A communication method, computer device and storage medium for a robotic surgical system

Abstract

This invention provides a communication method, computer device, and storage medium for a robotic surgical system, relating to the field of medical devices. The method includes: sending multiple uplink commands to a control console according to a first preset period; obtaining a second preset period based on the time interval between two adjacent uplink commands, and using the second preset period as the period for the control console to send downlink commands; wherein the start time of the second preset period is the same as that of the first preset period, and the sending interval between two adjacent downlink commands in the second preset period is different from the sending interval between two adjacent uplink commands in the first preset period. This robotic surgical system communication method of the present invention, by interleaving the transmission between the display device and the control console, avoids conflicts caused by simultaneous command transmission, which could prevent the robot from receiving corresponding command information, thereby improving the stability and accuracy of the robotic surgical system.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical devices, in particular to a robotic surgery system communication method, a computer device and a storage medium. BACKGROUND

[0002] At present, in the field of medical devices, the robotic surgery system is a comprehensive system integrating multiple modern high-tech means, which is widely used in clinical practice. The robotic surgery system includes an operating arm, a console and a display device. The display device in the robotic surgery system is used for display, which can display the current or future control of the console on the mechanical arm; the console is used to control the operating arm, and the operating arm is used for specific operation. Therefore, when the robotic surgery system is working, the operating arm needs to respond to the instructions from the console in real time to ensure the normal work of the surgical robot, so as to occupy the communication capacity between the operating arm and the console, and lack the communication capacity between the console and the display device as an additional device.

[0003] Due to the limitation of system communication capacity, after increasing the communication capacity between the display device and the console, it is also impossible to carry out duplex communication or large-scale communication. However, due to the simplex communication, there is a situation that the display device and the console send instructions at the same time, which leads to the fact that the display device or the console cannot receive the corresponding information, thereby affecting the display of the display device and further affecting the normal work of the surgical robot. In the prior art, the communication method between the display device and the console is not perfect, which affects the stability and accuracy of the robotic surgery system. SUMMARY

[0004] The technical problem to be solved by the present application is that the communication method between the display device and the console is not perfect, which cannot completely eliminate the occurrence of instruction conflict, leading to the fact that the robot cannot receive the corresponding instruction information and cannot work normally, thereby affecting the stability and accuracy of the robotic surgery system.

[0005] To solve the above problems, the present application provides a robotic surgery system communication method, which comprises a display device and a console, the display device and the console are simplex communicated, the robotic surgery system communication method is applied to the display device, and the robotic surgery system communication method comprises the following steps:

[0006] According to the first preset period, a plurality of uplink instructions are sent to the console;

[0007] According to the time interval between adjacent two uplink instructions, a second preset period is obtained, and the second preset period is taken as the period of downlink instruction sent by the console;

[0008] The second preset period and the first preset period have the same starting time, and the sending interval of two adjacent downlink instructions in the second preset period is different from the sending interval of two adjacent uplink instructions in the first preset period.

[0009] Optionally, the robot surgery system communication method further comprises:

[0010] Obtaining multiple backoff time points;

[0011] When the time point for sending the uplink instruction according to the first preset period is any one of the backoff time points, the uplink instruction is sent at the backoff time point after being delayed for a first preset time length, or the uplink instruction is sent at the backoff time point in advance by a second preset time length, or the uplink instruction is stopped from being sent at the backoff time point.

[0012] Optionally, the obtaining of the multiple backoff time points comprises:

[0013] Obtaining an uplink instruction time point at which the display device sends the uplink instruction according to the first preset period;

[0014] Obtaining a downlink instruction time point at which the control console sends the downlink instruction according to the second preset period;

[0015] When any one of the uplink instruction time points is the same as any one of the downlink instruction time points, the uplink instruction time point that is the same as the downlink instruction time point is taken as the backoff time point.

[0016] Optionally, the uplink instruction comprises a handshake instruction, and the downlink instruction comprises a reply instruction. The robot surgery system communication method further comprises:

[0017] After sending the current handshake instruction, a next sending time point for sending a next handshake instruction is obtained according to the first preset period;

[0018] Judging whether the reply instruction sent by the control console is received before the next sending time point;

[0019] If the reply instruction sent by the control console is not received, the current handshake instruction is continuously sent at the next sending time point.

[0020] Optionally, after the judgment of whether the reply instruction sent by the control console is received before the next sending time point, the robot surgery system communication method further comprises:

[0021] If the reply instruction sent by the control console is received, a next handshake instruction is sent at the next sending time point.

[0022] Optionally, the robotic surgery system communication method further comprises:

[0023] When the number of times of sending the current handshake instruction is greater than or equal to a preset threshold, it is determined that the sending fails.

[0024] The robotic surgery system communication method of the application determines the instruction sending period of the console according to the display device instruction sending period, so that the display device and the console send instructions alternately, avoids the conflict caused by simultaneous sending of instructions, and enables the robot to receive corresponding instruction information, thereby improving the stability and accuracy of the robotic surgery system.

[0025] The application provides a robotic surgery system communication method, the robotic surgery system comprising a display device and a console, the display device and the console being simplex communication, the robotic surgery system communication method being applied to the console, and the robotic surgery system communication method comprising:

[0026] receiving a plurality of uplink instructions sent by the display device according to a first preset period;

[0027] obtaining a second preset period according to the time interval between adjacent two uplink instructions, and taking the second preset period as the period of sending downlink instructions by the console;

[0028] The second preset period and the first preset period have the same starting time, and the sending interval of adjacent two downlink instructions in the second preset period is different from the sending interval of adjacent two uplink instructions in the first preset period.

[0029] Optionally, the robotic surgery system communication method further comprises:

[0030] obtaining a plurality of backoff time points;

[0031] When the time of sending the downlink instruction according to the second preset period is any one of the backoff time points, the downlink instruction is sent at the backoff time point after being delayed for a first preset time, or the downlink instruction is sent at the backoff time point after being delayed for a second preset time in advance, or the downlink instruction is stopped at the backoff time point.

[0032] The robotic surgery system communication method of the application determines the instruction sending period of the console according to the display device instruction sending period, so that the display device and the console send instructions alternately, avoids the conflict caused by simultaneous sending of instructions, and enables the robot to receive corresponding instruction information, thereby improving the stability and accuracy of the robotic surgery system.

[0033] The application further provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the robot surgery system communication method.

[0034] The computer device of the application determines the instruction sending period of the console according to the display device instruction sending period, so as to realize the interlaced sending of the display device and the console, avoid the conflict caused by simultaneous sending of instructions, and make the robot unable to receive corresponding instruction information, and improve the stability and accuracy of the robot surgery system.

[0035] The application further provides a computer readable storage medium, which stores a computer program, and the computer program is executable on the processor to implement the robot surgery system communication method.

[0036] The computer readable storage medium of the application determines the instruction sending period of the console according to the display device instruction sending period, so as to realize the interlaced sending of the display device and the console, avoid the conflict caused by simultaneous sending of instructions, and make the robot unable to receive corresponding instruction information, and improve the stability and accuracy of the robot surgery system. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 The flowchart of the robot surgery system communication method in the embodiment of the application is shown in the figure.

[0038] Figure 2 The flowchart of the robot surgery system communication method in the embodiment of the application is shown in the figure.

[0039] Figure 3 The schematic diagram of the backoff time in the embodiment of the application is shown in the figure.

[0040] Figure 4 The flowchart of the robot surgery system communication method in the embodiment of the application is shown in the figure.

[0041] Figure 5 The flowchart of the robot surgery system communication method in the embodiment of the application is shown in the figure.

[0042] Figure 6 The flowchart of the robot surgery system communication method in the embodiment of the application is shown in the figure.

[0043] Figure 7 The flowchart of the robot surgery system communication method in the embodiment of the application is shown in the figure.

[0044] Figure 8 The schematic diagram of the computer device in the embodiment of the application is shown in the figure.

[0045] Figure 9A schematic diagram of a robot surgery system communication device in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0047] In combination Figure 1 As shown in the figure, the robot surgery system communication method of the present application, the robot surgery system includes a display device and a console, the display device and the console simplex communication, the robot surgery system communication method is applied to the display device, the robot surgery system communication method includes:

[0048] S1: according to the first preset period, a plurality of uplink instructions are sent to the console;

[0049] S2: according to the time interval between two adjacent uplink instructions, a second preset period is obtained, and the second preset period is used as the period of downlink instruction sent by the console;

[0050] Wherein, the second preset period and the first preset period have the same starting time, and the sending interval of two adjacent downlink instructions in the second preset period is different from the sending interval of two adjacent uplink instructions in the first preset period.

[0051] Specifically, the robot surgery system communication method is used for the display device of the surgery system, so the period of uplink instruction sent by the display device is set first, which is set as the first preset period. When the display device sends uplink instruction to the console with the first preset period, since the display device can send multiple uplink instructions in a period, it is necessary to obtain the time interval between two continuous uplink instructions, and determine the period of downlink instruction sent by the console according to the time interval between two continuous uplink instructions, and as the second preset period. And according to the need, adjust the time length between two continuous uplink instructions in the first preset period and the time length between two continuous downlink instructions in the second preset period, so as to ensure that the two time lengths are not the same.

[0052] In the preferred embodiment of the present application, the time length of two continuous uplink instructions in the display device is set to 130 ms, and the display device will send 3 uplink instructions in one period, so the first preset period is set to 260 ms, then according to the time length of two continuous uplink instructions in the display device, the time length of two continuous downlink instructions in the console is set to 120 ms, and the console will send 3 downlink instructions in one period, so the second preset period is set to 240 ms.

[0053] The robot surgery system communication method of the present application determines the instruction sending period of the console according to the instruction sending period of the display device, so that the display device and the console send instructions alternately, avoids the conflict caused by simultaneous sending of instructions, and makes the robot unable to receive corresponding instruction information, thereby improving the stability and accuracy of the robot surgery system.

[0054] In combination with Figure 2 In the embodiment of the present application, the robot surgery system communication method further comprises:

[0055] S3: obtaining multiple backoff time points;

[0056] S4: when the time point of sending the uplink instruction according to the first preset period is any one of the backoff time points, delaying the first preset time length to send the uplink instruction at the backoff time point, or sending the uplink instruction at the backoff time point in advance by the second preset time length, or stopping sending the uplink instruction at the backoff time point.

[0057] Specifically, no matter how the first preset period and the second preset period are adjusted, at some time, the uplink instruction sent by the display device and the downlink instruction sent by the console will be sent at the same time, causing instruction conflict and affecting the response of the robot surgery system, so multiple backoff time points are obtained, when the time point of sending the uplink instruction by the display device is at the backoff time point, the display device is controlled to delay the first preset time length and then send the uplink instruction, or the display device is controlled to send the uplink instruction in advance by the second preset time length, so that the uplink instruction is sent at a non-backoff time point; or the display device is not controlled to send the uplink instruction to delay or advance, i.e. the display device is controlled to stop sending the uplink instruction, the corresponding downlink instruction of the console transmitter is sent to the execution end, and specific operation is performed, and the previous uplink instruction is sent at the next uplink instruction sending time.

[0058] The robot surgery system communication method of the present application controls the display device to delay or advance sending of the uplink instruction, so that the display device does not send instructions at the backoff time point, effectively avoiding the conflict caused by simultaneous sending of instructions, making the robot unable to receive corresponding instruction information, and improving the stability and accuracy of the robot surgery system.

[0059] In this embodiment of the invention, obtaining multiple retreat times includes:

[0060] Obtain the uplink command time when the display device sends the uplink command according to the first preset period;

[0061] Obtain the downlink instruction time when the console sends the downlink instruction according to the second preset period;

[0062] When any one of the uplink command times is the same as any one of the downlink command times, the uplink command time that is the same as the downlink command time shall be taken as the backoff time.

[0063] Specifically, because at a certain moment when the display device sends an uplink command, the uplink command sent by the display device and the downlink command sent by the console may be sent at the same time, causing a command conflict and affecting the response of the robotic surgical system, the display device needs to avoid this conflict at that moment. Therefore, multiple avoidance moments need to be obtained; combined with Figure 3 As shown, the acquisition method can be to acquire the time when multiple display devices send uplink commands according to a first preset period, i.e. Figure 3 The system displays the transmission time in the device timeline, and retrieves the time when the console sends the downlink command according to the second preset cycle. Figure 3 The sending times in the console timeline are as follows: the sending time 5 in the display device timeline and the sending time 4 in the console timeline coincide on the timeline. When the times coincide, it means that the display device and the console are sending commands at the same time. Therefore, the sending time 5 of the display device and the sending time 4 of the console are used as the backoff times.

[0064] The robotic surgical system communication method of the present invention, by setting a retreat time, prevents the display device and the control console from sending commands simultaneously, effectively avoiding conflicts caused by simultaneous command sending that would prevent the robot from receiving the corresponding command information.

[0065] Combination Figure 4 As shown in the embodiment of the present invention, the uplink instruction includes a handshake instruction, and the downlink instruction includes a reply instruction. The robotic surgical system communication method further includes:

[0066] S5: After sending the current handshake instruction, obtain the next sending time for sending the next handshake instruction according to the first preset period;

[0067] S6: Determine whether the reply command sent by the console has been received before the next sending time;

[0068] S7: If the reply instruction sent by the console is not received, the current handshake instruction will continue to be sent at the next sending time.

[0069] Specifically, to ensure that every instruction from the display device is reliably transmitted to the console, when the display device sends a handshake instruction, the sending time when the display device sends the next uplink instruction is obtained according to the first preset cycle, and this sending time is used as the next sending time. Then, it is determined whether the next...

[0070] Before each transmission moment, check whether the display device has received a reply command from the console. If not, control the display device to resend the previous handshake message at the next transmission moment, and repeat the process.

[0071] The robotic surgical system communication method of the present invention ensures that the handshake command is stably transmitted to the receiver by controlling the receiver to send a reply command, thereby improving the stability of the robotic surgical system.

[0072] Combination Figure 4 As shown in this embodiment of the invention, after determining whether the reply instruction sent by the console is received before the next sending time 0, the robotic surgical system communication method further includes:

[0073] S7: If the reply instruction sent by the console is received, then send the next handshake instruction at the next sending time.

[0074] Specifically, it determines whether the display device receives a reply command of 5 from the console before the next transmission time. If so, it means that the handshake command sent by the display device has been received by the console.

[0075] This allows for the transmission of other uplink commands in the next moment.

[0076] The robotic surgical system communication method of the present invention ensures that the handshake command is stably transmitted to the receiver by controlling the receiver to send a reply command, thereby improving the stability of the robotic surgical system.

[0077] 0 combination Figure 5 As shown in the embodiment of the present invention, the communication method of the robotic surgical system further includes:

[0078] S8: When the number of times the current handshake instruction is sent is greater than or equal to a preset threshold, the sending is determined to have failed.

[0079] Specifically, if the number of times the previous handshake instruction is sent is greater than or equal to a preset threshold, that is, within the preset number of times, no reply instruction is received from the console, it can be determined that the console has not sent a reply instruction, and thus it can be determined that the display device failed to send the instruction.

[0080] In a preferred embodiment of the present invention, if the display device does not receive a reply instruction and retransmits the instruction at the next transmission time, for example, if no reply instruction is received from the console after five retransmissions, the instruction is determined to have failed to be transmitted.

[0081] The robotic surgical system communication method of the present invention improves the communication fault tolerance of the entire robotic surgical system and enhances the stability of the robotic surgical system by setting the number of cycles.

[0082] Combination Figure 6 As shown, the present invention also provides a communication method for a robotic surgical system, the robotic surgical system including a display device and a console, the display device and the console communicating in simplex communication, the robotic surgical system communication method being applied to the console, and the robotic surgical system communication method including:

[0083] T1: Receives multiple uplink commands sent by the display device according to a first preset period;

[0084] T2: Based on the duration interval between two adjacent uplink commands, obtain a second preset period and use the second preset period as the period for the console to send downlink commands;

[0085] The second preset period and the first preset period start at the same time, and the transmission interval between two adjacent downlink commands in the second preset period is different from the transmission interval between two adjacent uplink commands in the first preset period.

[0086] The robotic surgical system communication method of the present invention determines the command transmission cycle of the console according to the command transmission cycle of the display device, thereby realizing the staggered transmission between the display device and the console, avoiding conflicts caused by simultaneous command transmission that would prevent the robot from receiving the corresponding command information, and improving the stability and accuracy of the robotic surgical system.

[0087] Combination Figure 7 As shown in the embodiment of the present invention, the communication method of the robotic surgical system further includes:

[0088] T3: Obtain multiple retreat moments;

[0089] T4: When the time when the downlink instruction is sent according to the second preset period is any of the backoff times, the downlink instruction is sent after a first preset duration at the backoff time, or the downlink instruction is sent after a second preset duration at the backoff time, or the downlink instruction is stopped at the backoff time.

[0090] Specifically, at a certain moment, the uplink command sent by the display device and the downlink command sent by the console will be sent at the same time, causing command conflict and affecting the response of the robotic surgical system. Therefore, it is necessary to obtain multiple backoff moments. When the console sends the downlink command at a backoff moment, the console is controlled to delay for a first preset time before sending the downlink command, or the display device is controlled to send the downlink command in advance for a second preset time. The purpose is to send the downlink command at a non-backoff moment.

[0091] The robotic surgical system communication method of the present invention delays or advances the sending of downlink commands by the console, so that the display device does not send commands during the retreat time. This effectively avoids conflicts caused by simultaneous command sending, which would prevent the robot from receiving the corresponding command information, and improves the stability and accuracy of the robotic surgical system.

[0092] Combination Figure 8 As shown, the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps:

[0093] Multiple uplink commands are sent to the console according to a first preset cycle;

[0094] Based on the duration interval between two adjacent uplink commands, a second preset period is obtained, and the second preset period is used as the period for the console to send downlink commands;

[0095] The second preset period and the first preset period start at the same time, and the transmission interval between two adjacent downlink commands in the second preset period is different from the transmission interval between two adjacent uplink commands in the first preset period.

[0096] When the processor executes the computer program, it also performs the following steps:

[0097] Receive multiple uplink commands sent by the display device according to a first preset period;

[0098] Based on the duration interval between two adjacent uplink commands, a second preset period is obtained, and the second preset period is used as the period for the console to send downlink commands;

[0099] The second preset period and the first preset period start at the same time, and the transmission interval between two adjacent downlink commands in the second preset period is different from the transmission interval between two adjacent uplink commands in the first preset period.

[0100] The computer device of the present invention determines the instruction sending cycle of the console according to the instruction sending cycle of the display device, thereby realizing the staggered sending of instructions by the display device and the console, avoiding conflicts caused by simultaneous instruction sending that would prevent the robot from receiving the corresponding instruction information, and improving the stability and accuracy of the robotic surgical system.

[0101] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the following steps:

[0102] Multiple uplink commands are sent to the console according to a first preset cycle;

[0103] Based on the duration interval between two adjacent uplink commands, a second preset period is obtained, and the second preset period is used as the period for the console to send downlink commands;

[0104] The second preset period and the first preset period start at the same time, and the transmission interval between two adjacent downlink commands in the second preset period is different from the transmission interval between two adjacent uplink commands in the first preset period.

[0105] When a computer program is executed by a processor, it also performs the following steps:

[0106] Receive multiple uplink commands sent by the display device according to a first preset period;

[0107] Based on the duration interval between two adjacent uplink commands, a second preset period is obtained, and the second preset period is used as the period for the console to send downlink commands;

[0108] The second preset period and the first preset period start at the same time, and the transmission interval between two adjacent downlink commands in the second preset period is different from the transmission interval between two adjacent uplink commands in the first preset period.

[0109] The computer-readable storage medium of the present invention determines the instruction sending cycle of the console according to the instruction sending cycle of the display device, thereby realizing the interleaved transmission of instructions between the display device and the console, avoiding conflicts caused by simultaneous instruction transmission that would prevent the robot from receiving the corresponding instruction information, and improving the stability and accuracy of the robotic surgical system.

[0110] Combination Figure 9As shown, the present invention also provides a robotic surgical system communication device 100, wherein the robotic surgical system includes a display device and a control console, the display device and the control console communicate in simplex mode, the robotic surgical system communication device is applied to the display device, and the robotic surgical system communication method includes:

[0111] The instruction processing unit 110 is configured to send multiple uplink instructions to the console according to a first preset period;

[0112] The period adjustment unit 120 is used to obtain a second preset period based on the duration interval between two adjacent uplink commands, and use the second preset period as the period for the console to send downlink commands;

[0113] The second preset period and the first preset period start at the same time, and the transmission interval between two adjacent downlink commands in the second preset period is different from the transmission interval between two adjacent uplink commands in the first preset period.

[0114] The robotic surgical system communication device of the present invention determines the command transmission cycle of the control console according to the command transmission cycle of the display device, thereby realizing the staggered transmission between the display device and the control console, avoiding conflicts caused by simultaneous command transmission that would prevent the robot from receiving the corresponding command information, and improving the stability and accuracy of the robotic surgical system.

[0115] Combination Figure 9 As shown, the present invention also provides a robotic surgical system communication device 100, wherein the robotic surgical system includes a display device and a console, the display device and the console communicate in simplex communication, the robotic surgical system communication device is applied to the console, and the robotic surgical system communication method includes:

[0116] The instruction processing unit 110 is used to receive multiple uplink instructions sent by the display device according to a first preset period;

[0117] The period adjustment unit 120 is used to obtain a second preset period based on the duration interval between two adjacent uplink commands, and use the second preset period as the period for the console to send downlink commands;

[0118] The second preset period and the first preset period start at the same time, and the transmission interval between two adjacent downlink commands in the second preset period is different from the transmission interval between two adjacent uplink commands in the first preset period.

[0119] The robotic surgical system communication device of the present invention determines the command transmission cycle of the control console according to the command transmission cycle of the display device, thereby realizing the staggered transmission between the display device and the control console, avoiding conflicts caused by simultaneous command transmission that would prevent the robot from receiving the corresponding command information, and improving the stability and accuracy of the robotic surgical system.

[0120] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0121] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0122] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A robotic surgical system communication method, characterized by, The robotic surgery system comprises a display device and a console, the display device and the console are simplex communication, the robotic surgery system communication method is applied to the display device, and the robotic surgery system communication method comprises: A plurality of uplink instructions are sent to the console according to a first preset period; A second preset period is obtained according to the time interval between adjacent two uplink instructions, and the second preset period is taken as the period of sending downlink instructions by the console; Wherein, the starting time of the second preset period and the first preset period is the same, and the sending interval of adjacent two downlink instructions in the second preset period is different from the sending interval of adjacent two uplink instructions in the first preset period; A plurality of backoff time points are obtained; specifically, the uplink instruction time point when the uplink instruction is sent according to the first preset period is obtained; The downlink instruction time point when the downlink instruction is sent by the console according to the second preset period is obtained; When any one of the uplink instruction time points is the same as any one of the downlink instruction time points, the uplink instruction time point which is the same as the downlink instruction time point is taken as the backoff time point; When the time point of sending the uplink instruction according to the first preset period is any one of the backoff time points, the uplink instruction is sent at the backoff time point after being delayed for a first preset time, or the uplink instruction is sent at the backoff time point in advance by a second preset time, or the uplink instruction is stopped at the backoff time point.

2. The robotic surgical system communication method of claim 1, wherein, The uplink instruction comprises a handshake instruction, the downlink instruction comprises a reply instruction, and the robotic surgery system communication method further comprises: After the current handshake instruction is sent, the next sending time point of sending the next handshake instruction is obtained according to the first preset period; It is judged whether the reply instruction sent by the console is received before the next sending time point; If the reply instruction sent by the console is not received, the current handshake instruction is continued to be sent at the next sending time point.

3. The robotic surgical system communication method of claim 2, wherein, After the judgment of whether the reply instruction sent by the console is received before the next sending time point, the robotic surgery system communication method further comprises: If the reply instruction sent by the console is received, the next handshake instruction is sent at the next sending time point.

4. The robotic surgical system communication method of claim 3, wherein, The robotic surgery system communication method further comprises: When the number of times of sending the current handshake instruction is greater than or equal to a preset threshold, it is judged that the sending fails.

5. A robotic surgical system communication method, characterized by, The robotic surgery system comprises a display device and a console, the display device and the console are simplex communication, the robotic surgery system communication method is applied to the display device, and the robotic surgery system communication method comprises: A plurality of uplink instructions are sent to the console according to a first preset period; A second preset period is obtained according to the time interval between adjacent two uplink instructions, and the second preset period is taken as the period of sending downlink instructions by the console; The second preset period and the first preset period have the same starting time, and the sending interval of two adjacent downlink instructions in the second preset period is different from the sending interval of two adjacent uplink instructions in the first preset period. The display device sends the uplink instructions according to the first preset period, and the uplink instruction time is obtained. The display device sends the downlink instructions according to the second preset period, and the downlink instruction time is obtained. When any one of the uplink instruction times is the same as any one of the downlink instruction times, the uplink instruction time that is the same as the downlink instruction time is taken as the backoff time. When the time for sending the downlink instructions according to the second preset period is any one of the backoff times, the display device sends the downlink instructions at the backoff time after delaying for a first preset time, sends the downlink instructions at the backoff time after delaying for a second preset time in advance, or stops sending the downlink instructions at the backoff time.

6. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the robot surgery system communication method in any one of claims 1 to 4 or the robot surgery system communication method in claim 5.

7. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the robot surgery system communication method in any one of claims 1 to 4 or the robot surgery system communication method in claim 5.

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