A control method and device of a dual-master surgical robot system and a storage medium

Abstract

The application provides a control method and device of a dual-master surgical robot system and a storage medium, relates to the technical field of surgical robots, and the control method of the dual-master surgical robot system comprises the following steps: acquiring first historical slave station data by using a control platform master station, and screening first interaction data from the first historical slave station data; acquiring second historical slave station data by using a surgical platform master station, and screening second interaction data from the second historical slave station data; sending the second interaction data to the control platform master station and the first interaction data to the surgical platform master station by using a data interaction device; controlling a plurality of control platform slaves according to first current slave station data and the second interaction data by using the control platform master station; and controlling a plurality of surgical platform slaves according to second current slave station data and the first interaction data by using the surgical platform master station. The two master stations have independent data processing and independent control capabilities, which is beneficial to reducing system wiring, improving data processing efficiency and interaction efficiency.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and more specifically, to a control method, device, and storage medium for a dual-master-station surgical robot system. Background Technology

[0002] With the continuous development of advanced technologies such as robotics, imaging, and artificial intelligence, surgical robot systems have emerged for application in the medical field. The stability of surgical robot operation and the precision of images provided by these systems help surgeons perform complex and delicate procedures, significantly improving the quality of surgery.

[0003] Surgical robot systems mainly consist of a physician control platform and a patient operating platform. Existing surgical robot systems generally adopt a centralized design, with numerous wiring harnesses and complex electrical routing between various devices, resulting in a bulky overall structure that is not conducive to safe operation. Furthermore, all data in the system needs to be transmitted to the main control console, processed there, and then transmitted to the individual execution devices. This large data transmission volume can easily lead to low efficiency in data interaction between different devices within the system. Summary of the Invention

[0004] The problem solved by this invention is to improve data interaction efficiency while reducing the wiring complexity of surgical robot systems.

[0005] To address the aforementioned problems, this invention provides a control method for a dual-master surgical robot system. The dual-master surgical robot system includes: a data interaction device, a control platform master station and multiple control platform slave stations communicatively connected to the control platform master station, a surgical platform master station and multiple surgical platform slave stations communicatively connected to the surgical platform master station; the control method for the dual-master surgical robot system includes the following steps:

[0006] When the communication interaction device is connected to the control platform master station and the surgical platform master station respectively, it uses the control platform master station to obtain the first historical slave station data of multiple control platform slave stations, and filters out the first interaction data from the first historical slave station data;

[0007] The second historical slave station data of multiple surgical platform slave stations is obtained using the main station of the surgical platform, and the second interactive data is filtered out from the second historical slave station data;

[0008] Data interaction using the data interaction device includes sending the second interaction data to the control platform main station and sending the first interaction data to the surgical platform main station;

[0009] The master station of the control platform acquires the first current slave station data of multiple slave stations of the control platform, and controls multiple slave stations of the control platform based on the first current slave station data and the second interaction data;

[0010] The master station of the surgical platform acquires second current slave station data from multiple slave stations of the surgical platform, and controls multiple slave stations of the surgical platform based on the second current slave station data and the first interaction data.

[0011] Optionally, the following steps may also be included:

[0012] The control platform master station obtains the updated first current slave station data, and updates the first historical slave station data and the first interaction data based on the first current slave station data;

[0013] The updated second current slave station data is obtained using the main station of the surgical platform, and the second historical slave station data and the second interaction data are updated based on the second current slave station data;

[0014] Return to the steps of performing data interaction using the data interaction device.

[0015] Optionally, the control platform slave station includes an operating robotic arm, and the first current slave station data includes first current state data corresponding to the operating robotic arm; the surgical platform slave station includes a surgical robotic arm, and the second interaction data includes second historical state data corresponding to the surgical robotic arm; the step of acquiring first current slave station data of multiple control platform slave stations using the control platform master station, and controlling multiple control platform slave stations according to the first current slave station data and the second interaction data, includes:

[0016] Obtain the first current state data and the second historical state data;

[0017] First instruction data is generated based on the first current state data and the second historical state data, and the robotic arm is controlled based on the first instruction data.

[0018] Optionally, the first interactive data includes first historical state data corresponding to the robotic arm; the second current slave station data includes second current state data corresponding to the surgical robotic arm; the step of acquiring second current slave station data of multiple surgical platform slave stations using the surgical platform master station, and controlling multiple surgical platform slave stations based on the second current slave station data and the first interactive data, includes:

[0019] Obtain the second current state data and the first historical state data;

[0020] The second instruction data is generated based on the second current state data and the first historical state data, and the surgical robotic arm is controlled based on the second instruction data.

[0021] Optionally, the control platform master station and the surgical platform master station are EtherCAT master stations.

[0022] Optionally, the data interaction device includes a first ET1100 communication module, a second ET1100 communication module, and an FPGA interaction module; the FPGA interaction module is communicatively connected to the first ET1100 communication module and the second ET1100 communication module respectively; the data interaction using the data interaction device further includes:

[0023] The second ET1100 communication module is used to receive the second interactive data and send it to the FPGA interactive module.

[0024] The second interactive data is sent to the first ET1100 communication module using the FPGA interaction module;

[0025] The second interactive data is sent to the control platform master station using the first ET1100 communication module.

[0026] Optionally, the data interaction using the data interaction device further includes:

[0027] The first ET1100 communication module receives the first interactive data and sends it to the FPGA interactive module.

[0028] The first interactive data is sent to the second ET1100 communication module using the FPGA interaction module;

[0029] The first interactive data is sent to the main station of the surgical platform using the second ET1100 communication module.

[0030] Optionally, the following steps may also be included:

[0031] When either the control platform master station or the surgical platform master station loses communication with the data interaction device, the control platform master station obtains the first current slave station data and controls multiple control platform slave stations based on the first current slave station data.

[0032] The second current slave station data is obtained using the surgical platform master station, and multiple surgical platform slave stations are controlled based on the second current slave station data.

[0033] The control method of this invention is applied to a dual-master-station surgical robot system. In this system, the control platform master station communicates with multiple control platform slave stations, which are controlled by the master station, effectively forming a control platform system with independent processing capabilities. Similarly, the surgical platform master station communicates with multiple surgical platform slave stations, which are also controlled by the master station, forming a surgical platform system with independent processing capabilities. By controlling data interaction between the two systems via a data interaction device, system wiring is reduced, lowering the overall system complexity. When the communication interaction device is connected to both the control platform master station and the surgical platform master station, it indicates that normal data interaction is possible. Based on this, the first and second historical slave station data are obtained from each slave station using the two master stations. Data requiring interaction is then selected, resulting in first and second interaction data. The dual master stations only filter the data requiring interaction without excessive parsing, improving the real-time performance of the interaction. Based on this, utilizing a data interaction device to achieve the exchange of first and second interactive data between the two master stations helps reduce the amount of data exchanged between the control platform master station and the surgical platform master station, alleviating computational pressure and improving interaction efficiency. Using the control platform master station to control multiple control platform slave stations based on the first current slave station data and the second interactive data helps constrain the control platform slave stations and provide feedback information for their operations, achieving matching between the two master stations. Similarly, using the surgical platform master station to control multiple surgical platform slave stations based on the second current slave station data and the first interactive data facilitates guiding the surgical platform to perform corresponding surgical operations based on the control platform. In this way, each master station possesses independent data processing and control capabilities, which helps improve the system's data processing efficiency and further enhances data interaction efficiency.

[0034] This invention also provides a control device for a dual-master-station surgical robot system, applied to a dual-master-station surgical robot system, the dual-master-station surgical robot system comprising: a data interaction device, a control platform master station and multiple control platform slave stations communicatively connected to the control platform master station, a surgical platform master station and multiple surgical platform slave stations communicatively connected to the surgical platform master station; the control device for the dual-master-station surgical robot system comprises:

[0035] The first processing module is used to obtain first historical slave station data of multiple control platform slave stations by utilizing the control platform master station when the communication interaction device is connected to the control platform master station and the surgical platform master station respectively, and to filter out first interaction data from the first historical slave station data;

[0036] The second processing module is used to obtain second historical slave station data from multiple surgical platform slave stations using the surgical platform master station, and to filter out second interactive data from the second historical slave station data;

[0037] The third processing module is used to perform data interaction using the data interaction device, including sending the second interaction data to the control platform main station and sending the first interaction data to the surgical platform main station.

[0038] The fourth processing module is used to obtain first current slave station data of multiple control platform slave stations using the control platform master station, and control multiple control platform slave stations according to the first current slave station data and the second interaction data;

[0039] The fifth processing module is used to obtain second current slave station data of multiple surgical platform slave stations using the surgical platform master station, and control multiple surgical platform slave stations according to the second current slave station data and the first interaction data.

[0040] The control device for the dual-master station surgical robot system provided by this invention and the control method for the dual-master station surgical robot system have essentially the same advantages as the prior art, and will not be repeated here.

[0041] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the control method of the dual-master surgical robot system as described above.

[0042] The advantages of the computer-readable storage medium and the control method of the dual-master-station surgical robot system provided by this invention are basically the same as those of the prior art, and will not be repeated here. Attached Figure Description

[0043] Figure 1 This is a flowchart of the control method for a dual-master-station surgical robot system according to an embodiment of the present invention;

[0044] Figure 2 This is a schematic diagram of the structure of the dual-master-station surgical robot system according to an embodiment of the present invention;

[0045] Figure 3 This is another structural schematic diagram of the dual-master station surgical robot system according to an embodiment of the present invention. Detailed Implementation

[0046] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0047] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0048] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0049] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0050] like Figure 1 As shown, an embodiment of the present invention provides a control method for a dual-master surgical robot system, applied to a dual-master surgical robot system. The dual-master surgical robot system includes: a data interaction device, a control platform master station and multiple control platform slave stations communicatively connected to the control platform master station, a surgical platform master station and multiple surgical platform slave stations communicatively connected to the surgical platform master station; the control method for the dual-master surgical robot system includes the following steps:

[0051] S1: When the communication interaction device is connected to the control platform master station and the surgical platform master station respectively, the first historical slave station data of multiple control platform slave stations is obtained by the control platform master station, and the first interaction data is filtered out from the first historical slave station data;

[0052] S2: Use the main station of the surgical platform to obtain the second historical slave station data of multiple surgical platform slave stations, and filter out the second interaction data from the second historical slave station data;

[0053] S3: Using a data interaction device to perform data interaction, including sending the second interaction data to the control platform master station and sending the first interaction data to the surgical platform master station;

[0054] S4: Use the master station of the control platform to obtain the first current slave station data of multiple control platform slave stations, and control multiple control platform slave stations based on the first current slave station data and the second interaction data;

[0055] S5: Use the surgical platform master station to obtain the second current slave station data of multiple surgical platform slave stations, and control multiple surgical platform slave stations based on the second current slave station data and the first interaction data.

[0056] Specifically, the control platform slave stations referred to in this invention mainly include equipment for doctors to operate and use, such as: operating robotic arms, joysticks, displays, and consoles integrating various function buttons; the first historical slave station data referred to in this invention represents the slave station data corresponding to the control platform slave station after the end of the previous control cycle; the first current slave station data referred to in this invention represents the slave station data corresponding to the control platform slave station in the current control cycle (such as the data frames sent by each control platform slave station received by the control platform master station in the current control cycle). The first current slave station data reflects the status of the control platform slave station within the current control cycle, such as the motion state of the robotic arm (which can be obtained through an encoder), the display status of the monitor, and the on / off status of various function buttons. The surgical platform slave station referred to in this invention mainly includes various devices that perform surgical operations, such as surgical robotic arms, image acquisition devices, and adjustable operating tables. The second historical slave station data refers to the slave station data corresponding to the surgical platform slave station after the end of the previous control cycle. The second current slave station data refers to the slave station data corresponding to the surgical platform slave station in the current control cycle (such as data frames sent by various surgical platform slave stations received by the surgical platform master station within the current control cycle). The second current slave station data refers to the status of the surgical platform slave station within the current control cycle, such as the motion state of the surgical robotic arm (which can be obtained through an encoder), image information acquired by the image acquisition device, and the angle of the adjustable operating table.

[0057] In this way, the control platform master station and multiple control platform slave stations are connected in communication, and the multiple control platform slave stations are controlled by the control platform master station, forming an independent control platform system; the surgical platform master station and multiple surgical platform slave stations are connected in communication, and the multiple surgical platform slave stations are controlled by the surgical platform master station, forming an independent surgical platform system; the two systems exchange data through a data interaction device, which helps to reduce the wiring of the drive and control system and reduce the structural complexity.

[0058] In one embodiment, when the communication interaction device is connected to both the control platform master station and the surgical platform master station, it indicates that the control platform master station and the surgical platform master station can perform normal data interaction. Based on this, the control platform master station acquires first historical slave station data from multiple control platform slave stations and filters out first interactive data from this data. Correspondingly, the surgical platform master station acquires second historical slave station data from multiple surgical platform slave stations and filters out second interactive data from this data. Thus, the dual master stations only filter the data that needs to be interacted with, without performing excessive parsing processing, which is beneficial for improving the real-time performance of the interaction. Based on this, the data interaction device sends the second interactive data to the control platform master station and the first interactive data to the surgical platform master station, thereby completing the data interaction between the two master stations. This helps reduce the amount of data exchanged between the control platform master station and the surgical platform master station, alleviates computational pressure, and improves interaction efficiency.

[0059] In one embodiment, the second interactive data includes key data from the surgical platform slave stations. The master control station acquires first current slave station data from multiple control platform slave stations and controls these slave stations based on this data and the second interactive data. This helps constrain the actions of the slave stations and provides feedback, enabling matching between the two master stations. Similarly, the first interactive data includes key data from the control platform slave stations (e.g., the state data of the robotic arm). The master control station acquires second current slave station data from multiple surgical platform slave stations and controls them based on this data and the first interactive data. This facilitates guiding the surgical platform to perform corresponding surgical operations based on the control platform. Thus, each master station possesses independent data processing and control capabilities, improving the system's data processing efficiency and further enhancing data interaction efficiency.

[0060] In this embodiment, the control platform master station and multiple control platform slave stations are communicatively connected, and the multiple slave stations are controlled by the control platform master station, thus forming a control platform system with independent processing capabilities. Similarly, the surgical platform master station and multiple surgical platform slave stations are communicatively connected, and the multiple slave stations are controlled by the surgical platform master station, thus forming a surgical platform system with independent processing capabilities. Data exchange between the two systems is achieved through a data interaction device, which helps reduce wiring in the drive and control system and lowers the overall system complexity. When the communication interaction device is communicatively connected to both the control platform master station and the surgical platform master station, it indicates that the control platform master station and the surgical platform master station can perform normal data exchange. Based on this, the two master stations respectively obtain the first and second historical slave station data from their respective slave stations, filter out the data that needs to be exchanged, and obtain the first and second exchange data, respectively. The dual master stations only filter the data that needs to be exchanged without performing excessive parsing processing, which helps improve the real-time performance of the exchange. Based on this, utilizing a data interaction device to achieve the exchange of first and second interactive data between the two master stations helps reduce the amount of data exchanged between the control platform master station and the surgical platform master station, alleviating computational pressure and improving interaction efficiency. Using the control platform master station to control multiple control platform slave stations based on the first current slave station data and the second interactive data helps constrain the control platform slave stations and provide feedback information for their operations, achieving matching between the two master stations. Similarly, using the surgical platform master station to control multiple surgical platform slave stations based on the second current slave station data and the first interactive data facilitates guiding the surgical platform to perform corresponding surgical operations based on the control platform. In this way, each master station possesses independent data processing and control capabilities, which helps improve the system's data processing efficiency and further enhances data interaction efficiency.

[0061] Optionally, the control method for a dual-master surgical robot system further includes the following steps:

[0062] The first current slave station data is obtained by using the control platform master station, and the first historical slave station data and the first interaction data are updated based on the first current slave station data;

[0063] The updated second current slave station data is obtained using the main station of the surgical platform, and the second historical slave station data and second interaction data are updated based on the second current slave station data;

[0064] Return to the steps for data interaction using a data interaction device.

[0065] In one embodiment, after the dual master stations control their respective slave stations, the slave station data will change and be updated. For example, after the surgical platform master station controls the surgical robotic arm, the surgical robotic arm's pose and other data will also change accordingly. After one control cycle ends, the control platform master station obtains the updated first current slave station data and uses it as the first historical slave station data. From the updated first historical slave station data, the data requiring interaction is selected, and the first interaction data is updated. Similarly, the updated second interaction data can be obtained, and the process returns to the step of data interaction using the data interaction device. The second interaction data is sent to the control platform master station, and the first interaction data is sent to the surgical platform master station for a new round of data interaction and synchronous control. This achieves matching and collaboration between the two master stations, which helps ensure the stable operation of the dual-master surgical robot system.

[0066] Optionally, the control platform slave station includes an operating robotic arm, and the first current slave station data includes the first current state data corresponding to the operating robotic arm; the surgical platform slave station includes a surgical robotic arm, and the second interaction data includes the second historical state data corresponding to the surgical robotic arm; the step of acquiring the first current slave station data of multiple control platform slave stations using the control platform master station, and controlling multiple control platform slave stations according to the first current slave station data and the second interaction data, includes:

[0067] Obtain the first current state data and the second historical state data;

[0068] First instruction data is generated based on the first current state data and the second historical state data, and the robotic arm is controlled and operated based on the first instruction data.

[0069] Specifically, in this embodiment, the control platform slave station includes an operating robotic arm, and the surgical platform slave station includes a surgical robotic arm. A structural schematic diagram of the corresponding dual-master-station surgical robot system is shown below. Figure 2As shown. The first current state data referred to in this invention represents the state data of the operating robotic arm within the current control cycle, which can be obtained through the encoders of each joint of the operating robotic arm; the second historical state data referred to in this invention represents the state data of the surgical robotic arm after the end of the previous control cycle, which can also be obtained through the encoders of each joint of the surgical robotic arm. In this embodiment, the dual-master station surgical robot system can achieve synchronization processing by sending synchronization frames from the master station to the slave station according to a preset cycle. The slave station can determine the sending order of the synchronization frames based on the timestamp information in the received synchronization frames, and encapsulate the data into data frames and send them to the master station. After receiving the data frames from each slave station, the master station can perform data matching based on the timestamp information to achieve synchronization control. The control platform master station generates first instruction data based on the first current state data of the operating robotic arm and the second historical state data of the surgical robotic arm, thereby realizing the control of the operating robotic arm. For example, the second historical state data contains the position information of the surgical robotic arm, which can constrain the state of the robotic arm. When the corresponding position of the robotic arm exceeds the allowable range of motion, the corresponding first instruction data is a braking instruction. The braking instruction is sent to the driver that controls the robotic arm to control the joint motor of the robotic arm to reverse or stop, so as to prompt the operator to reach the edge of the allowable range of motion and improve the safety of the surgical procedure.

[0070] In this embodiment, the control platform master station acquires the first current state data of the operating robotic arm and the second historical state data of the surgical robotic arm, providing an accurate data foundation for the subsequent generation of the first instruction data. The control platform master station generates the first instruction data based on the first current state data and the second historical state data, and controls the operating robotic arm based on the first instruction data to constrain the movement state of the operating robotic arm. This facilitates the matching between the control platform master station and the surgical platform master station, provides feedback reference for the operating robotic arm, helps the operator to grasp the movement state of the surgical robotic arm, and ensures the safety of the surgery.

[0071] Optionally, the first interactive data includes first historical state data corresponding to the operation of the robotic arm; the second current slave station data includes second current state data corresponding to the surgical robotic arm; the step of acquiring second current slave station data of multiple surgical platform slave stations using the surgical platform master station, and controlling multiple surgical platform slave stations based on the second current slave station data and the first interactive data, includes:

[0072] Obtain the second current state data and the first historical state data;

[0073] The second instruction data is generated based on the second current state data and the first historical state data, and the surgical robotic arm is controlled based on the second instruction data.

[0074] Specifically, the first historical state data referred to in this invention represents the state data of the robotic arm after the end of the previous control cycle, which can be obtained through the encoders of each joint of the robotic arm; the second current state data referred to in this invention represents the state data of the surgical robotic arm in the current control cycle, which can also be obtained through the encoders of each joint of the surgical robotic arm. The surgical platform master station generates second instruction data based on the first historical state data and the second current state data of the surgical robotic arm, thereby realizing the control of the surgical robotic arm. For example, the first historical state data contains the state information of the robotic arm (such as encoder data), which can guide the state of the surgical robotic arm. The surgical platform master station can use an algorithm to parse the encoder data in the first historical state data and the encoder data in the second current state data of the surgical robotic arm to generate second instruction data, which is sent to the driver of the surgical robotic arm, thereby controlling the movement of each joint of the surgical robotic arm, so that each joint reaches the corresponding position and posture, realizing the motion control of the surgical robotic arm based on the control platform master station guiding the surgical platform master station, so that the surgical robotic arm can perform actions according to the operator's intention, thereby realizing dual master station collaborative control.

[0075] In this embodiment, the surgical platform master station acquires the first historical state data and the second current state data of the surgical robotic arm, providing an accurate data foundation for the generation of subsequent second instruction data. The surgical platform master station generates second instruction data based on the first historical state data and the second current state data, and controls the surgical robotic arm based on the second instruction data to guide the surgical robotic arm to achieve the desired motion state, thereby achieving the matching between the control platform master station and the surgical platform master station and ensuring the operational stability of the surgical robotic arm.

[0076] Optionally, the control platform master station and the surgical platform master station are EtherCAT master stations.

[0077] In this embodiment, the control platform master station and the surgical platform master station are EtherCAT master stations, and correspondingly, the control platform slave station and the surgical platform slave station are EtherCAT slave stations. The control platform master station and the control platform slave station constitute a control platform EtherCAT system with independent processing capabilities. Similarly, the surgical platform master station and the surgical platform slave station also constitute a surgical platform EtherCAT system with independent processing capabilities. The two independent EtherCAT systems interact through a data interaction module, realizing independent processing and real-time interaction between the two master stations. This helps ensure the safe and stable transmission of interactive data, thereby ensuring system stability and improving processing speed. Furthermore, since EtherCAT supports hot-connection, the disconnection of either master station will not cause the complete paralysis of the other. Even if the two master stations cannot interact, their respective independent functions can be preserved, thus ensuring the stability and safety of the dual-master station surgical robot system.

[0078] Optionally, the data interaction device includes a first ET1100 communication module, a second ET1100 communication module, and an FPGA interaction module; the FPGA interaction module is communicatively connected to both the first and second ET1100 communication modules; the data interaction using the data interaction device further includes:

[0079] The second ET1100 communication module is used to receive the second interactive data and send it to the FPGA interactive module.

[0080] The second interactive data is sent to the first ET1100 communication module using the FPGA interactive module.

[0081] The second interactive data is sent to the control platform master station using the first ET1100 communication module.

[0082] Specifically, the data interaction device includes a first ET1100 communication module, a second ET1100 communication module, and an FPGA interaction module; the FPGA interaction module is communicatively connected to both the first and second ET1100 communication modules, as shown in the structural diagram of the dual-master-station surgical robot system. Figure 3 As shown in the figure, ET1100-1 represents the first ET1100 communication module, ET1100-2 represents the second ET1100 communication module, and FPGA represents the FPGA interaction module.

[0083] In this embodiment, when the data interaction device needs to send the second interactive data to the control platform master station, the second ET1100 communication module communicates with the surgical platform master station to receive the second interactive data sent by the surgical platform master station. Then, the FPGA interaction module sends the second interactive data to the first ET1100 communication module. Optionally, the FPGA interaction module can also perform filtering, data compression, and other processing on the second interactive data to further improve interaction efficiency. Based on this, the first ET1100 communication module receives the second interactive data and sends it to the control platform master station, which is equivalent to the data interaction device also acting as a slave station of the control platform master station, completing the data interaction between the two master stations. In this embodiment, the ET1100 chip in the data interaction device provides hardware support for communication between the master station and the data interaction device, which is beneficial for achieving high-speed and stable data transmission. The FPGA, as a communication bridge between the two master stations, ensures reliable data interaction and realizes collaboration between the two master stations.

[0084] Optionally, data interaction using a data interaction device further includes:

[0085] The first ET1100 communication module is used to receive the first interactive data and send it to the FPGA interactive module.

[0086] The first interactive data is sent to the second ET1100 communication module using the FPGA interaction module.

[0087] The first interactive data is sent to the main station of the surgical platform using the second ET1100 communication module.

[0088] In this embodiment, when the data interaction device needs to send the first interactive data to the surgical platform master station, the first ET1100 communication module communicates with the control platform master station to receive the first interactive data sent by the control platform master station; then, the FPGA interaction module sends the first interactive data to the second ET1100 communication module. Optionally, the FPGA interaction module can also be used to filter and compress the first interactive data to further improve the interaction efficiency. Based on this, the second ET1100 communication module receives the first interactive data and sends it to the surgical platform master station, which means that the data interaction device also acts as a slave station of the surgical platform master station, completing the data interaction between the two master stations. In this embodiment, the ET1100 chip used in the data interaction device provides hardware support for communication between the master station and the data interaction device, which is conducive to achieving high-speed and stable data transmission. The FPGA, as a communication bridge between the two master stations, can ensure reliable data interaction and realize the collaboration between the two master stations.

[0089] Optionally, the control method for a dual-master surgical robot system further includes the following steps:

[0090] When either the control platform master station or the surgical platform master station loses communication with the data interaction device, the control platform master station obtains the first current slave station data and controls multiple control platform slave stations based on the first current slave station data.

[0091] The system uses the master station of the surgical platform to obtain data from the second current slave station, and controls multiple surgical platform slave stations based on the data from the second current slave station.

[0092] Specifically, the communication between the control platform master station and the surgical platform master station may be interrupted due to reasons such as cable breakage between them and the data interaction device. When either the control platform master station or the surgical platform master station loses communication with the data interaction device, the control platform master station and the surgical platform master station cannot perform data interaction. In this case, this embodiment can use the two master stations to control their respective slave stations based on their respective slave station data.

[0093] It should be understood that, compared to integrating the surgical robot system or using the control platform as a slave station and the surgical platform as the master station, the control method of the dual-master station surgical robot system provided in this embodiment will not completely lose control or become paralyzed even if one master station loses connection. In existing technologies, a loss of connection between either the control platform or the surgical platform as a master station affects the functionality of each. For example, if the surgical platform, acting as the master station, loses connection, the control platform cannot operate autonomously, possibly failing even to support basic display functions, or may even become completely paralyzed. If the control platform, acting as the master station, loses connection, the surgical platform cannot operate autonomously, potentially leading to the surgical arm malfunctioning and falling off, affecting the safety of the surgical procedure. In this embodiment, however, even if either master station loses connection, it will not cause the surgical robot system to completely fail as in existing technologies. Except for functions requiring data interaction, other functions of the dual master stations are almost unaffected, preventing both the control platform and the surgical platform from becoming uncontrollable after a connection loss, thus ensuring surgical safety.

[0094] In this embodiment, when either the control platform master station or the surgical platform master station loses communication with the data interaction device, the control platform master station and the surgical platform master station cannot interact with each other. Instead, each master station uses its own slave station data (i.e., the first current slave station data and the second current slave station data) to control its own slave station. This avoids the immediate loss of all functions of both master stations after the connection between the control platform and the surgical platform is lost, which helps to ensure the stability of the system operation and the safety of the surgical procedure.

[0095] Another embodiment of the present invention provides a control device for a dual-master-station surgical robot system, applied to a dual-master-station surgical robot system. The dual-master-station surgical robot system includes: a data interaction device, a control platform master station and multiple control platform slave stations communicatively connected to the control platform master station, a surgical platform master station and multiple surgical platform slave stations communicatively connected to the surgical platform master station; the control device for the dual-master-station surgical robot system includes:

[0096] The first processing module is used to obtain first historical slave station data from multiple control platform slave stations by utilizing the control platform master station when the communication interaction device is connected to the control platform master station and the surgical platform master station respectively, and to filter out the first interaction data from the first historical slave station data.

[0097] The second processing module is used to obtain the second historical slave station data of multiple surgical platform slave stations using the surgical platform master station, and to filter out the second interactive data from the second historical slave station data;

[0098] The third processing module is used to perform data interaction using a data interaction device, including sending the second interaction data to the control platform master station and sending the first interaction data to the surgical platform master station.

[0099] The fourth processing module is used to obtain the first current slave station data of multiple control platform slave stations using the control platform master station, and to control multiple control platform slave stations based on the first current slave station data and the second interaction data.

[0100] The fifth processing module is used to obtain the second current slave station data of multiple surgical platform slave stations using the surgical platform master station, and to control multiple surgical platform slave stations based on the second current slave station data and the first interaction data.

[0101] The control device and control method of the dual-master-station surgical robot system provided in this embodiment can achieve basically the same technical effects, and will not be described in detail here.

[0102] Another embodiment of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the control method of the dual-master surgical robot system as described above.

[0103] The computer-readable storage medium provided in this embodiment and the control method of the dual-master surgical robot system can achieve essentially the same technical effects, and will not be described again here.

[0104] The present invention will now describe electronic devices that can serve as servers or clients of the present invention, which are examples of hardware devices that can be applied to various aspects of the present invention. Electronic devices are intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0105] Electronic devices include a computing unit that can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) or loaded from a storage unit into random access memory (RAM). The RAM can also store various programs and data required for device operation. The computing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0106] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other.

[0107] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention according to actual needs. Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units can be implemented in hardware or as software functional units.

[0108] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A control method for a dual-master-station surgical robot system, characterized in that, The application is applied to a dual-master surgical robot system, which comprises a data interaction device, a control platform master station, a plurality of control platform slave stations in communication connection with the control platform master station, a surgical platform master station, and a plurality of surgical platform slave stations in communication connection with the surgical platform master station; a control method of the dual-master surgical robot system comprises the following steps: When the communication interaction device is in communication connection with the control platform master station and the surgical platform master station respectively, first historical slave station data of the plurality of control platform slave stations is acquired by using the control platform master station, and first interaction data is screened out from the first historical slave station data; Second historical slave station data of the plurality of surgical platform slave stations is acquired by using the surgical platform master station, and second interaction data is screened out from the second historical slave station data; Data interaction is performed by using the data interaction device, including sending the second interaction data to the control platform master station and sending the first interaction data to the surgical platform master station; First current slave station data of the plurality of control platform slave stations is acquired by using the control platform master station, and the plurality of control platform slave stations are controlled according to the first current slave station data and the second interaction data; Second current slave station data of the plurality of surgical platform slave stations is acquired by using the surgical platform master station, and the plurality of surgical platform slave stations are controlled according to the second current slave station data and the first interaction data.

2. The control method of the dual-master surgical robotic system of claim 1, wherein, Further comprising the following steps: Updated first current slave station data is acquired by using the control platform master station, and the first historical slave station data and the first interaction data are updated based on the first current slave station data; Updated second current slave station data is acquired by using the surgical platform master station, and the second historical slave station data and the second interaction data are updated based on the second current slave station data; The step of performing data interaction by using the data interaction device is returned.

3. The control method of the dual-master surgical robotic system of claim 2, wherein, The control platform slave station comprises an operating mechanical arm, the first current slave station data comprises first current state data corresponding to the operating mechanical arm; the surgical platform slave station comprises a surgical mechanical arm, the second interaction data comprises second historical state data corresponding to the surgical mechanical arm; the control of the plurality of control platform slave stations by using the control platform master station to acquire the first current slave station data of the plurality of control platform slave stations and according to the first current slave station data and the second interaction data comprises: The first current state data and the second historical state data are acquired; First instruction data is generated according to the first current state data and the second historical state data, and the operating mechanical arm is controlled based on the first instruction data.

4. The control method of the dual-master surgical robotic system of claim 3, wherein, The first interaction data comprises first historical state data corresponding to the operating mechanical arm; the second current slave station data comprises second current state data corresponding to the surgical mechanical arm; the control of the plurality of surgical platform slave stations by using the surgical platform master station to acquire the second current slave station data of the plurality of surgical platform slave stations and according to the second current slave station data and the first interaction data comprises: acquire the second current state data and the first historical state data; generate second instruction data according to the second current state data and the first historical state data, and control the surgical manipulator based on the second instruction data.

5. The control method of the dual-master surgical robotic system according to any one of claims 1-4, wherein, The control platform master station and the surgical platform master station are EtherCAT master stations.

6. The control method of the dual-master surgical robotic system of claim 5, wherein, The data interaction device comprises a first ET1100 communication module, a second ET1100 communication module, and an FPGA interaction module; the FPGA interaction module is in communication connection with the first ET1100 communication module and the second ET1100 communication module respectively; the data interaction device is used for data interaction, further comprising: The second ET1100 communication module is used for receiving the second interaction data and sending the second interaction data to the FPGA interaction module; The FPGA interaction module is used for sending the second interaction data to the first ET1100 communication module; The first ET1100 communication module is used for sending the second interaction data to the control platform master station.

7. The control method of the dual-master surgical robotic system of claim 6, wherein, The data interaction device is used for data interaction, further comprising: The first ET1100 communication module is used for receiving the first interaction data and sending the first interaction data to the FPGA interaction module; The FPGA interaction module is used for sending the first interaction data to the second ET1100 communication module; The second ET1100 communication module is used for sending the first interaction data to the surgical platform master station.

8. The control method of the dual-master surgical robotic system of any one of claims 1-4, 6-7, wherein, Further comprising the following steps: When any one of the control platform master station and the surgical platform master station is disconnected from the data interaction device, the control platform master station is used for acquiring the first current slave station data, and a plurality of control platform slaves are controlled according to the first current slave station data; The surgical platform master station is used for acquiring the second current slave station data, and a plurality of surgical platform slaves are controlled according to the second current slave station data.

9. A control device of a dual master surgical robotic system, comprising: The dual-master surgical robot system comprises a data interaction device, a control platform master station, a plurality of control platform slaves in communication connection with the control platform master station, a surgical platform master station, and a plurality of surgical platform slaves in communication connection with the surgical platform master station; the control device of the dual-master surgical robot system comprises: A first processing module is configured to acquire first historical slave station data of a plurality of control platform slaves by using the control platform master station when the communication interaction device is in communication connection with the control platform master station and the surgical platform master station, and to filter first interaction data from the first historical slave station data; A second processing module is configured to acquire second historical slave station data of a plurality of surgical platform slaves by using the surgical platform master station, and to filter second interaction data from the second historical slave station data; A third processing module is configured to perform data interaction by using the data interaction device, comprising sending the second interaction data to the control platform master station and sending the first interaction data to the surgical platform master station; a fourth processing module configured to acquire first current slave data of the plurality of slave stations of the control platform by using the master station of the control platform, and control the plurality of slave stations of the control platform according to the first current slave data and the second interaction data; a fifth processing module configured to acquire second current slave data of the plurality of slave stations of the surgery platform by using the master station of the surgery platform, and control the plurality of slave stations of the surgery platform according to the second current slave data and the first interaction data.

10. A computer-readable storage medium, characterized in that, The storage medium has stored thereon a computer program, which, when executed by a processor, implements the control method of the dual-master surgery robot system according to any one of claims 1-8.

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