CN-116650127-B - Robot system control method, device, system and storage medium

Abstract

The present application relates to a robot system control method, apparatus, system, storage medium and computer program product. The method comprises the steps of obtaining the real-time pose of the tail end of the mechanical arm, determining an accessible region of the tail end of the mechanical arm according to the real-time pose of the tail end of the mechanical arm and the configuration of the mechanical arm, controlling the support arm to move according to the real-time pose of the tail end of the mechanical arm and the preset execution region under the condition that the preset execution region is not in the accessible region, updating the accessible region until the preset execution region is in the updated accessible region, controlling the support arm to stop moving, and controlling the tail end of the mechanical arm to move in the preset execution region. By adopting the method, the control efficiency of the mechanical arm positioning in the robot system can be improved.

Inventors

• Request for anonymity
• Request for anonymity

Assignees

• 上海微创医疗机器人（集团）股份有限公司

Dates

Publication Date

20260508

Application Date

20230612

Claims (10)

1. 1. A robotic system control device, the device comprising: the acquisition module is used for acquiring the real-time pose of the tail end of the mechanical arm; the system comprises a determining module, a determining module and a control module, wherein the determining module is used for determining an accessible area of the tail end of the mechanical arm according to the real-time pose of the tail end of the mechanical arm and the configuration of the mechanical arm, wherein the accessible area refers to an area formed by all position points which can be reached by the tail end of the mechanical arm; The control module is used for controlling the movement of the support arm according to the real-time pose of the tail end of the mechanical arm and the preset execution area under the condition that the preset execution area is not in the reachable area, and updating the reachable area until the preset execution area is in the updated reachable area; The control module is also used for controlling the support arm to stop moving when the preset execution area is in the updated reachable area and controlling the tail end of the mechanical arm to move in the preset execution area; The control module is further configured to: Acquiring a first pose of a fixed target under a tracker coordinate system, a second pose of the fixed target under an image coordinate system and a real-time pose of the tail end of the mechanical arm under a base coordinate system; registering an image coordinate system and a tracker coordinate system according to a first pose of the fixed target under the tracker coordinate system and a second pose of the fixed target under the image coordinate system; Obtaining the pose of the support arm under the tracker coordinate system according to the registration relation between the image coordinate system and the tracker coordinate system and the pose of the support arm under the tracker coordinate system, wherein the real-time pose of the end of the mechanical arm is obtained through acquisition by the tracker; and controlling the support arm to move towards the preset execution area by taking the pose of the support arm under an image coordinate system as a starting point, so that the preset execution area is positioned in the reachable area.
2. 2. The apparatus of claim 1, wherein the control module is further to: and controlling the tail end of the mechanical arm to move in the preset execution area according to the real-time pose of the tail end of the mechanical arm under the image coordinate system and a preset planning track.
3. 3. The apparatus of claim 1, wherein the control module is further to: obtaining a safety area corresponding to the target object; determining whether the reachable area is within the safe area; Controlling the support arm to move according to the misaligned area of the reachable area and the safe area under the condition that the reachable area is not in the safe area, and updating the reachable area until the updated reachable area is in the safe area; and determining whether a preset execution area is in the reachable area or not under the condition that the reachable area is in the safe area.
4. 4. The apparatus of claim 3, wherein the control module is further to: acquiring a three-dimensional model of a target object, wherein the three-dimensional model is obtained by three-dimensional reconstruction according to a scanning image of the target object; and extracting the contour line of the target object from the three-dimensional model, and determining a safety area according to the contour line.
5. 5. The apparatus of claim 1, wherein the control module is further to: Acquiring the dragging force of the supporting arm; and controlling the movement of the support arm through gravity compensation according to the dragging force, the real-time pose of the tail end of the mechanical arm and the preset execution area.
6. 6. The apparatus of claim 1, wherein the control module is further to: And displaying the preset execution area and the reachable area on a display interface.
7. 7. The apparatus of claim 4, wherein the control module is further to: expanding a preset distance outwards along the contour line in the three-dimensional model to form a safety contour line; and determining the area in the direction outside the safety contour line as a safety area.
8. 8. The apparatus of claim 1, wherein the support arm comprises an X-axis, a Z-axis, and a Z-1-axis, wherein the X-axis direction of the support arm is comprised of a lead screw and a guide rail for horizontal movement, wherein the Z-axis direction of the support arm is comprised of a lead screw and a guide rail for up-and-down movement, and wherein the Z-1-axis direction of the support arm is directly driven by a motor for rotational movement about the Z-axis.
9. 9. The robot system is characterized by comprising a mechanical arm, a supporting arm, a fixed target, a tracker, an image scanning device and a computer device; The mechanical arm is fixedly connected to the supporting arm; The tracker is used for acquiring the real-time pose of the tail end of the mechanical arm and the first fixed pose of the fixed target under the tracker coordinate system; The image scanning device is used for scanning the target object and the fixed target to obtain a scanning image comprising the target object and the fixed target; the computer device comprising a memory storing a computer program and a processor implementing the robotic system control device of any one of claims 1-8 when the computer program is executed.
10. 10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the robotic system control device of any one of claims 1-8.

Description

Robot system control method, device, system and storage medium Technical Field The present application relates to the field of robot control technology, and in particular, to a method, an apparatus, a system, a storage medium, and a computer program product for controlling a robot system. Background The mechanical arm in the existing puncture medical operation robot system is usually installed at a fixed position, in the control process of the mechanical arm, the condition that the area to be executed exceeds the movement range of the mechanical arm exists, and in order to realize the control of the area to be executed by the mechanical arm, the installation position of the mechanical arm is manually adjusted, so that the mechanical arm can be randomly arranged. However, the method of manually positioning the mechanical arm may cause inconsistent working intervals of the surgical planning path and the surgical robot, and further, the expected operation cannot be performed according to the planning path, which has a problem of low positioning control efficiency of the mechanical arm. Disclosure of Invention In view of the foregoing, it is desirable to provide a robot system control method, apparatus, system, computer readable storage medium and computer program product, which can ensure that a planned path is located in a working area of a robot arm and improve the positioning control efficiency of the robot arm. In a first aspect, the present application provides a robot system control method. The method comprises the following steps: Acquiring a real-time pose of the tail end of the mechanical arm; determining an accessible region of the tail end of the mechanical arm according to the real-time pose of the tail end of the mechanical arm and the configuration of the mechanical arm; under the condition that the preset execution area is not in the reachable area, controlling the support arm to move according to the real-time pose of the tail end of the mechanical arm and the preset execution area, and updating the reachable area until the preset execution area is in the updated reachable area; And controlling the support arm to stop moving, and controlling the tail end of the mechanical arm to move in a preset execution area. In one embodiment, controlling the movement of the support arm according to the real-time pose of the end of the mechanical arm and the preset execution area includes: Acquiring a first pose of a fixed target under a tracker coordinate system, a second pose of the fixed target under an image coordinate system and a real-time pose of the tail end of the mechanical arm under a base coordinate system; Registering the image coordinate system and the tracker coordinate system according to the first pose of the fixed target under the tracker coordinate system and the second pose of the fixed target under the image coordinate system; Obtaining the pose of the support arm under the image coordinate system according to the registration relation between the image coordinate system and the tracker coordinate system, the real-time pose of the end of the mechanical arm, the pose of the support arm under the base coordinate system and the real-time pose of the end of the mechanical arm under the base coordinate system; And controlling the movement of the support arm according to the pose of the support arm under the image coordinate system and the preset execution area, so that the preset execution area is positioned in the reachable area. In one embodiment, controlling the movement of the end of the mechanical arm within the preset execution area includes: and controlling the tail end of the mechanical arm to move in a preset execution area according to the real-time pose of the tail end of the mechanical arm under the image coordinate system and a preset planning track. In one embodiment, the robot system control method further includes: obtaining a safety area corresponding to the target object; Determining whether the reachable area is within the safe area; Under the condition that the reachable area is not in the safe area, controlling the support arm to move according to the misaligned area of the reachable area and the safe area, and updating the reachable area until the updated reachable area is in the safe area; in the case that the reachable area is within the secure area, it is determined whether the preset execution area is within the reachable area. In one embodiment, the step of determining the security area includes: acquiring a three-dimensional model of the target object, wherein the three-dimensional model is obtained by three-dimensional reconstruction according to a scanning image of the target object; and extracting the contour line of the target object in the three-dimensional model, and determining the safety area according to the contour line. In one embodiment, controlling the movement of the support arm according to the real-time pose of the end of the mechanical arm and the