Surgical robots, control transfer methods, media and products for control consoles

Abstract

The application discloses a surgical robot, a control right transfer method of a console, a medium and a product. The surgical robot comprises a mechanical arm, a console combination, an image trolley, a surgical table and a host computer. The console combination comprises a main console and at least one non-main console. Each console in the console combination, the image trolley and the surgical table adopt a bidirectional ring communication mode for data communication. The console is provided with a first number of communication circuit boards, the image trolley is provided with a second number of communication circuit boards, and the surgical table is provided with a third number of communication circuit boards. The host computer is used for detecting the states of all the communication circuit boards in real time to obtain a current state identifier combination. In the case that the current state identifier combination is a target state identifier combination, the control right of the main console is transferred to a set console in the at least one non-main console. The embodiment of the application can timely complete the transfer of the control right in the case that the main console fails.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a method, medium, and product for transferring control of a surgical robot and control console. Background Technology

[0002] Surgical robots typically have at least two control consoles, but during surgery, usually only one console is the primary console, while the others are secondary consoles. Only the primary console can control the robotic arm to perform the corresponding surgical procedures. To ensure the smooth execution of the surgery, if the host computer detects a malfunction or loss of connection to the primary console, it will set the secondary consoles as the primary console, allowing the user to complete the remaining surgical procedures using the current primary console.

[0003] While existing technologies can allow users to continue surgery by elevating the secondary console to the primary console, this process typically involves a noticeable communication interruption. In other words, existing technologies cannot transfer control without the noticeable communication interruption if the primary console malfunctions. Summary of the Invention

[0004] This invention provides a method, medium, and product for transferring control of a surgical robot and a control console, in order to solve the problem that existing surgical robots cannot complete the transfer of control without sensing a communication interruption.

[0005] According to one aspect of the present invention, a surgical robot is provided, comprising: a robotic arm, a console assembly, an imaging trolley, an operating table, and a host computer;

[0006] The console assembly is configured to include a main console and at least one non-main console, wherein the main console is used to control the robotic arm to perform corresponding surgical operations via control commands.

[0007] The operating table is used to support the surgical object operated on by the robotic arm;

[0008] The imaging trolley is used to carry bedside imaging equipment;

[0009] Each console in the console assembly, the imaging trolley, and the operating table communicate data via a two-way loop communication method.

[0010] The control console is equipped with a first number of communication circuit boards, the imaging trolley is equipped with a second number of communication circuit boards, and the operating table is equipped with a third number of communication circuit boards.

[0011] The host computer is used to detect the status of all the communication circuit boards in real time to obtain the current status identifier combination. If the current status identifier combination is the target status identifier combination, the control of the main console is transferred to the designated console in at least one non-main console.

[0012] According to another aspect of the present invention, a control transfer method for a control console is provided, applied to a surgical robot, comprising:

[0013] The status indicators of all the communication circuit boards are detected in real time to obtain the current status indicator combination;

[0014] If the current status identifier combination is the target status identifier combination, control of the main console is transferred to the designated console in at least one non-main console.

[0015] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the control transfer method according to any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer program product is provided, comprising a computer program that, when executed by a processor, implements a console control transfer method as described in any of the embodiments of the present invention.

[0017] The technical solution provided by this invention achieves the technical effect of ensuring the security and stability of data communication through redundant communication by enabling each console, imaging carriage, and operating table in the console assembly to use a bidirectional loop communication method. In the event of a failure in the communication line in one direction, communication can be completed through the communication line in the other direction. Each console, imaging carriage, and operating table is equipped with a corresponding number of communication circuit boards. The status of all communication circuit boards is detected in real time to obtain the current status identifier combination. When the current status identifier combination is the target status identifier combination, the control of the main console is transferred to a designated console among at least one non-main console. This realizes the determination, based on the status identifiers of all communication circuit boards, whether the failure of the surgical robot can be avoided by transferring control to prevent its impact on the surgery. If so, the control of the main console is transferred to a designated console among at least one non-main console to improve the stability of the surgical robot's operation and avoid the occurrence of unsuccessful surgical procedures due to surgical robot failure.

[0018] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of a surgical robot provided according to an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of clockwise ring communication in bidirectional ring communication provided by an embodiment of the present invention;

[0022] Figure 3 This is a communication diagram before and after the transfer of control of the second console according to an embodiment of the present invention;

[0023] Figure 4 This is a flowchart of the console control transfer method provided in an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the control transfer device for the console provided in an embodiment of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] Figure 1This is a schematic diagram of the structure of a surgical robot provided in an embodiment of the present invention. This embodiment is applicable to ensuring normal communication of the console to the greatest extent through bidirectional ring communication and smoothly completing the transfer of control in the event of communication failure. This method can be executed by the control transfer device of the console, which can be implemented in hardware and / or software. The control transfer device of the console can be configured in the processor of the host computer.

[0028] like Figure 1 As shown, the surgical robot includes: a robotic arm 10, a console assembly, an imaging carriage 13, an operating table 14, and a host computer 15. The console assembly is configured to include a main console and at least one non-main console. The main console is used to control the robotic arm 10 to perform corresponding surgical operations via control commands. The operating table 14 is used to carry the surgical object of the robotic arm 10. The imaging carriage 13 is used to carry bedside imaging equipment. The consoles in the console assembly, the imaging carriage 13, and the operating table 14 communicate with each other via bidirectional loop communication. The consoles are equipped with a first number of communication circuit boards, the imaging carriage 13 is equipped with a second number of communication circuit boards, and the operating table 14 is equipped with a third number of communication circuit boards. The host computer 15 is used to detect the status of all the communication circuit boards in real time to obtain the current status identifier combination. If the current status identifier combination is the target status identifier combination, the control of the main console is transferred to the designated console among the at least one non-main console.

[0029] Among them, surgical robots can be laparoscopic surgical robots, such as laparoscopic surgical robots, thoracoscopic and laparoscopic surgical robots, etc.

[0030] Both the main console and non-main consoles can be connected to the network, but only the main console can be used to control the robotic arm to perform the corresponding surgical operations.

[0031] In one embodiment, the surgical robot may also be connected to only one console, which is the default main console. In this case, the user controls the robotic arm to perform the corresponding surgical operations through the main console. Figure 1 The first console 11 is the main console, which can control the robotic arm to perform surgical operations. The second console 12 is a non-main console, which cannot control the robotic arm to perform surgical operations.

[0032] The imaging trolley is used to load bedside imaging equipment so that the images captured by the bedside imaging equipment can be sent to the host computer in real time.

[0033] Understandably, during surgery, the patient is placed on the operating table, and their specific position depends on the type of surgery. In many cases, when using a surgical robot, it is necessary to place positioning markers on or inside the patient's body, or to use image recognition to locate the surgical site. Connecting the operating table to the surgical robot's local network allows the robot to accurately obtain the positional relationship between the operating table and the patient's surgical site in real time, and to accurately determine the actual position of the bedside imaging equipment based on its relationship with the operating table.

[0034] The first, second, and third quantities can be the same or different. In one embodiment, the console includes more communication circuit boards than the imaging trolley, and the operating table includes more communication circuit boards than the console. For example, the console includes two communication circuit boards, the imaging trolley includes one communication circuit board, and the operating table includes three communication circuit boards; or the console trolley includes three communication circuit boards, the imaging trolley includes two communication circuit boards, and the operating table includes four communication circuit boards. It should be noted that the number of communication circuit boards in each device can be determined based on the amount of data transmission during the surgical procedure.

[0035] For two-way ring communication, "two-way" means that there are both transmission and reception lines during data communication, and "ring-shaped" means that the communication lines between the various control consoles, imaging trolleys, and operating tables in the control console assembly form a closed loop. If a problem occurs at any node in the two-way communication ring, for example... Figure 2 The first console is the main console. If its receiving port malfunctions, it cannot directly obtain data from the operating table, but it can indirectly obtain data from the operating table through the second console and the imaging trolley. This redundant two-way communication network ensures normal communication between the devices to the greatest extent.

[0036] Status identifiers are used to indicate the communication status of the communication circuit board at a given time. In one embodiment, a first status identifier, such as OP, indicates that the loop communication connection is normal; a second status identifier, such as INIT NO_COMM, indicates that the loop communication connection has failed; and a third status identifier, such as LNK_MIS_X, indicates that the communication connection on port X has failed, but the loop communication connection is normal. In one embodiment, the communication circuit board includes three ports, namely port A, port B, and port C, and LNK_MIS_A indicates that the communication connection on port A has failed, but the loop communication connection is normal.

[0037] The operating table, imaging trolley, and all communication circuit boards of all control consoles are considered as a communication circuit board combination. The host computer monitors the status of each communication circuit board in this combination in real time to obtain the current status identifier combination. If the current status identifier combination is not the target status identifier combination, it is determined that no control transfer is needed; if the current status identifier combination is the target status identifier combination, it is determined that the anomaly is associated with the main control console, and the control of the main control console is transferred to the designated non-main control console among at least one of the non-main control consoles. It is understood that if the fault corresponding to the current status identifier combination is unrelated to the main control console, then the technical fault affecting the surgical image cannot be resolved through control transfer, therefore no control transfer is performed. As for whether other measures need to be taken, this embodiment will not be described in detail here.

[0038] In one embodiment, the host computer is specifically used to: determine the fault identifier corresponding to the current status identifier combination based on the current status identifier combination and the pre-created correspondence between status identifier combinations and fault identifiers; if the fault identifier corresponds to a main console fault, then transfer control of the main console to a designated console among the at least one non-main consoles. In this embodiment, if the fault corresponding to the fault identifier is not associated with the main console, then no transfer of control is required; if the fault corresponding to the fault identifier is associated with the main console, then the control of the main console is transferred to a designated console among the at least one non-main consoles. This transfer of control improves the communication stability of the current main console, allowing the user to complete the remaining surgical operations through the newly determined main console, preventing the original main console from failing and the surgery from continuing, thus improving surgical safety and user experience.

[0039] In one embodiment, the host computer is configured to: if the fault identifier corresponds to a main console fault, and the main console fault is that the loop communication is normal, but at least one port of the main console has a communication abnormality, then output a control transfer prompt message; in response to the control transfer confirmation message, transfer the control of the main console to a designated console among the at least one non-main consoles.

[0040] Specifically, bidirectional loop communication allows the console to send information to a designated device in either a clockwise or counter-clockwise direction. For two adjacent devices in the loop, direct communication is preferred; if a communication failure occurs in the loop direction corresponding to the connection point of the two adjacent devices, data transmission is performed through the communication path in the other direction. For example, such as... Figure 2The communication loop is shown. The first direction loop is defined as: patient operating platform, first doctor's console, second doctor's console, imaging cart, and patient operating platform; the second direction loop is defined as: patient operating platform, imaging cart, second doctor's console, first doctor's console, and patient operating platform. When communication between the patient operating platform and the first doctor's console is normal, the patient operating platform sends data to the first doctor's console via the first direction loop; conversely, if communication fails, data is sent to the first doctor's console via the second direction loop.

[0041] Therefore, even if loop communication is normal, but at least one port of the main console experiences a communication anomaly, the main console can continue data communication. However, without redundant communication lines for backup, it outputs a control transfer prompt to remind the user to complete the control transfer as soon as possible. In one embodiment, the control transfer corresponding to this prompt has a time limit requirement; for example, if the control transfer is not actively completed within a set time frame, a forced control transfer will occur. This embodiment both prompts the user to complete the control transfer as soon as possible and ensures that the user of the main console can complete the necessary surgical procedures before the control transfer.

[0042] Optionally, this set time range is configured with a set number of control extension opportunities. The main console user can modify the set time range to extend the main console's usage time as much as possible. For example, during critical surgical procedures where it is not suitable to switch surgeons, the main console user can use this function.

[0043] In one embodiment, the host computer is configured to transfer control of the main console to a designated console among the at least one non-main console if the fault identifier corresponds to a main console fault and the main console fault is a loop communication abnormality.

[0044] Specifically, a loop communication anomaly refers to an anomaly occurring in all directions of the bidirectional communication loop. In this case, the main console cannot communicate with other devices. Therefore, if the fault indicator corresponds to a main console failure, and the main console failure is a loop communication anomaly, control of the main console is directly transferred to a designated console among the at least one non-main consoles. Optionally, these at least one non-main consoles are configured with a priority order, and the host computer transfers control of the main console to the non-main console with the highest priority among these at least one non-main consoles, thus ensuring the effectiveness of the surgical procedure while improving the speed of control transfer.

[0045] In one embodiment, the consoles in the console assembly, the imaging trolley, and the operating table communicate based on Ethernet control automation technology.

[0046] Specifically, EtherCAT (Ethernet Control Automation Technology) is a fieldbus system based on Ethernet. The CAT in its name stands for Control Automation Technology. EtherCAT has a short cycle time because the slave station's microprocessor does not need to process Ethernet packets. All program data is processed by the slave controller's hardware. This characteristic, combined with EtherCAT's functional principles, makes it a high-performance distributed I / O system: program data exchange for one thousand distributed digital inputs / outputs takes only 30µs, equivalent to transmitting 125 bytes of data over a 100Mbit / s Ethernet. A system reading and writing one hundred servo axes can update at a rate of 10kHz. Typical update rates are approximately 1–30kHz, but lower update rates can also be used to avoid excessively frequent direct memory access affecting the operation of the master station's PC. In one embodiment, the host computer is configured as the master station, the operating table is configured as a slave station, and each console in the console assembly and the imaging trolley are located within a slave station. This embodiment reduces the number of slave stations and thus reduces communication costs by placing each console in the console assembly and the video trolley within a single slave station.

[0047] Figure 2 This is a diagram showing the distribution of communication nodes according to an embodiment of the present invention. In this diagram, the operating table, the first control console, the second control console, and the imaging trolley are connected in a ring. The output port (OUT) of the operating table 14 is designated as the first node, the input port (INT) of the first control console 11 as the second node, the output port of the first control console 11 as the third node, the input port of the second control console 12 as the fourth node, the output port of the second control console 12 as the fifth node, the input port of the imaging trolley 13 as the sixth node, the output port of the imaging trolley 13 as the seventh node, and the input port of the operating table 14 as the eighth node. The operating table 14 includes communication circuit boards labeled P1, P2, and P3; the first control console includes communication circuit boards labeled 1S1 and 1S2; the second control console includes communication circuit boards labeled 2S1 and 2S2; and the imaging trolley includes a communication circuit board labeled V1. The states of each circuit board when each node is disconnected are tested, resulting in Table 1.

[0048] Table 1 shows the combination of status indicators corresponding to each circuit breaker point.

[0049]

[0050] Table 1 can be interpreted as the status of each communication circuit board when a network connection cable is disconnected. When the first console is the main console and a status flag combination corresponding to interrupt point 2 in Table 1 is detected, control of the main console is transferred to the second console; when a status flag combination corresponding to interrupt point 6 in Table 1 is detected, control of the main console is transferred to the second console; when the second console is the main console and a status flag combination corresponding to interrupt point 4 in Table 1 is detected, control of the main console is transferred to the first console.

[0051] Table 2 shows the status of each communication circuit board when the first or second console provided in the embodiments of the present invention is in the powered-off state. Details are as follows:

[0052] Table 2 shows the combination of status identifiers corresponding to the shutdown status of each console.

[0053]

[0054] In this embodiment of the invention, console shutdown is defined as a fault type. That is, if the status indicator combination result shows that the main console is shut down (or there is a breakpoint, communication line disconnection, etc.), it is considered that the main console has a set fault, and then the control of the main console is transferred to a set non-main console.

[0055] It should be noted that the number of communication circuit boards included in the operating table, doctor's console, and imaging trolley is variable. Furthermore, when the number of communication circuit boards in these components differs, the combination of status indicators corresponding to each circuit breaker point will be different, and the combination of status indicators corresponding to the shutdown state of each doctor's console will also be different. However, when the number of communication circuit boards in the operating table, doctor's console, and imaging trolley is fixed, the combination of status indicators corresponding to each circuit breaker point and the combination of status indicators corresponding to the shutdown state of each doctor's console remain unchanged. Therefore, the technical solution of this application has strong compatibility and extensibility.

[0056] Figure 3 This is a schematic diagram illustrating the transfer of control of the second console provided in an embodiment of the present invention. If the second console is the master console, upon detecting a status flag combination corresponding to the second console being powered off, control is transferred to the first console, establishing a communication connection between the first console and the image trolley (see [link]). Figure 3 The dashed line corresponds to the communication connection line, enabling the user to complete the surgery via the first console. This embodiment gives the surgical robot the ability to hot-swap the console, solving the problem of real-time natural switching of the surgical robot during network switching between single and dual consoles.

[0057] When the robot system only includes the first console, the first console is the main console. When the second console is added, the communication method changes rapidly from a two-way loop communication between the operating table, the first console, and the imaging trolley to a two-way loop communication between the operating table, the first console, the second console, and the imaging trolley.

[0058] The amount of communication status data to be compared in this embodiment is very small and the logic is simple, having no impact on the efficiency of the main functions of the surgical robot. Finally, the above judgment logic is based on EtherCAT communication technology, thus it is strictly isolated from the motion planning trajectory control of the surgical robot and will not bring any hidden dangers or improvements to the laparoscopic surgical robot system.

[0059] In one embodiment, the host computer is further configured to, upon detecting a control transfer instruction issued by the main console, determine a non-main console identifier corresponding to the control transfer instruction, set the current main console as a non-main console, and simultaneously set the console corresponding to the non-main console identifier as the main console.

[0060] Specifically, under normal communication conditions, the main console user can determine whether to actively transfer control based on actual needs. If the main console user needs to transfer control, the main console outputs a control transfer command to the host computer. Upon detecting the control transfer command, the host computer parses the command to obtain the non-main console identifier corresponding to the command, then sets the current console as the non-main console, and simultaneously sets the console corresponding to the non-main console identifier as the main console.

[0061] This embodiment enables the transfer of control under normal communication conditions. This function allows the surgeon and assistant to switch control of the robotic arm to perform corresponding surgical operations through their respective consoles, based on actual surgical needs. This improves the user experience during surgery and also facilitates the surgeon's teaching work.

[0062] The technical solution provided by this invention achieves the technical effect of ensuring the security and stability of data communication through redundant communication by enabling each console, imaging carriage, and operating table in the console assembly to use a bidirectional loop communication method. In the event of a failure in the communication line in one direction, communication can be completed through the communication line in the other direction. Each console, imaging carriage, and operating table is equipped with a corresponding number of communication circuit boards. The status of all communication circuit boards is detected in real time to obtain the current status identifier combination. When the current status identifier combination is the target status identifier combination, the control of the main console is transferred to a designated console among at least one non-main console. This realizes the determination, based on the status identifiers of all communication circuit boards, whether the failure of the surgical robot can be avoided by transferring control to prevent its impact on the surgery. If so, the control of the main console is transferred to a designated console among at least one non-main console to improve the stability of the surgical robot's operation and avoid the occurrence of unsuccessful surgical procedures due to surgical robot failure.

[0063] Figure 4 This is a flowchart of a console control transfer method provided in an embodiment of the present invention. This embodiment is applicable to situations where the main console experiences a communication failure, and control is transferred to a designated non-main console. This method can be executed by a console control transfer device, which can be implemented in hardware and / or software, and can be configured in the aforementioned machine. Figure 4 As shown, the method includes:

[0064] S110. Real-time detection of the status indicators of all the communication circuit boards to obtain the current status indicator combination.

[0065] All communication circuit boards refer to all communication circuit boards in the operating table / control console assembly and the imaging trolley. The host computer monitors the status of each communication circuit board in real time and marks the status of each communication circuit board with a corresponding status identifier to obtain the current status identifier combination.

[0066] S120. If the current status identifier combination is the target status identifier combination, transfer control of the main console to the setting console in at least one non-main console.

[0067] The target status identifier combination corresponds to a main console failure. For a surgical robot, the main console may experience one or more failures, and different failures correspond to different target status identifier combinations. For example, when interruption point 2 and disconnection point 6 occur in Table 1 of the aforementioned embodiment, they both correspond to a failure of the first console, but the failure types are different. The former causes the communication connection of port A of the communication circuit board of console 1, identified as 1S1, to fail, while the latter causes the communication connection of port C of the communication circuit board of console 1, identified as 1S1, to fail.

[0068] In one embodiment, when the current state identifier combination is the first state identifier combination, which is the state identifier combination corresponding to the circuit breaker point 2 in Table 1 of the aforementioned embodiment, and the current main console is the first console, control of the first console is transferred to the second console. When the current identifier combination is the second state identifier combination, which is the state identifier combination corresponding to the circuit breaker point 6 in Table 1 of the aforementioned embodiment, and the current main console is the first console, control of the first console is transferred to the second console. When the current state identifier combination is the third state identifier combination, which is the state identifier combination corresponding to the circuit breaker point 4 in Table 1 of the aforementioned embodiment, and the current main console is the second console, control of the second console is transferred to the first console.

[0069] The technical solution provided by this invention achieves the technical effect of ensuring the security and stability of data communication through redundant communication by enabling each console, imaging carriage, and operating table in the console assembly to use a bidirectional loop communication method. In the event of a failure in the communication line in one direction, communication can be completed through the communication line in the other direction. Each console, imaging carriage, and operating table is equipped with a corresponding number of communication circuit boards. The status of all communication circuit boards is detected in real time to obtain the current status identifier combination. When the current status identifier combination is the target status identifier combination, the control of the main console is transferred to a designated console among at least one non-main console. This realizes the determination, based on the status identifiers of all communication circuit boards, whether the failure of the surgical robot can be avoided by transferring control to prevent its impact on the surgery. If so, the control of the main console is transferred to a designated console among at least one non-main console to improve the stability of the surgical robot's operation and avoid the occurrence of unsuccessful surgical procedures due to surgical robot failure.

[0070] It should be noted that for any content not described in detail in the embodiments of the present invention, please refer to the foregoing embodiments.

[0071] Figure 5 This is a schematic diagram of the control transfer device for a console provided in an embodiment of the present invention. Figure 5 As shown, the device includes:

[0072] The detection module 110 is used to detect the status indicators of all the communication circuit boards in real time to obtain the current status indicator combination;

[0073] The transfer module 120 is used to transfer control of the main console to the designated console in at least one non-main console when the current status identifier combination is the target status identifier combination.

[0074] In one embodiment, the transfer module 120 is specifically used to: determine the fault identifier corresponding to the current status identifier combination based on the current status identifier combination and the correspondence between the pre-created status identifier combination and the fault identifier; if the fault identifier corresponds to a main console failure, then transfer the control of the main console to the designated console in at least one non-main console.

[0075] In one embodiment, the transfer module 120 is specifically configured to: if the fault identifier corresponds to a main console fault, and the main console fault is that the loop communication is normal, but at least one port of the main console has a communication abnormality, then output a control transfer prompt message; in response to the control transfer confirmation message, transfer the control of the main console to a designated console among the at least one non-main consoles.

[0076] In one embodiment, the transfer module 120 is specifically used for: the host computer is used to transfer control of the main console to a designated console among the at least one non-main console if the fault identifier corresponds to a main console fault and the main console fault is a loop communication abnormality.

[0077] The technical solution provided by this invention achieves the technical effect of ensuring the security and stability of data communication through redundant communication by enabling each console, imaging carriage, and operating table in the console assembly to use a bidirectional loop communication method. In the event of a failure in the communication line in one direction, communication can be completed through the communication line in the other direction. Each console, imaging carriage, and operating table is equipped with a corresponding number of communication circuit boards. The status of all communication circuit boards is detected in real time to obtain the current status identifier combination. When the current status identifier combination is the target status identifier combination, the control of the main console is transferred to a designated console among at least one non-main console. This realizes the determination, based on the status identifiers of all communication circuit boards, whether the failure of the surgical robot can be avoided by transferring control to prevent its impact on the surgery. If so, the control of the main console is transferred to a designated console among at least one non-main console to improve the stability of the surgical robot's operation and avoid the occurrence of unsuccessful surgical procedures due to surgical robot failure.

[0078] The control transfer device for the console provided in this embodiment of the invention can execute the control transfer method for the console provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0079] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0080] Computer programs used to implement the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a standalone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or a host computer.

[0081] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0082] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the console control transfer method provided in any embodiment of this application.

[0083] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0084] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0085] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A surgical robot, characterized by, The surgical robot comprises a mechanical arm, a console combination, an imaging trolley, a surgical table and a host computer. The console combination comprises a master console and at least one non-master console, and the master console is configured to control the mechanical arm to perform a corresponding surgical operation through a control instruction. The surgical table is configured to carry a surgical object of the mechanical arm. The imaging trolley is configured to carry a bedside imaging device. Each console in the console combination, the imaging trolley and the surgical table are configured to communicate with each other in a bidirectional ring communication mode. The console is provided with a first number of communication circuit boards, the imaging trolley is provided with a second number of communication circuit boards, and the surgical table is provided with a third number of communication circuit boards. The host computer is configured to detect the state of all the communication circuit boards in real time to obtain a current state identifier combination, and in a case where the current state identifier combination is a target state identifier combination, the control right of the master console is transferred to a designated console in the at least one non-master console.

2. The surgical robot of claim 1, wherein the host computer is specifically configured to: determine a fault identifier corresponding to the current state identifier combination according to a correspondence relationship between the current state identifier combination and a state identifier combination and a fault identifier created in advance, and if the fault identifier corresponds to a master console fault, transfer the control right of the master console to a designated console in the at least one non-master console.

3. The surgical robot of claim 2, wherein the host computer is configured to: if the fault identifier corresponds to a master console fault and the master console fault is a normal ring communication, but at least one port of the master console has a communication abnormality, output a control right transfer prompt information; and in response to a control right transfer confirmation information, transfer the control right of the master console to a designated console in the at least one non-master console.

4. The surgical robot of claim 3, wherein the host computer is configured to: if the fault identifier corresponds to a master console fault and the master console fault is a ring communication abnormality, transfer the control right of the master console to a designated console in the at least one non-master console.

5. The surgical robot of claim 1, wherein each console in the console combination, the imaging trolley and the surgical table are configured to communicate based on an Ethernet for control automation technology.

6. The surgical robot of claim 5, wherein the host computer is configured as a master station, the surgical table is configured as a slave station, and each console in the console combination and the imaging trolley are arranged in a slave station.

7. The surgical robot of claim 1, wherein the console is provided with two communication circuit boards, the imaging trolley is provided with one communication circuit board, and the surgical table is provided with three communication circuit boards. The surgical robot of any one of claims 1-7, comprising: detecting state identifiers of all the communication circuit boards in real time to obtain a current state identifier combination; and 8. The surgical robot of claim 7, wherein the host computer is configured to: determine a fault identifier corresponding to the current state identifier combination according to a correspondence relationship between the current state identifier combination and a state identifier combination and a fault identifier created in advance, and if the fault identifier corresponds to a master console fault, transfer the control right of the master console to a designated console in the at least one non-master console. ​ ​ ​ ​ ​ ​ 8. A control right transfer method of a console, characterized by, ​ ​ In a case where the current state identifier combination is a target state identifier combination, transferring control of the main console to a set console in the at least one non-main console.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing a processor to implement the control right transfer method of the console according to claim 8 when executed.

10. A computer program product, characterised in that, The computer program product comprises a computer program which, when executed by a processor, implements the control right transfer method of the console according to claim 8.

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