Surgical robot and bandwidth adjusting method thereof

Abstract

The embodiment of the invention provides a surgical robot and a bandwidth adjusting method thereof, the surgical robot comprises a processor, a doctor main console and a patient surgical platform which can be controlled by the doctor main console, and the patient surgical platform communicates with the doctor main console through a network channel. According to the bandwidth adjustment method, the network transmission quality of the first priority data is monitored in real time, and when the network transmission quality of the first priority data does not meet the preset first condition, the bandwidth occupied by the second priority data with the lower priority is reduced, so that the surgical robot can improve the network transmission quality of the first priority data, and the network transmission quality of the second priority data is improved. The adverse effect of the unstable network channel on the remote surgery operation is reduced, and the safety of the remote surgery is improved.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular to a surgical robot and a bandwidth adjustment method thereof. Background Art

[0002] With the innovation and development of science and technology and medical technology, surgical robotics has gradually matured. For doctors, surgical robots offer advantages such as ease of operation and high precision. For patients, surgical operations performed with surgical robots offer advantages such as minimal trauma, minimal pain, and rapid recovery, and are widely accepted by both doctors and patients.

[0003] Existing surgical robots generally include a doctor's main console and a patient operating platform. The doctor's main console controls the patient operating platform to perform surgery on the patient. With the increasing maturity of high-speed communication network technologies with low latency and high bandwidth, such as 5G and the Internet, remote surgical robot technology that combines the advantages of surgical robot technology and high-speed communication network technology has emerged. Remote surgical robot technology allows doctors to be far away from the patient. For example, it allows doctors to perform ultra-remote surgery on patients in different countries or provinces and cities, thereby breaking through the constraints of space on the implementation of surgery to the greatest extent and effectively alleviating the problem of uneven distribution of medical resources. However, the network channel that surgical robots rely on to perform remote surgery is still not very stable. How to realize remote surgery of surgical robots based on this network channel and ensure the safety of surgery has become an urgent problem to be solved. Summary of the Invention

[0004] Based on this, it is necessary to provide a surgical robot and a method for adjusting its bandwidth that can solve the above problems.

[0005] In a first aspect, the present application provides a surgical robot, comprising: Doctor's main console; a patient operating platform controllable by the doctor's main console, the patient operating platform communicating with the doctor's main console via a network channel; A processor configured to: Real-time monitoring of network transmission quality of first-priority data; Confirm that the network transmission quality does not meet the preset first condition, and reduce the bandwidth occupied by the second priority data. The first priority data and the second priority data are data transmitted between the doctor's main console and the patient's operating platform through the network channel. The priority of the first priority data is higher than that of the second priority data.

[0006] Furthermore, the surgical robot further includes an endoscope for acquiring the surgical environment, and an interactive system for audio and video interaction between the doctor's main console and the patient's surgical platform; The first priority data includes at least one of a motion control instruction, an energy signal, and surgical environment data acquired by the endoscope; The second priority data includes at least one of the audio streams output by the interactive system and the video streams output by the interactive system.

[0007] Furthermore, reducing the bandwidth occupied by the second priority data includes: reducing the bandwidth occupied by the second-priority data based on a preset first amplitude; Determining whether the network transmission quality meets the first condition; If not, return to the step of reducing the bandwidth occupied by the second priority data based on the preset first amplitude until the bandwidth occupied by the second priority data is less than or equal to the preset minimum bandwidth threshold.

[0008] Furthermore, the processor is further configured to: Confirm that the bandwidth occupied by the second-priority data is less than the minimum bandwidth threshold, and increase the bandwidth occupied by the second-priority data to the minimum bandwidth threshold.

[0009] Furthermore, reducing the bandwidth occupied by the second priority data includes: Reducing the bandwidth occupied by the second-priority data to a preset minimum bandwidth threshold; Determining whether the network transmission quality meets the first condition; If not, the operation of the processor ends.

[0010] Furthermore, the processor is further configured to: If the network transmission quality meets the first condition, increasing the bandwidth occupied by the second-priority data based on a preset second amplitude, where the second amplitude is smaller than the first amplitude, and twice the second amplitude is larger than the first amplitude; Determining whether the network transmission quality meets the first condition; If so, terminating the operation of the processor; If not, return to the step of reducing the bandwidth occupied by the second priority data based on the preset first amplitude.

[0011] Furthermore, the processor is further configured to: If the network transmission quality satisfies the first condition and the bandwidth occupied by the second-priority data is less than a preset maximum bandwidth threshold, the bandwidth occupied by the second-priority data is increased based on a preset second amplitude, where the second amplitude is less than the first amplitude, and twice the second amplitude is greater than the first amplitude; Determining whether the network transmission quality meets the first condition; If so, terminating the operation of the processor; If not, return to the step of reducing the bandwidth occupied by the second priority data based on the preset first amplitude.

[0012] Furthermore, the processor is further configured to: If the network transmission quality satisfies the first condition, determining whether the network transmission quality satisfies a preset second condition. If the network transmission quality satisfies the second condition, the first condition must be satisfied. If the network transmission quality satisfies the first condition, the second condition may not be satisfied. If so, increase the bandwidth occupied by the second priority data based on a preset second amplitude, and return to the step of determining whether the network transmission quality meets the first condition; If not, the operation of the processor ends.

[0013] Furthermore, the processor is further configured to: If the network transmission quality satisfies the first condition, then determining whether the network transmission quality satisfies a preset second condition, and whether the bandwidth occupied by the second-priority data is less than a preset maximum bandwidth threshold; if the network transmission quality satisfies the second condition, the first condition must be satisfied, but if the network transmission quality satisfies the first condition, the second condition may not be satisfied; If so, increasing the bandwidth occupied by the second priority data based on a preset second amplitude, and returning to the step of determining whether the network transmission quality meets the first condition; If not, the operation of the processor ends.

[0014] Furthermore, the processor is further configured to: If the network transmission quality satisfies the first condition, determining whether the network transmission quality satisfies a preset second condition. If the network transmission quality satisfies the second condition, the first condition must be satisfied. If the network transmission quality satisfies the first condition, the second condition may not be satisfied. If so, the bandwidth occupied by the second priority data is increased based on a preset second amplitude, and the process returns to the step of determining whether the network transmission quality meets a preset second condition; If not, terminating the operation of the processor; The second amplitude is determined based on the first condition and the second condition, and the second amplitude satisfies a third condition, which is: When the network transmission quality meets the second condition, if the bandwidth occupied by the second priority data is increased by the second amplitude, the network transmission quality still meets the first condition.

[0015] Furthermore, the processor is further configured to: If the network transmission quality satisfies the first condition, then determining whether the network transmission quality satisfies a preset second condition, and whether the bandwidth occupied by the second-priority data is less than a preset maximum bandwidth threshold; if the network transmission quality satisfies the second condition, the first condition must be satisfied, but if the network transmission quality satisfies the first condition, the second condition may not be satisfied; If so, the bandwidth occupied by the second-priority data is increased based on a preset second amplitude, and the process returns to the step of determining whether the network transmission quality meets a preset second condition and whether the bandwidth occupied by the second-priority data is less than a preset maximum bandwidth threshold; If not, terminating the operation of the processor; The second amplitude is determined based on the first condition and the second condition, and the second amplitude satisfies a third condition, which is: When the network transmission quality meets the second condition, if the bandwidth occupied by the second priority data is increased by the second amplitude, the network transmission quality still meets the first condition.

[0016] Furthermore, the processor is further configured to: The second amplitude is determined based on the first condition and the second condition, and the second amplitude satisfies a third condition, which is: When the network transmission quality meets the second condition, if the bandwidth occupied by the second priority data is increased by the second amplitude, the network transmission quality still meets the first condition.

[0017] Furthermore, the first amplitude is greater than the second amplitude.

[0018] Furthermore, the processor is further configured to: Confirm that the bandwidth occupied by the second-priority data is greater than the maximum bandwidth threshold, and reduce the bandwidth occupied by the second-priority data to the maximum bandwidth threshold.

[0019] Furthermore, the maximum bandwidth threshold is an initial value of the bandwidth occupied by the second priority data, and the initial value is the value of the bandwidth occupied by the second priority data before the processor performs any operation for adjusting the bandwidth occupied by the second priority data.

[0020] Furthermore, the network transmission quality includes network delay, network jitter and packet loss rate; The network transmission quality does not meet the first condition, including at least one of the network delay being greater than a preset first network delay threshold, the network jitter being greater than a preset first network jitter threshold, and the packet loss rate being greater than a preset first packet loss rate threshold.

[0021] Furthermore, the network transmission quality includes any one of network delay, network jitter and packet loss rate; When the network transmission quality includes the network delay, the network transmission quality not meeting the first condition includes that the network delay is greater than a preset first network delay threshold; When the network transmission quality includes the network jitter, the network transmission quality not meeting the first condition includes that the network jitter is greater than a preset first network jitter threshold; When the network transmission quality includes the packet loss rate, the network transmission quality not meeting the first condition includes that the packet loss rate is greater than a preset first packet loss rate threshold.

[0022] Furthermore, the network transmission quality includes network delay, network jitter and packet loss rate; The network transmission quality not meeting the first condition includes at least one of the following: the network delay is greater than a preset first network delay threshold, the network jitter is greater than a preset first network jitter threshold, and the packet loss rate is greater than a preset first packet loss rate threshold; The network transmission quality meeting the second condition includes that the network delay is less than a preset second network delay threshold, the network jitter is less than a preset second network jitter threshold, and the packet loss rate is less than a preset second packet loss rate threshold; The second network delay threshold is smaller than the first network delay threshold, the second network jitter threshold is smaller than the first network jitter threshold, and the second packet loss rate threshold is smaller than the first packet loss rate threshold.

[0023] Furthermore, the network transmission quality includes any one of network delay, network jitter and packet loss rate; When the network transmission quality includes the network delay, the network transmission quality not meeting the first condition includes that the network delay is greater than a preset first network delay threshold, and the network transmission quality meeting the second condition includes that the network delay is less than a preset second network delay threshold, and the second network delay threshold is less than the first network delay threshold; When the network transmission quality includes the network jitter, the network transmission quality not meeting the first condition includes that the network jitter is greater than a preset first network jitter threshold, and the network transmission quality meeting the second condition includes that the network jitter is less than a preset second network jitter threshold, and the second network jitter threshold is less than the first network jitter threshold; When the network transmission quality includes the packet loss rate, the network transmission quality not meeting the first condition includes that the packet loss rate is greater than a preset first packet loss rate threshold, and the network transmission quality meeting the second condition includes that the packet loss rate is less than a preset second packet loss rate threshold, and the second packet loss rate threshold is less than the first packet loss rate threshold.

[0024] Furthermore, the processor is further configured to: confirming that the current bandwidth is less than the sum of the preset minimum bit rate requirements of the audio streams and the video streams output by the interactive system, allocating a bandwidth that can meet the preset mandatory bit rate requirement to each first data stream, and allocating a bandwidth that can meet the minimum bit rate requirement to each second data stream in sequence based on the remaining bandwidth in the current bandwidth, where the first data stream is one of the audio stream and the video stream output by the interactive system, the second data stream is the other of the audio stream and the video stream output by the interactive system, and the current bandwidth is the bandwidth currently occupied by the second-priority data; confirming that the current bandwidth is greater than the sum of the maximum bitrate requirements of the audio streams and the video streams output by the interactive system, allocating bandwidth that can meet the maximum bitrate requirements to the audio streams and the video and audio streams output by the interactive system, and evenly distributing the remaining bandwidth in the current bandwidth to the audio streams and the video and audio streams output by the interactive system; Confirm that the current bandwidth is between the sum of the minimum bit rate requirements and the maximum bit rate requirements of each audio stream and each video stream output by the interactive system, allocate a bandwidth that can meet the mandatory bit rate requirement to each first data stream, and allocate a bandwidth that can meet the minimum bit rate requirement to each second data stream in turn, and evenly distribute the remaining bandwidth in the current bandwidth to each first data stream and each second data stream.

[0025] Furthermore, each audio stream output by the interactive system is preset with a first priority order, and each video stream output by the interactive system is preset with a second priority order; The processor sequentially allocates required bandwidth to each audio stream output by the interactive system based on the first priority order, and sequentially allocates required bandwidth to each video stream output by the interactive system based on the second priority order.

[0026] In a second aspect, the present application further provides a bandwidth adjustment method for a surgical robot, wherein the surgical robot includes a processor, a doctor's main console, and a patient surgical platform controllable by the doctor's main console, wherein the patient surgical platform communicates with the doctor's main console via a network channel, and the method is applied to the processor, and the method includes: Real-time monitoring of network transmission quality of first-priority data; Confirm that the network transmission quality does not meet the preset first condition, and reduce the bandwidth occupied by the second priority data. The first priority data and the second priority data are data transmitted between the doctor's main console and the patient's operating platform through the network channel. The priority of the first priority data is higher than that of the second priority data.

[0027] In a third aspect, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, and when the instructions are executed on at least one processor, the method described in the second aspect is implemented.

[0028] The bandwidth adjustment method of the remote surgical robot and the remote surgical robot of the present application have the following beneficial effects: The surgical robot and bandwidth adjustment method of the present application monitor the network transmission quality of the first-priority data in real time, and when the network transmission quality of the first-priority data does not meet the preset first condition, reduce the bandwidth occupied by the second-priority data with a lower priority, so that the surgical robot can improve the network transmission quality of the first-priority data, reduce the adverse effects of network channel instability on remote surgical operations, and improve the safety of remote surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic structural diagram of a remote surgical robot according to an embodiment of the present application; Figure 2 This is a schematic structural diagram of a surgical instrument according to one embodiment of the present application; Figure 3 This is a schematic structural diagram of a slave robot of a remote surgical robot according to an embodiment of the present application; Figure 4 This is a schematic structural diagram of an interventional surgical robot according to one embodiment of the present application; Figure 5A network topology diagram of a remote surgical robot according to an embodiment of the present application; Figure 6 This is a flow chart of a bandwidth adjustment method for a surgical robot according to one embodiment of the present application; Figure 7 This is a flow chart of a method for adjusting bandwidth of a surgical robot according to an embodiment of the present application for adjusting bandwidth occupied by second priority data; Figure 8 This is a second flow chart of a bandwidth adjustment method for a surgical robot according to an embodiment of the present application for adjusting the bandwidth occupied by second-priority data; Figure 9 This is a third flow chart of a bandwidth adjustment method for a surgical robot according to an embodiment of the present application for adjusting the bandwidth occupied by second-priority data; Figure 10 This is a fourth flow chart of a bandwidth adjustment method for a surgical robot according to an embodiment of the present application for adjusting the bandwidth occupied by second-priority data; Figure 11 FIG5 is a flowchart of a method for adjusting bandwidth occupied by second-priority data in accordance with an embodiment of the present application; Figure 12 FIG6 is a flowchart of a bandwidth adjustment method for a surgical robot according to an embodiment of the present application for adjusting the bandwidth occupied by second-priority data; Figure 13 FIG7 is a flowchart of a method for adjusting bandwidth occupied by second-priority data in accordance with an embodiment of the present application; Figure 14 This is an eighth flow chart of a bandwidth adjustment method for a surgical robot according to an embodiment of the present application for adjusting the bandwidth occupied by second priority data. DETAILED DESCRIPTION

[0030] To facilitate understanding of the present application, a more comprehensive description of the present application will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present application.

[0031] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centered element at the same time. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be a centered element at the same time. The terms "vertical", "horizontal", "left", "right", "above", "below" and similar expressions used herein are for illustrative purposes only and are not intended to be the only embodiment. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or in operation in addition to the orientations depicted in the drawings. For example, if the device is flipped in the drawings, elements or features described as being "below" or "beneath" other elements or features will be oriented "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0032] The terms "distal end" and "proximal end" as used herein are directional terms commonly used in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery. "Coupled" as used herein can be broadly understood as any event in which two or more objects are connected in a manner that allows the absolutely coupled objects to operate together, such that there is no relative movement between the objects in at least one direction, such as a coupling of a protrusion and a groove, which can move relative to each other in the radial direction but not in the axial direction.

[0033] The term "tool" is used herein to describe a medical device that is inserted into a patient's body and used to perform a surgical or diagnostic procedure, the tool comprising an end effector, which may be a surgical tool for performing a surgical procedure, such as an electrocautery device, a clamp, a stapler, a shear, an imaging device (such as an endoscope or ultrasound probe), and the like. Some tools used in embodiments of the present application further include providing an articulated component (such as a joint assembly) for the end effector so that the position and orientation of the end effector can be manipulated and moved with one or more mechanical degrees of freedom relative to the instrument axis. Furthermore, the end effector includes functional mechanical degrees of freedom, such as opening and closing the clamp. The tool may also include stored information that can be updated by the surgical system, whereby the storage system can provide one-way or two-way communication between the tool and one or more system components. Some tools used in some embodiments may also not include providing an articulated component for the end effector.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "and / or" and "and / or" as used herein include any and all combinations of one or more of the associated listed items.

[0035] The remote surgical robot of the embodiment of the present application includes a master-slave surgical robot suitable for performing ultra-remote surgery. The master-slave surgical robot includes a remote doctor's main console and a patient surgical platform. The patient surgical platform can include different types of slave robots, including but not limited to single-port laparoscopic slave robots, multi-port laparoscopic slave robots, bronchial interventional slave robots, vascular interventional slave robots, and orthopedic slave robots. Different types of slave robots have different structural characteristics and may be suitable for the same or different types of surgeries.

[0036] For example, in Figure 1 The master-slave surgical robot shown includes a remote doctor's main console 100 and a patient surgical platform 200, which includes a single-port laparoscopic slave robot. The remote doctor's main console 100 can send control commands to the patient surgical platform 200 based on the doctor's operations to control the patient surgical platform 200. The remote doctor's main console 100 is also used to display images captured by the patient surgical platform 200. The patient surgical platform 200 is used to respond to control commands sent by the remote doctor's main console 100, perform corresponding operations, and capture images of the patient's body, such as images of the surgical environment within the patient's body.

[0037] The patient surgical platform 200 includes a robotic arm 210 and a drive assembly disposed on the robotic arm 210. The drive assembly includes a driver 220 disposed on the robotic arm 210 and a driver 220 disposed on the driver 220. Figure 2 The surgical tool 230 is shown. The patient surgical platform 200 also includes a puncture device 240 mounted on the long axis 231 of the surgical tool 230. When the patient surgical platform 200 responds to control commands from the remote doctor's main console 100, the robotic arm 210 is used to adjust the position of the surgical tool 230, the driver 220 is used to drive the surgical tool 230 to perform corresponding operations, and the end effector 232 of the surgical tool 230 is used to extend into the patient's body and perform surgical operations and / or obtain images of the patient's body through its distal end instrument.

[0038] Figure 3Another patient surgical platform 200' is shown, which includes a multi-port laparoscope slave robot. The patient surgical platform 200' includes a robotic arm and multiple manipulator assemblies 230' disposed on the robotic arm. The robotic arm includes a main arm 210' and multiple adjustment arms 220' disposed on an orientation platform 215' within the main arm 210'. Different manipulator assemblies 230' are disposed on different adjustment arms 220'. The main arm 210' can adjust the position of the adjustment arms 220' and the manipulator assemblies 230', and the adjustment arms 220' can adjust the position of the manipulator assemblies 230'. The manipulator assembly 230' includes a holding arm 240' and a medical device 250' detachably mounted on the holding arm 240'. The manipulator assembly 230' includes a parallelogram mechanism. Utilizing the parallelogram principle, the holding arm 240' can be limited to rotational motion around a remote center of motion (RC). Multiple medical devices 250' can be inserted into the patient's body through different puncture devices 500'. It is understandable that Figure 1 The remote doctor main console 100 shown can also be used to operate Figure 3 The movement of manipulator assembly 230' is shown in patient surgical platform 200'.

[0039] Figure 4 An interventional surgical robot 300 is shown. The interventional surgical robot 300 is a natural cavity surgical robot, comprising a remote doctor main console and a patient surgical platform 320. The remote doctor main console comprises a handle 310' and an imaging cart 330 that are interconnected. The patient surgical platform 320 may also comprise an imaging cart 330. The patient surgical platform 320 is connected to a catheter instrument 340, a sensor system 350, and a control system 360 for achieving control between the catheter instrument 340, the sensor system 350, and the imaging cart 330. When the doctor performs various procedures on a patient next to the patient surgical platform 320, he can trigger control instructions by operating the handle 310' and transmit them to the patient surgical platform 320 for driving, thereby controlling the catheter instrument 340 to advance, retract, bend, and turn, etc.

[0040] It is understood that the patient surgical platform 320 can generally be moved to the side of the operating table to engage the catheter instrument 340 and, under control instructions, control the catheter instrument 340 to move vertically, horizontally, or in non-vertical and non-horizontal directions, thereby providing a better preoperative preparation angle for the operation of the catheter instrument 340. The control instructions can be triggered by the doctor operating the patient surgical platform 320, or by the doctor directly clicking or pressing a button on the patient surgical platform 320. Of course, in other embodiments, the control instructions can also be voice control or instructions triggered by a force feedback mechanism.

[0041] like Figure 4 As shown, the patient surgical platform 320 may further include a base 321, a sliding base 322 that can be raised and lowered along the base 321, and two robotic arms 323 fixedly connected to the sliding base 322. The robotic arms 323 may include multiple arm segments connected at joints. The multiple arm segments provide the robotic arms 323 with multiple degrees of freedom, for example, seven degrees of freedom corresponding to the seven arm segments. A manipulator ( Figure 4 (Not shown) The manipulator of robotic arm 323 is used to engage catheter instrument 340 and, driven by the manipulator, control the distal end of catheter instrument 340 to bend and turn accordingly. The two robotic arms 323 can be identical in structure or partially identical in structure, with one robotic arm 323 engaging the inner catheter instrument 341 and the other engaging the outer catheter instrument 342. During installation, the outer catheter instrument 342 can be installed first. After the outer catheter instrument 342 is installed, the catheter of the inner catheter instrument 341 is inserted into the catheter of the outer catheter instrument 342.

[0042] The sensor system 350 has one or more subsystems for receiving information about the catheter device 340. The subsystems may include: a position sensor system; a shape sensor system for determining the position, orientation, speed, velocity, pose, and / or shape of the tip of the catheter device 340 and / or one or more segments along the catheter that may comprise the catheter device 340; and / or a visualization system for capturing images from the tip of the catheter device 340.

[0043] The imaging vehicle 330 can be provided with a display system 331 and a washing system ( Figure 4 Display system 331 is used to display images or representations of the surgical site and catheter device 340 generated by the subsystems of sensor system 350. It can also display real-time images of the surgical site and catheter device 340 captured by the visualization system. It can also use image data from imaging technologies to present images of the surgical site recorded before or during surgery. Imaging technologies include computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound.

[0044] The preoperative or intraoperative image data can be presented as a two-dimensional, three-dimensional, or four-dimensional image (e.g., time-based or rate-based information) and / or as an image from a model created based on the preoperative or intraoperative image dataset, or as a virtual navigation image. In the virtual navigation image, the actual position of the catheter device 340 is registered with the preoperative image to present a virtual image of the catheter device 340 within the surgical site to the operator from the outside.

[0045] Control system 360 includes at least one memory and at least one processor. It will be appreciated that control system 360 can be integrated into patient surgical platform 320 or imaging cart 330, or can be independently configured. Control system 360 can support wireless communication protocols such as IEEE 802.11, IrDA, Bluetooth, HomeRF, DECT, and wireless telemetry. Control system 360 can transmit one or more signals instructing the manipulator to move catheter device 340. Catheter device 340 can be extended to a surgical site within the body through a natural orifice or surgical incision in the patient.

[0046] Furthermore, the control system 360 may include a mechanical control system ( Figure 4 not shown) and an image processing system ( Figure 4 (not shown). The mechanical control system is used to control the movement of the catheter instrument 340 and can therefore be integrated into the patient surgical platform 320. The image processing system is used to plan the virtual navigation path and can therefore be integrated into the imaging cart 330. Of course, the various subsystems of the control system 360 are not limited to the specific ones listed above and can be reasonably configured according to actual circumstances.

[0047] Among them, the image processing system can use the above-mentioned imaging technology to image the surgical site based on the image of the surgical site recorded before or during the operation, and can also use software combined with manual input to convert the recorded image into a two-dimensional or three-dimensional synthetic image of part or the entire anatomical organ or segment. During virtual navigation, the sensor system 350 can be used to calculate the position of the catheter instrument 340 relative to the patient's anatomical structure, which can be used to generate an external tracking image and an internal virtual image of the patient's anatomical structure, so as to achieve the actual position of the catheter instrument 340 and the preoperative image. The virtual image of the catheter instrument 340 in the surgical site can be presented to the operator from the outside.

[0048] The internal catheter device 341 and the external catheter device 342 have substantially the same structural composition, and each comprises a slender and flexible inner catheter 41 and an outer catheter 42, wherein the diameter of the outer catheter 42 is slightly larger than that of the inner catheter 41, so that the inner catheter 41 can pass through the outer catheter 42 and provide a certain degree of support for the inner catheter 41, thereby enabling the inner catheter 41 to reach the target location in the patient's body, so as to facilitate operations such as tissue or cell sampling from the target location.

[0049] Certain movements of handle 310 can cause corresponding movements of catheter device 340. For example, when a doctor operates handle 310 to move the directional lever upward or downward, the movement of the directional lever can be mapped to a corresponding pitch movement of the distal end of catheter device 340. When a doctor operates handle 310 to move the directional lever left or right, the movement of the directional lever can be mapped to a corresponding yaw movement of the distal end of catheter device 340. In this embodiment, handle 310 can control the movement of the distal end of catheter device 340 within a 360-degree spatial range.

[0050] The remote surgical robot of this application also includes a server. Figure 5 As shown, remote doctor master consoles A1-A3 and patient surgical platforms B1-B3 of the same or different master-slave surgical robots are each connected to a server S for communication. Server S can be used to manage information sent by remote doctor master consoles A1-A3 and patient surgical platforms B1-B3 and can be used to relay information transmitted between remote doctor master consoles A1-A3 and patient surgical platforms B1-B3. Server S can also be used to achieve device interconnection, i.e., pairing, between remote doctor master consoles A1-A3 and patient surgical platforms B1-B3. Pairing involves connecting two devices to enable communication.

[0051] In ultra-teleoperative surgery, the remote doctor's main console and the patient's surgical platform are deployed in different locations. For example, they can be deployed in different countries, different provinces or cities, or different jurisdictions in the same city.

[0052] The server may also be deployed at a different location than either the remote physician console or the patient surgical platform. For example, the server, the remote physician console, and the patient surgical platform may be deployed in different cities. The server may also be deployed at the same location as either the remote physician console or the patient surgical platform. For example, the server may be deployed independently of the remote physician console or the patient surgical platform located at the same location; or, in another example, the server may be integrated with the remote physician console or the patient surgical platform located at the same location. It is understood that the server may also be deployed in the cloud.

[0053] In the remote surgical robot of the present application, at least one remote doctor main console, patient surgical platform and server are deployed respectively.

[0054] There may be at least one remote doctor main console, at least one patient surgical platform, and at least one server.

[0055] When there is a single server, each remote physician main console and each patient surgical platform are connected to the single server. When there are multiple servers, the servers are connected via a network topology, and different remote physician main consoles and different patient surgical platforms can be connected to the same or different servers. The network topology between the multiple servers includes at least one of a star topology, a ring topology, a bus topology, a tree topology, a mesh topology, a virtual local area network, and a wireless topology.

[0056] The remote doctor's main console and the server, the patient's surgical platform and the server, and the servers themselves can be connected via the same or different types of high-speed communication networks. For example, these types of high-speed communication networks may include at least one of the following: broadband Internet, dedicated Internet networks, 5G networks, and dedicated 5G networks.

[0057] However, the network channel that surgical robots rely on to perform remote surgery is still unstable. How to realize remote surgery by surgical robots based on this network channel and ensure the safety of the surgery has become an urgent problem to be solved.

[0058] Based on this, this application proposes a surgical robot and a bandwidth adjustment method thereof. The robot comprises a processor, a main doctor console, and a patient surgical platform controllable by the main doctor console. The patient surgical platform and the main doctor console communicate via a network channel. This bandwidth adjustment method is applied to the processor in the surgical robot. In embodiments of this application, the surgical robot may include a remote surgical robot.

[0059] In some embodiments, reference Figure 6 , a bandwidth adjustment method provided by this application includes: S110 : Monitor the network transmission quality of the first priority data in real time.

[0060] S120: Confirm that the network transmission quality does not meet the preset first condition, and reduce the bandwidth occupied by the second priority data.

[0061] In step S110, the first-priority data is data transmitted between the doctor's main console and the patient's surgical platform via a network channel, and may include one type of data or a combination of multiple types of data transmitted between the doctor's main console and the patient's surgical platform via the network channel. In an embodiment of the present application, the first-priority data can be identified and marked in the network channel, and a corresponding network transmission quality monitoring strategy can be configured for the first-priority data, such as indicators related to network transmission quality and monitoring parameters corresponding to each indicator.

[0062] The network transmission quality of first-priority data refers to the reliability, efficiency, and stability of the first-priority data when it is transmitted in the network channel, which directly affects the final user experience, such as the smoothness of remote surgery operations, the timeliness and accuracy of surgical information or instructions, etc. The embodiments of this application do not limit the indicators related to the network transmission quality of first-priority data. Any indicator that can reflect the reliability, efficiency, and stability of the first-priority data when it is transmitted in the network channel can be used as an indicator related to the network transmission quality of first-priority data.

[0063] Specifically, the embodiment of the present application monitors the network transmission quality of the first priority data in real time based on the indicators related to the network transmission quality and the monitoring parameters corresponding to each indicator.

[0064] In some embodiments, the network transmission quality of the first-priority data includes at least one of network latency, network jitter, and packet loss rate. That is, the indicators involved in the network transmission quality include at least one of network latency, network jitter, and packet loss rate. Network latency refers to the end-to-end latency of the first-priority data, that is, the time it takes for the first-priority data to travel from the sending end (e.g., one of the doctor's main console and the patient's surgical platform) to the receiving end (e.g., the other of the doctor's main console and the patient's surgical platform); network jitter refers to the variability of the network latency of the first-priority data, that is, the instability of the time it takes for data packets to arrive at the other end; and packet loss rate refers to the proportion of data packets lost during the transmission of the first-priority data. For example, a 1% packet loss rate means that one data packet is lost for every 100 data packets transmitted.

[0065] Understandably, when the network latency for first-priority data is high, the transmission of that data will experience noticeable lags. When the network jitter for first-priority data is high, the transmission of that data will experience data asynchrony and lags. When the packet loss rate for first-priority data is high, the transmission of that data will experience incomplete data and poor data presentation. Deterioration in these network transmission quality indicators will impact the user experience, affect surgical procedures, and pose safety risks.

[0066] It can be understood that the embodiment of the present application monitors the network transmission quality of the first priority data in real time based on the indicators related to the network transmission quality and the monitoring parameters corresponding to each indicator, and corresponding monitoring tools can be selected for monitoring according to different indicators.

[0067] In some embodiments, the network transmission quality of the first priority data may further include network bandwidth and throughput.

[0068] It can be understood that the embodiment of the present application can timely learn the current network transmission quality of the first priority data by real-time monitoring of the network transmission quality of the first priority data, and can timely take corresponding response measures to changes in the network transmission quality of the first priority data.

[0069] In step S120, the second priority data is data transmitted between the doctor's main console and the patient's operating platform via a network channel, sharing the same network channel with the first priority data. The priority of the first priority data is higher than that of the second priority data.

[0070] In addition, in an embodiment of the present application, the first condition is pre-set and is used to define whether the network transmission quality of the first priority data in the embodiment of the present application is poor. The network transmission quality does not meet the preset first condition, which means that the network transmission quality of the first priority data is poor, and may include that the indicators involved in the network transmission quality of the first priority data are poor, such as the network delay, network jitter, and packet loss rate of the first priority data, or at least one indicator or all indicators are greater than the maximum value set in the first condition. As mentioned above, when the network transmission quality does not meet the preset first condition, the transmission of the first priority data may have problems such as data jamming, data asynchrony, data incompleteness, and poor data presentation, thereby affecting the user experience, and may also affect the surgical operation and bring hidden dangers to surgical safety.

[0071] It is understandable that factors causing the network transmission quality of the first priority data to fail to meet the preset first condition may include: 1) Fluctuations in the available bandwidth of the network channel. For example, the distance between the surgical robot's main console and the patient's operating platform, obstacles, or other equipment can cause significant fluctuations in the actual available bandwidth of the network channel. Alternatively, the network channel may be dynamically limited during peak hours. Alternatively, the available bandwidth of the network channel may fluctuate due to base station switching.

[0072] 2) The bandwidth occupied by second-priority data is too high, squeezing out first-priority data. It's understandable that because first- and second-priority data share the same network channel (and therefore the bandwidth), if the bandwidth occupied by second-priority data is too high, the bandwidth occupied by first-priority data will be squeezed, potentially leading to insufficient bandwidth and affecting the network transmission quality of first-priority data.

[0073] 3) The data packet of the first-priority data is too large. For example, if the data quality (such as video quality or audio quality) of the first-priority data increases or the amount of data to be transmitted increases, the data packet of the first-priority data will become larger, resulting in a higher bit rate for the first-priority data. When the bit rate of the first-priority data exceeds the available bandwidth, the network transmission quality will deteriorate.

[0074] 4) Insufficient bandwidth utilization, which can include inefficient network protocols or unreasonable usage at the application layer. For example, TCP congestion control mechanisms (such as slow start) lead to fluctuations in bandwidth utilization. Especially during ultra-teleoperative surgery, TCP throughput may be far below the physical bandwidth limit.

[0075] It is understandable that the above factors will cause the bit rate of the first priority data to be greater than its available bandwidth, thereby causing the network transmission quality of the first priority data to deteriorate and may cause the network transmission quality of the first priority data to fail to meet the first condition.

[0076] In an embodiment of the present application, when the network transmission quality of the first-priority data does not meet the first condition, the bandwidth of the second-priority data transmitted between the doctor's main console and the patient's surgical platform, which shares the same network channel with the first-priority data, is adjusted. By reducing the bandwidth occupied by the second-priority data, the available bandwidth of the first-priority data in the network channel is increased, thereby improving the network transmission quality of the first-priority data, reducing the adverse effects of network channel instability on remote surgical operations, and improving the safety of remote surgery. In addition, the priority of the first-priority data is higher than that of the second-priority data, that is, when the network channel is unstable, the embodiment of the present application prioritizes ensuring the network transmission quality of high-priority data during remote surgery.

[0077] Reference Figure 7 In some embodiments, step S120 of reducing the bandwidth occupied by the second priority data may include: S121. Reduce the bandwidth occupied by the second priority data based on a preset first amplitude; S122, determining whether the network transmission quality of the first priority data meets the first condition; S123: If not, return to step S121 until the bandwidth occupied by the second priority data is less than or equal to the preset minimum bandwidth threshold.

[0078] Among them, for step S121, the first amplitude is pre-set, and can be a percentage or a bandwidth value. For example, the first amplitude is 5%, and reducing the bandwidth occupied by the second priority data based on the first amplitude means reducing the bandwidth occupied by the second priority data by 5%; or, the first amplitude is 0.5Mbps, and reducing the bandwidth occupied by the second priority data based on the first amplitude means reducing the bandwidth occupied by the second priority data by 0.5Mbps. It can be understood that the embodiment of the present application can set the first amplitude according to actual needs. If it is necessary to reduce the number of loops and the amount of calculation and improve the efficiency of bandwidth adjustment, a larger first amplitude can be set; if it is necessary to adjust the bandwidth more accurately, a smaller first amplitude can be set.

[0079] Step S122, after reducing the bandwidth occupied by the second priority data by the first amplitude in step S121, again determines whether the network transmission quality of the first priority data meets the first condition. The specific judgment process is the same as the above and will not be repeated here.

[0080] For step S123, the minimum bandwidth threshold is pre-set and can meet the minimum bandwidth required for the basic transmission of the second-priority data and the basic operation of the corresponding functions. If the network transmission quality of the first-priority data still does not meet the first condition at this time, and the bandwidth occupied by the second-priority data is greater than the preset minimum bandwidth threshold, it will return to step S121, and the bandwidth occupied by the second-priority data will be reduced by the first amplitude again, and it will be re-determined whether the network transmission quality meets the first condition. That is, the embodiment of the present application will loop through steps S121-S123 until the network transmission quality of the first-priority data meets the first condition, or the bandwidth occupied by the second-priority data is less than or equal to the preset minimum bandwidth threshold.

[0081] Therefore, the embodiment of the present application gradually reduces the bandwidth occupied by the second priority data based on the preset first amplitude until the network transmission quality of the first priority data meets the first condition or the bandwidth occupied by the second priority data is less than or equal to the preset minimum bandwidth threshold. This can improve the network transmission quality of the first priority data while also avoiding a severe decline in the network transmission quality of the second priority data, thereby affecting the normal operation of functions related to the second priority data.

[0082] It is understandable that through the implementation of the above steps S121-S123, the bandwidth occupied by the second-priority data may be reduced to less than the minimum bandwidth threshold, resulting in the network transmission quality of the second-priority data being seriously affected, and its related functions cannot operate normally, which may also bring greater impact and greater safety risks to the surgical process.

[0083] Based on this, in some embodiments, the bandwidth adjustment method of the surgical robot may further include: It is confirmed that the bandwidth occupied by the second-priority data is less than the minimum bandwidth threshold, and the bandwidth occupied by the second-priority data is increased to the minimum bandwidth threshold.

[0084] Specifically, according to the foregoing, during the execution of the above steps S121-S123 in the embodiment of the present application, if the bandwidth occupied by the second-priority data is less than the minimum bandwidth threshold, the loop of steps S121-S123 will stop, and at the same time, the embodiment of the present application will increase the bandwidth occupied by the second-priority data to the minimum bandwidth threshold, so that the network transmission quality of the second-priority data can be basically guaranteed, and the basic operation of the functions related to the second-priority data can be restored to normal. On the basis of steps S121-S123, the embodiment of the present application adds a safety restriction, so that while improving the network transmission quality of the first-priority data, the bandwidth occupied by the second-priority data can only be reduced to the minimum bandwidth threshold, which more reliably ensures the normal operation of the basic functions related to the second-priority data.

[0085] Further, refer to Figure 8 In some embodiments, after determining whether the network transmission quality of the first priority data satisfies the first condition in step S122, the bandwidth adjustment method may further include: S124. If the network transmission quality of the first-priority data satisfies the first condition, increasing the bandwidth occupied by the second-priority data based on a preset second amplitude; S125. Determine whether the network transmission quality of the first priority data meets the first condition; S126: If yes, terminate the processor operation; S127. If not, return to step S121.

[0086] The second amplitude is smaller than the first amplitude, and twice the second amplitude is larger than the first amplitude.

[0087] It can be understood that after the embodiment of the present application gradually reduces the bandwidth occupied by the second priority data based on the preset first amplitude, if the network transmission quality of the first priority data meets the first condition, the bandwidth occupied by the second priority data will be gradually increased based on the preset second amplitude on the premise that the network transmission quality of the first priority data meets the first condition, so that the network transmission quality of the second priority data can be improved as much as possible while ensuring that the network transmission quality of the first priority data meets the first condition, thereby further reducing the adverse effects of network channel instability on remote surgical operations and improving the safety of remote surgery.

[0088] It should be noted that, in the embodiment of the present application, ending the operation of the processor refers to ending the bandwidth adjustment operation of the processor.

[0089] For example, the initial value of the bandwidth occupied by the second-priority data is 10 Mbps, the first amplitude is 2 Mbps, and the second amplitude is 1.1 Mbps. Assuming that the network transmission quality of the first-priority data just meets the first condition when the bandwidth occupied by the second-priority data drops to 6.5 Mbps, that is, the network transmission quality of the first-priority data meets the first condition when the bandwidth occupied by the second-priority data is not higher than 6.5 Mbps, then the above steps S121-S127 can be specifically as follows: 1) Reduce the bandwidth occupied by the second-priority data by 2 Mbps. Now the bandwidth occupied by the second-priority data is 8 Mbps, which is greater than 6.5 Mbps. 2) The judgment result indicates that the network transmission quality of the first priority data does not meet the first condition; 3) Reduce the bandwidth occupied by the second-priority data by 2 Mbps. Now the bandwidth occupied by the second-priority data is 6 Mbps, which is less than 6.5 Mbps. 4) The judgment result indicates that the network transmission quality of the first priority data meets the first condition; 5) Increase the bandwidth occupied by the second-priority data by 1.1 Mbps. Now the bandwidth occupied by the second-priority data is 7.1 Mbps, which is greater than 6.5 Mbps. 6) The judgment result indicates that the network transmission quality of the first priority data does not meet the first condition; 7) Reduce the bandwidth occupied by the second-priority data by 2 Mbps. Now the bandwidth occupied by the second-priority data is 5.1 Mbps, which is less than 6.5 Mbps. 8) The judgment result indicates that the network transmission quality of the first priority data meets the first condition; 9) Increase the bandwidth occupied by the second-priority data by 1 Mbps. Now the bandwidth occupied by the second-priority data is 6.1 Mbps, which is less than 6.5 Mbps. 10) The judgment result indicates that the network transmission quality of the first priority data meets the first condition, and the operation of the processor ends.

[0090] It can be understood that in this specific example, the bandwidth ultimately occupied by the second-priority data is 6.1Mbps, and the network transmission quality of the first-priority data meets the first condition. If only steps S121-S123 are executed, the bandwidth ultimately occupied by the second-priority data is 6Mbps, which is less than 6.1Mbps. Therefore, by executing the above steps S124-S127, the embodiment of the present application can improve the network transmission quality of the second-priority data as much as possible while ensuring that the network transmission quality of the first-priority data meets the first condition, thereby further reducing the adverse effects of network channel instability on remote surgical operations and improving the safety of remote surgery.

[0091] It should be noted that the goal of "improving the network transmission quality of the second priority data as much as possible while ensuring that the network transmission quality of the first priority data meets the first condition" can only be achieved when the second amplitude is smaller than the first amplitude and twice the second amplitude is greater than the first amplitude.

[0092] For example, the initial value of the bandwidth occupied by the second-priority data is 10 Mbps, the first amplitude is 2 Mbps, and the second amplitude is greater than the first amplitude, namely 2.1 Mbps. Assuming that the network transmission quality of the first-priority data just meets the first condition when the bandwidth occupied by the second-priority data drops to 6.5 Mbps, that is, the network transmission quality of the first-priority data meets the first condition when the bandwidth occupied by the second-priority data is not higher than 6.5 Mbps, then steps S121-S127 will fall into an infinite loop.

[0093] For example, the initial value of the bandwidth occupied by the second-priority data is 10Mbps, the first amplitude is 2Mbps, the second amplitude is smaller than the first amplitude, but twice the second amplitude is equal to the first amplitude, which is 1Mbps. Assuming that the network transmission quality of the first-priority data just meets the first condition when the bandwidth occupied by the second-priority data drops to 6.5Mbps, that is, the network transmission quality of the first-priority data meets the first condition when the bandwidth occupied by the second-priority data is not higher than 6.5Mbps, then after executing steps S121-S127, the bandwidth finally occupied by the second-priority data is 6Mbps, which is the same as the bandwidth finally occupied by the second-priority data when only steps S121-S123 are executed. Not only can the above-mentioned technical effect of "improving the network transmission quality of the second-priority data as much as possible while ensuring that the network transmission quality of the first-priority data meets the first condition" be failed to be achieved, but the amount of calculation is also increased, which reduces the efficiency of bandwidth adjustment.

[0094] For example, the initial value of the bandwidth occupied by the second-priority data is 10Mbps, the first amplitude is 2Mbps, the second amplitude is smaller than the first amplitude, but twice the second amplitude is smaller than the first amplitude, which is 0.9Mbps. Assuming that the network transmission quality of the first-priority data just meets the first condition when the bandwidth occupied by the second-priority data drops to 6.5Mbps, that is, the network transmission quality of the first-priority data meets the first condition when the bandwidth occupied by the second-priority data is not higher than 6.5Mbps, then after executing steps S121-S127, the final bandwidth occupied by the second-priority data is 5.8Mbps, which is smaller than the final bandwidth occupied by the second-priority data when only steps S121-S123 are executed. Not only can the above-mentioned technical effect of "improving the network transmission quality of the second-priority data as much as possible while ensuring that the network transmission quality of the first-priority data meets the first condition" be failed to be achieved, but the network transmission quality of the second-priority data is further reduced, and the amount of calculation is additionally increased, thereby reducing the efficiency of bandwidth adjustment.

[0095] Reference Figure 9 In some other embodiments, after determining whether the network transmission quality of the first priority data satisfies the first condition in step S122, the bandwidth adjustment method may further include: S124′: if the network transmission quality of the first-priority data satisfies the first condition, and the bandwidth occupied by the second-priority data is less than the preset maximum bandwidth threshold, increasing the bandwidth occupied by the second-priority data based on a preset second amplitude; S125′, determining whether the network transmission quality of the first priority data meets the first condition; S126', if yes, end the operation of the processor; S127': If not, return to step S121.

[0096] The second amplitude is smaller than the first amplitude, and twice the second amplitude is larger than the first amplitude.

[0097] The difference between steps S124'-S127' and steps S124-S127 is that step S124' adds a judgment condition on the basis of step S124. Only when the network transmission quality of the first priority data meets the first condition and the bandwidth occupied by the second priority data is less than the preset maximum bandwidth threshold, the bandwidth occupied by the second priority data will be increased based on the preset second amplitude, and steps S125'-S127' will be executed. Steps S125'-S127' are exactly the same as steps S125-S127.

[0098] Therefore, the embodiment of the present application can achieve the same technical effect as steps S124-S127 by executing steps S124'-S127', that is, the network transmission quality of the second priority data is improved as much as possible under the premise of ensuring that the network transmission quality of the first priority data meets the first condition, and also by setting the maximum bandwidth threshold, when the bandwidth occupied by the second priority data is greater than or equal to the maximum bandwidth threshold, the bandwidth occupied by the second priority data will not continue to increase by the second amplitude, thereby avoiding the bandwidth occupied by the second priority data being increased too much under the premise of ensuring that the network transmission quality of the first priority data meets the first condition, resulting in the network transmission quality of the first priority data easily decreasing to not meeting the first condition when the subsequent network channel is unstable. That is, the embodiment of the present application can achieve the same technical effect as steps S124-S127 by executing steps S124'-S127', and can also improve the stability of the subsequent network transmission quality of the first priority data, reduce interference in the surgical process, and improve surgical safety.

[0099] Reference Figure 10 In some other embodiments, after determining whether the network transmission quality of the first priority data satisfies the first condition in step S122, the bandwidth adjustment method may further include: S124”, if the network transmission quality of the first priority data meets the first condition, determining whether the network transmission quality of the first priority data meets a preset second condition; S125”, if yes, increase the bandwidth occupied by the second priority data based on the preset second amplitude, and return to step S122; If not, then terminate the processor operation.

[0100] Among them, the network transmission quality of the first priority data must satisfy the first condition when it satisfies the second condition, and the network transmission quality of the first priority data does not necessarily satisfy the second condition when it satisfies the first condition. That is, the network transmission quality of the first priority data when it satisfies the second condition is better than the network transmission quality of the first priority data when it satisfies the first condition but does not satisfy the second condition.

[0101] In the embodiment of the present application, after reducing the bandwidth occupied by the second-priority data in the preceding step, if it is determined that the network transmission quality of the first-priority data satisfies the first condition, and further, the network transmission quality of the first-priority data also satisfies the second condition, the bandwidth occupied by the second-priority data is increased based on a preset second amplitude, and the process returns to step S122 to again determine whether the network transmission quality of the first-priority data satisfies the first condition. If, after reducing the bandwidth occupied by the second-priority data, the network transmission quality of the first-priority data satisfies the first condition but does not satisfy the second condition, the processor's bandwidth adjustment operation is terminated.

[0102] Therefore, the embodiment of the present application can achieve the same technical effect as steps S124-S127 by executing steps S124"-S126", that is, improving the network transmission quality of the second priority data as much as possible under the premise of ensuring that the network transmission quality of the first priority data meets the first condition, and also by additionally setting a second condition, so that the bandwidth occupied by the second priority data will be increased by the second amplitude only when the network transmission quality of the first priority data meets the second condition (that is, the first condition and the second condition are met). On the basis of the same technical effects as steps S124-S127, it can effectively reduce the situation where the bandwidth occupied by the second priority data is increased, resulting in the network transmission quality of the first priority data failing to meet the first condition (and then the bandwidth occupied by the second priority data needs to be reduced by the first amplitude), reduce the steps and calculation amount of bandwidth adjustment, and improve the efficiency of bandwidth adjustment, that is, it can reach the condition for ending the bandwidth adjustment operation of the processor more quickly (the network transmission quality of the first priority data meets the first condition but does not meet the second condition).

[0103] Reference Figure 11 In some other embodiments, after determining whether the network transmission quality of the first priority data satisfies the first condition in step S122, the bandwidth adjustment method may further include: S124', if the network transmission quality of the first priority data meets the first condition, then determining whether the network transmission quality of the first priority data meets a preset second condition, and whether the bandwidth occupied by the second priority data is less than a preset maximum bandwidth threshold; S125'', if yes, increase the bandwidth occupied by the second priority data based on the preset second amplitude, and return to step S122; If not, then terminate the processor operation.

[0104] Among them, the network transmission quality of the first priority data must satisfy the first condition when it satisfies the second condition, and the network transmission quality of the first priority data does not necessarily satisfy the second condition when it satisfies the first condition. That is, the network transmission quality of the first priority data when it satisfies the second condition is better than the network transmission quality of the first priority data when it satisfies the first condition but does not satisfy the second condition.

[0105] The difference between steps S124"'- S126"' and steps S124"- S126" is that step S124"' adds a judgment condition on the basis of step S124". Only when the network transmission quality of the first priority data meets the first condition, and the network transmission quality of the first priority data meets the preset second condition, and the bandwidth occupied by the second priority data is less than the preset maximum bandwidth threshold, the bandwidth occupied by the second priority data will be increased based on the preset second amplitude, and steps S125"'-S126"' will be executed. Steps S125"'-S126"' are exactly the same as steps S125"-S126". It can be understood that the conditions for ending the bandwidth adjustment operation of the processor in steps S124'-S126' are that the network transmission quality of the first priority data meets the first condition but does not meet the second condition, or the network transmission quality of the first priority data meets the first condition but the bandwidth occupied by the second priority data is greater than or equal to the maximum bandwidth threshold, or the network transmission quality of the first priority data meets the first condition but does not meet the second condition, and the bandwidth occupied by the second priority data is greater than or equal to the maximum bandwidth threshold.

[0106] Therefore, the embodiment of the present application can achieve the same technical effect as steps S124"-S126" by executing steps S124"'-S126"', that is, the network transmission quality of the second priority data is improved as much as possible under the premise of ensuring that the network transmission quality of the first priority data meets the first condition, and the steps and calculation amount of bandwidth adjustment are reduced, thereby improving the bandwidth adjustment efficiency. In addition, by setting the maximum bandwidth threshold, when the bandwidth occupied by the second priority data is greater than or equal to the maximum bandwidth threshold, the bandwidth occupied by the second priority data will not continue to be increased by the second amplitude, thereby avoiding the situation where the bandwidth occupied by the second priority data is increased too much under the premise of ensuring that the network transmission quality of the first priority data meets the first condition, resulting in the network transmission quality of the first priority data easily decreasing to not meeting the first condition when the subsequent network channel is unstable. That is, the embodiment of the present application can achieve the same technical effect as steps S124"-S126" by executing steps S124"'-S126"', thereby improving the stability of the subsequent network transmission quality of the first priority data, reducing interference with the surgical process, and improving surgical safety.

[0107] Compared with steps S121-S123, refer to Figure 12 In some other embodiments, step S120 of reducing the bandwidth occupied by the second priority data may further include: S121′, reducing the bandwidth occupied by the second priority data to a preset minimum bandwidth threshold; S122', determining whether the network transmission quality meets the first condition; S123': If not, end the operation of the processor.

[0108] As mentioned above, the minimum bandwidth threshold is pre-set and can meet the minimum bandwidth required for the basic transmission of the second-priority data and the basic operation of the corresponding functions. In the embodiment of the present application, the bandwidth occupied by the second-priority data is directly reduced to the preset minimum bandwidth threshold through steps S121'-S123'. Compared with steps S121-S123, which gradually reduce the bandwidth occupied by the second-priority data based on the first amplitude until the network transmission quality of the first-priority data meets the first condition, or the bandwidth occupied by the second-priority data is less than or equal to the preset minimum bandwidth threshold, the network transmission quality of the first-priority data can be made to meet the first condition more quickly, or the conditions for ending the bandwidth adjustment operation of the processor can be reached more quickly.

[0109] It is understandable that when executing steps S121'-S123' in the embodiment of the present application, if the bandwidth occupied by the second priority data is reduced to the preset minimum bandwidth threshold, and the network transmission quality of the first priority data does not meet the first condition, the processor's bandwidth adjustment operation will be terminated.

[0110] Further, refer to Figure 13 In some embodiments, after determining whether the network transmission quality of the first priority data satisfies the first condition in step S122', the bandwidth adjustment method may further include: S124””, if the network transmission quality of the first priority data meets the first condition, determine whether the network transmission quality of the first priority data meets the preset second condition; S125””, if yes, then increase the bandwidth occupied by the second priority data based on the preset second amplitude, and return to step S124”” to determine whether the network transmission quality of the first priority data meets the preset second condition; S126””, if not, end the operation of the processor.

[0111] As mentioned above, the network transmission quality of the first priority data must satisfy the first condition when it satisfies the second condition, and the network transmission quality of the first priority data does not necessarily satisfy the second condition when it satisfies the first condition. That is, the network transmission quality of the first priority data when it satisfies the second condition is better than the network transmission quality of the first priority data when it satisfies the first condition but does not satisfy the second condition.

[0112] In addition, the second amplitude is determined based on the first condition and the second condition, and the second amplitude satisfies the third condition, which is: When the network transmission quality meets the second condition, if the bandwidth occupied by the second priority data is increased by the second amplitude, the network transmission quality of the first priority data still meets the first condition.

[0113] Specifically, in the embodiment of the present application, after reducing the bandwidth occupied by the second-priority data to a preset minimum bandwidth threshold, if the network transmission quality of the first-priority data satisfies the first condition, and further, the network transmission quality of the first-priority data also satisfies the second condition, the bandwidth occupied by the second-priority data will be gradually increased based on a preset second amplitude until the network transmission quality of the first-priority data no longer satisfies the second condition. It can be understood that steps S124""-S126"" all increase the bandwidth occupied by the second-priority data based on the preset second amplitude when the network transmission quality of the first-priority data satisfies the second condition, and when the network transmission quality of the first-priority data satisfies the second condition, the bandwidth occupied by the second-priority data is increased based on the second amplitude, and the network transmission quality of the first-priority data will still meet the first condition. Therefore, the bandwidth adjustment method of the embodiment of the present application can, on the basis of steps S121'-S123', improve the network transmission quality of the second-priority data as much as possible while ensuring that the network transmission quality of the first-priority data meets the first condition, further reduce the adverse effects of network channel instability on remote surgical operations, and improve the safety of remote surgery.

[0114] It is understandable that the condition for ending the processor's bandwidth adjustment operation in steps S124""-S126"" is that the network transmission quality of the first-priority data meets the first condition but does not meet the second condition. When the network transmission quality of the first-priority data meets the first condition but does not meet the second condition, the bandwidth occupied by the second-priority data will not be increased based on the second amplitude. Therefore, the network transmission quality of the first-priority data will not fail to meet the first condition due to increasing the bandwidth occupied by the second-priority data.

[0115] Reference Figure 14 In some other embodiments, after determining whether the network transmission quality of the first priority data satisfies the first condition in step S122', the bandwidth adjustment method may further include: S124””′, if the network transmission quality of the first priority data meets the first condition, then determine whether the network transmission quality of the first priority data meets the preset second condition, and whether the bandwidth occupied by the second priority data is less than the preset maximum bandwidth threshold; S125', if yes, then increase the bandwidth occupied by the second priority data based on the preset second amplitude, and return to step S124', to determine whether the network transmission quality of the first priority data meets the preset second condition, and whether the bandwidth occupied by the second priority data is less than the preset maximum bandwidth threshold; S126””’, if not, end the operation of the processor.

[0116] The difference between step S124""'- S126""' and step S124""- S126"" is that step S124""' adds a judgment condition on the basis of step S124"". Only when the network transmission quality of the first priority data meets the first condition, and the network transmission quality of the first priority data meets the preset second condition, and the bandwidth occupied by the second priority data is less than the preset maximum bandwidth threshold, the bandwidth occupied by the second priority data will be increased based on the preset second amplitude, and steps S125""'-S126""' will be executed. Steps S125""'-S126""' are exactly the same as steps S125""-S126"". It can be understood that the conditions for ending the processor's bandwidth adjustment operation in steps S124""'- S126""' are that the network transmission quality of the first priority data meets the first condition but does not meet the second condition, or the network transmission quality of the first priority data meets the first condition but the bandwidth occupied by the second priority data is greater than or equal to the maximum bandwidth threshold, or the network transmission quality of the first priority data meets the first condition but does not meet the second condition, and the bandwidth occupied by the second priority data is greater than or equal to the maximum bandwidth threshold.

[0117] Therefore, the embodiment of the present application can achieve the same technical effect as steps S124""- S126"" by executing steps S124""'- S126""', that is, the network transmission quality of the second priority data is improved as much as possible under the premise of ensuring that the network transmission quality of the first priority data meets the first condition, and also by setting the maximum bandwidth threshold, when the bandwidth occupied by the second priority data is greater than or equal to the maximum bandwidth threshold, the bandwidth occupied by the second priority data will not continue to increase by the second amplitude, thereby avoiding the bandwidth occupied by the second priority data being increased too much under the premise of ensuring that the network transmission quality of the first priority data meets the first condition, resulting in the network transmission quality of the first priority data easily decreasing to not meeting the first condition when the subsequent network channel is unstable. That is, the embodiment of the present application can achieve the same technical effect as steps S124""- S126""' by executing steps S124""'- S126""', and can also improve the stability of the subsequent network transmission quality of the first priority data, reduce interference with the surgical process, and improve surgical safety.

[0118] It is understandable that the second amplitude involved in steps S124"-S126" and steps S124"'-S126"' can also be determined based on the first condition and the second condition. Similarly, the second amplitude satisfies the third condition, which is: When the network transmission quality meets the second condition, if the bandwidth occupied by the second priority data is increased by the second amplitude, the network transmission quality still meets the first condition.

[0119] Since steps S124"-S126" and steps S124"'-S126"' in the embodiment of the present application both increase the bandwidth occupied by the second priority data based on a preset second amplitude when the network transmission quality of the first priority data meets the second condition, and increase the bandwidth occupied by the second priority data based on the second amplitude when the network transmission quality of the first priority data meets the second condition, the network transmission quality of the first priority data will still meet the first condition. Therefore, the bandwidth adjustment method in the embodiment of the present application can further reduce the situation where the network transmission quality of the first priority data cannot meet the first condition (and the bandwidth occupied by the second priority data needs to be reduced by the first amplitude) due to increasing the bandwidth occupied by the second priority data on the basis of steps S124"-S126" and steps S124"'-S126"', further reducing the steps and calculation amount of bandwidth adjustment and improving the efficiency of bandwidth adjustment.

[0120] Alternatively, in some embodiments, the first amplitude is greater than the second amplitude involved in steps S124 ″- S126 ″ and steps S124 ′″- S126 ′″.

[0121] Therefore, in the embodiment of the present application, in steps S124"-S126" and steps S124"'-S126"', the bandwidth occupied by the second priority data is increased by a second amplitude that is smaller than the first amplitude. This can also further reduce the situation where the network transmission quality of the first priority data cannot meet the first condition due to the increase in the bandwidth occupied by the second priority data (and the bandwidth occupied by the second priority data needs to be reduced by the first amplitude), thereby avoiding affecting the network transmission quality of the first priority data, further reducing the steps and calculation amount of bandwidth adjustment, and improving the efficiency of bandwidth adjustment.

[0122] Furthermore, with respect to steps S124'-S127', steps S124"'-S126"', and steps S124""'-S126""', it can be understood that when the bandwidth occupied by the second-priority data is increased by the second amplitude, the bandwidth occupied by the second-priority data may be increased to a value greater than the maximum bandwidth threshold, causing the network transmission quality of the subsequent first-priority data to be susceptible to the adverse effects of unstable network channels, making it more likely that the first condition will not be met, which may affect the surgical process and pose a safety hazard. Based on this, in some embodiments, based on steps S124'-S127', steps S124"'-S126"', and steps S124""'-S126""', the bandwidth adjustment method of the surgical robot may further include: It is determined that the bandwidth occupied by the second-priority data is greater than the maximum bandwidth threshold, and the bandwidth occupied by the second-priority data is reduced to the maximum bandwidth threshold.

[0123] Specifically, according to the above, in the process of executing the above steps S124'-S127', steps S124"'-S126"' or steps S124""'- S126""' in the embodiment of the present application, if the bandwidth occupied by the second priority data is greater than the maximum bandwidth threshold, the corresponding loop of steps S124'-S127', steps S124"'-S126"' or steps S124""'-S126""' will stop. At the same time, the embodiment of the present application will reduce the bandwidth occupied by the second priority data to the maximum bandwidth threshold, so as to avoid the network transmission quality of the first priority data from easily decreasing to not meeting the first condition when the bandwidth occupied by the second priority data increases to exceed the maximum bandwidth threshold, resulting in subsequent network channel instability. This improves the stability of the subsequent network transmission quality of the first priority data, reduces interference with the surgical process, and improves surgical safety.

[0124] Further, in some embodiments, for steps S124'-S127', steps S124"'-S126"' and steps S124""'- S126""', the maximum bandwidth threshold is the initial value of the bandwidth occupied by the second priority data, which is the value of the bandwidth occupied by the second priority data before the processor performs any of the above-mentioned operations for adjusting the bandwidth occupied by the second priority data.

[0125] In some embodiments, in order to more accurately monitor the network transmission quality of the first priority data, the network transmission quality of the first priority data may include the network delay, network jitter and packet loss rate as described above. In this embodiment: The network transmission quality of the first priority data does not meet the first condition, including at least one of the network delay being greater than the preset first network delay threshold, the network jitter being greater than the preset first network jitter threshold, and the packet loss rate being greater than the preset first packet loss rate threshold. That is, as long as any one of the network delay of the first priority data is greater than the preset first network delay threshold, the network jitter is greater than the preset first network jitter threshold, and the packet loss rate is greater than the preset first packet loss rate threshold is established, the network transmission quality of the first priority data does not meet the first condition; only when the three of the network delay of the first priority data is greater than the preset first network delay threshold, the network jitter is greater than the preset first network jitter threshold, and the packet loss rate is greater than the preset first packet loss rate threshold are established at the same time, the network transmission quality of the first priority data meets the first condition.

[0126] The network transmission quality of the first priority data satisfies the second condition, including that the network delay is less than the preset second network delay threshold, the network jitter is less than the preset second network jitter threshold, and the packet loss rate is less than the preset second packet loss rate threshold. That is, only when the three conditions of the network delay of the first priority data is less than the preset second network delay threshold, the network jitter is less than the preset second network jitter threshold, and the packet loss rate is less than the preset second packet loss rate threshold are met at the same time, the network transmission quality of the first priority data satisfies the second condition; as long as any one of the network delay of the first priority data is greater than the preset second network delay threshold, the network jitter is greater than the preset second network jitter threshold, and the packet loss rate is greater than the preset second packet loss rate threshold is met, the network transmission quality of the first priority data does not meet the second condition.

[0127] The second network delay threshold is smaller than the first network delay threshold, the second network jitter threshold is smaller than the first network jitter threshold, and the second packet loss rate threshold is smaller than the first packet loss rate threshold.

[0128] It can be understood that when the network delay of the first priority data is less than the second network delay threshold / second network jitter threshold / second packet loss rate threshold, it must be less than the first network delay threshold / first network jitter threshold / first packet loss rate threshold; when the network delay of the first priority data is less than the first network delay threshold / first network jitter threshold / first packet loss rate threshold, it is not necessarily less than the second network delay threshold / second network jitter threshold / second packet loss rate threshold, that is, as mentioned above: when the network transmission quality of the first priority data meets the second condition, it must meet the first condition; when the network transmission quality of the first priority data meets the first condition, it does not necessarily meet the second condition.

[0129] In other embodiments, in order to simplify the monitoring of the network transmission quality of the first priority data, the network transmission quality of the first priority data may include any one of the aforementioned network delay, network jitter, and packet loss rate. In this embodiment: When the network transmission quality includes network delay, the network transmission quality of the first priority data does not satisfy the first condition including that the network delay is greater than a preset first network delay threshold, and the network transmission quality of the first priority data satisfies the second condition including that the network delay is less than a preset second network delay threshold; When the network transmission quality includes network jitter, the network transmission quality of the first priority data does not meet the first condition including that the network jitter is greater than a preset first network jitter threshold, and the network transmission quality of the first priority data meets the second condition including that the network jitter is less than a preset second network jitter threshold; When the network transmission quality includes packet loss rate, the network transmission quality of the first priority data does not meet the first condition including the packet loss rate being greater than the preset first packet loss rate threshold, and the network transmission quality of the first priority data meets the second condition including the packet loss rate being less than the preset second packet loss rate threshold.

[0130] Among them, similar to the above, the second network delay threshold is smaller than the first network delay threshold, the second network jitter threshold is smaller than the first network jitter threshold, and the second packet loss rate threshold is smaller than the first packet loss rate threshold.

[0131] It is understandable that, depending on the actual surgical scenario requirements, in other embodiments, the network transmission quality of the first priority data may include at least one of the aforementioned network delay, network jitter, and packet loss rate. In this embodiment: When the network transmission quality includes network delay and network jitter, the network transmission quality of the first priority data does not meet the first condition including at least one of the network delay being greater than a preset first network delay threshold and the network jitter being greater than a preset first network jitter threshold, and the network transmission quality of the first priority data meets the second condition including the network delay being less than a preset second network delay threshold and the network jitter being less than a preset second network jitter threshold; When the network transmission quality includes network jitter and packet loss rate, the network transmission quality of the first priority data does not meet the first condition including at least one of the network jitter being greater than a preset first network jitter threshold and the packet loss rate being greater than a preset first packet loss rate threshold, and the network transmission quality of the first priority data meets the second condition including the network jitter being less than a preset second network jitter threshold and the packet loss rate being less than a preset second packet loss rate threshold; When the network transmission quality includes network delay and packet loss rate, the network transmission quality of the first priority data does not meet the first condition including at least one of the network delay being greater than a preset first network delay threshold and the packet loss rate being greater than a preset first packet loss rate threshold, and the network transmission quality of the first priority data meets the second condition including the network delay being less than a preset second network delay threshold and the packet loss rate being less than a preset second packet loss rate threshold.

[0132] The situations where network transmission quality includes network delay, network jitter and packet loss rate, and where network transmission quality includes any one of network delay, network jitter and packet loss rate are the same as those described above and will not be elaborated here.

[0133] In some embodiments, the surgical robot further includes an endoscope for capturing the surgical environment, and an interactive system for enabling audio and video interaction between the surgeon's main console and the patient's surgical platform. In this embodiment, the first-priority data includes at least one of motion control instructions, energy signals, and surgical environment data captured by the endoscope; the second-priority data includes at least one of various audio streams and video streams output by the interactive system.

[0134] Among them, the motion control instructions, energy signals, and surgical environment data acquired by the endoscope can directly affect the accuracy and precision of the doctor's operation at the main doctor console during the operation, while the various audio streams and video streams output by the interactive system may directly or indirectly affect the accuracy and precision of the doctor's operation, or may not affect the accuracy and precision of the doctor's operation. Therefore, the embodiment of the present application prioritizes the network transmission quality of the motion control instructions, energy signals, and surgical environment data acquired by the endoscope through the aforementioned steps, which can improve surgical safety.

[0135] In addition, for each audio stream and each video stream output by the interactive system with lower priority, some embodiments of the present application will also allocate bandwidth for each audio stream and each video stream based on the total bandwidth of the current interactive system (i.e., the total bandwidth currently occupied by the second priority data) to ensure that the transmission of the higher priority audio stream or video stream can be guaranteed, further improving surgical safety and facilitating the smooth progress of the operation. The bandwidth allocation for each audio stream and each video stream may specifically include: Confirming that the current bandwidth is less than the sum of the minimum bitrate requirements of the audio streams and the video streams output by the interactive system, allocating bandwidth that meets the preset mandatory bitrate requirements to each first data stream, and allocating bandwidth that meets the minimum bitrate requirements to each second data stream in turn based on the remaining bandwidth in the current bandwidth; Confirm that the current bandwidth is greater than the sum of the maximum bitrate requirements of the audio streams and video streams output by the interactive system, allocate bandwidth that meets the maximum bitrate requirements to the audio streams and video and audio streams output by the interactive system, and evenly distribute the remaining bandwidth in the current bandwidth to the audio streams and video and audio streams output by the interactive system; Confirm that the current bandwidth is between the sum of the minimum bit rate requirements and the maximum bit rate requirements of each audio stream and each video stream output by the interactive system, allocate bandwidth that can meet the mandatory bit rate requirement to each first data stream, and allocate bandwidth that can meet the minimum bit rate requirement to each second data stream in turn, and evenly distribute the remaining bandwidth in the current bandwidth to each first data stream and each second data stream.

[0136] The first data stream is one of an audio stream and a video stream output by the interactive system, the second data stream is the other of the audio stream and the video stream output by the interactive system, and the current bandwidth is the bandwidth currently occupied by the second priority data.

[0137] In the above bandwidth allocation for each audio stream and each video stream output by the interactive system, the data stream that is not allocated the bandwidth that meets the minimum bit rate requirement will be paused, and the bandwidth from the paused data stream will be evenly distributed to the non-paused audio stream and video stream.

[0138] Therefore, the embodiment of the present application can ensure that the transmission of each first data stream (each audio stream or each video stream) with a higher priority can be guaranteed by allocating bandwidth for each audio stream and each video stream, further improving the safety of the operation and promoting the smooth progress of the operation.

[0139] For example, during a surgical procedure, the priority of each audio stream output by the interactive system is higher than that of each video stream. In this example, the first data stream is the audio stream and the second data stream is the video stream, and the network transmission quality of the audio stream is prioritized.

[0140] Furthermore, in some embodiments, each audio stream output by the interactive system is preset with a first priority order, and each video stream output by the interactive system is preset with a second priority order. In the above-mentioned bandwidth allocation process for each audio stream and each video stream, the embodiment of the present application will allocate the required bandwidth to each audio stream output by the interactive system based on the first priority order, and allocate the required bandwidth to each video stream output by the interactive system based on the second priority order, thereby ensuring that audio streams and video streams with higher priorities can be allocated the required bandwidth.

[0141] The bandwidth required for each audio stream and the bandwidth required for each video stream refer to the bandwidth that can meet the minimum bit rate requirement, the bandwidth that can meet the mandatory bit rate requirement, or the bandwidth that can meet the maximum bit rate requirement, allocated to each audio stream and each video stream based on the current bandwidth according to the aforementioned bandwidth allocation operation for each audio stream and each video stream.

[0142] To sum up, the surgical robot and its bandwidth adjustment method proposed in the embodiment of the present application monitor the network transmission quality of the first-priority data in real time, and when the network transmission quality of the first-priority data does not meet the preset first condition, reduce the bandwidth occupied by the second-priority data with lower priority, so that the surgical robot can improve the network transmission quality of the first-priority data, reduce the adverse effects of network channel instability on remote surgical operations, and improve the safety of remote surgery.

[0143] One embodiment of the present application further provides a computer-readable storage medium storing instructions that, when executed on at least one processor, implement the bandwidth adjustment method described above. The storage medium may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); the magnetic surface memory may be a magnetic disk or a magnetic tape. Volatile memory can be random access memory (RAM), which acts as external cache memory.By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM). The storage media described in the embodiments of the present invention are intended to include, but are not limited to, these and any other suitable types of memory.

[0144] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0145] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A surgical robot, characterized in that: include: Doctor's main console; a patient operating platform controllable by the doctor's main console, the patient operating platform communicating with the doctor's main console via a network channel; A processor configured to: Real-time monitoring of network transmission quality of first-priority data; Confirm that the network transmission quality does not meet the preset first condition, and reduce the bandwidth occupied by the second priority data. The first priority data and the second priority data are data transmitted between the doctor's main console and the patient's operating platform through the network channel. The priority of the first priority data is higher than that of the second priority data.

2. The surgical robot according to claim 1, wherein: The surgical robot also includes an endoscope for acquiring the surgical environment, and an interactive system for audio and video interaction between the doctor's main console and the patient's surgical platform; The first priority data includes at least one of a motion control instruction, an energy signal, and surgical environment data acquired by the endoscope; The second priority data includes at least one of the audio streams output by the interactive system and the video streams output by the interactive system.

3. The surgical robot according to claim 1, wherein: The reducing the bandwidth occupied by the second priority data includes: reducing the bandwidth occupied by the second-priority data based on a preset first amplitude; Determining whether the network transmission quality meets the first condition; If not, return to the step of reducing the bandwidth occupied by the second priority data based on the preset first amplitude until the bandwidth occupied by the second priority data is less than or equal to the preset minimum bandwidth threshold.

4. The surgical robot according to claim 3, wherein: The processor is further configured to: Confirm that the bandwidth occupied by the second-priority data is less than the minimum bandwidth threshold, and increase the bandwidth occupied by the second-priority data to the minimum bandwidth threshold.

5. The surgical robot according to claim 1, wherein: The reducing the bandwidth occupied by the second priority data includes: Reducing the bandwidth occupied by the second-priority data to a preset minimum bandwidth threshold; Determining whether the network transmission quality meets the first condition; If not, the operation of the processor ends.

6. The surgical robot according to claim 3, wherein: The processor is further configured to: If the network transmission quality meets the first condition, increasing the bandwidth occupied by the second-priority data based on a preset second amplitude, where the second amplitude is smaller than the first amplitude, and twice the second amplitude is larger than the first amplitude; Determining whether the network transmission quality meets the first condition; If so, terminating the operation of the processor; If not, return to the step of reducing the bandwidth occupied by the second priority data based on the preset first amplitude.

7. The surgical robot according to claim 3, wherein: The processor is further configured to: If the network transmission quality satisfies the first condition and the bandwidth occupied by the second-priority data is less than a preset maximum bandwidth threshold, the bandwidth occupied by the second-priority data is increased based on a preset second amplitude, where the second amplitude is less than the first amplitude, and twice the second amplitude is greater than the first amplitude; Determining whether the network transmission quality meets the first condition; If so, terminating the operation of the processor; If not, return to the step of reducing the bandwidth occupied by the second priority data based on the preset first amplitude.

8. The surgical robot according to claim 3, wherein: The processor is further configured to: If the network transmission quality satisfies the first condition, determining whether the network transmission quality satisfies a preset second condition. If the network transmission quality satisfies the second condition, the first condition must be satisfied. If the network transmission quality satisfies the first condition, the second condition may not be satisfied. If so, increase the bandwidth occupied by the second priority data based on a preset second amplitude, and return to the step of determining whether the network transmission quality meets the first condition; If not, the operation of the processor ends.

9. The surgical robot according to claim 3, wherein: The processor is further configured to: If the network transmission quality satisfies the first condition, then determining whether the network transmission quality satisfies a preset second condition, and whether the bandwidth occupied by the second-priority data is less than a preset maximum bandwidth threshold; if the network transmission quality satisfies the second condition, the first condition must be satisfied, but if the network transmission quality satisfies the first condition, the second condition may not be satisfied; If so, increase the bandwidth occupied by the second priority data based on a preset second amplitude, and return to the step of determining whether the network transmission quality meets the first condition; If not, the operation of the processor ends.

10. The surgical robot according to claim 5, wherein: The processor is further configured to: If the network transmission quality satisfies the first condition, determining whether the network transmission quality satisfies a preset second condition. If the network transmission quality satisfies the second condition, the first condition must be satisfied. If the network transmission quality satisfies the first condition, the second condition may not be satisfied. If so, the bandwidth occupied by the second priority data is increased based on a preset second amplitude, and the process returns to the step of determining whether the network transmission quality meets a preset second condition; If not, terminating the operation of the processor; The second amplitude is determined based on the first condition and the second condition, and the second amplitude satisfies a third condition, which is: When the network transmission quality meets the second condition, if the bandwidth occupied by the second priority data is increased by the second amplitude, the network transmission quality still meets the first condition.

11. The surgical robot according to claim 5, wherein: The processor is further configured to: If the network transmission quality satisfies the first condition, then determining whether the network transmission quality satisfies a preset second condition, and whether the bandwidth occupied by the second-priority data is less than a preset maximum bandwidth threshold; if the network transmission quality satisfies the second condition, the first condition must be satisfied, but if the network transmission quality satisfies the first condition, the second condition may not be satisfied; If so, the bandwidth occupied by the second-priority data is increased based on a preset second amplitude, and the process returns to the step of determining whether the network transmission quality meets a preset second condition and whether the bandwidth occupied by the second-priority data is less than a preset maximum bandwidth threshold; If not, terminating the operation of the processor; The second amplitude is determined based on the first condition and the second condition, and the second amplitude satisfies a third condition, which is: When the network transmission quality meets the second condition, if the bandwidth occupied by the second priority data is increased by the second amplitude, the network transmission quality still meets the first condition.

12. The surgical robot according to any one of claims 8 to 9, characterized in that: The processor is further configured to: The second amplitude is determined based on the first condition and the second condition, and the second amplitude satisfies a third condition, which is: When the network transmission quality meets the second condition, if the bandwidth occupied by the second priority data is increased by the second amplitude, the network transmission quality still meets the first condition.

13. The surgical robot according to any one of claims 8 to 9, characterized in that: The first amplitude is greater than the second amplitude.

14. The surgical robot according to any one of claims 7, 9, and 11, wherein: The processor is further configured to: Confirm that the bandwidth occupied by the second-priority data is greater than the maximum bandwidth threshold, and reduce the bandwidth occupied by the second-priority data to the maximum bandwidth threshold.

15. The surgical robot according to any one of claims 7, 9, and 11, wherein: The maximum bandwidth threshold is an initial value of the bandwidth occupied by the second priority data, and the initial value is the value of the bandwidth occupied by the second priority data before the processor performs any operation for adjusting the bandwidth occupied by the second priority data.

16. The surgical robot according to any one of claims 1 to 11, wherein: The network transmission quality includes network delay, network jitter and packet loss rate; The network transmission quality does not meet the first condition, including at least one of the network delay being greater than a preset first network delay threshold, the network jitter being greater than a preset first network jitter threshold, and the packet loss rate being greater than a preset first packet loss rate threshold.

17. The surgical robot according to any one of claims 1 to 11, characterized in that: The network transmission quality includes any one of network delay, network jitter and packet loss rate; When the network transmission quality includes the network delay, the network transmission quality not meeting the first condition includes that the network delay is greater than a preset first network delay threshold; When the network transmission quality includes the network jitter, the network transmission quality not meeting the first condition includes that the network jitter is greater than a preset first network jitter threshold; When the network transmission quality includes the packet loss rate, the network transmission quality not meeting the first condition includes that the packet loss rate is greater than a preset first packet loss rate threshold.

18. The surgical robot according to any one of claims 8 to 11, characterized in that: The network transmission quality includes network delay, network jitter and packet loss rate; The network transmission quality not meeting the first condition includes at least one of the following: the network delay is greater than a preset first network delay threshold, the network jitter is greater than a preset first network jitter threshold, and the packet loss rate is greater than a preset first packet loss rate threshold; The network transmission quality meeting the second condition includes that the network delay is less than a preset second network delay threshold, the network jitter is less than a preset second network jitter threshold, and the packet loss rate is less than a preset second packet loss rate threshold; The second network delay threshold is smaller than the first network delay threshold, the second network jitter threshold is smaller than the first network jitter threshold, and the second packet loss rate threshold is smaller than the first packet loss rate threshold.

19. The surgical robot according to any one of claims 8 to 11, wherein: The network transmission quality includes any one of network delay, network jitter and packet loss rate; When the network transmission quality includes the network delay, the network transmission quality not meeting the first condition includes that the network delay is greater than a preset first network delay threshold, and the network transmission quality meeting the second condition includes that the network delay is less than a preset second network delay threshold, and the second network delay threshold is less than the first network delay threshold; When the network transmission quality includes the network jitter, the network transmission quality not meeting the first condition includes that the network jitter is greater than a preset first network jitter threshold, and the network transmission quality meeting the second condition includes that the network jitter is less than a preset second network jitter threshold, and the second network jitter threshold is less than the first network jitter threshold; When the network transmission quality includes the packet loss rate, the network transmission quality not meeting the first condition includes that the packet loss rate is greater than a preset first packet loss rate threshold, and the network transmission quality meeting the second condition includes that the packet loss rate is less than a preset second packet loss rate threshold, and the second packet loss rate threshold is less than the first packet loss rate threshold.

20. The surgical robot according to claim 2, wherein: The processor is further configured to: confirming that the current bandwidth is less than the sum of the preset minimum bit rate requirements of the audio streams and the video streams output by the interactive system, allocating a bandwidth that can meet the preset mandatory bit rate requirement to each first data stream, and allocating a bandwidth that can meet the minimum bit rate requirement to each second data stream in sequence based on the remaining bandwidth in the current bandwidth, where the first data stream is one of the audio stream and the video stream output by the interactive system, the second data stream is the other of the audio stream and the video stream output by the interactive system, and the current bandwidth is the bandwidth currently occupied by the second-priority data; confirming that the current bandwidth is greater than the sum of the maximum bitrate requirements of the audio streams and the video streams output by the interactive system, allocating bandwidth that can meet the maximum bitrate requirements to the audio streams and the video and audio streams output by the interactive system, and evenly distributing the remaining bandwidth in the current bandwidth to the audio streams and the video and audio streams output by the interactive system; Confirm that the current bandwidth is between the sum of the minimum bit rate requirements and the maximum bit rate requirements of each audio stream and each video stream output by the interactive system, allocate a bandwidth that can meet the mandatory bit rate requirement to each first data stream, and allocate a bandwidth that can meet the minimum bit rate requirement to each second data stream in turn, and evenly distribute the remaining bandwidth in the current bandwidth to each first data stream and each second data stream.

21. The surgical robot according to claim 20, wherein: Each audio stream output by the interactive system is preset with a first priority order, and each video stream output by the interactive system is preset with a second priority order; The processor sequentially allocates required bandwidth to each audio stream output by the interactive system based on the first priority order, and sequentially allocates required bandwidth to each video stream output by the interactive system based on the second priority order.

22. A method for adjusting bandwidth of a surgical robot, characterized in that: The surgical robot includes a processor, a doctor's main console, and a patient surgical platform controllable by the doctor's main console, wherein the patient surgical platform communicates with the doctor's main console via a network channel. The method is applied to the processor and includes: Real-time monitoring of network transmission quality of first-priority data; Confirm that the network transmission quality does not meet the preset first condition, and reduce the bandwidth occupied by the second priority data. The first priority data and the second priority data are data transmitted between the doctor's main console and the patient's operating platform through the network channel. The priority of the first priority data is higher than that of the second priority data.

23. A computer-readable storage medium, characterized in that The computer-readable storage medium stores instructions, which, when executed on at least one processor, implement the method according to claim 22 .

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