, the current pose of the first end (eg, the first end arm 128a ) of the first moving arm 12a of the robot system 10 is acquired. In some embodiments, as shown in FIG. 6 , the control device 11 may be communicatively coupled with each of the movement arms (eg, the first and

second movement arms

12a, 12b). In some embodiments, as shown in FIG. 6, the first motion arm 12a may also include one or more sensors 129a. The motors of the joints 1201-1208a may be connected to a plurality of sensors 129a, respectively. The second kinematic arm 12b may also include one or more sensors 129b. The motors of the joints 1201-1208b may be connected to a plurality of sensors 129b, respectively. FIG. 6 exemplarily shows one sensor, it being understood that the illustrated

sensors

129a and 129b may represent a plurality of sensors.

Sensors

129a and 129b may include, but are not limited to, encoders, or potentiometers, for example. The sensor can be used to obtain joint values of multiple joints corresponding to the moving arm, so as to obtain the current pose of the moving arm. The

sensors

129a and 129b may include fiber optic sensors extended on the moving arms for sensing the poses of the moving

arms

12a and 12b. It should be understood that the current pose may include the current pose and the current position.

In some embodiments, as shown in FIG. 6 , the control device 11 may include one or more processors 111 and memory 112 . The processor 111 may be connected in communication with the plurality of sensors 129a of the first moving arm 12a to obtain current joint values of the respective joints 1201-1208a of the first moving arm 12a through the plurality of sensors 129a. The processor 111 may be connected in communication with the plurality of sensors 129b of the second moving arm 12b to obtain current joint values of the respective joints 1201-1208b of the second moving arm 12b through the plurality of sensors 129b. In some embodiments, the processor 111 may calculate the current joint value of each joint based on the forward kinematic models of the first and second moving

arms

12a and 12b to obtain the first and second moving

arms

12a and 12b the current pose. In some embodiments, the forward kinematics model of the kinematic arm may be preset and stored in memory 112 . The forward kinematics model of the moving arm can determine the pose of the end of the moving arm (for example, the first and

second end arms

128a, 128b, fixedly set at the first, The

connectors

1281a and 1281b on the second moving

arms

12a and 12b, and the postures of the

surgical instruments

14a and 14b mounted on the first and second moving

arms

12a and 12b).

In step 503, a relative pose relationship between the second end of the second moving arm and the first end may be optionally determined. In some embodiments, the second end (eg, the second end arm 128b ) of the second moving arm 14b of the robotic system 10 and the first end (eg, the first end arm 128a ) of the first moving arm 14a may be determined based on the input information ) relative pose relationship. In some embodiments, the input information may include the current procedure type and the configuration of the auxiliary connection device 15 (eg, sheath). In some embodiments, the current surgery type may be the type currently requiring surgery, for example, the surgery type may include, but is not limited to, general surgery, thoracic surgery, urological surgery, gynecological surgery, and the like. In some embodiments, the configuration of the sheath may include the type of sheath, such as the specification and model of the sheath under different surgical procedures (the specification and model may include, but are not limited to, for example, the length of the sheath, the radial dimension, the hole diameter size, number of sheath tubes, relative positional relationship of multiple sheath tubes, etc.). Different configurations of sheaths can be associated with different relative pose relationships of the moving arms.

In some embodiments, the control device 11 may also include an input device 113 . The input information may be input by the user through the input device 113 . In some embodiments, the input device 113 may include a user interface, such as a keyboard, touch screen, buttons, microphone, and the like. In some embodiments, the input device 113 may include one or more buttons, for example, the buttons may include, but are not limited to, "select key", "confirmation key", "start/stop key", "previous step" and "next step" and the like. In some embodiments, the input device 113 can also include a touch screen, and the user can also make selections and inputs through the touch screen. In some implementations, the input device 113 can also be used to receive setting information from the user (such as the current surgery type, The configuration of the auxiliary connecting device, the relative pose model or other setting information, etc.).

In some embodiments, the current surgical type or the configuration of the auxiliary connecting device is determined by inputting information, so as to determine, in the case of the current surgical type or the configuration of the auxiliary connecting device, the difference between the first end of the first moving arm 12a and the second The relative pose relationship of the second end of the moving arm arm 12b. It should be understood that the relative posture relationship of the ends may be the relative positional relationship and the relative posture relationship between the first end arm 128a and the second end arm 128b. In some embodiments, the

surgical instruments

14a, 14b may be mounted on the first and

second end arms

128a, 128b, and the relative posture relationship between the

surgical instruments

14a, 14b may be determined by the first end arm of the first moving arm 12a The relative pose relationship between 128a and the end arm of the second end arm 128b of the second movement arm 12b is determined. Alternatively, the relative pose relationship of the ends may be the relative pose relationship of the

connectors

1281a and 1281b.

In step 505, a target pose of the second end is determined based on the current pose of the first end and the relative pose relationship between the second end and the first end. For example, the target pose of the second end arm 128b may be determined based on the current pose of the first end arm 128a and the relative pose relationship between the second end arm 128b and the first end arm 128a. The target pose includes a target pose and a target position. In some embodiments, the target pose of the second tip may be the position and pose of the second tip arm 128b (or the distal end of the second tip arm 128b). Alternatively, the target pose of the second tip may be a pose along the distal center of motion (RCM) of the second tip arm 128b. Alternatively, the target pose of the second end may be the pose of the connector 1281 b provided on the second end arm 128 b for connecting with the auxiliary connecting device 15 . It should be understood that the position of the connecting piece 1281b may include a position within a preset distance range from the auxiliary connecting device 15, and the preset distance may include but not limited to 10 cm and the like. For example, in the target pose, the second end arm 128b and the first end arm 128a (eg, the

connectors

1281a and 1281b on the first and

second end arms

128a, 128b ) may be connected to the auxiliary connection device 15 (eg, the sheath 151, 152 on the connecting parts 153, 154) connected. In some embodiments, when the surgical instrument 14b is disposed on the second end arm 128b, in the target posture, the

surgical instruments

14a, 14b can be in a specific relative posture through the auxiliary connecting device 15 (eg, sheath tubes 151, 152), respectively. ties into the surgical site.

In step 507, a movement path of the second moving arm is determined based on the target pose of the second end. For example, the movement path of the second moving arm 12b may be determined based on the target pose of the second end arm 128b. It should be understood that the motion path may include paths of multiple joints of the second motion arm 12b. In some embodiments, the movement path of the moving arm may be determined using the method 700 shown in FIG. 7 .

In step 509, based on the movement path, the second end of the second moving arm is controlled to move to the target pose, so that the second end and the first end form a relative pose relationship. For example, based on the movement path of the second moving arm 12b, the second moving arm 12b may be controlled to move to the target pose, so that the second end arm 128b and the first end arm 128a form a relative pose relationship. In some embodiments, the control device 11 may control a plurality of joint movements of the second moving arm 12b based on the motion path, so that the second moving arm 12b moves to the target pose according to the set motion path, and the second end arm 128b is connected to the The first end arm 128a forms a desired relative pose relationship. In the target posture, the first end arm 128a and the second end arm 128b can be connected to the sheath tubes 151 and 152 of the auxiliary connection device 15, respectively.

In some embodiments, the method 500 may further include: during the process of moving the second moving arm to the target pose, judging whether the second moving arm has an interference relationship with other moving arms of the plurality of moving arms. In response to the interference relationship between the second moving arm and other moving arms of the plurality of moving arms, an alarm message is issued. In this way, the collision of the second moving arm 12b with other moving arms can be avoided. In some embodiments, alarm information may be displayed via a display screen. In some embodiments, the alarm information can also be output through other output modules of the operating trolley 4 (eg, a speaker, an alarm indicator, etc.). For example, when there is an interference relationship between the moving arms, the speaker can emit an alarm sound, the alarm indicator light flashes, and so on. According to the alarm information, the user can check the alarm information in time and solve the problem in time, so as to prompt the user to know various situations that may occur during the movement of the second moving arm 12b in real time.

FIG. 7 shows a flowchart of a method 700 for determining a motion path of a moving arm according to some embodiments of the present disclosure. The method 700 may be performed by a control device of the robotic system 10 (e.g., the control device 11 shown in FIG. 1 or FIG. 6 ), and may be implemented by software, firmware and/or hardware. For example, the control device 11 for the robotic system 10 may include a processor (eg, the processor 111 shown in FIG. 6 ) configured to perform the method 700 . The method 700 may be used to implement, for example, step 507 shown in FIG. 5 to determine the movement path of the second moving arm 12b.

As shown in FIG. 7, in step 701, the initial pose of the second moving arm is acquired. In some embodiments, the initial pose of the second moving arm 12b may be obtained by obtaining initial joint values of the respective joints of the second moving arm 12b using sensors installed at the respective joints of the second moving arm 12b. It should be understood that the initial posture may also include the current posture of the second moving arm 12b.

In step 703, a target pose of the second moving arm is determined based on the target pose of the second end and the inverse kinematics model of the second moving arm. For example, the target pose of the second moving arm 12b may be determined by solving the inverse kinematics model of the second moving arm 12b based on the target pose of the second end arm 128b. It should be understood that the inverse kinematics model of the moving arm can be used to solve the joint values of the moving arm when the pose of any part of the moving arm is known. The inverse kinematics model of the kinematic arm may be predetermined. It should be understood that, based on the target pose of the second end arm 128b, the target joint value of the second end arm 128b in the target pose can be determined. Through the target joint value of the second end arm 128b and the inverse kinematics model of the second moving arm 12b, the remaining joint values of other joints of the second moving arm 12b can be determined, so that the target pose of the second moving arm 12b can be obtained . For example, the method shown in FIG. 8 can be used to determine the target pose of the second moving arm.

In step 707, a movement path of the second movement arm is determined based on the initial pose and the target pose of the second movement arm. In some embodiments, for example, based on the initial pose and the target pose of the second moving arm 12b, an interpolation method may be used to plan the movement path of the second moving arm 12b from its initial pose to its target pose.

In some embodiments, method 700 may also include step 705 . In step 705, it is determined whether an interference relationship will be formed between the second moving arm and other moving arms of the plurality of moving arms. For example, in the process of planning the movement path of the second movement arm 12b, it is determined whether an interference relationship will be formed between the first movement arm 12a and the second movement arm 12b or between multiple second movement arms 12b. The interfering relationship may include, for example, a collision between the second moving arm 12b and the first moving arm 12a, or the like.

In some embodiments, method 700 may further include

steps

709 and 711 . In step 709, the second moving arm is controlled to move to the target pose. For example, in response to no interference relationship being formed between the first moving arm 12a and the second moving arm 12b, the second moving arm 12b is controlled to move to the target pose. In step 711, an alarm message is issued. For example, in response to an interference relationship between the first moving arm 12a and the second moving arm 12b, an alarm message is issued. In some embodiments, the alarm information may include, but is not limited to, display in at least one of the following ways: display on a display screen, display on a voice broadcast, and display on an alarm indicator.

FIG. 8 shows a flowchart of a method 800 for determining a target pose of a moving arm according to some embodiments of the present disclosure. The method 800 may be performed by a control device of the robotic system 10 (eg, the control device 11 shown in FIG. 1 or FIG. 6 ), and may be implemented by software, firmware and/or hardware. For example, the control device 11 for the robotic system 10 may include a processor (eg, the processor 111 shown in FIG. 6 ) configured to perform the method 800 . The method 800 can be used to implement, for example, step 703 shown in FIG. 7 to determine the target pose of the second moving arm 12b.

As shown in FIG. 8 , in step 801 , one of a plurality of joints of the second moving arm is selected as a characteristic joint, and a recommended target joint value of the characteristic joint is set. In some embodiments, the selected characteristic joint of the second moving arm 12b may be a joint among the plurality of joints of the second moving arm 12b that is prone to collide with the first moving arm 12a, such as the joint 1205b shown in FIG. 3 or 1206b. It should be understood that when the robot system 10 includes multiple moving arms (eg, three or four moving arms), the recommended target joint values of the characteristic joints of different moving arms may be different. The recommended target joint value may be predetermined.

In step 803, other target joint values of other joints of the second moving arm are determined based on the recommended target joint value, the target pose of the second end, and the inverse kinematics model of the second moving arm. It should be understood that the other target joint values may include target joint values of all other joints of the second moving arm 12b except the characteristic joints. For example, based on the target pose of the second end arm 128b of the second kinematic arm 12b and the recommended target joint value of the recommended joint (eg, joint 1205b ), the inverse kinematics model of the second kinematic arm 12b is solved to obtain Other target joint values of all other joints of the second moving arm 12b.

In some embodiments, method 800 may also include step 805 . In step 805, it is determined whether other target joint values of the second moving arm are all within the joint motion range of the corresponding joint. It should be understood that each joint of the moving arm has a certain movement range, and the joint movement range of each joint includes the range between the minimum limit joint value and the maximum limit joint value of the corresponding joint. In some embodiments, the minimum limit joint value and the maximum limit joint value may not be within the range of motion of the joint. For example and not by way of limitation, some joints move between 18 degrees and 45 degrees, some joints move between 45 degrees and 90 degrees, some joints move between -90 degrees and -45 degrees, and so on.

In some embodiments, method 800 may also include step 807 . In step 807, the recommended target joint value is incremented or decremented by a preset adjustment value to adjust the recommended target joint value of the second moving arm. For example, in response to at least one of the other target joint values of the second moving arm 12b being not within the joint motion range of the corresponding joint, the recommended target joint value is incremented or decremented by a preset adjustment value to adjust the Recommended target joint value. In some embodiments, the adjustment value may be set to, for example, 0.2° or 0.5°, etc. to adjust the recommended target joint value. It should be understood that 0.2° or 0.5° is only an example, and the adjustment value can also be set to other values. Increment or decrement the preset adjustment value until there is a solution or the joint motion range of the characteristic joint is reached (limit values may not be included). For example, a solution can indicate that the recommended target joint value is within the joint motion range of the feature joint.

In some embodiments, method 800 may also include step 809 . In step 809, it is determined whether the adjusted recommended target joint value is within the joint motion range of the characteristic joint.

In some embodiments, method 800 may further include step 811 . In step 811, the adjusted recommended target joint value is selected as the recommended target joint value. For example, in response to the adjusted recommended target joint value being within the joint motion range of the characteristic joint, the adjusted recommended target joint value is selected as the recommended target joint value, and the process returns to step 803 .

In some embodiments, method 800 may further include step 813 . In step 813, the current pose of the first end is adjusted. For example, in response to the adjusted recommended target joint value being not within the joint motion range of the characteristic joint, it means that the current process has no solution. In this way, the current pose of the first end arm 128a can be adjusted within a preset compensation range through an instruction, and then the control method described in the present disclosure (for example, the control method 500 shown in FIG. 5 ) can be re-executed until the first end arm 128a is obtained. The movement path of the two moving arms 12b ends. It should be understood that the instructions may be generated by the user through the user interface to control the movement of one or more joints of the first moving arm 12a to change the current pose of the first distal arm 128a.

In step 817, a target pose of the second moving arm is determined based on the recommended target joint value and other target joint values. For example, in response to the other target joint values of the second moving arm 12b being within the joint motion range of the corresponding joint, a set of recommended target joint values and other target joint values is selected as the target joint value of the second moving arm 12b. By determining the target joint value of the second moving arm 12b, the target pose of the second moving arm 12b can be determined.

In some embodiments, method 800 may optionally further include step 815 . In step 815, it is determined whether an interference relationship will be formed between the second moving arm and other moving arms of the plurality of moving arms. For example, in response to all other target joint values of the second moving arm 12b being within the joint motion range of the corresponding joint, it is determined whether an interference relationship will be formed between the second moving arm 12b and the first moving arm 12a. In some embodiments, step 817 is performed in response to no interference relationship between the second moving arm 12b and the first moving arm 12a. In some embodiments, in response to an interference relationship between the second moving arm 12b and the first moving arm 12a, the process returns to step 807 .

In some embodiments, when the recommended target joint value and other target joint values have multiple sets of solutions that satisfy the conditions (for example, there are multiple sets of target joint values of the second moving arm 12b that satisfy the conditions), the second moving arm 12b may be selected. A set of solutions with the lowest probability of interference with the first moving arm 12a is taken as the target joint value of the second moving arm 12b. It should be understood that the probability of interference and whether interference occurs may be determined according to the recommended target joint value of the second moving arm 12b and the distances between other target joint values and the corresponding joint value of the first moving arm. For example, the larger the distance, the lower the probability of interference.

FIG. 9 shows a flowchart of another method 900 for determining a motion path of a moving arm according to some embodiments of the present disclosure. The method 900 may be performed by a control device of the robotic system 10 (e.g., the control device 11 shown in FIG. 1 or FIG. 6 ), and may be implemented by software, firmware and/or hardware. For example, the control device 11 for the robotic system 10 may include a processor (eg, the processor 111 shown in FIG. 6 ) configured to perform the method 900 . The method 800 may be used to implement, for example, step 507 shown in FIG. 5 to determine the movement path of the second movement arm 12b.

As shown in FIG. 9 , in step 901 , based on the target pose of the second end, a transition pose of the second end is set. For example, the transition pose of the second end arm 128b may be set based on the target posture of the second end arm 128b, and the transition posture includes a transition posture and a transition position. In some embodiments, the transit pose of the second end (eg, second end arm 128b ) may be set based on a transit rule. The transfer rule may include at least one of the following: the transfer pose is set so that the transfer pose of the second end is consistent with the target pose; the transfer position of the second end is in the vertical direction (for example, along the bracket where the moving arm is located, The height of the Z-axis direction, height direction or longitudinal direction of the coordinate system defined by the base is consistent with the target position of the second end; The X or Y axis direction or lateral direction of the coordinate system) and the target position of the second end are separated by a preset distance (for example, only as an example, it can be 20mm to 40mm in the horizontal direction, and the specific preset distance can be based on the actual distance. The usage situation is preset), so that the intermediate position of the second end is farther from the current position of the first end in the lateral or horizontal direction than the target position. In the present disclosure, determining the intermediate position can more effectively prevent the collision between the first moving arm 12a and the second moving arm 12b and the components provided on the first moving arm 12a or the second moving arm 12b, and can also prevent the second moving arm 12a or the second moving arm 12b from colliding. The moving arm 12b collides with other objects (such as the auxiliary connecting device 15 ) during the movement to the target posture.

In step 903, a target joint value of the second moving arm is determined based on the target pose of the second end and the inverse kinematics model of the second moving arm. For example, the target joint value of the second moving arm 12b is determined to determine the target pose of the second moving arm 12b. For example, the method 800 may determine the target joint value of the second moving arm 12b.

In step 905, based on the target joint value of the second moving arm and the intermediate position of the second end, the intermediate joint value of the second moving arm is determined. For example, the inverse kinematics model of the second moving arm 12b can be solved based on the target joint value of the second moving arm 12b and the transition pose of the second end arm 128b to determine the transitions of other joints of the second moving arm 12b joint value. The transition pose of the second moving arm 12b may be determined based on the transition joint value. For example, the method shown in Figure 10 can be used to determine the mid-rotation pose of the moving arm.

In step 909, a movement path of the second movement arm is determined based on the initial joint value, the intermediate joint value and the target joint value of the second movement arm. In some embodiments, an interpolation method may be used to plan a transit motion path of the second moving arm 12b from its initial joint value (eg, its initial pose) to its hinge joint value (eg, its transit pose), and the interpolation method may be used. to plan the remaining motion path of the second moving arm 12b moving from its joint value (eg, the intermediate pose) to its target joint value (eg, the target pose). The intermediate motion path and the remaining motion path form the motion path of the second motion arm 12b. Based on the determined path movement, the second moving arm 12b may move to the target pose, and the second end arm 128b moves to the target pose via the intermediate pose to form an end arm relative pose relationship with the first end arm 128a. In this way, the first end arm 128a and the second end arm 128b can be connected with the sheath tubes 151 and 152 of the auxiliary connection device 15, respectively. For example, the connecting

pieces

1281a and 1281b on the first and

second end arms

128a and 128b can be connected with the connecting

parts

153 and 154 of the auxiliary connecting device 15, respectively. In some embodiments, the second moving arm 12b is provided with a surgical instrument 14b, and in the target posture, the surgical instrument 14b can pass through the sheath tube 154 smoothly. In some embodiments, the second moving arm 12b moves in a defined motion path, the second end arm 128b will move to the intermediate pose in a smooth movement manner, and then move from the intermediate pose to the target pose in a linear movement manner . During this process, the connecting piece 1281b gradually approaches the auxiliary connecting device 15 .

In some embodiments, method 900 may also include step 907 . In step 907, it is determined whether an interference relationship will be formed between the second moving arm and other moving arms of the plurality of moving arms. For example, in the process of planning the transit movement path and the remaining movement path of the second moving arm 12b, it is determined whether an interference relationship will be formed between the first moving arm 12a and the second moving arm 12b, and the interference relationship includes, for example, a collision.

In some embodiments, method 900 may further include

steps

911 and 913 . In step 911, the second moving arm is controlled to move to the target pose. For example, in response to no interference relationship being formed between the first moving arm 12a and the second moving arm 12b, the second moving arm 12b is controlled to move to the target pose. In step 913, the second moving arm is controlled to issue an alarm message. For example, in response to an interference relationship between the first moving arm 12a and the second moving arm 12b, the second moving arm 12b is controlled to issue an alarm message. In some embodiments, the alarm information may include, but is not limited to, display in at least one of the following ways: display on a display screen, display on a voice broadcast, and display on an alarm indicator.

FIG. 10 shows a flowchart of a method 1000 for determining a mid-rotation pose of a kinematic arm according to some embodiments of the present disclosure. The method 1000 may be performed by a control device of the robotic system 10 (eg, the control device 11 shown in FIG. 1 or FIG. 6 ), and may be implemented by software, firmware and/or hardware. For example, the control device 11 for the robotic system 10 may include a processor (eg, the processor 111 shown in FIG. 6 ) configured to perform the method 1000 . The method 1000 may be used to implement, for example, step 905 shown in FIG. 9 to determine the value of the intermediate joint of the second moving arm 12b.

As shown in FIG. 10, in step 1001, one or more target joint values in the target joint values of the second moving arm are selected as one or more selected transfer joint values of one or more corresponding joints of the second moving arm . It should be understood that the one or more corresponding joints may be one or more joints in the second kinematic arm 12b that are used to determine the pose of the second end arm 128b. For example, joint 1205b as shown in FIG. 3 may be selected as the selected transit joint value, or

joints

1204b, 1205b, and 1206b may be selected as the selected transit joint value. In this way, the transition posture of the second end arm 128b can be made consistent with the target posture. In some embodiments, target joint values of a plurality of joints of the second moving arm 12b for realizing the target posture of the second end arm 128b may be selected as the intermediate joint values of these joints.

In step 1003, based on the transit pose of the second end, the one or more selected transit joint values of the second kinematic arm, and the inverse kinematics model of the second kinematic arm, determine other transit joints of other joints of the second kinematic arm value.

In some embodiments, method 1000 further includes step 1005 . In step 1005, it is determined whether the other joint joint values of the second moving arm are all within the joint motion range of the corresponding other joints. It should be understood that in actual use, each joint has a certain range of motion. For example and not as a limitation, some joints can only move between 18 degrees and 45 degrees, some joints can only move between 45 degrees and 90 degrees, and some joints can only move between -90 degrees and -45 degrees. between movements, etc.

In some embodiments, method 1000 further includes step 1007 . In step 1007, the intermediate position of the second end is adjusted. For example, in response to at least one of the other transition joint values of the second moving arm 12b being not within the joint motion range of the corresponding other joint, the transition pose of the second end is adjusted. The method 900 shown in FIG. 9 may then be re-executed until the intermediate joint value of the second moving arm 12b is determined. In some embodiments, adjusting the transit posture of the second end may include, for example, adjusting through a preset transit rule mentioned in step 901 . For example, the second end arm 128b can be adjusted by decreasing a preset adjustment value (eg, 1 mm) from a preset distance between the intermediate position of the second end arm 128b and the target position of the second end arm 128b in the longitudinal direction or in the horizontal direction. The intermediate position of the two end arms 128b.

In some embodiments, method 1000 may further include step 1011 . At step 1011 , a transit pose of the second moving arm is determined based on one or more selected transit joint values and other transit joint values of the second moving arm. For example, in response to all other transit joint values of the second moving arm 12b being within the joint motion range of the corresponding other joint, the set of one or more selected transit joint values and all other transit joint values is selected as the second motion The intermediate joint value of arm 12b.

In some embodiments, method 1000 may also include step 1009 . In step 1009, it is determined whether an interference relationship will be formed between the second moving arm and other moving arms of the plurality of moving arms. For example, it is determined whether an interference relationship will be formed between the first moving arm 12a and the second moving arm 12b, and the interference relationship includes, for example, a collision and the like. In some embodiments, step 1011 is performed in response to no interference relationship being formed between the first moving arm 12a and the second moving arm 12b. In response to an interference relationship between the first moving arm 12a and the second moving arm 12b, return to step 1007.

FIG. 11 shows a schematic structural diagram of the control apparatus 11 included in the medical device control system 10 according to an embodiment of the present disclosure. In some embodiments, as shown in FIG. 11 , the control device 11 may include an input device 113 , an output device 114 , one or more memories 112 , one or more processors 111 , and a communication interface 115 . In some embodiments, the control device 11 may also not include an output device.

In some embodiments, the input device 113 may include, but is not limited to, buttons, keyboards, touch screens, microphones, and the like. The input device may be configured to directly receive an operation command from the user, or receive an operation instruction from the user so that the control device can acquire a specific operation command based on the operation instruction. The manipulation command may include, for example, a command commanding the movement of the second end arm 128b to a pose that forms a desired relative pose relationship with the first end arm 128a. In some embodiments, the input device 113 can also be used to receive setting information from the user, such as the current surgery type, the configuration of the auxiliary connecting device, the preset transfer rule, the setting information of the relative pose model, and the like.

In some embodiments, output devices 114 may include, but are not limited to, displays, speakers, indicator lights, and the like, which may be configured to indicate the status of various components of robotic system 10, output error alert signals, and the like.

In some embodiments, a computer program executable on the processor 111 may be stored in the memory 112 . The processor 111 implements the control methods described in the above embodiments when executing the computer program. The number of the memory 112 and the processor 111 may be one or more. The communication interface 115 is used for communication between the control device 11 (eg, the processor 111 of the control device 11 ) and external devices. In the present disclosure, the control device 11 may communicate with motors disposed in respective joints of each moving arm (eg, the first moving arm 12a, the second moving arm 12b), for example, through the communication interface 115, so as to instruct the moving arms to move to Corresponding to the target position, the control device 11 may also communicate with the sensors at each joint of the moving arm, for example, through the communication interface 115, so as to receive the joint value of each joint of the moving arm. In an example of the present disclosure, the communication interface 115 may be a CAN (Controller Area Network) bus communication interface, which enables the control device 11 to communicate with the motors and sensors provided in each joint through the CAN bus.

As shown in FIG. 11 , the input device 113, the output device 114, the memory 112, the processor 111 and the communication interface 115 can be connected to each other through a bus to complete the mutual communication. The bus can be an industry standard architecture (ISA, Industry Standard Architecture) bus, a peripheral device interconnect (PCI, Peripheral Component) bus or an extended industry standard architecture (EISA, Extended Industry Standard Component) bus and so on.

In some embodiments, the processor 111 may be various types of general-purpose processors such as a central processing unit (CPU) and a digital signal processor (DSP), which are not limited herein.

In some embodiments, the control device 11 may be integrated with the base 131 and located within the base 131 (eg, below the base 131 ) to save space. However, in practical applications, the control device 11 may also be provided separately from the base 131 , or the control device 11 may be partially integrated with the base 131 and the other part separated from the base 131 . Alternatively, the control device 11 can also adopt other setting manners, and is connected in communication with each moving arm and can control each moving arm.

In some embodiments, the present disclosure provides a computer-readable storage medium that can include at least one instruction executed by a processor to configure the processor to perform the control in any of the above embodiments method.

In some embodiments, the present disclosure provides a computer system that can include a non-volatile storage medium and at least one processor. The non-volatile storage medium may include at least one instruction. The processor is configured to execute at least one instruction to configure the processor to perform the control method in any of the above embodiments.

In some embodiments, a computer-readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination of the above.

In some embodiments, computer readable storage media may include, but are not limited to, portable computer disks, hard disks, read only memory (ROM), random access memory (RAM), erasable programmable read only memory (EPROM) , Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other solid-state memory technology, CD-ROM, Digital Versatile Disc (DVD), HD-DVD, Blue-Ray or other optical storage devices, magnetic tape, Disk storage or other magnetic storage device, or any other medium capable of storing required information and accessible by a computer, having stored thereon computer-executable instructions that, when executed in a machine (eg, a computer device), The machine is caused to execute the control method of the present disclosure. It should be understood that computer devices may include personal computers, servers, or network devices, among others.

Some embodiments of the present disclosure can help to optimize the position of the moving arm during preoperative preparation, and can calculate the target pose of the other moving arm according to the real-time pose of one moving arm and make it move to the target pose , so as to realize the preoperative setup process with a high degree of automation.

In some embodiments of the present disclosure, after calculating the target pose of another moving arm in real time, the moving arm can also reach the target position accurately, quickly and safely in a specific planning manner, so as to achieve efficient and safe preoperative preparation .

The present disclosure also discloses the following:

1. A control method for a robotic system comprising a plurality of moving arms including a first moving arm and a second moving arm, the control method comprising:

obtaining the current pose of the first end of the first moving arm;

Based on the current pose of the first end and the relative pose relationship between the second end of the second moving arm and the first end, a target pose of the second end is determined, and the target pose includes target position and target pose;

determining a movement path of the second moving arm based on the target pose of the second end; and

Based on the movement path, the second end of the second moving arm is controlled to move to the target posture, so that the second end and the first end form the relative posture relationship.

2. The control method according to item 1, wherein determining the movement path of the second moving arm based on the target pose of the second end includes:

obtaining the initial pose of the second moving arm;

determining a target pose of the second kinematic arm based on the target pose of the second end and the inverse kinematics model of the second kinematic arm; and

Based on the initial pose and the target pose of the second moving arm, a movement path of the second moving arm is determined.

3. The control method according to item 2, wherein determining the target pose of the second moving arm based on the target pose of the second end and the inverse kinematics model of the second moving arm comprises:

selecting one of the plurality of joints of the second moving arm as a characteristic joint;

setting the recommended target joint value for the feature joint; and

Based on the target pose of the second end, the recommended target joint value, and the inverse kinematics model, other target joint values of other joints of the second moving arm are determined.

4. The control method according to item 3, further comprising:

Determine whether the other target joint values are within the joint motion range of the corresponding joint;

In response to at least one of the other target joint values not being within the joint motion range of the corresponding joint, the recommended target joint value is incremented or decremented by a preset adjustment value to adjust the recommended target joint value.

5. The control method according to item 4, further comprising:

In response to the other target joint values being within the joint motion range of the corresponding joint, the target pose of the second moving arm is determined based on the recommended target joint value and the other target joint values.

6. The control method according to item 4, further comprising:

In response to the adjusted recommended target joint value being not within the joint motion range of the characteristic joint, the current pose of the first end is adjusted according to the instruction.

7. The control method according to any one of items 3-6, further comprising:

determining whether an interference relationship will be formed between the second moving arm and other moving arms of the plurality of moving arms;

In response to no interference relationship being formed between the second moving arm and other moving arms, the target pose of the second moving arm is determined based on the recommended target joint value and the other target joint values.

8. The control method according to any one of items 3 to 7, in response to an interference relationship being formed between the second moving arm and other moving arms of the plurality of moving arms, the recommended target joint value is The preset adjustment value is incremented or decremented to adjust the recommended target joint value.

9. The control method according to any one of items 3 to 8, wherein the characteristic joint is a joint among the plurality of joints of the second moving arm that is prone to collide with other moving arms of the plurality of moving arms.

10. The control method according to any one of items 2 to 9, wherein determining the motion path of the second moving arm based on the target pose of the second end further comprises:

Based on an interpolation method, the movement path of the second moving arm from the initial pose to the target pose is determined.

11. The control method according to any one of items 1-10,

determining whether an interference relationship will be formed between the second moving arm and other moving arms of the plurality of moving arms; and

In response to an interference relationship being formed between the second moving arm and the other moving arms, an alarm message is issued.

12. The control method according to any one of items 1-11, further comprising:

based on the target pose of the second end, setting a transit pose of the second end, the transit pose including a transit pose and a transit position; and

Based on the target pose and the intermediate pose of the second end, a motion path of the second moving arm is determined.

13. The control method according to item 12, wherein setting the transition pose of the second end based on the target pose of the second end comprises:

Based on a transfer rule, the transfer pose of the second end is set, and the transfer rule includes at least one of the following:

The transfer posture of the second end is consistent with the target posture;

The height of the intermediate position of the second end in the vertical direction is consistent with the target position; or

The intermediate position of the second end is horizontally separated from the target position by a preset distance, so that the intermediate position is further away from the first end in the horizontal direction than the target position. the current location.

14. The control method according to any one of items 12 to 13, wherein determining the movement path of the second moving arm based on the target pose and the intermediate pose of the second end comprises:

determining a target joint value of the second kinematic arm based on the target pose of the second end and the inverse kinematics model of the second kinematic arm; and

Based on the target joint value, the transition pose, and the inverse kinematics model of the second moving arm, a transition joint value of the second moving arm is determined.

15. The control method according to item 14, wherein determining the intermediate joint value of the second moving arm based on the target joint value, the intermediate attitude and the inverse kinematics model of the second moving arm comprises: :

selecting one or more of the target joint values as one or more selected intermediate joint values of one or more corresponding joints of the second kinematic arm; and

Based on the transit pose and the one or more selected transit joint values and the inverse kinematics model of the second kinematic arm, other transit joint values for other joints of the second kinematic arm are determined.

16. The control method according to item 15, further comprising:

judging whether the other transit joint value is within the joint motion range of the corresponding other joint; and

In response to at least one of the other transit joint values not being within the joint motion range of the corresponding other joint, incrementing or decrementing one or more selected transit joint values by a preset adjustment value to adjust the one or more transit joint values The selected transit joint value.

17. The control method according to any one of items 15-16, further comprising:

In response to an interference relationship being formed between the second moving arm and the other moving arms, incrementing or decrementing the value of one or more selected relay joints by a preset adjustment value to adjust the one or more selected relays joint value.

18. The control method according to any one of items 1-17, further comprising:

The relative pose relationship between the second end of the second moving arm and the first end is determined.

19. A robotic system comprising:

a plurality of movement arms, the plurality of movement arms including a first movement arm and a second movement arm;

A control device configured according to the control method of any of items 1-18.

20. The robotic system of claim 19, further comprising an auxiliary connection device comprising at least a first sheath connected to the first end and a For the second sheath, the control device is configured to determine the relative pose of the first end and the second end based on the shapes of the first sheath and the second sheath and their relative positional relationship relation.

21. The robotic system according to claim 20, wherein a first auxiliary connecting portion is provided on the first sheath, and a second auxiliary connecting portion is provided on the second sheath;

The first end is provided with a first arm body connection part, the second end is provided with a second arm body connection part, and the first sheath can be connected with the first arm body through the first auxiliary connection part The arm body connecting part is connected, and the second sheath tube is connected with the second arm body connecting part through the second auxiliary connecting part.

22. A computer-readable storage medium comprising one or more instructions executed by a processor that configures the processor to perform the control method of any of claims 1-18.

23. A computer system comprising:

a memory for storing at least one instruction; and

A processor configured to execute the at least one instruction to perform the control method of any of claims 1-18.

Note that the above are merely exemplary embodiments of the present disclosure and applied technical principles. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present disclosure. Therefore, although the present disclosure has been described in detail through the above embodiments, the present disclosure is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present disclosure. The scope is determined by the scope of the appended claims.

Claims

A control method for a robotic system, the robotic system comprising a plurality of moving arms, the plurality of moving arms including a first moving arm and a second moving arm, the control method comprising:

obtaining the current pose of the first end of the first moving arm;

Based on the current pose of the first end and the relative pose relationship between the second end of the second moving arm and the first end, a target pose of the second end is determined, and the target pose includes target position and target pose;

determining a movement path of the second moving arm based on the target pose of the second end; and

Based on the movement path, the second end of the second moving arm is controlled to move to the target posture, so that the second end and the first end form the relative posture relationship.
The control method according to claim 1, wherein determining the movement path of the second moving arm based on the target pose of the second end comprises:

obtaining the initial pose of the second moving arm;

determining a target pose of the second kinematic arm based on the target pose of the second end and the inverse kinematics model of the second kinematic arm; and

Based on the initial pose and the target pose of the second moving arm, a movement path of the second moving arm is determined.
The control method according to claim 2, wherein determining the target pose of the second moving arm based on the target pose of the second end and the inverse kinematics model of the second moving arm comprises:

selecting one of the plurality of joints of the second moving arm as a characteristic joint;

setting the recommended target joint value for the feature joint; and

Based on the target pose of the second end, the recommended target joint value, and the inverse kinematics model, other target joint values of other joints of the second moving arm are determined.
The control method according to claim 3, further comprising:

Determine whether the other target joint values are within the joint motion range of the corresponding joint;

In response to at least one of the other target joint values not being within the joint motion range of the corresponding joint, the recommended target joint value is incremented or decremented by a preset adjustment value to adjust the recommended target joint value.
The control method according to claim 4, further comprising:

In response to the other target joint values being within the joint motion range of the corresponding joint, the target pose of the second moving arm is determined based on the recommended target joint value and the other target joint values.
The control method according to claim 5, further comprising:

In response to the adjusted recommended target joint value being not within the joint motion range of the characteristic joint, the current pose of the first end is adjusted according to the instruction.
The control method according to claim 3, further comprising:

determining whether an interference relationship will be formed between the second moving arm and other moving arms of the plurality of moving arms; and

In response to an interference relationship between the second moving arm and other moving arms of the plurality of moving arms, the recommended target joint value is incremented or decremented by a preset adjustment value to adjust the recommended target joint value .
The control method according to claim 3, wherein the characteristic joint is a joint among the plurality of joints of the second moving arm that is prone to collide with other moving arms of the plurality of moving arms.
The control method according to claim 2, wherein determining the movement path of the second moving arm based on the target pose of the second end further comprises:

Based on an interpolation method, the movement path of the second moving arm from the initial pose to the target pose is determined.
The control method according to claim 1, characterized in that:

determining whether an interference relationship will be formed between the second moving arm and other moving arms of the plurality of moving arms; and

In response to an interference relationship being formed between the second moving arm and the other moving arms, an alarm message is issued.
The control method according to claim 1, further comprising:

based on the target pose of the second end, setting a transit pose of the second end, the transit pose including a transit pose and a transit position; and

Based on the target pose and the intermediate pose of the second end, a motion path of the second moving arm is determined.
The control method according to claim 11, wherein the setting of the transition pose of the second end based on the target pose of the second end comprises:

Based on a transfer rule, the transfer pose of the second end is set, and the transfer rule includes at least one of the following:

The transfer posture of the second end is consistent with the target posture;

The height of the intermediate position of the second end in the vertical direction is consistent with the target position; or

The intermediate position of the second end is horizontally separated from the target position by a preset distance, so that the intermediate position is further away from the first end in the horizontal direction than the target position. the current location.
The control method according to claim 11, wherein determining the movement path of the second moving arm based on the target pose and the intermediate pose of the second end comprises:

determining a target joint value of the second kinematic arm based on the target pose of the second end and the inverse kinematics model of the second kinematic arm; and

Based on the target joint value, the transition pose, and the inverse kinematics model of the second moving arm, a transition joint value of the second moving arm is determined.
The control method according to claim 13, wherein the intermediate joint of the second moving arm is determined based on the target joint value, the intermediate position and the inverse kinematics model of the second moving arm Values include:

selecting one or more of the target joint values as one or more selected intermediate joint values of one or more corresponding joints of the second kinematic arm; and

Based on the transit pose and the one or more selected transit joint values and the inverse kinematics model of the second kinematic arm, other transit joint values for other joints of the second kinematic arm are determined.
The control method according to claim 14, further comprising:

judging whether the other transit joint value is within the joint motion range of the corresponding other joint; and

In response to at least one of the other transit joint values not being within the joint motion range of the corresponding other joint, incrementing or decrementing one or more selected transit joint values by a preset adjustment value to adjust the one or more transit joint values The selected transit joint value.
The control method according to claim 15, further comprising:

determining whether an interference relationship will be formed between the second moving arm and other moving arms of the plurality of moving arms; and

In response to an interference relationship being formed between the second moving arm and the other moving arms, incrementing or decrementing the value of one or more selected relay joints by a preset adjustment value to adjust the one or more selected relays joint value.
The control method according to claim 1, further comprising:

The relative pose relationship between the second end of the second moving arm and the first end is determined.
A robotic system comprising:

a plurality of movement arms, the plurality of movement arms including a first movement arm and a second movement arm;

a control device configured to obtain a current pose of the first end of the first moving arm, based on the current pose of the first end and the relationship between the second end of the second moving arm and the the relative pose relationship of the first end, determining the target pose of the second end, the control device is further configured to determine the movement path of the second moving arm based on the target pose of the second end, and controlling the second end of the second moving arm to move to the target pose based on the motion path, so that the second end and the first end form the relative pose relationship.
The robotic system according to claim 18, wherein the robotic system further comprises an auxiliary connecting device, the auxiliary connecting device at least comprising a first sheath connected to the first end and a first sheath connected to the second end a connected second sheath, the control device configured to determine the relative position of the first end and the second end based on the shapes of the first sheath and the second sheath and their relative positional relationship pose relationship.
A computer-readable storage medium comprising one or more instructions for execution by a processor that has configured the processor to perform a method of control of a robotic system, the robotic system including a plurality of moving arms, the plurality of moving arms The arm includes a first moving arm and a second moving arm, and the control method includes:

obtaining the current pose of the first end of the first moving arm;

Based on the current pose of the first end and the relative pose relationship between the second end of the second moving arm and the first end, a target pose of the second end is determined, and the target pose includes target position and target pose;

determining a movement path of the second moving arm based on the target pose of the second end; and

Based on the movement path, the second end of the second moving arm is controlled to move to the target posture, so that the second end and the first end form the relative posture relationship.