Abstract: A path determination method, an electronic apparatus and a computer-readable storage medium are disclosed, which enable an accurate implementation of puncture surgery, and improve a safety of surgery. The method acquires a first and a second ultrasound section, which are collected by at least one ultrasound probe. An intersecting line of the first and the second ultrasound section is determined in the first ultrasound section and the second ultrasound section respectively. When the first ultrasound section and/or the second ultrasound section meet(s) a preset condition, a puncture travel path is determined based on the intersecting line, wherein the puncture travel path is a travel path along which a puncture needle performs puncturing.

Abstract: A control method of a mechanical arm, a mechanical arm assembly, and a readable storage medium. The mechanical arm includes a parallel platform which includes a movable platform, a static platform and a telescopic element connecting the movable platform and the static platform, and the method includes: acquiring a current pose of the movable platform in a mechanical coordinate system, wherein the mechanical coordinate system is a global coordinate system of the mechanical arm where the movable platform is located; acquiring, according to the current pose of the movable platform, a target pose of a static platform in the mechanical coordinate system; performing pose transformation on the static platform according to the current pose of the movable platform and the target pose of the static platform.

Abstract: A hybrid master-slave mapping method includes the following steps: acquiring a current position and a target position of an end point of a robotic arm; decomposing a displacement from the current position to the target position into a vertical direction and a horizontal plane to obtain a vertical displacement position and a horizontal displacement position; determining a first control amount of a multi-degree-of-freedom parallel platform according to the vertical displacement position, and determining a second control amount of a passive arm according to the horizontal displacement position; controlling the multi-degree-of-freedom parallel platform according to the first control amount, and controlling the passive arm according to the second control amount.

Abstract: Disclosed are a master-slave mapping method for parallel platform, and a robotic arm system and a storage medium. The method comprises: acquiring a first transformation relationship between a user coordinate system and a calculation coordinate system; mapping displacement amounts of an end of a master manipulator in a master user coordinate system to an end of the movable platform according to a set proportional coefficient, to obtain a first target position of the end of the movable platform; determining a second target position of the end of the movable platform according to the first transformation relationship and the first target position; obtaining a movement amount of each of the telescopic rods of the parallel platform according to the second target position, and controlling a motion of the parallel platform according to the movement amount of each of the telescopic rods. The control of the robotic arm is simplified.

Abstract: A quick insertion-and-removal device comprises: a base connected to a surgical instrument; an outer sheath limiting assembly comprising a limiting element capable of moving relative to the base, wherein the limiting element is configured to lock or unlock an outer sheath; a push-rod limiting assembly comprising a sliding sleeve capable of moving relative to the base to lock or unlock a push rod; and a mounting-dismounting control assembly comprising a joint unlocking member, wherein the joint unlocking member is connected to the sliding sleeve and can drive the sliding sleeve to move, relative to the base, to a position where the push rod is unlocked, and in this position, the joint unlocking member is engaged with the limiting element and can unlock the outer sheath.