CN120814838B - Mechanical arm motion state monitoring method and system - Google Patents
Mechanical arm motion state monitoring method and systemInfo
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Abstract
本申请属于机械臂控制技术领域，尤其涉及一种机械臂运动状态监控方法及系统，该方法包括：获取监控传感器采集的第一运动状态数据；在第一运动状态数据指示任一机械臂是被移动状态时，等待一对机械臂是静止状态并静止第一时长后，获取一对机械臂的先后停止顺序，再获取第二运动状态数据；根据第二运动状态数据和先后停止顺序，得到第一机械臂末端坐标和第二机械臂末端坐标；根据第一机械臂末端坐标，得到点对称坐标，根据点对称坐标和第二机械臂末端坐标得到机械臂移动指令，再将机械臂移动指令发送至第二机械臂；在第二机械臂完成机械臂移动指令后，向一对机械臂发送对视指令。本方法可以解决传统透视机存在的对于某些部位的透视极为困难的问题。
This application belongs to the field of robotic arm control technology, and particularly relates to a method and system for monitoring the motion state of a robotic arm. The method includes: acquiring first motion state data collected by monitoring sensors; when the first motion state data indicates that any robotic arm is in a moving state, waiting for a pair of robotic arms to be stationary for a first duration, acquiring the stopping sequence of the pair of robotic arms, and then acquiring second motion state data; obtaining the end-effector coordinates of the first robotic arm and the second robotic arm based on the second motion state data and the stopping sequence; obtaining the point-symmetric coordinates based on the end-effector coordinates of the first robotic arm, obtaining a robotic arm movement command based on the point-symmetric coordinates and the second robotic arm end-effector coordinates, and then sending the robotic arm movement command to the second robotic arm; after the second robotic arm completes the robotic arm movement command, sending a gaze-to-view command to the pair of robotic arms. This method can solve the problem of traditional fluoroscopy machines having extreme difficulty in fluoroscopic vision of certain parts.
Description
Technical Field
The application belongs to the technical field of mechanical arm control, and particularly relates to a mechanical arm motion state monitoring method and system.
Background
During surgery, particularly orthopedic surgery, X-ray fluoroscopy is often required to assist in the surgical procedure. Currently common mobile perspective machines are C-arm machines, G-arm machines, and in a few cases O-arm machines.
However, these conventional fluoroscopy machines have a significant disadvantage in that the spatial positional relationship of the tube and the imaging plate is fixed. This limitation results in the actual use of the device with extreme difficulty in perspective at certain locations. For example, in some complex bone structure sites, the fixed bulb and plate positions are easily blocked by surrounding tissue, operating tables or bones, so that the required perspective images cannot be clearly acquired, or in the case of limited operating space, due to the limitation of the overall structure of the machine, it is difficult to adjust the device to the ideal perspective position, and even the machine cannot enter the proper working area at all due to space obstruction. In order to obtain an effective perspective image, an operator often needs to adjust the position and angle of the machine multiple times, which not only increases the number of perspectives and prolongs the operation time, but also causes the patient and the medical staff to suffer more radiation injuries.
Disclosure of Invention
The embodiment of the application provides a method and a system for monitoring the motion state of a mechanical arm, which can solve the problem that the perspective of certain parts is extremely difficult by adopting a pair of mechanical arms which can be manually moved by operators to replace a fixed C arm, G arm or O arm.
In a first aspect, an embodiment of the present application provides a method for monitoring a motion state of a mechanical arm, which is applied to a server of a motion state monitoring system of the mechanical arm, where the motion state monitoring system of the mechanical arm includes a monitoring sensor and the server, and the system is used to monitor a pair of mechanical arms, and make coordinates of ends of the pair of mechanical arms always symmetrical with respect to a midpoint, and the method includes:
The method comprises the steps of acquiring first motion state data acquired by a monitoring sensor, wherein the first motion state data are used for reflecting the motion states of a pair of mechanical arms, and the motion states comprise static state, moving state and moved state;
When the first motion state data indicate that any mechanical arm is in a moved state, after waiting for a pair of mechanical arms to be in a static state and being static for a first time period, acquiring a sequence of stopping the pair of mechanical arms, and acquiring second motion state data, wherein the second motion state data are used for reflecting the angles of joints and the rotation angles of the pair of mechanical arms;
obtaining a first mechanical arm tail end coordinate and a second mechanical arm tail end coordinate according to the second motion state data and the sequence of stopping, wherein the first mechanical arm tail end coordinate refers to the tail end coordinate of a first mechanical arm, and the first mechanical arm refers to a mechanical arm which stops at the rear;
obtaining point symmetry coordinates according to the first mechanical arm end coordinates, obtaining mechanical arm movement instructions according to the point symmetry coordinates and the second mechanical arm end coordinates, and sending the mechanical arm movement instructions to the second mechanical arm, wherein the point symmetry coordinates are coordinates symmetrical to the first mechanical arm end coordinates relative to the midpoint, and the mechanical arm movement instructions are instructions for moving the second mechanical arm end coordinates to the point symmetry coordinates;
and after the second mechanical arm finishes the mechanical arm moving instruction, sending a pair of mechanical arms a pair of visual instructions, wherein the visual instructions are instructions for enabling the tail ends of the first mechanical arm and the tail ends of the second mechanical arm to be mutually visual.
The technical scheme provided by the embodiment of the application at least has the following technical effects:
In the method for monitoring the motion state of the mechanical arm, first, the first motion state data acquired by the monitoring sensor is acquired, and the first motion state data is acquired in the step and used for judging whether a pair of mechanical arms are moved or not. And secondly, when the first motion state data indicate that any mechanical arm is in a moved state, waiting for a pair of mechanical arms to be in a static state and static for a first time period, acquiring second motion state data, wherein in the step, after any mechanical arm is moved, waiting for the mechanical arm to be static for the first time period, acquiring second motion state data, wherein the second motion state data can reflect the angles of joints and the rotation angles of the moved mechanical arm, and further determining the moved amount of the mechanical arm. And then, according to the second motion state data and the sequence of stopping, obtaining the tail end coordinates of the first mechanical arm and the tail end coordinates of the second mechanical arm, wherein in the step, the mechanical arm which is stationary later is used as the first mechanical arm, the other mechanical arm is used as the second mechanical arm, and the tail end coordinates of the two mechanical arms are obtained, so that the tail ends of the two mechanical arms are symmetrical relative to the middle point. Then, according to the terminal coordinates of the first mechanical arm, point symmetry coordinates are obtained, mechanical arm movement instructions are obtained according to the point symmetry coordinates and the terminal coordinates of the second mechanical arm, and then the mechanical arm movement instructions are sent to the second mechanical arm. Finally, after the second mechanical arm finishes the mechanical arm moving instruction, a pair of mechanical arms are sent to a pair of mechanical arms to be seen, and in the step, the tail ends of the two mechanical arms are seen to be seen, so that the view relation between the ray tube and the imaging flat plate in the moving perspective machine is realized, and the problem that the fixed arm of the traditional perspective machine has extremely difficult perspective on certain parts can be solved.
In a second aspect, an embodiment of the present application provides a system for monitoring a motion state of a pair of mechanical arms, where the coordinates of the ends of the pair of mechanical arms are always symmetrical with respect to a midpoint, the system including a monitoring sensor and a server, where the server includes:
The first acquisition unit is used for acquiring first motion state data acquired by the monitoring sensor, wherein the first motion state data is used for reflecting the motion states of a pair of mechanical arms, and the motion states comprise static state, moving state and moved state;
the first acquisition unit is used for acquiring a sequence of stopping a pair of mechanical arms and acquiring first motion state data when the first motion state data indicate that any mechanical arm is in a moving state, and waiting for the pair of mechanical arms to be in a static state for a first duration;
The computing unit is used for obtaining a first mechanical arm tail end coordinate and a second mechanical arm tail end coordinate according to the second motion state data and the sequence of stopping, wherein the first mechanical arm tail end coordinate refers to the tail end coordinate of a first mechanical arm, and the first mechanical arm refers to a mechanical arm which stops at the back;
The symmetrical unit is used for obtaining point symmetrical coordinates according to the first mechanical arm tail end coordinates, obtaining mechanical arm moving instructions according to the point symmetrical coordinates and the second mechanical arm tail end coordinates, and sending the mechanical arm moving instructions to the second mechanical arm, wherein the point symmetrical coordinates are coordinates symmetrical to the first mechanical arm tail end coordinates relative to the middle point, and the mechanical arm moving instructions are instructions for moving the second mechanical arm tail end coordinates to the point symmetrical coordinates;
and the pair of mechanical arms are provided with a pair of mechanical arms, wherein the pair of mechanical arms are used for moving the mechanical arms.
In a third aspect, an embodiment of the present application provides a server, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method according to any one of the first aspects when executing the computer program.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, implements the method of any of the first aspects above.
In a fifth aspect, an embodiment of the present application provides a computer program product, which when run on a server, causes the server to perform the robot arm motion state monitoring method according to any one of the first aspects above.
It will be appreciated that the advantages of the second to fifth aspects may be found in the relevant description of the first aspect, and are not described here again.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of a method for monitoring a motion state of a mechanical arm according to an embodiment of the present application;
FIG. 2 is a schematic top view of a pair of mechanical arms and a midpoint location according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a mechanical arm motion state monitoring system according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a server according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
In the related art, during surgery, particularly orthopedic surgery, X-ray fluoroscopy is often required to assist in the surgical procedure. Currently common mobile perspective machines are C-arm machines, G-arm machines, and in a few cases O-arm machines. However, these conventional fluoroscopy machines have a significant disadvantage in that the spatial positional relationship of the tube and the imaging plate is fixed. This limitation results in the actual use of the device with extreme difficulty in perspective at certain locations. For example, in some complex bone structure sites, the fixed bulb and plate positions are easily blocked by surrounding tissue, operating tables or bones, so that the required perspective images cannot be clearly acquired, or in the case of limited operating space, due to the limitation of the overall structure of the machine, it is difficult to adjust the device to the ideal perspective position, and even the machine cannot enter the proper working area at all due to space obstruction. In order to obtain an effective perspective image, an operator often needs to adjust the position and angle of the machine multiple times, which not only increases the number of perspectives and prolongs the operation time, but also causes the patient and the medical staff to suffer more radiation injuries.
In order to solve the above problems, the embodiment of the application provides a method for monitoring the motion state of a mechanical arm. In the method, first motion state data acquired by a monitoring sensor is acquired, and the first motion state data is acquired in the step and used for judging whether a pair of mechanical arms are moved or not. And secondly, when the first motion state data indicate that any mechanical arm is in a moved state, waiting for a pair of mechanical arms to be in a static state and static for a first time period, acquiring second motion state data, wherein in the step, after any mechanical arm is moved, waiting for the mechanical arm to be static for the first time period, acquiring second motion state data, wherein the second motion state data can reflect the angles of joints and the rotation angles of the moved mechanical arm, and further determining the moved amount of the mechanical arm. And then, according to the second motion state data and the sequence of stopping, obtaining the tail end coordinates of the first mechanical arm and the tail end coordinates of the second mechanical arm, wherein in the step, the mechanical arm which is stationary later is used as the first mechanical arm, the other mechanical arm is used as the second mechanical arm, and the tail end coordinates of the two mechanical arms are obtained, so that the tail ends of the two mechanical arms are symmetrical relative to the middle point. Then, according to the terminal coordinates of the first mechanical arm, point symmetry coordinates are obtained, mechanical arm movement instructions are obtained according to the point symmetry coordinates and the terminal coordinates of the second mechanical arm, and then the mechanical arm movement instructions are sent to the second mechanical arm. Finally, after the second mechanical arm finishes the mechanical arm moving instruction, a pair of mechanical arms are sent to a pair of mechanical arms to be seen, and in the step, the tail ends of the two mechanical arms are seen to be seen, so that the view relation between the ray tube and the imaging flat plate in the moving perspective machine is realized, and the problem that the fixed arm of the traditional perspective machine has extremely difficult perspective on certain parts can be solved.
The mechanical arm motion state monitoring method provided by the embodiment of the application can be applied to a server of a mechanical arm motion state monitoring system, the mechanical arm motion state monitoring system comprises a monitoring sensor and the server, the mechanical arm motion state monitoring system is used for monitoring a pair of mechanical arms with viscosity, the tail ends of the pair of mechanical arms are always symmetrical relative to the middle point, and the server is an execution main body of the mechanical arm motion state monitoring method provided by the embodiment of the application, and the embodiment of the application does not limit the specific type of the server.
For example, the server may comprise a signaling device and a control device, the control device being in communication connection with the signaling device, the signaling device may be a bus or a wireless signaling device, the server being in communication connection with the two robotic arms via the signaling device. The control device can control the signal transmission device to transmit a moving instruction to the mechanical arm and can also perform data operation.
The monitoring sensor comprises a force sensor and an angle sensor, the force sensor can be a common piezoelectric sensor, the angle sensor can be various types of angle sensors, and the monitoring sensor is used for collecting the motion states, joint angles and motion resistance of the two mechanical arms.
The mechanical arm comprises an executing device and a control device, wherein the executing device can comprise a plurality of arms and a plurality of motors, the control device can be a singlechip and a microprocessor for waiting, and can receive an instruction sent by the wireless signal sending device, decode the instruction and then control the executing device to execute corresponding operation.
The control device can be a single chip microcomputer, a microprocessor, a mobile phone, a tablet computer, a notebook computer, a netbook, a desktop computer, a laptop computer and the like.
In order to better understand the method for monitoring the motion state of the mechanical arm provided by the embodiment of the application, the following exemplary description is provided for a specific implementation process of the method for monitoring the motion state of the mechanical arm provided by the embodiment of the application.
Fig. 1 shows a schematic flowchart of a method for monitoring a motion state of a mechanical arm, which includes:
s100, acquiring first motion state data acquired by a monitoring sensor. The first motion state data is used for reflecting the motion state of the pair of mechanical arms, and the motion state comprises static state, moving state and moved state.
It can be understood that the function to be realized by a pair of mechanical arms in the application is that after an operator manually moves one mechanical arm to one position, the tail end of the other mechanical arm automatically moves to a point symmetry position so as to realize the function of the fixed arm and solve the defect of the fixed arm. Therefore, first motion state data acquired by the monitoring sensors are firstly acquired, the monitoring sensors for measuring the first motion state data are angle sensors and force sensors, the monitoring sensors are arranged at joints of the mechanical arms, at least one angle sensor is arranged at each joint of each mechanical arm, at least one force sensor is arranged at the first joint of each mechanical arm and used for monitoring a pair of mechanical arms, the first motion state data reflect the motion states of the pair of mechanical arms, the motion states of the mechanical arms comprise static, moving and moving, the moving refers to the mechanical arms moving under the driving of the mechanical arms, the moving refers to the mechanical arms moving under the influence of manpower, namely, the mechanical arms are reflected to be moved by operators, the motion state is a static state when the force sensor detects the force smaller than an error threshold value and the angle detected by any angle sensor changes, and the motion state is a moving state when the force sensor detects the force larger than the error threshold value and the angle detected by any angle sensor changes. Meanwhile, a pair of mechanical arms needs to have viscosity, namely, when no human force moves the mechanical arms, the mechanical arms can be kept static, and when human force acts on the mechanical arms, the mechanical arms can be moved passively.
The point-symmetric position is relative to the midpoint, and even if the ends of the pair of mechanical arms are symmetric relative to the midpoint, the midpoint is the center position of the patient being seen through, so the midpoint may be a manually preset position, for example, the midpoint position may be the center point of the starting points of the two mechanical arms being moved a first distance in the X direction, as shown in the top view of the pair of mechanical arms in fig. 2. In fig. 2, reference numeral 1 is a robot arm, reference numeral 11 is a start point of the robot arm 1, reference numeral 2 is another robot arm, reference numeral 21 is a start point of the robot arm 2, reference numeral 3 is an imaging plate, reference numeral 4 is a tube, reference numeral 5 is a midpoint, and reference numeral 6 is a mounting plate of a pair of robot arms, so that the position of the midpoint 5 is on a center line of the start point 11 and the start point 21 and moves a first distance in an X direction (the X direction is an upward direction of the center line), and the midpoint 5 is a center position where the patient is seen through.
With this arrangement, it is possible to determine whether the robot arm is moved.
Optionally, the method further comprises:
s110, acquiring a first image of the patient in place. Wherein the first image is a top view image of the patient in place.
It will be appreciated that a camera, which is fixed relative to the patient, may be provided above the patient in place for capturing a top view image, i.e. a first image, of the patient in place.
So set up, can not gather the first image in different positions because of the perspective machine removes.
S120, acquiring a preload midpoint selected by an operator on the first image.
It will be appreciated that the preload midpoint is the point selected by the operator in the first image and is also the pre-penetration point of the patient in place, e.g., the operator wants to see through the patient's leg, and the preload midpoint is placed in the first image in the patient's leg in place.
By the arrangement, the visual pre-perspective view point of the in-place patient is selected, and perspective efficiency is improved.
And S130, adjusting the orientation of the installation layout of the mechanical arm according to the preload midpoint so that the preload midpoint is positioned on the first centerline, and overlapping the position of the midpoint with the position of the preload midpoint. The first center line refers to the center line of the installation starting points of the two mechanical arms.
It will be appreciated that the mounting plate 6 in fig. 2 is the mounting plate of the mechanical arm, and the orientation of the mounting plate 6 is adjusted according to the position of the midpoint of the preload so that the midpoint of the preload is located on the first center line (i.e. the center line in fig. 2), and because the camera capturing the first image is fixed, the ratio of the distance in the first image to the actual distance is also fixed, and therefore the vertical distance between the midpoint and the mounting plate 6 is adjusted based on the fixed ratio so that the position of the midpoint coincides with the position of the midpoint of the preload.
By the arrangement, the corresponding perspective view point (namely the midpoint) can be customized according to patients with different body types and different perspective parts, and the perspective quality can be improved.
In one possible implementation manner, in step S130, an infrared emitter is mounted on the mounting panel 6, where the infrared emitter emits an infrared ray, and the infrared ray overlaps a middle plane, where the middle plane is a perpendicular bisecting plane of the mounting points of the two mechanical arms and the infrared ray can be displayed in the first image, and the adjusting the orientation of the mounting panel of the mechanical arms according to the preload midpoint so that the preload midpoint is located on the first centerline includes:
and S140, adjusting the orientation of the installation layout of the mechanical arm according to the infrared rays in the first image, so that the preloaded middle point is overlapped with the infrared rays.
It will be appreciated that the mounting panel 6 is provided with an infrared emitter which emits an infrared ray, the infrared ray being coincident with a median plane, the median plane being the perpendicular bisector of the starting point 11 and the starting point 21, and because the camera capturing the first image is able to capture the infrared ray, a projection of an infrared ray can be captured in the first image, the projection being a line which coincides with the first median line, and therefore the orientation of the mounting panel of the robotic arm is adjusted until the preloaded midpoint in the first image coincides with the infrared ray in the first image.
By the arrangement, the superposition accuracy of the midpoint and the preloaded midpoint can be improved.
And S200, when the first motion state data indicates that any mechanical arm is in a moved state, waiting for a pair of mechanical arms to be in a static state and in a static state for a first time period, acquiring the sequence of stopping the pair of mechanical arms, and then acquiring second motion state data. The second motion state data is used for reflecting the joint angles and the rotation angles of the pair of mechanical arms.
It can be understood that when the first motion state data indicates that any one of the mechanical arms is in a moved state, the mechanical arms are moved, the first condition indicates that only one mechanical arm is moved, and the other mechanical arm is moved, the first condition indicates that an operator only adjusts one mechanical arm independently, which means that the adjusted mechanical arm can be used as an immobilized mechanical arm, and then the other mechanical arm which does not move is automatically moved so as to make the tail ends of the two mechanical arms symmetrical relative to the middle point, and the other condition indicates that the operator adjusts the two mechanical arms together, which means that the operator needs to find the immobilized mechanical arm first and then adjusts the other mechanical arm so as to make the tail ends of the two mechanical arms symmetrical relative to the middle point. After waiting for the first period of time when the pair of mechanical arms is stationary, acquiring second motion state data reflecting the angles and rotation angles of joints of the two mechanical arms, and further obtaining the positions of the tail ends of the two mechanical arms.
The arrangement is beneficial to obtaining the positions of the tail ends of the two mechanical arms so as to enable the tail ends of the two mechanical arms to be symmetrical relative to the middle point.
And S300, obtaining the terminal coordinates of the first mechanical arm and the terminal coordinates of the second mechanical arm according to the second motion state data and the sequence of stopping. The first mechanical arm end coordinate refers to the end coordinate of the first mechanical arm, the first mechanical arm refers to the mechanical arm which stops after the first mechanical arm stops, the second mechanical arm end coordinate refers to the end coordinate of the second mechanical arm, and the second mechanical arm is another mechanical arm.
It can be understood that the mechanical arm is divided into a first mechanical arm and a second mechanical arm by the sequence of stopping the two mechanical arms, wherein the first mechanical arm is a mechanical arm which is stopped at the back and is also a stationary mechanical arm, and the second mechanical arm is another mechanical arm and is also a mechanical arm which is required to autonomously move to a point-symmetrical position. The second motion state data reflects the joint angle and the rotation angle of each arm, each arm of the two arms can be used as a three-dimensional vector, the joint angle and the joint rotation angle of each arm of the arm can uniquely determine the three-dimensional vector direction of the arm, and the length of each arm of the arm can be measured and stored in advance because the length of each arm of the arm is unchanged, so that the length of each three-dimensional vector can be known, all three-dimensional vectors of the arm can be added to obtain a sum vector, the sum vector starts from a starting point (the starting point is a mounting point of the arm), and the end point of the vector is the end coordinate of the arm, so that the end coordinate of the first arm and the end coordinate of the second arm can be obtained.
By the arrangement, the tail end coordinates of the two mechanical arms can be obtained quickly.
S400, obtaining point symmetry coordinates according to the end coordinates of the first mechanical arm, obtaining mechanical arm moving instructions according to the point symmetry coordinates and the end coordinates of the second mechanical arm, and then sending the mechanical arm moving instructions to the second mechanical arm. The point symmetry coordinates are coordinates symmetrical to the end coordinates of the first mechanical arm relative to the midpoint, and the mechanical arm moving instruction is an instruction for moving the end coordinates of the second mechanical arm to the point symmetry coordinates.
It can be understood that the first mechanical arm is a stationary mechanical arm, a coordinate in which the end coordinates of the first mechanical arm are symmetrical with respect to the middle point, that is, a point symmetry coordinate is obtained, the end coordinates of the second mechanical arm are taken as a starting point, the point symmetry coordinate is taken as an end point, the starting point to the end point are three-dimensional vectors, which are called difference vectors, the difference vectors can be sent to the second mechanical arm as mechanical arm moving instructions, and the change amount of the sum vectors is the difference vectors through the movement between each section of the second mechanical arm, so that the end coordinates of the second mechanical arm move to the point symmetry coordinate.
The arrangement is such that the ends of the two mechanical arms can be symmetrical with respect to the midpoint.
Optionally, after sending the arm movement command to the second arm, the method further comprises:
S410, acquiring first motion state data.
It will be appreciated that the motion state of a pair of robotic arms is first detected.
And S420, judging whether the first mechanical arm is in a moved state or not when the first movement state data indicate that the second mechanical arm is in a moved state, if so, sending a cancel instruction to the second mechanical arm, and emptying the movement instruction of the mechanical arm and stopping moving after the second mechanical arm receives the cancel instruction.
It can be appreciated that the symmetrical moving process of the second mechanical arm requires time, and when the first mechanical arm is detected to be in a moved state in the time, a cancel instruction can be sent to the second mechanical arm, and the second mechanical arm empties the mechanical arm moving instruction and stops moving after receiving the cancel instruction.
In this way, when the first mechanical arm is detected to be in a moved state during the execution of the old mechanical arm moving instruction, the operator is not satisfied with the old mechanical arm moving instruction, so that the second mechanical arm is not required to wait for the second mechanical arm to execute the whole old mechanical arm moving instruction, but is required to empty the old mechanical arm moving instruction and stop moving, and wait for a new mechanical arm moving instruction generated by the movement of the first mechanical arm, and the movement efficiency and the movement rationality of a pair of mechanical arms can be improved.
Optionally, after sending the arm movement command to the second arm, the method further comprises:
S430, acquiring first motion state data.
It will be appreciated that the motion state of a pair of robotic arms is first detected.
S440, when the first motion state data indicates that the second mechanical arm is in a moving state, the moving resistance of the second mechanical arm acquired by the monitoring sensor is acquired.
It will be appreciated that the movement symmetry of the second mechanical arm may strike a foreign object or a person, and therefore it is necessary to detect the movement resistance of the second mechanical arm by the monitoring sensor for determining whether the movement symmetry of the second mechanical arm strikes a foreign object or a person. The monitoring sensor may include a force sensor disposed at a first joint of the robot arm for detecting a movement resistance of the robot arm, that is, a resistance detected by the force sensor at the first joint during movement of the robot arm,
The arrangement is beneficial to judging whether the symmetrical moving process of the second mechanical arm collides with foreign matters or personnel.
S450, when the movement resistance of the second mechanical arm is larger than the first threshold value, sending a pause instruction to the second mechanical arm, and after the second mechanical arm receives the pause instruction, pausing movement and alarming.
It can be understood that when the monitoring sensor detects that the moving resistance of the second mechanical arm is greater than the first threshold, which means that foreign matters or personnel are encountered in the moving process of the second mechanical arm, a stop signal is sent to the second mechanical arm, and the second mechanical arm pauses moving and alarms after receiving the stop signal.
By the arrangement, when the second mechanical arm encounters a foreign object or a person, the movement is suspended in time and the alarm is given, so that the mechanical arm can be prevented from injuring an operator or a patient, and overload damage of the mechanical arm can be prevented.
And S460, after detecting the cancel alarm instruction input by the user, sending a continue instruction to the second mechanical arm, and after receiving the continue instruction, stopping alarm and continuing to execute the mechanical arm movement instruction by the second mechanical arm.
It will be appreciated that after the operator inputs the cancel alarm command, the second robot arm stops the alarm and continues to move to execute the robot arm movement command. A button can be arranged on the mechanical arm for enabling an operator to quickly input a cancel alarm instruction.
By the arrangement, the mechanical arm can continue to execute the mechanical arm moving instruction after foreign matters or personnel are removed. Optionally, after sending the pause instruction to the second mechanical arm, before sending the continue instruction to the second mechanical arm, the method further includes:
s470, acquiring first motion state data.
It will be appreciated that the motion state of a pair of robotic arms is first detected.
And S480, when the first motion state data indicate that any mechanical arm is in a moved state, a cancellation instruction is sent to the second mechanical arm, and after the second mechanical arm receives the cancellation instruction, the mechanical arm movement instruction is cleared and the alarm is stopped.
It can be understood that when the second mechanical arm pauses moving and alarms, an operator can still move any mechanical arm according to the requirement, and when the first motion state data is detected to indicate that any mechanical arm is in a moved state, a cancel instruction is sent to the second mechanical arm, and after the second mechanical arm receives the cancel instruction, the mechanical arm moving instruction is emptied and the alarm is stopped.
The first mechanical arm is provided with a first mechanical arm moving command, a second mechanical arm moving command and an alarm, wherein the first mechanical arm is used for stopping the alarm when the first mechanical arm is stopped to move, the second mechanical arm is used for stopping the alarm when the second mechanical arm is stopped to move, the first mechanical arm is used for stopping the alarm when the first mechanical arm is stopped to move, and the second mechanical arm is used for stopping the alarm when the second mechanical arm is stopped to move. The two conditions are combined together, namely, when the second mechanical arm pauses movement and alarms, and when any mechanical arm is detected to be in a moved state, the second mechanical arm clears the mechanical arm movement instruction and stops alarming. The method can perfect the movement logic and the alarm logic of the mechanical arm and improve the rationality of the method.
S500, after the second mechanical arm finishes the mechanical arm moving instruction, sending a viewing instruction to the pair of mechanical arms. The pair of visual instructions are instructions for enabling the first mechanical arm tail end and the second mechanical arm tail end to mutually view.
It can be understood that the mechanical arms in the application are applied to the mobile perspective machine, so that the two mechanical arms are respectively provided with the ray tube and the imaging plate, the X-rays emitted by the ray tube need to be vertically beaten on the imaging plate, namely, the tail ends of a pair of mechanical arms need to be viewed, and after the tail ends of the two mechanical arms are symmetrical relative to the middle point, a viewing instruction is sent to the pair of mechanical arms, so that the tail ends of the first mechanical arm and the tail ends of the second mechanical arm are viewed mutually. The terminal coordinates of the two mechanical arms can be connected to form a line segment, the vector angle of the line segment is calculated, then the vector angle is used as a viewing instruction to be sent to the two mechanical arms, and the terminal of the two mechanical arms respectively form a positive vector angle and a negative vector angle so as to finish viewing.
The mechanical arm provided by the application can be applied to a mobile perspective machine.
Optionally, the ends of the pair of mechanical arms are provided with a laser correction device, the laser correction device comprises a laser emitter and a laser receiver, the laser emitter is arranged at the end of one mechanical arm of the pair of mechanical arms, the laser receiver is arranged at the end of the other mechanical arm, and the method further comprises:
And S510, before the step of acquiring the first motion state data acquired by the monitoring sensor is executed, a symmetrical instruction is sent to a pair of mechanical arms, and then a viewing instruction is sent, after the symmetrical instruction is received by the pair of mechanical arms, the tail ends of the pair of mechanical arms are symmetrical relative to the middle point, and after the viewing instruction is received, the tail ends of the pair of mechanical arms are mutually viewed.
It will be appreciated that after the plurality of movements of the mechanical arms, the errors will gradually accumulate, so that before the step S100 of the method is performed, that is, before the patient is not yet in place, the coordinates of the ends of the pair of mechanical arms are symmetrical with respect to the middle point, then the vision instruction is performed, and the laser correction device including the laser emitter and the laser receiver, that is, the same positional relationship with the tube and the imaging plate, is assembled at the ends of the pair of mechanical arms, so as to perform correction periodically.
By the arrangement, errors generated in the moving process of the mechanical arm can be corrected, and additional ionizing radiation can not be generated.
S520, starting the laser correction device to obtain a viewing error, obtaining a correction movement instruction according to the viewing error, and sending the correction movement instruction to a pair of mechanical arms, wherein the correction movement instruction is used for indicating the pair of mechanical arms to correct the viewing error.
It can be understood that the laser correction device includes a laser emitter and a laser receiver, which are respectively installed on a pair of mechanical arms, after the symmetry and the viewing, the laser correction device is started, the laser emitter on one mechanical arm emits laser and is received by the laser receiver on the other mechanical arm, and the laser can be shot at the center of the laser receiver and imaged under the condition of no error, therefore, the distance difference vector between the laser imaging point received by the laser receiver and the center point of the laser receiver can be used as the viewing error, the distance = tan θ between the film/two end coordinates of the distance difference vector, θ refers to the angle to be adjusted by the end of the mechanical arm, the direction of the end adjustment angle of the mechanical arm is the direction of the distance difference vector, so as to obtain a correction movement instruction (θ, the direction of the distance difference vector), the correction movement instruction is sent to the pair of mechanical arms, and θ/2 can be respectively adjusted by the ends of the two mechanical arms, or θ can be respectively adjusted by the ends of the end of the mechanical arm to correct the viewing error of the end of the pair of mechanical arms.
By the arrangement, the visual error of the mechanical arms is corrected regularly, and a pair of mechanical arms can successfully visual.
Optionally, the length of each arm of the pair of mechanical arms is equal.
It will be appreciated that not only is the ends of a pair of arms symmetrical, but the two arms are equivalent, and the only distinction is in the order of the sequential stops of the two arms, so that in order to make each instruction generic among the two arms, the lengths of the two arms are equal.
By the arrangement, the universality of each instruction in the two mechanical arms is improved.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
Corresponding to the method for monitoring the motion state of the mechanical arm described in the above embodiment, the embodiment of the present application further provides a system for monitoring the motion state of the mechanical arm, where each unit of the system may implement each step of the method for monitoring the motion state of the mechanical arm. Fig. 3 is a block diagram of a mechanical arm motion state monitoring system according to an embodiment of the present application, and for convenience of explanation, only a portion related to the embodiment of the present application is shown.
Referring to fig. 3, the system includes a monitoring sensor and a server, the system is used for monitoring a pair of mechanical arms, the server includes:
the first acquisition unit is used for acquiring first motion state data acquired by the monitoring sensor, wherein the first motion state data is used for reflecting the motion state of the pair of mechanical arms, and the motion state comprises static state, moving state and moved state;
The first acquisition unit is used for acquiring a sequence of stopping a pair of mechanical arms after waiting for the pair of mechanical arms to be in a static state and being static for a first duration when the first motion state data indicate that any mechanical arm is in a moved state, and acquiring second motion state data, wherein the second motion state data are used for reflecting the angles of joints and the rotation angles of the pair of mechanical arms;
The system comprises a calculation unit, a first mechanical arm terminal coordinate and a second mechanical arm terminal coordinate, wherein the calculation unit is used for obtaining the first mechanical arm terminal coordinate and the second mechanical arm terminal coordinate according to the second motion state data and the sequence of stopping;
The system comprises a symmetry unit, a first mechanical arm and a second mechanical arm, wherein the symmetry unit is used for obtaining point symmetry coordinates according to the end coordinates of the first mechanical arm, obtaining mechanical arm moving instructions according to the point symmetry coordinates and the end coordinates of the second mechanical arm, and sending the mechanical arm moving instructions to the second mechanical arm, wherein the point symmetry coordinates are coordinates symmetrical to the end coordinates of the first mechanical arm relative to the middle point, and the mechanical arm moving instructions are instructions for moving the end coordinates of the second mechanical arm to the point symmetry coordinates;
And the pair of mechanical arms are provided with a pair of mechanical arms, wherein the pair of mechanical arms are used for moving the mechanical arms.
It should be noted that, because the content of information interaction and execution process between the above units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein.
It will be apparent to those skilled in the art that the above-described functional units are merely illustrated in terms of division for convenience and brevity, and that in practical applications, the above-described functional units may be allocated to different functional units, i.e., the internal structure of the apparatus may be divided into different functional units, so as to perform all or part of the above-described functions. The functional units in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present application. The specific working process of the units in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
The embodiment of the application also provides a server, and fig. 4 is a schematic structural diagram of the server according to an embodiment of the application, wherein the server comprises a signal sending device and a control device, and the server is in communication connection with two mechanical arms through the signal sending device. As shown in fig. 4, the control device 4 of the server of this embodiment includes at least one processor 40 (only one is shown in fig. 4), at least one memory 41 (only one is shown in fig. 4), and a computer program 42 stored in the at least one memory 41 and executable on the at least one processor 40, and when the processor 40 executes the computer program 42, causes the control device 4 of the server to implement the steps in any of the respective arm motion state monitoring method embodiments described above, or causes the control device 4 of the server to implement the functions of the respective units in the respective device embodiments described above.
Illustratively, the computer program 42 may be partitioned into one or more units that are stored in the memory 41 and executed by the processor 40 to complete the present application. The one or more units may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program 42 in the control means 4 of the server.
The control device 4 of the server may be a single chip microcomputer, a microprocessor, a mobile phone, a tablet computer, a wearable device, a vehicle-mounted device, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, a Personal Digital Assistant (PDA), a desktop computer, an intelligent large screen, a smart television, or a handheld device with a wireless communication function. The control device 4 of the server may include, but is not limited to, a processor 40, a memory 41. It will be appreciated by those skilled in the art that fig. 4 is merely an example of the control device 4 of the server, and does not constitute a limitation of the control device 4 of the server, and may include more or less components than illustrated, or may combine certain components, or different components, such as may also include input and output devices, network access devices, buses, etc.
The Processor 40 may be a central processing unit (Central Processing Unit, CPU), the Processor 40 may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may in some embodiments be an internal storage unit of the control device 4 of the server, such as a hard disk or a memory of the control device 4 of the server. The memory 41 may in other embodiments also be an external storage device of the control device 4 of the server, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD) or the like, which are provided on the control device 4 of the server. Further, the memory 41 may also comprise both an internal memory unit of the control device 4 comprising the server and an external memory device. The memory 41 is used for storing an operating system, application programs, boot loader (BootLoader), data, other programs, etc., such as program codes of the computer program. The memory 41 may also be used for temporarily storing data that has been output or is to be output.
Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, performs the steps of any of the various method embodiments described above.
Embodiments of the present application provide a computer program product for causing a server to carry out the steps of any of the various method embodiments described above when the computer program product is run on the server.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium can include at least any entity or device capable of carrying computer program code to a server, a recording medium, computer Memory, read-Only Memory (ROM), random-access Memory (RAM, random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed method for monitoring the motion state of the mechanical arm, the system for monitoring the motion state of the mechanical arm and the server may be implemented in other manners. For example, the above described method, system and server embodiments for monitoring the motion state of a robot arm are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other division manners in actual implementation, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The foregoing embodiments are merely illustrative of the technical solutions of the present application, and not restrictive, and although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that modifications may still be made to the technical solutions described in the foregoing embodiments or equivalent substitutions of some technical features thereof, and that such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (9)
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| US7239684B2 (en) * | 2005-02-28 | 2007-07-03 | Mitsubishi Heavy Industries, Ltd. | Radiotherapy apparatus monitoring therapeutic field in real-time during treatment |
| CN116849695A (en) * | 2023-07-20 | 2023-10-10 | 成峰医疗科技(苏州)有限公司 | A dental X-ray imaging device |
| CN117984322A (en) * | 2024-02-26 | 2024-05-07 | 东南大学 | Force sense guiding teleoperation system based on double-arm cooperation potential field and control method |
| CN120346461B (en) * | 2025-06-20 | 2025-09-23 | 北京睿华辰医疗科技有限公司 | Real-time image guidance system |
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| CN107427327A (en) * | 2014-09-30 | 2017-12-01 | 奥瑞斯外科手术机器人公司 | Configurable robotic surgical system with virtual track and soft endoscope |
| KR20230106247A (en) * | 2022-01-06 | 2023-07-13 | 주식회사 삼육오엠씨(365mc) | Hybride robot device for liposuction surgery |
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