A network state detection method and system for surgical robot remote surgery

Abstract

The application provides a network state detection method and system for surgical robot remote surgery, and relates to the technical field of communication, which comprises the following steps: periodically sending a delay mark to a doctor control terminal according to a preset period length, recording the sending time of each delay mark, and periodically updating the delay mark; receiving the delay mark fed back by the doctor control terminal, and recording the receiving time of each delay mark; analyzing the current network connection state according to the total number of delay marks received before the end of the current period and the total number of delay marks received before the end of the previous period; if the current network state is a normal network connection, analyzing the current network delay state according to the receiving time of the current delay mark and the sending time corresponding to the current delay mark. In the application, the current network state can be known in time, and the influence of network delay or network connection interruption on remote surgery is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of communication technology, in particular to a network state detection method and system for surgical robot remote surgery. BACKGROUND

[0002] After years of development, minimally invasive surgical robots have gradually been applied in clinical practice. Compared with traditional manual laparoscopic surgery, the use of minimally invasive surgical robots can reduce the pain of patients and the labor intensity of surgeons, thereby improving the success rate of surgery.

[0003] Remote surgery refers to a situation where a doctor and a patient are in different physical spaces, and the doctor remotely operates a surgical robot in a different place to treat a patient in a different place in real time. Remote medical technology aims to provide medical services to remote patients and disseminate medical knowledge. Remote surgery, as an important part of remote medical technology, can effectively improve the uneven distribution of medical resources, save medical resources and costs, and improve the cure rate of patients.

[0004] When a doctor remotely controls a surgical robot through network information transmission, the stability and speed of network transmission are particularly important. Existing network transmission management methods generally test network performance before data transmission, but the supervision of network performance during data transmission is weak, which cannot timely understand the network state, resulting in network interruption or network delay during surgery, and affecting the smooth progress of surgery. SUMMARY

[0005] The problem solved by the present application is to timely understand the network state and reduce the impact of network delay or network interruption on remote surgery.

[0006] To solve the above problems, the present application provides a network state detection method and system for surgical robot remote surgery.

[0007] In a first aspect, the present application provides a network state detection method for surgical robot remote surgery, comprising:

[0008] According to the preset period length, periodically send a delay flag to the doctor control terminal, and record the sending time of each delay flag, and periodically update the delay flag;

[0009] Receive the delay flag fed back by the doctor control terminal, and record the receiving time of each delay flag;

[0010] According to the total number of delay flags received before the end of the current period and the total number of delay flags received before the end of the previous period, analyze the current network connection state, and the network connection state information includes network connection interruption and network normal connection;

[0011] If the current network state is normal network connection, then the current network delay state is analyzed according to the receiving time of the received current delay flag and the sending time corresponding to the current delay flag.

[0012] Optionally, the periodically updating the delay flag comprises:

[0013] The current delay flag is updated according to the delay flag sent in the previous period and a preset accumulated value.

[0014] Optionally, the analyzing the current network connection state according to the total number of the delay flags received before the end of the current period and the total number of the delay flags received before the end of the previous period, the network connection state information comprising network connection interruption and normal network connection, comprises:

[0015] The total number of the delay flags received before the end of each period is counted;

[0016] If the total number of the flags in the current period is the same as the total number of the flags in the previous period, then the network interruption duration is generated according to the period length.

[0017] The current network connection state is analyzed according to the network interruption duration.

[0018] Optionally, the generating the network interruption duration according to the period length if the total number of the flags in the current period is the same as the total number of the flags in the previous period, comprises:

[0019] If the total number of the flags in the current period is the same as the total number of the flags in the previous period, then a target period with the same total number of flags as the current period is matched, and the number of target periods is counted.

[0020] The network interruption duration is generated based on the counted period number and the period length.

[0021] Optionally, the analyzing the current network connection state according to the network interruption duration comprises:

[0022] The current network interruption duration is compared with a preset interruption duration threshold.

[0023] If the current network interruption duration is greater than the interruption duration threshold, it is determined that the current network connection state is network connection interruption, and then all surgical operation robot arms are controlled to stop moving.

[0024] If the current network interruption duration is less than or equal to the interruption duration threshold, it is determined whether the total number of flags in the next period is the same as the total number of flags in the current period.

[0025] Optionally, if the current network state is a normal network connection, the network delay state is analyzed according to the receiving time of the received current delay flag and the corresponding sending time of the current delay flag.

[0026] If the current network state is a normal network connection, the network delay duration is generated according to the difference between the sending time and the receiving time of the current delay flag, and the network interruption duration is reset.

[0027] According to the network delay duration, the current network delay state is analyzed.

[0028] Optionally, the network delay state is analyzed according to the network delay duration:

[0029] The network delay duration is compared with a preset high latency threshold:

[0030] If the network delay duration is greater than the high latency threshold, it is determined that the current network delay state is a network high delay, and all surgical operation robot arms are controlled to stop moving.

[0031] If the network delay duration is less than or equal to the high latency threshold, the network delay duration is compared with a preset fluctuation latency threshold.

[0032] If the network delay duration is greater than the fluctuation latency threshold, it is determined that the current network delay state is a network fluctuation delay.

[0033] Optionally, it further comprises:

[0034] The network delay duration and the network interruption duration of the backup network link are obtained.

[0035] According to the network interruption duration and the network delay time of the backup network link, the network delay time and the network interruption duration of the current network link are compared, and the network link for current surgical data transmission is adjusted.

[0036] Optionally, the network link for current surgical data transmission is adjusted according to the network interruption duration and the network delay time of the backup network link, and the network delay time and the network interruption duration of the current network link are compared.

[0037] if the network interruption duration of the backup network link is equal to zero and the network interruption duration of the current network link is greater than zero, then transmitting the current surgical data based on the backup network link;

[0038] if the network delay duration of the backup network link is less than the network delay duration of the current network link, then transmitting the current surgical data based on the backup network link.

[0039] In a second aspect, the present application provides a network state detection system for surgical robot remote surgery, comprising:

[0040] an information sending module configured to periodically send a delay flag to a surgeon control terminal according to a preset periodic duration, record the sending time of each delay flag, and periodically update the delay flag;

[0041] an information receiving module configured to receive the delay flag fed back by the surgeon control terminal and record the receiving time of each delay flag;

[0042] a network state judging module configured to analyze the current network connection state according to the total number of delay flags received before the end of the current period and the total number of delay flags received before the end of the previous period, wherein the network connection state information includes network connection interruption and network normal connection;

[0043] the network state judging module is configured to, if the current network state is network normal connection, analyze the current network delay state according to the receiving time of the current delay flag and the sending time corresponding to the current delay flag.

[0044] In summary, the present application has at least one of the following beneficial technical effects:

[0045] In the process of monitoring the current network connection state and network delay state, the delay flag is periodically sent to the doctor operation terminal first, and the delay flag is periodically updated, so that different delay flags are periodically sent to the doctor operation terminal. After receiving the delay flag, the doctor operation terminal feeds back the delay flag in time to reduce the delay time of the delay flag in the doctor operation terminal. Here, the execution subject of the patient end records the sending time and receiving time of each delay flag, and since the delay flag sent in each period is different, after receiving the delay flag, the sending time corresponding to the delay flag recorded in advance can be matched. Further, in the process of judging the network connection state, the total number of delay flags received by the patient end execution subject before the end of the current week is compared with the total number of delay flags received before the end of the previous period to determine whether a delay flag is received in the current period. At this time, if a delay flag is received in the current period, the current network connection state is normal network connection, and if no delay flag is received in the current period, the current network connection state is network connection interruption. When the current network state is normal network connection, the network delay state is judged again. At this time, the difference between the receiving time and the sending time of the current delay flag received in the current period is obtained to determine the current network delay state. Therefore, as described above, the current network state can be determined in time, and after the user knows the current network state in time, the network adjustment work can be performed according to the current network state, so as to reduce the influence of network delay or network connection interruption on remote surgery. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 An application scenario of an embodiment of the present application is shown in the figure.

[0047] Figure 2 A flowchart of a network state detection method of a surgical robot remote surgery of an embodiment of the present application is shown in the figure.

[0048] Figure 3 A schematic diagram of a patient end and a doctor operation end sending and receiving a delay flag of an embodiment of the present application is shown in the figure.

[0049] Figure 4 A flowchart of another network state detection method of a surgical robot remote surgery of an embodiment of the present application is shown in the figure.

[0050] Figure 5 A system block of a network state detection system of a surgical robot remote surgery of an embodiment of the present application is shown in the figure.

[0051] Explanation of reference numerals: 501, information sending module; 502, information receiving module; 503, network state judging module. DETAILED DESCRIPTION

[0052] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the following description is provided in conjunction with the accompanying drawings. Figures 1-5 Specific embodiments of the present invention will be described in detail below.

[0053] This invention provides a network status detection method for remote surgery using a surgical robot. The method is applied to network interruption management and network latency management during remote surgery. The main body executing the method is a network status detection system, specifically located at the patient's end during remote surgery.

[0054] like Figure 1 As shown, the network status detection system is located at the patient's end during remote surgery and monitors the network communication between the patient's network transmission module and the doctor's control terminal network transmission module in real time. Other scenarios, such as monitoring the network communication between the patient's network transmission module and the doctor's control terminal network transmission module from the doctor's end, or monitoring from a third end, are similar to the method described in this invention and will not be elaborated further.

[0055] The following will combine the specific implementation plan with... Figure 2 The processing flow shown is explained in detail below:

[0056] S101, according to the preset cycle duration, periodically sends delay flags to the doctor's control terminal, records the sending time of each delay flag, and periodically updates the delay flags.

[0057] In implementation, the network status detection system periodically sends delay flags to the doctor's operating terminal, which can be the network transmission module on the doctor's end, according to a preset period. These delay flags can be numerical or time-based.

[0058] Meanwhile, the network status detection system periodically updates the delay flag, and there are various types of delay flags. In this invention, the network status detection system presets an initial value for the delay flag.

[0059] When the delay flag is a numeric flag, it is updated by accumulating a fixed number. For example, if the initial value of the delay flag is recorded as 0, then the delay flag sent for the first time is 0. Before sending the delay flag in the next cycle, the delay flag is updated to 1; in the next cycle, the delay flag is updated to 2, and so on.

[0060] Furthermore, the network status detection system can record the sending time of the delay flag and the receiving time of the delay flag received from the doctor's control terminal. By recording the sending and receiving times of the same delay flag, the system can calculate the duration of the network delay, thereby facilitating the diagnosis of the network status.

[0061] S102, receiving the delay mark feedback from the doctor console, and recording the receiving time of each delay mark.

[0062] In the implementation, after the network status detection system sends the delay mark to the doctor console, the doctor console receives the delay mark and re-sends the delay mark to the network status detection system in time.

[0063] The network status detection system can calculate the time used in the transmission of the current delay mark by calculating the difference between the sending time and the receiving time of the same delay mark by the network status detection system, and further facilitate the diagnosis of the current network transmission state. Wherein, the sending and receiving of the delay mark by the doctor console and the patient surgery platform can be as shown in the figure, wherein the terminal sending the delay mark by the doctor console is referred to as the doctor console terminal, and the terminal sending the delay mark by the patient surgery platform is referred to as the network status detection system, Figure 3 Figure 3 In the figure, sep represents the delay mark carrier used for transmission in the network, and count0-countn represents the updated delay mark, also referred to as the count mark. Specifically, count0-countn is the updated delay mark from the first sending to the nth sending, for example, 1, 2, 3, …, n. In Figure 3 In the figure, when the count0 of the first sending delay mark is received in the nth period, the number of periods of network delay time length can be calculated by countn-count0, and specifically, the network delay time length is (countn-count0)*period time length.

[0064] S103, analyzing the current network connection state according to the total number of delay marks received before the end of the current period and the total number of delay marks received before the end of the previous period, and the network connection state information includes network connection interruption and network normal connection.

[0065] In the implementation, the network status detection system detects the current network connection state and network delay state at the end of the current period. The current delay mark at this time represents the delay mark received closest to the end of the current period.

[0066] In the process of detecting the network connection state, the network status detection system counts the total number of delay marks received before the end of the current period, and counts the total number of delay marks received before the end of the previous period.

[0067] ​Then the network state detection system compares the total number of delay flags received before the end of the current period with the total number of delay flags received before the end of the previous period, and the comparison result is as follows: the network interruption duration in the network state detection system is preset with an initial value of zero.

[0068] Case one: the total number of delay flags received before the end of the current period is the same as the total number of delay flags received before the end of the previous period, which means that no delay flag is received in the current period, and the network connection state is determined to be network interruption, and the network interruption duration of the previous period is obtained.

[0069] Then the network interruption duration of the previous period is added to the period duration to calculate the network interruption duration of the current period.

[0070] When the network delay duration is less than or equal to the preset network interruption delay, it is determined that the network is in a short interruption, and the network is waited to recover and the delay flag is continuously received.

[0071] When the network delay duration is greater than the network interruption delay, the network state detection system determines that the network is in a long interruption, and generates network failure information to remind the user of the current network interruption state.

[0072] Case two: the total number of delay flags received before the end of the current period is different from the total number of delay flags received before the end of the previous period, which means that the network connection state is normal connection, and the network state detection system further determines the current network delay state. It should be noted that the normal connection of the network here means that the network state detection system and the doctor control terminal can be connected through the network.

[0073] S104, if the current network state is normal connection, the network delay state is analyzed according to the receiving time of the received current delay flag and the sending time corresponding to the current delay flag.

[0074] In the implementation, when the current network connection state is normal connection, the network state detection system monitors the current network delay state.

[0075] In the process of monitoring the network delay state by the network state detection system, the receiving time of the current delay flag received by the network state detection system is subtracted from the sending time of the corresponding current delay flag sent by the network state detection system, and the difference is taken as the network delay duration.

[0076] Further, the network state detection system compares the network delay duration with a plurality of preset time thresholds to determine the delay state of the current network, such as high network delay, low network delay, and smooth network, and generates network failure information and network security information according to a plurality of network delay states, so that the user can learn the network state in time, and can take further steps to deal with network delay and network interruption, such as waiting for network recovery, switching different network transmission channels, and the like, thereby reducing the influence of network delay or network interruption on remote surgery.

[0077] Optionally, in S101, there is also the following processing of updating the delay flag, and the specific operation process is as follows:

[0078] According to the delay flag sent in the previous period and the preset accumulated value, the current delay flag is updated.

[0079] In implementation, in the process of updating the delay flag, the network state detection system first acquires the delay flag sent in the previous period, and then adds the delay flag sent in the previous period and the accumulated value to obtain the sum to update the delay flag. For example, the delay flag sent in the previous period is 1, and the accumulated value is 1, and then the current updated delay flag is 2.

[0080] In S101, there is also another processing of updating the delay flag:

[0081] The network state detection system filters out the middle value of the time of the current period according to the time of the current period, and then updates the delay flag to be sent in the current period according to the middle value of the time of the current period before the delay flag of the current period is sent.

[0082] Optionally, in S103, there is also the following processing, and the specific operation process is as follows:

[0083] S201, the total number of flags received before the end of each period is counted.

[0084] In implementation, the network state detection system counts the total number of received delay flags before the end of each period, and the total number of delay flags is referred to as the total number of flags.

[0085] S202, if the total number of flags of the current period is the same as the total number of flags of the previous period, the network interruption duration is generated according to the period length.

[0086] In implementation, the network state detection system compares the total number of flags of the current period with the total number of flags of the previous period, and when they are the same, the following processing is performed:

[0087] The network state detection system accumulates the network interruption duration of the previous period with the period duration to calculate the network interruption duration of the current period. The initial network interruption duration is set to 0. If the total number of received delay flags and the total number of received delay flags of the previous period are both received, the network state detection system gradually calculates the network interruption duration of each period by accumulation.

[0088] For example, in a plurality of consecutive periods, the network state detection system receives a total number of delay flags of 3, 4, 5, 5, 5, 5, and 6, and the period duration is 0.1s. The corresponding network interruption duration is 0, 0, 0, 0.1s, 0.2s, 0.3s, and 0.

[0089] Further, the network state detection system compares the network interruption duration with the preset interruption duration threshold. If the network interruption duration is greater than the preset interruption duration threshold, the network state detection system generates network failure information carrying a network interruption identifier. If the network interruption duration is less than or equal to the interruption duration threshold, the network state detection system waits for the next period.

[0090] S204, according to the network interruption duration, analyzing the current network connection state.

[0091] In implementation, the network state detection system compares the network interruption duration with the preset interruption duration threshold. When the network interruption duration threshold is greater than the interruption duration threshold, the network state detection system determines that the current network connection state is network connection interruption, and the network in network connection interruption is long interruption. Then, the network state detection system can generate network failure information carrying a network interruption identifier. When the network interruption duration threshold is less than or equal to the interruption duration threshold, the network state detection system determines that the current network connection state is network connection interruption, and the network in network connection interruption is short interruption. The network state detection system waits for the delay flag of the next period to analyze and determine the network connection state again.

[0092] It should be noted that in the present application, the transmission of the delay flag and the surgical data is synchronous. The above calculation of network interruption duration, waiting for the delay flag of the next period, and network delay duration are all performed synchronously with the transmission of the surgical data. The surgical data here refers to the data that needs to be interacted during the operation of the patient end, such as surgical video.

[0093] Optionally, in S203, the following processing also exists, wherein the network management system is preset with an initial network interruption duration recorded as zero. The specific operation process is as follows:

[0094] If the total number of the flags in the current period is the same as the total number of the flags in the previous period, a target period with the same total number of the flags as the current period is matched, and the number of the target periods is counted;

[0095] Based on the counted number of the periods and the period length, the network interruption duration is generated.

[0096] In the implementation, the initial network interruption duration recorded in the network state detection system is zero. At the end of the current period, the network state detection system compares the counted total number of the flags with the total number of the flags in the previous period. If the two are the same, the network state detection system filters and matches the period with the same total number of the flags as the current period from all the periods. Here, the filtered and matched period is referred to as a target period. Then, the network state detection system counts the number of the target periods, and the counted number of the target periods is referred to as a period number.

[0097] Then, the network state detection system multiplies the period number by the period length to calculate and generate the network interruption duration.

[0098] In the present application, since the number of the delay flags received by the network state detection system is in an accumulation state, the total number of the flags in the previous period is less than or equal to the total number of the flags in the current period. When counting the period number, only the total number of the flags in the previous several periods is counted. Further, since the network state detection system calculates the network interruption duration at the end of each period, when the total number of the flags in the current period is the same as the total number of the flags in the previous period, the network interruption duration in the current period can be calculated by adding the network interruption duration in the previous period and the period length.

[0099] Specifically, if the network interruption duration in the previous period is 0, the network interruption duration recorded in the current period is one period length. If the network interruption duration in the previous period is n period lengths, the network interruption duration recorded in the current period is n+1 period lengths.

[0100] Optionally, in S204, the following processing also exists, and the specific operation process is as follows:

[0101] The current network interruption duration is compared with a preset interruption duration threshold value;

[0102] If the current network interruption duration is greater than the interruption duration threshold value, it is judged that the current network connection state is network connection interruption, and all surgical operation mechanical arms are controlled to stop moving;

[0103] If the current network interruption duration is less than or equal to the interruption duration threshold value, it is judged whether the total number of the flags in the next period is the same as the total number of the flags in the current period.

[0104] In implementation, when the network state detection system identifies that the total number of the current received delay flags is the same as the total number of the received delay flags in the previous period, the network state detection system compares the current updated network interruption duration with the preset interruption duration threshold, and the comparison result exists the following two cases:

[0105] Case one: the network interruption duration is greater than the interruption duration threshold, the network state detection system judges that the current network connection state is network connection interruption, and is in long network interruption in network connection interruption, then the network state detection system controls the multiple operating arms to stop moving on one hand, and generates network failure information carrying network interruption identification and sends it to the doctor's control terminal on the other hand. After the network state detection system generates the network failure information, it reminds the user through sound waves or light through display screen or alarm and other devices. For example, the patient end can remind the user of the patient end and the user of the doctor's control end through the red control system indicator light, alarm voice broadcast and other ways.

[0106] It should be noted that since the network is in interruption state, the doctor's control terminal may not be able to receive the network failure information at this time. Therefore, the doctor's control terminal can also identify the current network state by monitoring the delay flag sent by the network state detection system in real time.

[0107] Specifically, if the doctor's control terminal does not receive the delay flag in multiple consecutive periods before the current period, it is judged that the network is in interruption state, and the number of consecutive periods is preset. When the doctor's control terminal identifies the network interruption state, the doctor's control terminal also generates network failure information carrying network interruption identification synchronously with the network state detection system, and can remind the doctor through voice prompt such as "network interruption, please check network connection".

[0108] Case two: the network interruption duration is less than or equal to the interruption duration threshold, the network state detection system judges that the current network connection state is network connection interruption, and is in short network interruption in network connection interruption, then waits to receive the delay flag of the next period, at this time the network state detection system still sends the delay flag and the operation data to the doctor's control terminal. At the same time in the next period, the total number of flags of the next period is compared with the total number of flags of the current period, and the same judgment method as the current period is used to judge the network state of the next period, and generate network alarm information in the case of network connection interruption or long network delay duration.

[0109] Optionally, after S201, the following processing mode also exists, and the specific operation process is as follows:

[0110] S301, if the current network state is network normal connection, the network delay duration is generated according to the difference between the sending time and the receiving time of the current delay flag, and the network interruption duration is reset.

[0111] In implementation, when the network state detection system compares the total number of flags in the current period with the total number of flags in the previous period, if they are the same, the network state detection system determines that the current network state is network normal connection, at this time, further, the network state detection information subtracts the sending time from the receiving time recorded in the current delay flag, the sending time and the receiving time here are the time when the network state detection system sends and receives the current delay flag, and the product obtained by subtraction here is the network delay duration.

[0112] At the same time, the network state detection system resets the network interruption duration in the current period, and the reset here means clearing the network interruption duration.

[0113] S302, according to the network delay duration, the current network delay state is analyzed.

[0114] In implementation, the network state detection system compares the network delay duration with a plurality of preset values to determine the region to which the network delay duration belongs, and further divides the current network delay state, such as network high delay, network low delay, etc., and then when the network delay state is in network high delay, the network state detection system generates network failure information.

[0115] Optionally, in S302, the following processing also exists, and the specific operation process is as follows:

[0116] S401, compare the network delay duration with the preset high delay threshold.

[0117] In implementation, after the network state detection system generates the network delay duration, the network delay duration is compared with the preset high delay threshold and the fluctuation delay threshold.

[0118] S402, if the network delay duration is greater than the high delay threshold, it is determined that the current network delay state is network high delay, and all surgical operation mechanical arms are controlled to stop moving.

[0119] In implementation, when the network delay duration is greater than the high delay threshold, the network state detection system first determines that the current network delay state is network high delay, and then controls the surgical mechanical arms to stop moving, and then the network state detection system generates network failure information carrying network high delay identification, and the network failure information can remind the user of the patient end through the way of sound wave or light. For example, the system indicator light is controlled to turn red, the alarm voice broadcasts "network delay is too high, please check" and other ways to remind the user of the patient end.

[0120] The same as the judgment of the network interruption state, the doctor control terminal can receive the network failure information carrying the network delay too high sent by the network state detection system, and perform network state alarm of the network high delay. On the other hand, the doctor control terminal can also judge the network delay duration by recording the time of the current received delay flag and the time of the last received delay flag. When the doctor control terminal judges that the network is in a high delay state, the doctor control terminal can remind the doctor through the control system indicator light turning red, the alarm voice broadcast "network delay is too high, please check" and the like.

[0121] S403, if the network delay duration is less than or equal to the high delay threshold, the network delay duration is compared with the preset fluctuation delay threshold.

[0122] In the implementation, when the network delay duration is less than or equal to the high delay threshold, the network state detection system compares the network delay duration with the fluctuation delay threshold. The high delay threshold is greater than the fluctuation delay threshold.

[0123] S404, if the network delay duration is greater than the fluctuation delay threshold, the current network delay state is judged to be network fluctuation delay.

[0124] In the implementation, when the network delay duration is greater than the fluctuation delay threshold and less than or equal to the high delay threshold, the network state detection system judges that the current network delay state is network fluctuation delay, and then generates alarm information carrying a network fluctuation identifier. The network failure information can remind the user of the patient terminal through sound waves or light. For example, the alarm of the patient terminal emits "beep beep beep" sound to remind the user of the patient terminal.

[0125] The same as the judgment of the network high delay, the doctor control terminal can also obtain the network failure information carrying the network fluctuation identifier through the network state detection system, or generate the network failure information carrying the network fluctuation identifier by itself, and emit "beep beep beep" sound through the alarm to remind the doctor of the patient terminal. The doctor can continue to operate after waiting for the "beep beep beep" sound to end.

[0126] Optionally, in the present application, the following processing also exists, and the specific operation process is as follows:

[0127] S401, obtaining the network delay duration and the network interruption duration of the backup network link.

[0128] In the implementation, the network state detection system adopts the same method as described above, and the network state detection system obtains the network connection state and the network delay state of the backup network link, and simultaneously obtains the network delay duration and the network interruption duration of the backup network link.

[0129] Further, the network status detection system compares the network connection status and network delay status of the backup network link with the network connection status and network delay status of the current network link to facilitate selection of the primary surgical data transmission network link to reduce the likelihood of a surgical interruption due to network connection interruption or network delay.

[0130] S402, according to the network interruption duration and network delay time of the backup network link, comparing the network delay time and network interruption duration of the current network link, adjusting the network link for current surgical data transmission.

[0131] In implementation, the network status detection system compares the network delay time and network interruption duration of the current backup network link with the network delay time and network interruption duration of the current network link:

[0132] Specifically, the network status detection system preferentially compares the network interruption duration of the backup network link with the network interruption duration of the current network link, and in one implementation, when the network interruption duration of the backup network link is less than the network interruption duration of the current network link, the backup network link is selected for transmission of the current surgical data.

[0133] When the network interruption duration of the backup network link is greater than the network interruption duration of the current network link, the current network link is selected for transmission of the current surgical data.

[0134] When the network interruption duration of the backup network link is equal to the network interruption duration of the current network link, the network delay time of the backup network link is compared with the network delay time of the current network link.

[0135] If the network delay time of the backup network link is less than the network delay time of the current network link, the backup network link is selected for transmission of the current surgical data, otherwise the current network link is selected for transmission of the current surgical data.

[0136] Optionally, in S402, the following processing also exists, and the specific operation process is as follows:

[0137] S501, if the network interruption duration of the backup network link is equal to zero and the network interruption duration of the current network link is greater than zero, the current surgical data is transmitted based on the backup network link.

[0138] In implementation, in the process of selecting the backup network link or the current network link for data transmission, the network status detection system first compares the network interruption duration of the backup network link with the network interruption duration of the current network link, and the comparison result exists the following three:

[0139] Case one: if the network interruption duration of the standby network link is equal to 0 and the network interruption duration of the current network link is greater than 0, the standby network link is selected to transmit the current surgery data.

[0140] Case two: if the network interruption duration of the standby network link and the network interruption duration of the current network link are both greater than 0, the current network link is still used to transmit the current surgery data.

[0141] Case three: if the network interruption duration of the standby network link and the network interruption duration of the current network link are both equal to 0, the network delay duration of the standby network link and the network delay duration of the current network link are compared.

[0142] S502, if the network delay duration of the standby network link is less than the network delay duration of the current network link, the surgery operation information is received based on the standby network link.

[0143] In implementation, when the network state detection system identifies that the network interruption duration of the standby network link and the network interruption duration of the current network link are both equal to 0, the network state detection system compares the network delay duration of the standby network link and the network delay duration of the current network link, and the comparison result exists the following two cases:

[0144] Case one: if the network delay duration of the standby network link is less than the network delay duration of the current network link, the network state detection system selects the standby network link to transmit the current surgery data.

[0145] Case two: if the network delay duration of the standby network link is greater than or equal to the network delay duration of the current network link, the network state detection system selects the current network link to transmit the current surgery data.

[0146] Here, in order to reduce the frequent switching of the network transmission link of the network state detection system, the standby network link and the current network link are both in real-time transmission of the current surgery data, and the above-mentioned transmission of the surgery data by different links means that the surgery data received by the doctor operation terminal through different network links is used as the main data source. It can be understood that when the standby network link is used to transmit the surgery data, the surgery data received by the doctor operation terminal through the standby network link is used as the main information source, and is displayed to the doctor through the display device. Similarly, the network state detection system uses the surgery data received through the standby network link as the main information source, and displays it to the user of the patient terminal through the display device.

[0147] In summary, when identifying the current network state, the network state detection system first compares the total number of the current received delay flags and the total number of the previous period received delay flags.

[0148] If the total number of the current received delay signs and the total number of the received delay signs in the previous period, the network interruption duration is obtained; further, the network state detection system compares the network interruption duration with the interruption delay threshold value, when the network interruption duration is greater than the interruption delay threshold value, the current network connection state is judged to be in network connection interruption, and the network in network connection interruption is long interruption, and network failure information is generated.

[0149] If the total number of the current received delay signs and the total number of the received delay signs in the previous period, the network state detection system generates network delay duration. Then the total number of the current received delay signs and the total number of the received delay signs in the previous period compare the network delay duration with the high delay threshold value and the fluctuation delay threshold value, respectively, to distinguish the delay state of the current network, when the network delay state is in high delay or network fluctuation delay, network failure information is generated, otherwise network security information is generated, the doctor control terminal or patient end can carry out different network processing according to the state carried in the network failure information, for example, switching network in network interruption, switching data transmission type in network high delay or network fluctuation.

[0150] Based on the above technical scheme, the application also provides a network state detection system for surgical robot remote surgery, as shown in Figure 5 The network state detection system comprises:

[0151] The information sending module 501 is used for periodically sending delay signs to the doctor control terminal according to the preset period duration, and recording the sending time of each delay sign, and periodically updating the delay sign;

[0152] The information receiving module 502 is used for receiving the delay signs fed back by the doctor control terminal, and recording the receiving time of each delay sign;

[0153] The network state judgment module 503 is used for analyzing the current network connection state according to the total number of the received delay signs before the end of the current period and the total number of the received delay signs before the end of the previous period, and the network connection state information comprises network connection interruption and network normal connection;

[0154] The network state judgment module 503, if the current network state is network normal connection, analyzes the current network delay state according to the receiving time of the received current delay sign and the sending time corresponding to the current delay sign.

[0155] It should be noted that the network state detection system for surgical robot remote surgery provided in the above embodiment and the network state detection method for surgical robot remote surgery provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs operations has been described in detail in the method embodiment, which will not be repeated here. The network state detection method for surgical robot remote surgery provided in the above embodiment can be completed by different functional modules according to the above functions in actual application, that is, the internal structure of the system is divided into different functional modules to complete all or part of the above described functions, and this is not limited here.

[0156] Although the present application is disclosed as above, the protection scope of the present application is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, and these changes and modifications will fall within the protection scope of the present application.

Claims

1. A method for detecting the network status of a surgical robot in remote surgery, characterized in that, include: According to the preset cycle duration, delay flags are periodically sent to the doctor's control terminal, and the sending time of each delay flag is recorded, and the delay flags are periodically updated. Receive the delay flags fed back by the doctor's control terminal, and record the reception time of each delay flag; Based on the total number of delay flags received up to the end of the current period and the total number of delay flags received up to the end of the previous period, the current network connection status is analyzed. The network connection status information includes network connection interruption and normal network connection. Specifically, this includes: counting the total number of delay flags received up to the end of each period; if the total number of flags in the current period is the same as the total number of flags in the previous period, then generating the network interruption duration based on the period duration; and analyzing the current network connection status based on the network interruption duration. If the current network state is a normal network connection, then the current network latency state is analyzed based on the reception time of the received current latency flag and the transmission time corresponding to the current latency flag.

2. The network status detection method for remote surgery using a surgical robot according to claim 1, characterized in that, The periodic update of the delay flag includes: The current delay flag is updated based on the delay flag sent in the previous cycle and the preset accumulated value.

3. The network status detection method for remote surgery using a surgical robot according to claim 1, characterized in that, If the total number of flags in the current period is the same as the total number of flags in the previous period, then the network interruption duration is generated based on the period duration, including: If the total number of flags in the current period is the same as the total number of flags in the previous period, then a target period with the same total number of flags in the current period is matched, and the number of periods of multiple target periods is counted. Based on the statistically obtained number of cycles and the duration of the cycles, the duration of the network outage is generated.

4. The network status detection method for remote surgery using a surgical robot according to claim 1, characterized in that, The step of analyzing the current network connection status based on the duration of the network interruption includes: Compare the current network interruption duration with a preset interruption duration threshold; If the duration of the current network interruption exceeds the interruption duration threshold, the current network connection status is determined to be a network connection interruption, and all surgical robotic arms are controlled to stop moving. If the current network interruption duration is less than or equal to the interruption duration threshold, then it is determined whether the total number of flags in the next cycle is the same as the total number of flags in the current cycle.

5. The network status detection method for remote surgery using a surgical robot according to claim 1, characterized in that, If the current network state is a normal network connection, then the current network latency state is analyzed based on the reception time of the received current latency flag and the transmission time corresponding to the current latency flag: If the current network state is a normal network connection, then the network delay duration is generated based on the difference between the sending time and the receiving time of the current delay flag, and the network interruption duration is reset; Analyze the current network latency status based on the network latency duration.

6. The network status detection method for remote surgery using a surgical robot according to claim 5, characterized in that, The current network latency status is analyzed based on the network latency duration: Compare the network latency duration with a preset high latency threshold: If the network latency duration is greater than the high latency threshold, the current network latency state is determined to be high latency, and all surgical robotic arms are controlled to stop moving. If the network latency duration is less than or equal to the high latency threshold, the network latency duration is compared with a preset fluctuation latency threshold; If the network latency duration is greater than the fluctuation latency threshold, then the current network latency state is determined to be network fluctuation latency.

7. The network status detection method for remote surgery using a surgical robot according to claim 5, characterized in that, Also includes: Obtain the network latency duration and network interruption duration of the backup network link; Based on the duration of the network interruption and the network latency of the backup network link, and comparing them with the network latency and the duration of the network interruption of the current network link, the network link used for current surgical data transmission is adjusted.

8. The network status detection method for remote surgery using a surgical robot according to claim 7, characterized in that, The step of adjusting the network link used for current surgical data transmission by comparing the network interruption duration and network latency time of the backup network link with the network latency time and network interruption duration of the current network link includes: If the duration of the network interruption of the backup network link is zero and the duration of the network interruption of the current network link is greater than zero, then the current surgical data is transmitted based on the backup network link. If the network latency of the backup network link is less than the network latency of the current network link, then the current surgical data is transmitted based on the backup network link.

9. A network status detection system for remote surgery using a surgical robot, characterized in that, include: The information sending module is used to periodically send delay flags to the doctor's control terminal according to a preset period duration, record the sending time of each delay flag, and periodically update the delay flags. The information receiving module is used to receive the delay flags fed back by the doctor's control terminal and record the receiving time of each delay flag; The network status determination module is used to analyze the current network connection status based on the total number of delay flags received up to the end of the current period and the total number of delay flags received up to the end of the previous period. The network connection status information includes network connection interruption and normal network connection. Specifically, it includes: counting the total number of delay flags received up to the end of each period; if the total number of flags in the current period is the same as the total number of flags in the previous period, generating the network interruption duration based on the period duration; and analyzing the current network connection status based on the network interruption duration. The network status determination module, if the current network status is a normal network connection, analyzes the current network delay status based on the reception time of the received current delay flag and the transmission time corresponding to the current delay flag.

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