WO2022188246A1

WO2022188246A1 - Apparatus and method for controlling safety boundary of robot, and electronic device and storage medium

Info

Publication number: WO2022188246A1
Application number: PCT/CN2021/089173
Authority: WO
Inventors: 黄志俊; 陈鹏; 刘金勇
Original assignee: 杭州柳叶刀机器人有限公司
Priority date: 2021-03-12
Filing date: 2021-04-23
Publication date: 2022-09-15
Also published as: CN113040915A

Abstract

An apparatus and method for controlling a safety boundary of a robot, and an electronic device and a storage medium. The apparatus for controlling a safety boundary of a robot comprises: a robot arm (11), which comprises an operation end and a tail end, wherein the operation end is used for receiving an operation action, such that the tail end moves within a conical region; and a control component (12), which is used for receiving a size parameter, and determining the range of the conical region according to the size parameter; determining the current first position of the tail end according to structure information of the robot arm (11) and an action parameter of the operation action; and limiting, when the first position of the tail end reaches a boundary of the conical region, a movement trajectory of the tail end of the robot arm (11) to surround the boundary of the conical region. A control component (12) of the apparatus for controlling a safety boundary of a robot can limit, when a tail end of a robot arm (11) reaches the boundary of a conical region, a movement trajectory of the tail end of the robot arm (11) to surround the boundary of the conical region, such that excessive grinding due to the tail end of the robot arm (11) going beyond the boundary of the conical region can be prevented.

Description

Robot safety boundary control device and method, electronic device and storage medium

This disclosure claims the priority of a Chinese patent application with application number 202110270119.0 and titled "Robot Safety Border Control Device and Method, Electronic Device and Storage Medium" filed with the China Patent Office on March 12, 2021, the entire contents of which are provided by References are incorporated in this disclosure.

technical field

The present disclosure relates to the technical field of medical instruments, and in particular, to a robot safety boundary control device and method, an electronic device and a storage medium.

Background technique

Artificial joint replacement is currently the most effective treatment for advanced osteoarthritis. This procedure requires the removal of the diseased femoral head from the patient and the installation of a corresponding acetabular block prosthesis. Before installing the prosthesis, the acetabular fossa of the human body must be ground until it conforms to the external dimensions of the acetabular prosthesis, and then the acetabular cup is placed in the acetabular fossa.

In the related art, in hip replacement surgery, the doctor grinds the acetabulum with a grinding device in hand. This operation is manual operation, and the uncertainty of the grinding effect is relatively large. and other factors, or by the professional knowledge and experience of doctors. During the grinding process, excessive grinding force, insufficient grinding depth, missing normal anatomical position caused by eccentric grinding, and uneven grinding caused by the slippage of the grinding head are prone to occur. Therefore, there is a high probability that the grinding result does not match the implanted prosthesis. If the mismatch occurs, the patient may suffer from pain and poor motor function recovery, that is, the surgical effect may be poor.

Compared with manual grinding, the robotic arm of the joint replacement surgery robot can achieve more precise grinding and improve the accuracy of prosthesis implantation. At present, the core difficulty of grinding with robots lies in the feedback and control of force during operation. The end of the robotic arm is difficult to control during the acetabular grinding process, resulting in excessive grinding, puncturing the acetabular fossa, and damaging ligaments other than the target anatomy. , soft tissue nerves and other structures, or the friction is not in place, and the true acetabular floor cannot be fully exposed.

SUMMARY OF THE INVENTION

Based on the above factors, the present disclosure can assist doctors to grind a hemisphere with a constant position and a single curvature, improve the machining accuracy of grinding and rubbing, improve the matching degree of the acetabulum and the prosthesis, and make the robotic arm controllable during the working process, improving the Physician and patient safety.

The present disclosure provides a robot safety boundary control device and method, an electronic device and a storage medium.

According to an aspect of the present disclosure, there is provided a robot safety boundary control device, comprising: a robotic arm and a control assembly, the robotic arm includes an operation end and an end, the operation end is configured to receive an operation action, so that the end is in the Movement in the conical area, the control component is used to: receive the size parameters preset by the host computer, and determine the range of the conical area according to the size parameters; The received action parameter of the operation action determines the current first position of the end; when the first position of the end reaches the boundary of the conical area, the motion trajectory of the end of the robotic arm is limited to surround the the boundary of the conical region.

In a possible implementation manner, determining the current first position of the terminal according to the structure information of the robotic arm and the action parameters of the operation action received by the operation terminal includes: according to the structure of the robotic arm information, determine the positional relationship between the operating end and the end of the robotic arm; determine the second position of the operating end according to the action parameters; The second position of the operating end is determined, and the current first position of the end is determined.

In a possible implementation manner, the device further includes a force sensor, which is arranged at a position close to the operation end, and when the first position of the end reaches the boundary of the conical area, the end The movement trajectory is limited to surround the boundary of the conical area, including: determining the tangential tangent of the end of the manipulator along the boundary of the conical area according to the first force parameter detected by the force sensor and the size parameter The normal force and the normal force along the normal direction of the boundary of the conical area; the normal force is set to zero, so that the motion trajectory of the end of the robot arm is around the boundary of the conical area.

In a possible implementation manner, the control component is further configured to: determine a third force-bearing parameter of the end after the normal force is set to zero; and determine the force-bearing parameter according to the third force-bearing parameter The fourth force parameter at the force sensor, so that the operating end of the manipulator moves tangentially.

In a possible implementation manner, the range of the conical area includes a first circle diameter of the conical area, and the control component is further configured to: determine, according to the first position, the first position of the motion trajectory of the end of the robotic arm. Two circle diameters; feedback correction processing is performed on the second circle diameter according to the first circle diameter, so that the motion trajectory of the end of the manipulator is limited to surround the boundary of the conical area.

In a possible implementation manner, the operating end is provided with an operating handle, and the end is provided with a grinding rod, the operating handle is used for receiving the operating action, and the grinding rod is used in the range of the conical area Grind the acetabular fossa.

In a possible implementation manner, the preset size parameters include the apex angle of the conical area and the length of the vertical line of the conical area.

According to an aspect of the present disclosure, a method for controlling the safety boundary of a robot is provided, which includes: receiving a size parameter preset by a host computer, and determining the range of the conical area according to the size parameter; according to the structure of the robotic arm information, and the action parameters of the operation action received by the operation end, determine the current first position of the end; when the first position of the end reaches the boundary of the conical area, move the end of the robot arm The motion trajectory of is restricted to encircle the boundaries of the conical region.

In a possible implementation manner, determining the current first position of the terminal according to the structure information of the robotic arm and the action parameters of the operation action received by the operation terminal includes: according to the structure of the robotic arm information, determine the positional relationship between the operating end and the end of the robotic arm; determine the second position of the operating end according to the action parameters; determine the positional relationship between the operating end and the end of the robotic arm and all The second position of the operating end is determined, and the current first position of the end is determined.

In a possible implementation manner, a force sensor is provided at a position close to the operating end, and when the first position of the end reaches the boundary of the conical area, the movement trajectory of the end is limited to Surrounding the boundary of the conical area includes: determining, according to the first force parameter detected by the force sensor and the size parameter, the tangential force of the end of the manipulator along the boundary of the conical area and the tangential force along the conical area The normal force normal to the boundary of the area; the normal force is set to zero, so that the motion trajectory of the end of the manipulator is the boundary surrounding the conical area.

In a possible implementation manner, the method further includes: determining a third force parameter of the end after the normal force is set to zero; and determining the force sensor according to the third force parameter The fourth force parameter at , so that the operating end of the manipulator moves tangentially.

In a possible implementation manner, the range of the conical area includes a first circle diameter of the conical area, and the method further includes: determining, according to the first position, a second circle of the motion trajectory of the end of the robotic arm Diameter; perform feedback correction processing on the second circle diameter according to the first circle diameter, so that the motion trajectory of the end of the manipulator is limited to surround the boundary of the conical area.

According to an aspect of the present disclosure, there is provided an electronic device, comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to invoke the instructions stored in the memory to execute the above method.

According to an aspect of the present disclosure, there is provided a computer-readable storage medium having computer program instructions stored thereon, the computer program instructions implementing the above method when executed by a processor.

According to the robot safety boundary control device of the embodiment of the present disclosure, when the end of the robot arm reaches the boundary of the conical area, the control component can limit the normal force of the end of the robot arm to zero, so that the end of the robot arm moves in the tangential direction, that is, the end of the robot arm moves in the tangential direction. The motion trajectory of the end of the manipulator is limited to encircle the boundary of the conical area. Further, the error between the actual motion trajectory of the end of the manipulator and the boundary of the conical area can be made as small as possible through a feedback correction method, so that the end of the manipulator remains on the boundary of the conical area. It can prevent the end of the robotic arm from exceeding the boundary of the conical area and cause excessive friction, protect the acetabular fossa, ligaments, soft tissue nerves and other structures, and prevent the friction from being in place, fully expose the true acetabular floor, and improve the implantation of the prosthesis. precision.

It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the accompanying drawings.

Description of drawings

The accompanying drawings, which are incorporated into and constitute a part of this specification, illustrate embodiments consistent with the present disclosure, and together with the description, serve to explain the technical solutions of the present disclosure.

FIG. 1 shows a block diagram of a robot safety boundary control device according to an embodiment of the present disclosure;

FIG. 2 shows a schematic diagram of a cone region according to an embodiment of the present disclosure;

FIG. 3 shows a schematic diagram of an application of a robot safety boundary control device according to an embodiment of the present disclosure;

FIG. 4 shows a flowchart of a robot safety boundary control method according to an embodiment of the present disclosure;

FIG. 5 shows a block diagram of an electronic device according to an embodiment of the present disclosure.

Detailed ways

Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures denote elements that have the same or similar functions. While various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

The term "and/or" in this article is only an association relationship to describe the associated objects, indicating that there can be three kinds of relationships, for example, A and/or B, it can mean that A exists alone, A and B exist at the same time, and A and B exist independently B these three cases. In addition, the term "at least one" herein refers to any combination of any one of the plurality or at least two of the plurality, for example, including at least one of A, B, and C, and may mean including from A, B, and C. Any one or more elements selected from the set of B and C.

In addition, in order to better illustrate the present disclosure, numerous specific details are set forth in the following detailed description. It will be understood by those skilled in the art that the present disclosure may be practiced without certain specific details. In some instances, methods, means, components and circuits well known to those skilled in the art have not been described in detail so as not to obscure the subject matter of the present disclosure.

FIG. 1 shows a block diagram of a robot safety boundary control device according to an embodiment of the present disclosure. As shown in FIG. 1 , the device includes:

The robotic arm 11 and the control assembly 12, wherein the robotic arm 11 includes an operation end and a distal end, the operation end is used for receiving an operation action, so that the distal end moves in a conical area.

Control assembly 12 is used to:

Receive the size parameter preset by the host computer, and determine the scope of the cone area according to the size parameter;

Determine the current first position of the terminal according to the structural information of the robotic arm and the action parameters of the operation action received by the operation terminal;

When the first position of the distal end reaches the boundary of the conical area, the movement trajectory of the distal end of the robotic arm is restricted to surround the boundary of the conical area.

According to the robot safety boundary control device of the embodiment of the present disclosure, the conical area in which the manipulator is active can be set, and when the end of the manipulator reaches the boundary of the conical area, the control component can limit the movement trajectory of the end of the manipulator to a circle around the conical area. Boundary, which can prevent the end of the robotic arm from exceeding the boundary of the conical area and cause excessive friction, protect the acetabular fossa, ligaments, soft tissue nerves and other structures, and prevent the friction from being in place, fully revealing the true acetabular floor and improving prosthesis implantation. input accuracy.

In a possible implementation manner, the size parameter of the conical area may be used to determine the range of the conical area, that is, the range of motion of the robotic arm of the joint replacement surgical robot, and the robotic arm may include a distal end and an operating end. The operating end is provided with an operating handle, and the distal end is provided with a grinding rod, the operating handle is used for receiving the operating action, and the grinding rod is used for grinding the acetabular fossa within the range of the conical area. The operator can operate the manipulator arm at the operating end to perform a larger range of motion, which causes the end of the manipulator to perform a smaller range of motion, that is, the motion range of the operating end of the manipulator arm is larger than that of the end, which can help to pass The operation end performs fine operation on the distal end to improve the machining accuracy of the acetabulum.

2 shows a schematic diagram of a conical area according to an embodiment of the present disclosure. As shown in FIG. 2 , the dotted line area in FIG. 2 is the conical area, and the solid line rod-shaped object is the robotic arm, which can be Moving within the range of the conical area, the movement range of the distal end of the robot arm is smaller than the movement range of the operation end of the robot arm. The end is provided with a filing rod for filing, and a handle for receiving the operation is provided at the operating end, so that the end can be finely filed.

In a possible implementation manner, the preset size parameters of the conical area include the apex angle of the conical area and the length of the vertical line of the conical area. The vertex angle can be used to limit the tangential range of motion of the manipulator, and the length of the vertical line can be used to limit the advance and extension range of the manipulator.

In an example, the size parameter of the conical area can be set by the upper computer of the robotic arm, for example, by a joint replacement surgical robot, and the control component can receive the size parameter to control the robotic arm to move within the range of the conical area , does not exceed the boundaries of the conic region. The present disclosure does not limit the setting manner of the size parameter.

In a possible implementation manner, the end of the robotic arm is used for grinding and filing, and can move within the range of the conical area. In an example, in order to prevent excessive grinding and insufficient grinding, the motion trajectory of the end of the robot arm can be set to surround the boundary of the conical region, that is, the end of the robot arm can be moved around the boundary of the conical region. The grinding process is performed during the movement around the boundary of the conical area, so that the grinding acetabular fossa can conform to the external dimensions of the acetabular component.

In a possible implementation manner, after the range of the conical area is determined, the control component may determine whether the robotic arm reaches the boundary of the conical area during the movement. That is, the position of the end of the manipulator can be determined first, and if the position reaches the boundary of the conical area, the manipulator is controlled to move around the boundary of the cone, so that the end of the manipulator does not exceed the boundary. The conical area is a set virtual area, and the boundary of this area is also a virtual boundary, and there is no real boundary to limit the movement of the robotic arm. The distance between them is used to judge whether the end of the manipulator reaches the boundary of the conical area, and when the end of the manipulator reaches the boundary of the conical area, the force on the end of the manipulator is controlled.

In one possible implementation, the control assembly may first determine the position of the end of the robotic arm. Determining the current first position of the terminal according to the structural information of the mechanical arm and the action parameters of the operation action received by the operating terminal includes: determining the operation of the mechanical arm according to the structural information of the mechanical arm according to the action parameter, determine the second position of the operation end; according to the positional relationship between the operation end and the end of the mechanical arm and the second position of the operation end, determine the the current first position of the end.

In a possible implementation manner, the control assembly may determine the positional relationship between the operating end and the end of the robotic arm. In an example, the robotic arm and the joint replacement surgery robot may be connected by flanges. The coordinate system T can be established at the end of the manipulator, the coordinate system E can be established at the flange, and the base coordinate system R of the robot can be established. Further, the control component can determine the transformation matrix between the coordinate system T of the end of the manipulator and the coordinate system E of the flange through the size of the manipulator (for example, parameters such as length, angle, etc.)

The transformation matrix between the flange coordinate system E and the base coordinate system R can be determined by the structure of the robot (for example, the distance, angle, etc. between the flange and the origin of the robot coordinate system)

Further, the control component can determine the transformation matrix between the coordinate system T of the end of the manipulator and the base coordinate system R

In the example, the transformation matrix between the robot end coordinate system T and the base coordinate system R

It can be determined by the following formula (1):

In a possible implementation manner, the control component may determine the second position of the operation end of the robot arm in the base coordinate system by using the operation parameters of the operation end of the robot arm. For example, the second position of the operating end of the manipulator in the base coordinate system can be determined according to the distance, angle and other parameters of the operating end of the manipulator. and through the transformation matrix

Transform the second position of the operating end in the base coordinate system to determine the first position of the end of the manipulator in the base coordinate system.

In a possible implementation manner, after the first position is determined, the control component may determine whether the first position reaches the boundary of the conical area. For example, it can be determined by the distance between the first position and the boundary of the cone area, or it can be determined by whether the coordinates of the first position coincide with the coordinates of the boundary of the cone area. The method is not limited.

In a possible implementation manner, if the end of the manipulator has reached the boundary of the conical area, the control component may restrict the end of the manipulator from moving towards the outside of the boundary, but restrict the movement trajectory of the end of the manipulator to surround the cone the boundaries of the area. As mentioned above, since the boundary is a virtual boundary, there is no real boundary to limit the movement of the robot arm. Therefore, the control component can limit the movement of the robot arm by changing the force and movement direction of the robot arm, and adjust the movement of the robot arm. The trajectory of motion changes to encircle the boundaries of the conical region.

In a possible implementation manner, the device further includes a force sensor, which is arranged at a position close to the operation end, and when the first position of the end reaches the boundary of the conical area, the end The movement trajectory is limited to surround the boundary of the conical area, including: determining the tangential tangent of the end of the manipulator along the boundary of the conical area according to the first force parameter detected by the force sensor and the size parameter The normal force and the normal force along the normal direction of the boundary of the conical area; the normal force is set to zero, so that the motion trajectory of the end of the robot arm is around the boundary of the conical area. That is, the force on the end of the manipulator can be determined first, and the force on the end of the manipulator can be decomposed into a normal force along the boundary of the conical area and a tangential force along the boundary of the conical area. The normal force is the force that causes the end to move toward the outside of the boundary of the conical region, which can be limited and only the tangential force is retained, so that the end of the manipulator can no longer move toward the outside of the boundary, that is, , the tangential movement of the end of the manipulator along the boundary of the conical area can be made, that is, the movement trajectory of the end of the manipulator can be made to surround the boundary of the conical area.

In a possible implementation manner, a force sensor may be provided near the operating end of the robotic arm, which may be used to detect the force (ie, the first force parameter) during operation. In an example, the force The sensor can detect the force F _x in the x-axis direction of the operating end, the force F _y in the y-axis direction of the operating end, the force F _z in the z-axis direction of the operating end, and the rotational force F _rx of the x-axis and the rotation of the y-axis. The force F _ry , the rotational force F _rz of the z-axis.

In a possible implementation manner, the control component may determine the force parameter of the end of the robot arm according to the first force parameter, and determine the normal force and the tangential force on the end of the robot arm according to the force parameter of the end of the robot arm .

In a possible implementation manner, the control component may solve the second force parameter of the end of the manipulator according to the first force parameter and the size parameter of the conical region. In the example, the force parameter of the end of the manipulator can be determined according to the following formula (2):

Among them, F _{tcp_x} is the force in the x-axis direction at the end of the robot arm, F _{tcp_y} is the force in the y-axis direction at the end of the robot arm, and F _{tcp_z} is the force in the z-axis direction at the end of the robot arm. α is the deflection angle of the end of the manipulator relative to the vertical line of the conical area. When the end of the manipulator reaches the boundary of the conical area, α is equal to the vertex angle θ of the conical area.

Further, the control component can determine the normal force and tangential force on the end of the manipulator based on the force parameters of the end of the manipulator. For example, the normal force and the tangential force can be determined by the following formula (3). :

Among them, F _q is the tangential force, and F _f is the normal force.

In a possible implementation manner, after determining the tangential force and the normal force, in order to make the end of the manipulator no longer move in the normal direction, that is, no longer move to the outside of the conical area, the control component may The force F _q is limited to 0, leaving only the tangential force, i.e., the control assembly, by limiting the tangential force to 0, makes the end of the manipulator have no power to move normal (i.e., outside) to the conical region, and only moves in the tangential direction , that is, around the boundary of the conic region.

In this way, when the end of the manipulator reaches the boundary of the conical area, the normal force on the end of the manipulator is limited to 0, and only the tangential force is retained, so that the end of the manipulator has no power to move toward the outside of the conical area, It can move tangentially, ie around the conical area boundary, to prevent excessive friction of the acetabular fossa by the end of the robotic arm.

In a possible implementation manner, the control component is further configured to: determine a third force-bearing parameter of the end after the normal force is set to zero; and determine the force-bearing parameter according to the third force-bearing parameter The fourth force parameter at the force sensor, so that the operating end of the manipulator moves tangentially. That is, after the normal force is limited to 0, the control component can solve the force parameter of the force sensor at this time, that is, the force parameter of the operating end at this time, so that the operator can follow the normal force after the normal force is limited. Operate the robotic arm in the tangential direction.

In a possible implementation manner, after the normal force is set to 0, the third force parameter of the end of the manipulator can be determined according to the following formula (4):

Among them, F' _{tcp_x} is the force in the x-axis direction at the end of the robot arm after the normal force is set to 0, and F' _{tcp_y} is the force in the y-axis direction at the end of the robot arm after the normal force is set to 0.

In this way, the force parameter at the force sensor can be determined after the normal force is limited to 0, so that the operator can operate the manipulator along the tangential direction after the normal force is limited.

In a possible implementation manner, after the end of the manipulator reaches the boundary of the conical area, the control component may limit the motion trajectory of the end of the manipulator to surround the boundary of the conical area, that is, it will not exceed the boundary of the conical area, Nor does it move away from the boundary to the middle of the cone region. By restricting the motion trajectory of the end of the robotic arm in the above manner, the end of the robotic arm will not be excessively rubbed against the acetabular fossa, and will not be worn out of place.

In a possible implementation, when the end of the manipulator moves around the boundary of the conical area, if the end deviates from the boundary of the conical area, the trajectory of the end can be corrected by means of feedback correction, so that the movement trajectory remains on the boundary of the conical area. The range of the conical area includes a first circular diameter of the conical area, and the control component is further configured to: determine a second circular diameter of the motion trajectory of the end of the robotic arm according to the first position; The circle diameter performs feedback correction processing on the second circle diameter, so that the motion trajectory of the end of the manipulator is limited to surround the boundary of the conical area.

In a possible implementation manner, since the end of the manipulator surrounds the boundary of the cone, the trajectory of the end of the manipulator is circular, and the diameter of the trajectory that the end of the manipulator is encircling can be determined according to the first position of the end of the manipulator ( That is, the second circle diameter). For example, the distance between the first position and the center of the circular section of the conical region where the first position is located can be used as the radius, and then the second circle diameter can be determined. Further, the diameter of the circular section of the conical region where the first position is located is the diameter of the first circle.

In a possible implementation, since the motion trajectory of the end of the manipulator is limited to surround the boundary of the conical area, the second circle diameter of the motion trajectory should be equal to the first circle diameter of the conical area, but in actual working conditions , there may be deviations. The deviation of the diameter of the first circle and the diameter of the second circle can be used to represent the error of the motion trajectory. If the error is 0, the motion trajectory of the end of the robot arm can be kept on the boundary of the conical area. Therefore, the error can be made as small as possible by means of feedback correction. In an example, this error can be made as small as possible by a PID correction (proportional-integral-derivative correction) method, ie, so that the motion trajectory of the end of the manipulator can be kept on the boundary of the conical region.

FIG. 3 shows a schematic diagram of the application of the robot safety boundary control device according to an embodiment of the present disclosure. As shown in FIG. 3 , the end of the mechanical arm is provided with a grinding rod for grinding and processing, and the operating end of the mechanical arm is provided with a handle, which can be used in The operation end receives the operation of the operator and enables the end to be finely threshed.

In a possible implementation manner, the control component can control the robotic arm to move within the range of the conical area, so that the end of the robotic arm can move around the boundary of the conical area, and the end of the robotic arm performs grinding during the movement around the boundary of the conical area. After grinding, the acetabular fossa after grinding can conform to the dimensions of the acetabular prosthesis.

In a possible implementation manner, the upper computer of the robotic arm (for example, the processor of the joint replacement surgical robot) can set the size parameter of the conical area, that is, set the size of the conical area. When the end of the manipulator reaches the boundary of the conical area, the control component can limit the normal force of the end of the manipulator towards the outside of the conical area to 0, and only the tangential force is retained, so that the end of the manipulator is along the boundary of the conical area. Tangential movement, that is, around the boundary of the conical area.

In a possible implementation manner, during the movement process, deviations may occur, and the control component may determine the diameter of the actual motion trajectory (second circle diameter) of the end of the manipulator through the current first position of the end, and may determine The first circle diameter of the conical region, further, the deviation of the first circle diameter and the second circle diameter can be corrected by PID to reduce the deviation, so that the motion trajectory of the end of the manipulator can be kept on the boundary of the conical region.

In a possible implementation manner, the robotic safety boundary control device can be used to grind the acetabular fossa during joint replacement surgery, so that the grinded acetabular fossa conforms to the external dimensions of the acetabular prosthesis and improves the The precision of prosthesis implantation, and can prevent excessive friction and wear in place. The present disclosure does not limit the application field of the robot safety boundary control device.

Fig. 4 shows a flowchart of a method for controlling a safety boundary of a robot according to an embodiment of the present disclosure. As shown in Fig. 4 , the method includes: step S11, receiving a size parameter preset by a host computer, and determining according to the size parameter the range of the conical area; step S12, according to the structural information of the mechanical arm and the action parameters of the operation action received by the operating end, determine the current first position of the end; step S13, in the end of the When the first position reaches the boundary of the conical area, the motion trajectory of the end of the manipulator is limited to surround the boundary of the conical area.

It can be understood that the above-mentioned method embodiments mentioned in the present disclosure can be combined with each other to form a combined embodiment without violating the principle and logic. Those skilled in the art can understand that, in the above method of the specific embodiment, the specific execution order of each step should be determined by its function and possible internal logic.

In some embodiments, the functions or modules included in the apparatuses provided in the embodiments of the present disclosure may be used to execute the methods described in the above method embodiments. For specific implementation, reference may be made to the descriptions of the above method embodiments. For brevity, here No longer.

Embodiments of the present disclosure further provide a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the foregoing method is implemented. The computer-readable storage medium may be a non-volatile computer-readable storage medium.

An embodiment of the present disclosure further provides an electronic device, including: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to invoke the instructions stored in the memory to execute the above method.

Embodiments of the present disclosure also provide a computer program product, including computer-readable codes. When the computer-readable codes are run on a device, a processor in the device executes the control for implementing the robot safety boundary provided by any of the above embodiments. method instruction.

Embodiments of the present disclosure further provide another computer program product for storing computer-readable instructions, which, when executed, cause the computer to perform operations of the robot safety boundary control method provided by any of the foregoing embodiments.

The electronic device may be provided as a terminal, server or other form of device.

FIG. 5 shows a block diagram of an electronic device 800 according to an embodiment of the present disclosure. For example, electronic device 800 may be a mobile phone, computer, digital broadcast terminal, messaging device, game console, tablet device, medical device, fitness device, personal digital assistant, etc. terminal.

5, electronic device 800 may include one or more of the following components: processing component 802, memory 804, power supply component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814 , and the communication component 816 .

The processing component 802 generally controls the overall operation of the electronic device 800, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 802 can include one or more processors 820 to execute instructions to perform all or some of the steps of the methods described above. Additionally, processing component 802 may include one or more modules that facilitate interaction between processing component 802 and other components. For example, processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802.

Memory 804 is configured to store various types of data to support operation at electronic device 800 . Examples of such data include instructions for any application or method operating on electronic device 800, contact data, phonebook data, messages, pictures, videos, and the like. Memory 804 may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic or Optical Disk.

Power supply assembly 806 provides power to various components of electronic device 800 . Power supply components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 800 .

Multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touch, swipe, and gestures on the touch panel. The touch sensor can sense not only the edge of a touch or swipe action, but also the duration and pressure associated with the touch or swipe action. In some embodiments, the multimedia component 808 includes a front-facing camera and/or a rear-facing camera. When the electronic device 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera may receive external multimedia data. Each of the front and rear cameras can be a fixed optical lens system or have focal length and optical zoom capability.

Audio component 810 is configured to output and/or input audio signals. For example, audio component 810 includes a microphone (MIC) that is configured to receive external audio signals when electronic device 800 is in operating modes, such as calling mode, recording mode, and voice recognition mode. The received audio signal may be further stored in memory 804 or transmitted via communication component 816 . In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

The I/O interface 812 provides an interface between the processing component 802 and a peripheral interface module, which may be a keyboard, a click wheel, a button, or the like. These buttons may include, but are not limited to: home button, volume buttons, start button, and lock button.

Sensor assembly 814 includes one or more sensors for providing status assessment of various aspects of electronic device 800 . For example, the sensor assembly 814 can detect the on/off state of the electronic device 800, the relative positioning of the components, such as the display and the keypad of the electronic device 800, the sensor assembly 814 can also detect the electronic device 800 or one of the electronic device 800 Changes in the position of components, presence or absence of user contact with the electronic device 800 , orientation or acceleration/deceleration of the electronic device 800 and changes in the temperature of the electronic device 800 . Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact. Sensor assembly 814 may also include a light sensor for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

Communication component 816 is configured to facilitate wired or wireless communication between electronic device 800 and other devices. Electronic device 800 may access wireless networks based on communication standards, such as WiFi, 2G or 3G, or a combination thereof. In one exemplary embodiment, the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

In an exemplary embodiment, electronic device 800 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A programmed gate array (FPGA), controller, microcontroller, microprocessor or other electronic component implementation is used to perform the above method.

In an exemplary embodiment, a non-volatile computer-readable storage medium, such as a memory 804 comprising computer program instructions executable by the processor 820 of the electronic device 800 to perform the above method is also provided.

The present disclosure may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the present disclosure.

A computer-readable storage medium may be a tangible device that can hold and store instructions for use by the 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 suitable combination of the foregoing. More specific examples (non-exhaustive list) of computer readable storage media include: portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM) or flash memory), static random access memory (SRAM), portable compact disk read only memory (CD-ROM), digital versatile disk (DVD), memory sticks, floppy disks, mechanically coded devices, such as printers with instructions stored thereon Hole cards or raised structures in grooves, and any suitable combination of the above. Computer-readable storage media, as used herein, are not to be construed as transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (eg, light pulses through fiber optic cables), or through electrical wires transmitted electrical signals.

The computer readable program instructions described herein may be downloaded to various computing/processing devices from a computer readable storage medium, or to an external computer or external storage device over a network such as the Internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer-readable program instructions from a network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing/processing device .

Computer program instructions for carrying out operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or instructions in one or more programming languages. Source or object code, written in any combination, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as the "C" language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through the Internet connect). In some embodiments, custom electronic circuits, such as programmable logic circuits, field programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), can be personalized by utilizing state information of computer readable program instructions. Computer readable program instructions are executed to implement various aspects of the present disclosure.

Aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.

These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer or other programmable data processing apparatus to produce a machine that causes the instructions when executed by the processor of the computer or other programmable data processing apparatus , resulting in means for implementing the functions/acts specified in one or more blocks of the flowchart and/or block diagrams. These computer readable program instructions can also be stored in a computer readable storage medium, these instructions cause a computer, programmable data processing apparatus and/or other equipment to operate in a specific manner, so that the computer readable medium on which the instructions are stored includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks of the flowchart and/or block diagrams.

Computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other equipment to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other equipment to produce a computer-implemented process , thereby causing instructions executing on a computer, other programmable data processing apparatus, or other device to implement the functions/acts specified in one or more blocks of the flowcharts and/or block diagrams.

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more functions for implementing the specified logical function(s) executable instructions. In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.

The computer program product can be specifically implemented by hardware, software or a combination thereof. In an optional embodiment, the computer program product is embodied as a computer storage medium, and in another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), etc. Wait.

Various embodiments of the present disclosure have been described above, and the foregoing descriptions are exemplary, not exhaustive, and not limiting of the disclosed embodiments. Numerous modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of the various embodiments, the practical application or improvement over the technology in the marketplace, or to enable others of ordinary skill in the art to understand the various embodiments disclosed herein.

Claims

A robot safety boundary control device, characterized in that it comprises: a mechanical arm and a control assembly,

The robotic arm includes an operating end and a distal end, and the operating end is used to receive an operating motion, so that the distal end moves in a conical area,

The control assembly is used to:

Receive the size parameter preset by the host computer, and determine the scope of the cone area according to the size parameter;

Determine the current first position of the terminal according to the structural information of the robotic arm and the action parameters of the operation action received by the operation terminal;

When the first position of the distal end reaches the boundary of the conical area, the movement trajectory of the distal end of the robotic arm is restricted to surround the boundary of the conical area.
The device according to claim 1, wherein determining the current first position of the terminal according to the structural information of the mechanical arm and the action parameters of the operation action received by the operation terminal, comprising:

Determine the positional relationship between the operating end and the end of the robotic arm according to the structural information of the robotic arm;

determining the second position of the operating end according to the action parameter;

The current first position of the end is determined according to the positional relationship between the operation end and the end of the robotic arm and the second position of the operation end.
The device according to claim 1, characterized in that, the device further comprises a force sensor arranged near the operation end,

In the case where the first position of the tip reaches the boundary of the conical region, restricting the movement trajectory of the tip to surround the boundary of the conical region, including:

According to the first force parameter and the size parameter detected by the force sensor, determine the tangential force of the end of the manipulator along the boundary of the conical area and the normal force along the normal direction of the boundary of the conical area;

The normal force is set to zero, so that the motion trajectory of the end of the manipulator is the boundary around the conical area.
The device according to claim 3, wherein the control assembly is further configured to:

determining the third force parameter of the end after the normal force is set to zero;

According to the third force-bearing parameter, the fourth force-bearing parameter at the force-bearing sensor is determined, so that the operation end of the robotic arm is moved tangentially.
The device according to claim 1, wherein the extent of the conical area includes a first circle diameter of the conical area, and the control assembly is further configured to:

According to the first position, determine the second circle diameter of the motion trajectory of the end of the robotic arm;

Feedback correction processing is performed on the second circle diameter according to the first circle diameter, so that the motion trajectory of the end of the manipulator is limited to surround the boundary of the conical area.
The device according to claim 1, wherein the operating end is provided with an operating handle, the end is provided with a grinding rod, the operating handle is used for receiving the operating action, and the grinding rod is used for the cone The acetabular fossa is grinded down to the extent of the area.
The device according to claim 1, wherein the preset size parameters include the apex angle of the conical area and the vertical length of the conical area.
A method for controlling the safety boundary of a robot, comprising:

Receive the size parameter preset by the host computer, and determine the scope of the cone area according to the size parameter;

Determine the current first position of the terminal according to the structural information of the robotic arm and the action parameters of the operation action received by the operation terminal;

When the first position of the distal end reaches the boundary of the conical area, the movement trajectory of the distal end of the robotic arm is restricted to surround the boundary of the conical area.
An electronic device, comprising:

processor;

memory for storing processor-executable instructions;

wherein the processor is configured to invoke the memory-stored instructions to perform the method of claim 8 .
A computer-readable storage medium on which computer program instructions are stored, characterized in that, when the computer program instructions are executed by a processor, the method of claim 8 is implemented.