Bandwidth adjustment method, system and storage medium of remote surgical robot

Abstract

The present application discloses a bandwidth adjustment method, system and storage medium of a remote surgical robot, including: a remote surgical robot, including a first terminal and a second terminal in communication connection, one of which is a remote doctor console and the other is a patient surgical platform; a central server, which is in communication connection with at least one of the first terminal and the second terminal; the bandwidth adjustment method includes: in response to the interactive operation of the first terminal to the second terminal, triggering the first control state of the remote surgical robot; according to the first control state, adjusting the bandwidth of the communication connection between the first terminal and the second terminal through the central server. The present invention realizes the adaptive dynamic adjustment of the required network bandwidth for different operations of the remote surgical robot during the remote surgery execution process.

Description

Technical Field

[0001] The present invention belongs to the field of medical devices, and in particular relates to a bandwidth adjustment method, system and storage medium of a remote surgical robot. Background Art

[0002] With the continuous improvement of remote surgical robots and network infrastructure, remote surgery using surgical robots has become a mature surgical technology in hospitals. Patients' acceptance of remote surgery is also increasing, and the market demand for remote surgical robots is also increasing. Remote surgery is highly dependent on network communication, and network delays and instability will directly affect the quality and effect of the surgery.

[0003] On the other hand, the network bandwidth of remote surgical robots usually needs to meet a certain size, such as more than 60Mbps. Especially in application scenarios such as remote diagnosis and surgery, the real-time requirements are very strict and may require higher bandwidth. The network bandwidth requirements are different for different remote surgery scenarios, and existing remote surgery cannot adaptively and dynamically adjust the network bandwidth required for real-time remote surgery scenarios based on the operations during the operation. Summary of the invention

[0004] In order to solve the problem that the existing remote surgery cannot adaptively and dynamically adjust the required network bandwidth based on the operations during the surgery, the present invention proposes the following technical solutions:

[0005] A first aspect of the present invention provides a bandwidth adjustment method for a remote surgical robot, comprising: a remote surgical robot, comprising a first terminal and a second terminal in communication connection, one of the first terminal and the second terminal being a remote doctor console and the other being a patient surgical platform; a central server, communicatively connected to at least one of the first terminal and the second terminal; the bandwidth adjustment method comprises: triggering a first control state of the remote surgical robot in response to an interactive operation of the first terminal to the second terminal; and adjusting the bandwidth of the communication connection between the first terminal and the second terminal through the central server according to the first control state.

[0006] Preferably, the central server is communicatively connected to a preset network operator server; according to the first control state, the bandwidth of the communication connection between the first terminal and the second terminal is adjusted through the central server, including: matching the bandwidth parameters corresponding to the first control state through at least one of the first terminal and the second terminal, and sending a first bandwidth adjustment request to the central server based on the bandwidth parameters; and initiating a second bandwidth adjustment request to the network operator server through the central server based on the first bandwidth adjustment request, so as to adjust the bandwidth of the communication connection between the first terminal and the second terminal through the network operator server.

[0007] Preferably, at least one of the first terminal and the second terminal stores mapping information, and the bandwidth parameter includes multiple bandwidth levels in order of bandwidth, and the mapping information includes: a mapping relationship between multiple different first control states and multiple bandwidth levels; based on the bandwidth parameter, sending a first bandwidth adjustment request to the central server includes: matching the target bandwidth level corresponding to the first control state in the stored mapping information through at least one of the first terminal and the second terminal, and initiating a first bandwidth adjustment request to the central server based on the target bandwidth level.

[0008] Preferably, the interactive operation includes: operations for triggering any one of multiple surgical stages, and operations for triggering any one of multiple surgical tasks; the first control state represents: the state of the interactive operation authority of the first terminal for the second terminal in any surgical stage and / or any surgical task.

[0009] Preferably, any one of the surgical stages includes at least one of the following: power-on self-test, remote pairing, remote connection, remote interactive communication, remote surgical operation, remote pairing release, and power-off self-test; any one of the surgical tasks includes at least one of the following: surgical operation task, teaching task, and debugging task.

[0010] Preferably, the remote doctor console and the patient surgical platform include operating components, and the operating components include at least one of the following: a graphical user interface and physical hardware; in response to the interactive operation of the first terminal to the second terminal, the first control state of the remote surgical robot is triggered, including: in response to a touch operation on the graphical user interface of the remote doctor console, or a physical operation on the physical hardware, triggering an interactive operation on the patient surgical platform; in response to a touch operation on the graphical user interface of the patient surgical platform, or a physical operation on the physical hardware, triggering an interactive operation on the remote doctor console.

[0011] Preferably, it also includes at least one auxiliary surgical device, and at least one end of the first terminal and the second terminal is detachably connected to the at least one auxiliary surgical device; according to the first control state, the bandwidth of the communication connection between the first terminal and the second terminal is adjusted through the central server, including: in response to the interactive operation performed by the first terminal or the second terminal with the auxiliary surgical device, triggering the second control state of the remote surgical robot, the interactive operation at least includes the disassembly and assembly operation corresponding to the detachable connection; when the first control state and the second control state are triggered at the same time, through at least one end of the first terminal and the second terminal, according to the preset control state priority, one of the control states is selected from the first control state and the second control state; according to the selected control state, the bandwidth of the communication connection between the first terminal and the second terminal is adjusted through the central server.

[0012] Preferably, it also includes an external image acquisition device, which is communicatively connected to a first terminal or a second terminal detachably connected to the auxiliary surgical device; before triggering the second control state of the remote surgical robot in response to an interactive operation performed by the first terminal or the second terminal with the auxiliary surgical device, it also includes: acquiring a surgical scene image through the external image acquisition device, wherein the surgical scene image includes an image of the auxiliary surgical device and the first terminal or the second terminal detachably connected to the auxiliary surgical device; according to the surgical scene image, identifying the disassembly and assembly operation of the first terminal or the second terminal and the auxiliary surgical device through the first terminal or the second terminal detachably connected to the auxiliary surgical device.

[0013] Preferably, the first control state includes: a third control state of the remote doctor console over the patient surgical platform, and a fourth control state of the patient surgical platform over the remote doctor console, and a master-slave state priority is preset between the third control state and the fourth control state; the central server is in communication connection with one of the remote doctor console and the patient surgical platform; according to the first control state, the bandwidth of the communication connection between the first terminal and the second terminal is adjusted by the central server, including: sending the third control state to the patient surgical platform through the remote doctor console, and the patient surgical platform selects one of the control states from its current fourth control state and the received third control state according to the master-slave state priority; or, sending the fourth control state to the remote doctor console through the patient surgical platform, and the remote doctor console selects one of the control states from its current third control state and the received fourth control state according to the master-slave state priority; according to the control state selected by the remote doctor console or the patient surgical platform, the bandwidth of the communication connection between the remote doctor console and the patient surgical platform is adjusted by the central server.

[0014] Preferably, the first control state includes: a third control state of the remote doctor console over the patient surgical platform, and a fourth control state of the patient surgical platform over the remote doctor console, and a master-slave state priority is preset between the third control state and the fourth control state; the central server is communicatively connected with the remote doctor console and the patient surgical platform respectively; according to the first control state, the bandwidth of the communication connection between the first terminal and the second terminal is adjusted through the central server, including: sending the third control state to the central server through the remote doctor console, and sending the fourth control state to the central server through the patient surgical platform; through the central server, according to the master-slave state priority, one of the control states is selected from the third control state and the fourth control state, and according to the selected control state, the bandwidth of the communication connection between the remote doctor console and the patient surgical platform is adjusted.

[0015] The second aspect of the present invention provides a bandwidth adjustment system for a remote surgical robot, the bandwidth adjustment system comprising: a remote surgical robot, comprising a first terminal and a second terminal connected in communication, one of the first terminal and the second terminal being a remote doctor console and the other being a patient surgical platform; a central server, communicatively connected to at least one of the first terminal and the second terminal; a processor, configured to: trigger a first control state of the remote surgical robot in response to an interactive operation of the first terminal to the second terminal; and adjust the bandwidth of the communication connection between the first terminal and the second terminal through the central server according to the first control state.

[0016] A third aspect of the present invention provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the bandwidth adjustment method of the remote surgical robot are implemented.

[0017] The beneficial effect of the present invention is that the patient surgery platform and the remote doctor console in the remote surgery robot will trigger corresponding control states during the interactive operation process, indicating remote surgery scenarios such as different surgery stages, different surgery tasks, and different surgery types during the surgery, so that during the surgery process, for different operations of the remote surgery robot (different remote surgery scenarios), the network bandwidth required for the real-time remote surgery scenario can be adaptively and dynamically adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a system schematic diagram of an embodiment of a remote surgical robot of the present invention;

[0019] Figure 2 It is a structural schematic diagram of an embodiment of a surgical instrument of the present invention;

[0020] Figure 3 is a system schematic diagram of another embodiment of the remote surgical robot of the present invention;

[0021] Figure 4 It is the first timing diagram of the network communication bandwidth adjustment of the present invention;

[0022] Figure 5 It is a second timing diagram of the network communication bandwidth adjustment of the present invention;

[0023] Figure 6 is a schematic diagram of bandwidth allocation for multiple groups of remote surgical robots of the present invention;

[0024] Figure 7 It is a third timing diagram of the network communication bandwidth adjustment of the present invention;

[0025] Figure 8It is a first flow chart of the bandwidth adjustment method of the present invention;

[0026] Fig. 9 It is a schematic diagram of the structure of the interactive operation of the remote surgical robot of the present invention;

[0027] Fig.10 It is a simple schematic diagram of the connection between the remote surgical robot and the auxiliary surgical device of the present invention;

[0028] Fig.11 It is a schematic diagram of a preferred embodiment of the bandwidth adjustment method of the present invention;

[0029] Fig.12 It is the fourth timing diagram of the network communication bandwidth adjustment of the present invention;

[0030] Fig.13 is a second flow chart of the bandwidth adjustment method of the present invention;

[0031] Fig.14 It is the fifth timing diagram of the network communication bandwidth adjustment of the present invention;

[0032] Fig.15 is a third flow chart of the bandwidth adjustment method of the present invention;

[0033] Fig.16 It is the sixth timing diagram of the network communication bandwidth adjustment of the present invention;

[0034] Fig.17 It is a flow chart of the bandwidth allocation method of the present invention. DETAILED DESCRIPTION

[0035] In order to facilitate the understanding of the present invention, the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments. Preferred embodiments of the present invention are provided in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0036] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those understood by a person skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. For example, the term "plurality" includes two or more.

[0037] 1. Remote surgical robots

[0038] Robotic remote surgery technology refers to the use of information network channels as a carrier for the transmission of medical information, and adopts a master-slave method to combine robotics, virtual reality, artificial intelligence, and computer technology to expand the use of remote diagnosis, remote guidance, and remote operation of medical surgery, so that remote doctors can control surgical robots through information network channels to perform surgery on remote patients. The remote surgical robot includes master and slave devices, where the master operating device is the remote doctor console and the slave operating device is the patient surgical platform. The doctor performs operations on the remote doctor console and sends control commands to the slave operating device to control the patient surgical platform to perform surgery on the patient.

[0039] The doctor and the remote doctor console are located in a first geographical location, and the patient and the patient surgery platform are located in a second geographical location; because the first geographical location and the second geographical location are usually far apart, such as being in different hospitals, buildings, regions, countries, etc., the remote doctor console and the patient surgery platform transmit surgical process data through an information network channel, such as master-slave control signaling, endoscopic video data, audio data, tactile feedback data, pairing data and other master-slave device interaction data.

[0040] Specifically, the remote doctor console is provided with a first remote host, and the patient surgery platform is provided with a second remote host. The remote doctor console and the patient surgery platform are connected to the information network channel through the first remote host and the second remote host respectively to realize the transmission of the surgery process data.

[0041] Remote surgical robots can specifically include: laparoscopic surgical robots (single-hole, multi-hole), natural cavity surgical robots, percutaneous puncture surgical robots, orthopedic surgical robots, pan-vascular surgical robots, dental surgical robots, neurosurgery surgical robots, etc., including the aforementioned remote doctor console and patient surgical platform, so that remote surgical technology can be realized.

[0042] For example, Figure 1 and Figure 2 As shown, the laparoscopic surgical robot (single port) includes a remote doctor console 100 and a patient surgical platform 200. The remote doctor console 100 is used to send control commands to the patient surgical platform 200 according to the doctor's operation to control the patient surgical platform 200, and is also used to display the images acquired by the patient surgical platform 200. The patient surgical platform 200 is used to respond to the control commands sent by the remote doctor console 100 and perform corresponding operations, and the patient surgical platform 200 is also used to acquire images in the body.

[0043] The patient surgical platform 200 includes a robotic arm 210, a power mechanism 220 disposed on the robotic arm 210, a surgical instrument 230 disposed on the power mechanism 220, and a sleeve 240 sleeved with a long axis 231 of the surgical instrument 230. When the patient surgical platform 200 responds to a control command from the remote doctor console 100, the robotic arm 210 is used to adjust the position of the surgical instrument 230, the power mechanism 220 is used to drive the surgical instrument 230 to perform a corresponding operation, and the end effector 232 of the surgical instrument 230 is used to extend into the body, and perform a surgical operation and / or obtain an in-vivo image through the end instrument at the distal end thereof.

[0044] For example, Figure 3 A natural orifice surgical robot 300 is shown. The natural orifice surgical robot 300 includes a remote doctor console and a patient surgical platform 320, wherein the remote doctor console includes a handle 310 and an imaging vehicle 330 connected to each other, and / or the patient surgical platform 320 also includes an imaging vehicle 330. The patient surgical platform 320 is connected with a catheter instrument 340, and is connected with a sensor system 350, and a control system 360 for realizing control between the catheter instrument 340, the sensor system 350 and the imaging vehicle 330. When the doctor performs various procedures on the patient next to the patient surgical platform 320, the control command can be triggered by operating the handle 310 and sent to the patient surgical platform 320 for driving, thereby controlling the catheter instrument 340 to advance, retract, bend and turn, etc.

[0045] The patient surgical platform 320 can usually be moved to the side of the surgical bed to engage the catheter instrument 340, and under the control command, the catheter instrument 340 is controlled to move up and down in the vertical direction, or to translate in the horizontal direction, or to move in non-vertical and non-horizontal directions, so as to provide a better preoperative preparation angle for the operation of the catheter instrument 340. The control command can be a command triggered by the doctor operating the patient surgical platform 320, or a command triggered by the doctor directly clicking or pressing a button set on the patient surgical platform 320. Of course, in other embodiments, the control command can also be a command triggered by voice control or a force feedback mechanism.

[0046] like Figure 3As shown, further, the patient surgical platform 320 may include a base 321, a sliding seat body 322 that can be lifted and moved along the base 321, and two mechanical arms 323 fixedly connected to the sliding seat body 322. The mechanical arm 323 may include a plurality of arm segments connected at a joint, and the plurality of arm segments provide the mechanical arm 323 with a plurality of degrees of freedom, for example, seven degrees of freedom corresponding to the seven arm segments. A power unit (not shown in the figure) is installed at the end of the mechanical arm 323, and the power unit of the mechanical arm 323 is used to engage the catheter instrument 340, and under the driving action of the power unit, the end of the catheter instrument 340 is controlled to bend and turn accordingly. Among them, the two mechanical arms 323 may be structures that are completely the same or partially the same, one mechanical arm 323 is used to engage the inner catheter instrument 341, and the other mechanical arm 323 is used to engage the outer catheter instrument 342. During installation, the outer catheter device 342 may be installed first, and when the outer catheter device 342 is installed, the catheter of the inner catheter device 341 is inserted into the catheter of the outer catheter device 342 .

[0047] The sensor system 350 has one or more subsystems for receiving information about the catheter device 340. The subsystems may include: a position sensor system; a shape sensor system for determining the position, orientation, speed, velocity, pose, and / or shape of the tip of the catheter device 340 and / or along one or more segments of the catheter that may constitute the catheter device 340; and / or a visualization system for capturing images from the tip of the catheter device 340.

[0048] The imaging vehicle 330 may be provided with a display system 331 and a flushing system (not shown in the figure), etc. The display system 331 is used to display images or representations of the surgical site and the catheter instrument 340 generated by the subsystem of the sensor system 350. Real-time images of the surgical site and the catheter instrument 340 captured by the visualization system may also be displayed. Images of the surgical site recorded before or during surgery may also be presented using image data from imaging technologies such as computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound, etc.

[0049] Wherein, the preoperative or intraoperative image data may be presented as a two-dimensional, three-dimensional, or four-dimensional (e.g., time-based or rate-based) image and / or as an image from a model created based on the preoperative or intraoperative image data set, and a virtual navigation image may also be displayed. In the virtual navigation image, the actual position of the catheter device 340 is registered with the preoperative image to present a virtual image of the catheter device 340 within the surgical site to the operator from the outside.

[0050] The control system 360 includes at least one memory and at least one processor. It is understood that the control system 360 can be integrated into the patient surgical platform 320 or the imaging vehicle 330, or can be independently provided. The control system 360 can support wireless communication protocols such as IEEE 802.11, IrDA, Bluetooth, HomeRF, DECT, and wireless telemetry. The control system 360 can transmit one or more signals indicating movement of the catheter instrument 340 by the power unit to move the catheter instrument 340. The catheter instrument 340 can extend to a surgical location in the body via an opening of a natural cavity or a surgical incision of the patient.

[0051] Furthermore, the control system 360 may include a mechanical control system (not shown in the figure) and an image processing system (not shown in the figure), wherein the mechanical control system is used to control the movement of the catheter device 340, and thus, may be integrated into the patient surgical platform 320. The image processing system is used for virtual navigation path planning, and thus, may be integrated into the imaging vehicle 330. Of course, the various subsystems of the control system 360 are not limited to the specific situations listed above, and may also be reasonably set according to actual conditions.

[0052] The image processing system can image the surgical site using the above imaging technology based on the image of the surgical site recorded before or during the operation. The recorded image can also be converted into a two-dimensional or three-dimensional synthetic image of a part or the entire anatomical organ or segment by software used in combination with manual input. During the virtual navigation procedure, the sensor system 350 can be used to calculate the position of the catheter instrument 340 relative to the patient's anatomical structure, which can be used to generate an external tracking image and an internal virtual image of the patient's anatomical structure, so as to achieve the actual position of the catheter instrument 340 and the preoperative image registration, so that the virtual image of the catheter instrument 340 in the surgical site can be presented to the operator from the outside.

[0053] The structural composition of the inner catheter device 341 and the outer catheter device 342 is substantially the same, and each comprises a slender and flexible inner catheter 41 and an outer catheter 42, wherein the diameter of the outer catheter 42 is slightly larger than that of the inner catheter 41, so that the inner catheter 41 can pass through the outer catheter 42 and provide a certain support for the inner catheter 41, so that the inner catheter 41 can reach the target position in the patient's body, so as to facilitate operations such as tissue or cell sampling from the target position.

[0054] Certain movements of the handle 310 may cause corresponding movements of the catheter instrument 340. For example, when the doctor operates the direction lever of the handle 310 to move upward or downward, the movement of the direction lever of the handle 310 may be mapped to the corresponding pitch movement of the end of the catheter instrument 340; when the doctor operates the direction lever of the handle 310 to move left or right, the movement of the direction lever of the handle 310 may be mapped to the corresponding yaw movement of the end of the catheter instrument 340. In this embodiment, the handle 310 may control the end of the catheter instrument 340 to move within a 360° spatial range.

[0055] In addition to their own equipment, the remote doctor console and patient surgical platform are also equipped with various auxiliary surgical devices, such as the aforementioned surgical instruments, catheter instruments, flushing systems, operating tables, as well as puncture cards, energy platforms, monitors, liquid suction systems, sterile covers, pneumoperitoneum machines, etc. The patient surgical platform is equipped with at least most of the auxiliary surgical devices to directly act on the patient; the remote doctor console is equipped with a small number of auxiliary surgical devices to assist doctors in performing surgical operations.

[0056] 2. Network communication bandwidth of remote surgical robots

[0057] The network channel between the remote doctor console and the patient surgery platform is mainly communicated through a single virtual channel / internet channel through the nodes representing the remote doctor console and the patient surgery platform in the cloud network. You can use the application to make an appointment to adjust the bandwidth size, please refer to Figure 4 The specific process is as follows:

[0058] 1. Application login

[0059] Log in to the central server through the application on smart terminal devices, such as mobile phones, computers, tablets, remote doctor consoles, and patient surgery platforms. After successful login, request a resource list from the central server to query the resource list of the remote doctor console and patient surgery platform nodes, and determine the appointment status of the node; specifically, it can include the nodes of the remote doctor console and patient surgery platform that can control the bandwidth within the login account authority. After receiving the request, the central server requests authentication from the operator server, and requests to query the resource and appointment status. After the operator server successfully authenticates, it returns the resource list and appointment status, and forwards it to the application by the central server.

[0060] 2. Query node bandwidth

[0061] The resource list and appointment status received by the application are displayed on the display of the smart terminal device. At least one node in the resource list is selected on the display to request bandwidth query from the central server. After receiving the request, the central server requests authentication from the operator server and requests to query the bandwidth of the selected node; after the operator server successfully authenticates, the node bandwidth size is returned and forwarded by the central server to the application and displayed on the display of the smart terminal device. According to the node bandwidth size, the node bandwidth size between the corresponding remote doctor console and the patient's surgical platform is determined.

[0062] 3. Make an appointment to adjust bandwidth

[0063] The resource list and reservation status received by the application are displayed on the display of the intelligent terminal device. At least one node in the resource list is selected on the display, and adjustment conditions such as reservation time, reservation bandwidth value, reservation query cycle, etc. are set, and a "reservation bandwidth node" is initiated to the central server. When the set reservation time arrives, the central server requests the operator server to adjust the selected node to the reservation bandwidth value, so that the network channel between the corresponding remote doctor console and the patient's surgical platform maintains the bandwidth of the reservation bandwidth value.

[0064] During the bandwidth adjustment process of the operator server, the central server periodically queries the bandwidth size of the reserved node according to the preset query cycle or fixed query cycle (for example, every 30 seconds). If the reserved bandwidth value is reached within the preset time, the current reservation of the selected node is cleared; if it is not reached within the preset time, a reservation failure prompt is initiated to the application.

[0065] 3. Operation and communication of remote surgical robots

[0066] The doctor operates on the touch screen, pedals, handles, buttons and other control structures of the remote doctor console to trigger interactive operations on the patient's surgical platform; the doctor operates on the touch screen and buttons and other control structures of the patient's surgical platform to trigger interactive operations on the remote doctor console; different interactive operations will trigger different control states between the remote doctor console and the patient's surgical platform, resulting in different data transmission volumes in the network channel between the remote doctor console and the patient's surgical platform, so the network channel requires different bandwidths to ensure low network latency and stable data transmission.

[0067] Specific operations such as power-on self-test, remote pairing, remote connection, remote interactive communication, remote surgical operation, remote pairing release, and power-off self-test implement operations at different surgical stages, or implement operations of different surgical tasks such as surgical operation tasks, teaching tasks, and debugging tasks. Under the control states corresponding to different operation triggers, the data transmission volume of the network channel is different, specifically because the data type transmitted in the network channel is different.

[0068] For example, during remote pairing, remote connection, and remote pairing release, at least device information data, identity authentication data, and / or protocol data are transmitted in the network channel; during remote interactive communication and teaching tasks, at least video data and / or audio data are transmitted in the network channel; during remote surgery and surgical operation tasks, at least video data, audio data, and / or control signaling data are transmitted in the network channel. Specifically, a flag bit can be specified in the interactive data packet to identify its data type.

[0069] As a further example, the corresponding bandwidth size is adjusted according to the type of data transmitted in the network channel. For example, when only control signaling data is transmitted, a bandwidth of 1 Mbps is allocated; when teaching task-related data such as video data and / or audio data is transmitted, a bandwidth of 10 Mbps is allocated; when surgical operation task-related data such as video data, audio data and / or control signaling data is transmitted, a bandwidth of 100 Mbps is allocated.

[0070] For the operation and communication of remote surgical robots, bandwidths for different surgical stages, surgical tasks, and / or surgical types can be preset, and bandwidth adjustment will be automatically requested when triggered, without the need to manually reserve and adjust bandwidth using the application. Figure 5 As shown, an implementation method for automatically adjusting bandwidth is provided. For example, the bandwidth for remote pairing between the remote doctor console and the patient surgery platform is preset to 10Mbps, and the process of going online, remote pairing, and adjusting bandwidth is described. The specific description is as follows:

[0071] Online: The remote doctor console and the patient surgery platform are connected to the central server and establish communication connections with the central server respectively; based on the communication connection, registration is initiated to the central server. The registration information includes: IP information, port information, network type, etc. of each device board. After registration is completed, at least one end logs in to the central server, completes the online process, and remains online.

[0072] Remote pairing: The remote doctor console and the patient surgery platform respectively initiate pairing requests to the central server. After the central server successfully pairs the two ends, it connects the communication connection between the remote doctor console and the patient surgery platform and returns the corresponding network information.

[0073] Adjust bandwidth: Before switching to other surgical stages, surgical tasks, and / or surgical types, set the preset bandwidth of the network channel in the remote pairing stage, i.e. 10Mbps; the remote doctor console requests the central server to adjust the bandwidth to 10Mbps; after receiving the request, the central server initiates a bandwidth query request to the operator server, and after receiving the confirmation query information, authenticates and requests the operator server to adjust the bandwidth value to 10 Mbps; after the adjustment is completed, forward the bandwidth size returned by the operator to the remote doctor console. Among them, the patient surgery platform can also request the central server to adjust the bandwidth to 10Mbps.

[0074] Specifically, when determining the surgical stage, surgical task, and / or surgical type to enter / switch, it can be determined by at least one of the following: 1) the control status between the remote physician console and the patient surgical platform, 2) the connection status of the auxiliary surgical device detachably connected to the remote physician console and the patient surgical platform, and 3) the type of data transmitted in the network channel.

[0075] In addition, when there are multiple pairs of master-slave devices (remote doctor console and patient surgery platform) in the same network channel, each pair of master-slave devices shares the bandwidth of the same network channel and transmits data based on bandwidth; on the one hand, it is necessary to ensure that the data transmission of each pair of master-slave devices is low-latency and stable, and on the other hand, it is necessary to ensure that the total required bandwidth of each pair of master-slave devices is within the bandwidth threshold of the network channel. Therefore, at this time, it is necessary to dynamically allocate the bandwidth of each pair of master-slave devices based on the surgical stage M, surgical task N, and / or surgical type K being performed by each pair of master-slave devices to meet the bandwidth limit of the network channel and the surgical requirements of each pair of master-slave devices.

[0076] For example, Figure 6 As shown, the remote doctor console A and the patient surgery platform A are performing surgery stage m1, surgery task n1, and surgery type k1, and the corresponding allocated bandwidth is high (such as 100 Mbps); the remote doctor console C and the patient surgery platform C are performing surgery stage m3, surgery task n3, and surgery type k3, and the corresponding allocated bandwidth is relatively high (such as 60Mbps); the remote doctor console B and the patient surgery platform B are performing surgery stage m2, surgery task n2, and surgery type k2, and the corresponding allocated bandwidth is low (such as 10 Mbps).

[0077] 4. Dynamic bandwidth adjustment based on the interactive operation process of master and slave devices

[0078] The bandwidth adjustment system of a remote surgical robot includes: a remote surgical robot, including a first terminal and a second terminal in communication connection, wherein one end of the first terminal and the second terminal is a remote doctor console (master hand device) and the other end is a patient surgery platform (slave hand device); a central server, which is in communication connection with at least one end of the first terminal and the second terminal; a processor, which is configured to: trigger a first control state of the remote surgical robot in response to an interactive operation of the first terminal to the second terminal; and adjust the bandwidth of the communication connection between the first terminal and the second terminal through the central server according to the first control state.

[0079] In this embodiment, the interactive operation of the first terminal on the second terminal means that when an operation is performed on the first terminal, the second terminal follows the operation of the first terminal to control and respond, and this operation is an interactive operation. For example, when the operating components (claws / rings, handles, etc.) of the remote doctor's console are operated, the mechanical arms and surgical instruments of the patient's surgical platform are controlled accordingly; when the parameters of the endoscope are set on the touch screen on the patient's surgical platform, the display screen on the remote doctor's console controls the display mode accordingly.

[0080] In response to the interactive operation on the first terminal, control information for the second terminal is generated, and a first control state is represented based on the control information, or a first control state is mapped to a target in a plurality of preset control states according to the control information. The control information may be information automatically generated when the first terminal is operated, and the first control state is a state variable based on the bandwidth adjustment configuration.

[0081] In addition to configuring the state variables of the first control state, bandwidth adjustment based on bandwidth also configures the bandwidth size corresponding to each first control state, which is the dependent variable of the aforementioned state variables; matches the corresponding bandwidth size based on the first control state; and requests the central server to adjust the bandwidth according to the matched bandwidth size.

[0082] The central server is used to communicate with the network operator server. For each group of remote surgical robots logged in to the central server, if bandwidth adjustment is needed, it will communicate with the network operator server in a unified manner based on the bandwidth adjustment request to adjust the bandwidth of the network channel to the requested bandwidth size.

[0083] In addition, when adjusting the bandwidth of the communication connection between the first terminal and the second terminal, one end is connected to the central server, or both ends are connected to the central server; that is, the former is a remote doctor console or a patient surgery platform connected to the central server, and the latter is a remote doctor console and a patient surgery platform connected to the central server. In order to reduce the load of the central server, it is preferred to connect to one of the first terminal and the second terminal.

[0084] Specifically, Figure 7 Example: When only the first terminal is connected to the central server for communication, the bandwidth adjustment process for the first terminal and the second terminal is shown. The second terminal sends the first control state triggered by itself to the first terminal, and the first terminal checks the first control state triggered by the first terminal and the second terminal in real time according to the surgical process / according to a preset period; when the first control state remains unchanged, there is no need to adjust the bandwidth; when the first control state changes, the bandwidth adjustment is requested from the central server based on the changed first control state.

[0085] After receiving the request, the central server triggers a bandwidth adjustment request to the network operator server: first, the network operator server is queried for the node bandwidth of the requested first terminal, and the node bandwidth is returned based on the confirmation query information; the central server sends its own identity information or the identity information of the first terminal for the operator server to authenticate to ensure the security of bandwidth adjustment; after the authentication is passed, the node bandwidth of the first terminal can be adjusted to the requested bandwidth; after receiving the adjusted bandwidth size, the central server forwards it to the first terminal, and a prompt can be given at the first terminal.

[0086] Based on the bandwidth adjustment system of the telesurgery robot, a bandwidth adjustment method of the telesurgery robot is described. Please refer to Figure 8 A flow chart of a bandwidth adjustment method is provided, and an embodiment of the bandwidth adjustment method is provided, which is specifically as follows:

[0087] 801. In response to an interactive operation of the first terminal on the second terminal, triggering a first control state of the remote surgery robot;

[0088] In this embodiment, the remote doctor console and the patient surgical platform include operating components, and the operating components include at least one of the following: a graphical user interface and physical hardware; in response to a touch operation on the graphical user interface of the remote doctor console, or a physical operation on the physical hardware, an interactive operation on the patient surgical platform is triggered; in response to a touch operation on the graphical user interface of the patient surgical platform, or a physical operation on the physical hardware, an interactive operation on the remote doctor console is triggered.

[0089] Specifically, the graphical user interface of the first terminal is displayed on a display such as a display or a touch screen, and includes at least one control for controlling the second terminal. The touch operation of the control triggers the interactive operation of the second terminal. For example, in the graphical user interface of the remote doctor's console, at least one of the following controls for the patient's surgical platform is included: connection control, pairing control, robot configuration control (configuration control of imaging system, energy platform, robotic arm authority, etc.), surgical operation control, patient surgical platform switching control, pairing release control, connection release control, etc. For example, in the graphical user interface of the patient's operating table, at least one of the following controls for the remote doctor's console is included: connection control, pairing control, robot configuration control (configuration control of imaging system, energy platform, robotic arm authority, etc.), remote doctor console switching control, pairing release control, connection release control, etc. Any touch operation that can be used to characterize different surgical scenarios can be configured to trigger the first control state, which will not be repeated here.

[0090] Exemplarily, if the first control state is set to include: preoperative control state, intraoperative control state, and postoperative control state; in response to the touch operation of the connection control, pairing control, and robot configuration control, the preoperative control state is triggered; in response to the touch operation of the surgical task selection control and the patient surgical platform switching control, the intraoperative control state is triggered; in response to the touch operation of the pairing release control and the connection release control, the postoperative control state is triggered.

[0091] Specifically, the physical hardware of the first terminal, such as the remote surgical robot including a controller (such as a gripper / ring, a handle, etc.), a foot pedal, an actuator, ergonomic components (to adjust the posture of the doctor's console to facilitate the doctor's operation), control buttons, etc.; such as the patient surgical platform including: a tiller handle, a center column, a boom pivot, a boom, a telescopic joint, an arm height joint, a patient distance joint, a robotic arm, a base, control buttons, etc.

[0092] Exemplarily, if the first control state is set to include: a preoperative control state, an intraoperative control state, and a postoperative control state; the preoperative control state is triggered in response to physical operation of the actuator, ergonomic components, power button, pairing button, robot configuration button of the remote doctor console, or the deployment operation of the tiller, center column, boom pivot, boom, telescopic joint, arm height joint, patient distance joint and robotic arm of the patient surgical platform, as well as physical operation of the base and the power button; the intraoperative control state is triggered in response to physical operation of the controller and foot pedal of the remote doctor console; the postoperative control state is triggered in response to physical operation of the power off button of the remote doctor console, the recovery operation of the tiller, center column, boom pivot, boom, telescopic joint, arm height joint, patient distance joint and robotic arm of the patient surgical platform, as well as physical operation of the power off button.

[0093] In one embodiment, if Fig. 9 In the remote surgical robot 900 shown, the physical hardware of the remote doctor console may include a handle 910, and the graphical user interface may be set on a display system 921 on an imaging vehicle 920; in response to a physical operation on the handle 910 or a touch operation on the display system 921, the corresponding first control state is triggered. The physical hardware of the patient surgical platform may include a sliding seat 930, and two mechanical arms 940 fixedly connected to the sliding seat 930, and the graphical user interface may be set on a display system 951 on an imaging vehicle 950; in response to a physical operation on the sliding seat 930 or the mechanical arm 940, or a touch operation on the display system 951, the corresponding first control state is triggered. Any interactive operation that can be used to represent different surgical scenarios can be configured to trigger the first control state, which will not be repeated here.

[0094] 802. According to the first control state, adjust, by the central server, a bandwidth of the communication connection between the first terminal and the second terminal.

[0095] In this embodiment, the central server is communicatively connected to a preset network operator server; through at least one of the first terminal and the second terminal, the bandwidth parameter corresponding to the first control state is matched, and based on the bandwidth parameter, a first bandwidth adjustment request is sent to the central server; through the central server, based on the first bandwidth adjustment request, a second bandwidth adjustment request is initiated to the network operator server to adjust the bandwidth of the communication connection between the first terminal and the second terminal through the network operator server.

[0096] In this embodiment, Figure 7 The example shows that the bandwidth parameters corresponding to the first control state are matched by the first terminal, and the first bandwidth adjustment request is sent to the central server, that is, it is executed by the remote doctor console or the patient surgery platform; the bandwidth parameter matching of the first control state and the sending of the first bandwidth adjustment request can also be performed by the first terminal and the second terminal respectively.

[0097] Specifically, the bandwidth parameter may include a specific bandwidth value, such as 10Mbps, 50Mbps, 100Mbps, etc. It may also be a bandwidth value range, such as [10Mbps, 30Mbps], [30Mbps, 50Mbps], [50Mbps, 70Mbps], [70Mbps, 100Mbps], etc. The first bandwidth adjustment request initiated includes the bandwidth parameter, and the central server generates a second bandwidth adjustment request based on the bandwidth parameter included in the first bandwidth adjustment request, and further requests the network operator server to adjust the bandwidth.

[0098] Further, when the central server finds that the bandwidth returned by the network operator server is different from the requested bandwidth value, or the returned bandwidth is not within the requested bandwidth value, the network operator server adjusts to the requested bandwidth value. Wherein, when the bandwidth parameter is a bandwidth value range, a preset value within the bandwidth value range can be selected, preferably the maximum bandwidth value, such as 30Mbps in [10Mbps, 30Mbps].

[0099] In one embodiment, the interactive operation includes: an operation for triggering any one of multiple surgical stages, and an operation for triggering any one of multiple surgical tasks; the first control state represents: the state of the interactive operation permission of the first terminal to the second terminal in any surgical stage and / or any surgical task.

[0100] Among them, at least one of the first terminal and the second terminal stores a historical control state, indicating the current surgical stage and surgical task of the remote surgical robot; before matching the bandwidth parameters corresponding to the first control state, the at least one terminal also includes: comparing the first control state and the historical control state; if the comparison result is that the control states of the two are the same, that is, they are in the same surgical stage and surgical task, there is no need to send a first bandwidth adjustment request to the central server, indicating that there is no need to adjust the bandwidth of the network channel; if the comparison result is that the control states of the two are different, that is, they indicate a switch in the surgical stage and surgical task, then a first bandwidth adjustment request is sent based on the bandwidth parameters of the first control state to adjust the bandwidth of the network channel to adapt to the surgical stage and surgical task after the switch.

[0101] Specifically, any one of the surgical stages includes at least one of the following: power-on self-test, remote pairing, remote connection, remote interactive communication, remote surgical operation, remote pairing release, and power-off self-test; triggering any one of the surgical tasks includes at least one of the following: surgical operation task, teaching task, and debugging task.

[0102] In one embodiment, the surgical stage may also include remote pairing switching, and the sorting of some surgical stages includes: remote pairing, remote connection, remote interactive communication, remote surgical operation / remote pairing release / remote pairing switching; comparing the sorting between surgical stages triggered by interactive operations and surgical stages in historical control states; if the former is sorted before the latter, maintaining the network channel at the bandwidth of the latter; if the former is sorted after the latter, adjusting the network channel to the network of the former.

[0103] In one embodiment, the interactive operation includes: an operation for triggering any one of multiple surgical stages, and an operation for triggering any one of multiple surgical tasks; the first control state represents: the state of the interactive operation permission of the first terminal to the second terminal in any surgical stage and / or any surgical task.

[0104] Each surgical stage and the corresponding interactive operations and interactive operation permissions are as follows:

[0105] A. In response to physical operation of the power-on components (such as buttons / joysticks), or presetting the power-on time in the graphical user interface, the power-on self-check phase is triggered after the preset time is reached; the first terminal reads the device information of the second terminal, verifies the device configuration information of the first terminal and the second terminal, so as to perform other surgical phases on the second terminal. Its interactive operation permissions at least include the power-on check permission for the aforementioned operations.

[0106] B. In response to physical operation of a pairing component (such as a button / joystick) on the display screen, or touch operation of a pairing control in a graphical user interface, a remote pairing phase is triggered; the first terminal may request and display a pairing list of the second terminal, select the target second terminal to initiate a pairing request, and complete the pairing; its interactive operation permissions include at least the pairing permissions for the aforementioned operations.

[0107] C. In response to the physical operation of the configuration components (such as buttons / joysticks) on the display screen, or the touch operation of the robot configuration controls in the graphical user interface, the remote connection stage is triggered; the first terminal and the second terminal can configure the control parameters of the imaging system, energy platform, robotic arm permissions, etc.; their interactive operation permissions at least include the robot configuration permissions for the aforementioned operations.

[0108] D. In response to physical operation of communication components (such as buttons / joysticks / rolling balls) on the display screen, or touch operation of communication controls on the graphical user interface, remote interactive communication is triggered; the first terminal and the second terminal can select or operate image data, voice data, robot status, image annotation, etc. Its interactive operation authority at least includes the communication authority of the aforementioned operations.

[0109] E. In response to physical operation of operating parts (claws / rings, handles, etc.) or pedals on the remote surgical robot, or touch operation of operating controls on the graphic user interface, remote surgical operations are triggered; the remote surgical robot performs master-slave control, robotic arm switching, and other operations on the patient's surgical platform; its interactive operation permissions include at least the aforementioned surgical operation permissions.

[0110] F. In response to the physical operation of the pairing release component (such as a button / joystick) on the display screen, or the touch operation of the pairing release control in the graphical user interface, the remote pairing release is triggered; the first terminal and the second terminal verify whether the pairing release conditions are met (for example, whether the remote surgery operation is still being performed) and complete the pairing release process; its interactive operation authority at least includes the pairing release authority for the aforementioned operation. Among them, the pairing release component and the pairing component can be the same component, and different triggering methods for pairing release and pairing are set.

[0111] G. In response to physical operation of the shutdown component (such as a button / rocker), or touch operation of the shutdown control in the graphical user interface, the power-on self-test phase is triggered; the first terminal and the second terminal verify whether the shutdown conditions are met and complete the shutdown process. Its interactive operation authority at least includes the shutdown authority. Among them, the startup component and the shutdown component can be the same component, and different triggering methods for startup and shutdown are set.

[0112] H. In response to a physical selection operation on a surgical operation task component (such as a button / joystick), or a touch operation on a surgical operation task control in a graphical user interface, a surgical operation task is triggered; the first terminal and the second terminal can perform the surgical operation (such as master-slave control); their interactive operation permissions include at least: routine surgical operation permissions.

[0113] I. In response to a physical selection operation on a teaching task component (such as a button / joystick), or a touch operation on a teaching task control in a graphical user interface, a teaching task is triggered; the first terminal and the second terminal can perform substitute teaching and anatomical scene display; and their interactive operation permissions include at least: voice / video and other information transmission permissions.

[0114] J. In response to a physical selection operation on a debugging task component (such as a button / joystick), or a touch operation on a debugging task control in a graphical user interface, a debugging task is triggered; the first terminal and the second terminal can perform debugging of the remote surgical robot; and their interactive operation permissions at least include: remote surgical robot debugging permissions. Among them, the surgical operation task component, the teaching task component, and the debugging task component can be integrated into a task selection component, and different triggering methods can be set.

[0115] In addition, a display screen can be set to display each surgical stage area and a selection control, and the physical hardware can be set as a direction operation component and a confirmation component; the direction operation component can be: 1) two buttons or a joystick that control the selection control to move along the up and down directions or left and right directions of the display screen, or 2) four buttons or a joystick that control the selection control to move along the up and down directions or left and right directions of the display screen; when the selection control stays in a surgical stage area, the surgical stage is triggered by operating the confirmation component. Among them, the joystick integrates the direction operation component and the confirmation component, which can be pressed in the vertical direction relative to the up and down directions or left and right directions of the display screen to confirm the triggering of the surgical stage.

[0116] For any surgical stage and any surgical task, the principle of presetting the bandwidth size can be that the bandwidth from small to large includes: power-on self-check / power-off self-check, remote pairing / remote connection / remote pairing release, remote interactive communication / remote surgical operation, and includes: surgical operation task, debugging task, teaching task. The preset bandwidth size can be a bandwidth level, a bandwidth value range, or a bandwidth value.

[0117] Exemplarily, at least one of the first terminal and the second terminal stores mapping information, and the bandwidth parameter includes multiple bandwidth levels in order of bandwidth height, and the mapping information includes: a mapping relationship between multiple different first control states and multiple bandwidth levels; through at least one of the first terminal and the second terminal, the target bandwidth level corresponding to the first control state is matched in the stored mapping information, and a first bandwidth adjustment request is initiated to the central server based on the target bandwidth level.

[0118] In this embodiment, for the aforementioned surgical stages and surgical tasks, different bandwidth levels corresponding to the first control state are set in the preset bandwidth size. The larger the preset bandwidth, the higher the level, and the smaller the preset bandwidth, the lower the level. For example, 5 bandwidth levels are set from low to high: 10 Mbps, 20Mbps, 30Mbps, 40Mbps, 60Mbps, then: {power-on self-test / power-off self-test: 10Mbps; remote pairing / remote connection / remote pairing release: 20Mbps; remote interactive communication / remote surgical operation: 60Mbps; surgical operation task: 60Mbps; debugging task: 40Mbps; teaching task: 30Mbps}.

[0119] Each bandwidth level corresponds to a bandwidth value range or a bandwidth value. The first bandwidth adjustment request includes the bandwidth value range or the bandwidth value. After receiving the first bandwidth request, the central server queries the network operator server for the bandwidth size of the current network channel: if it is greater than the bandwidth value range, the bandwidth size is adjusted to the upper limit value of the bandwidth value range; if it is less than the bandwidth value range, the bandwidth size is adjusted to the lower limit value of the bandwidth value range; the bandwidth size of the current network channel is adjusted to the requested bandwidth value.

[0120] In addition, when both the remote doctor console and the patient surgery platform store mapping information, they respectively match their own target bandwidth levels of the first control state, and initiate first bandwidth adjustment requests to the central server based on their respective target bandwidth levels.

[0121] When only the remote doctor console stores the mapping information, the patient surgery platform sends its first control state to the remote doctor console, and the remote doctor console uniformly matches the target bandwidth level of its own and the patient surgery platform's first control state. At this time, the remote doctor console initiates a first bandwidth adjustment request to the central server based on the target bandwidth level.

[0122] When only the patient surgery platform stores the mapping information, the remote doctor console sends its first control state to the patient surgery platform. The patient surgery platform uniformly matches the target bandwidth level of its own and the remote doctor console's first control state. At this time, the patient surgery platform initiates a first bandwidth adjustment request to the central server based on the target bandwidth level.

[0123] In addition, the mapping information can also be stored in the central server, which will uniformly match the target bandwidth level corresponding to the first control state of the remote doctor console and the patient surgical platform based on the stored mapping information, and directly initiate a second bandwidth adjustment request to the network operator server based on the target bandwidth level.

[0124] In one embodiment, the bandwidth adjustment system also includes at least one auxiliary surgical device, and at least one end of the first terminal and the second terminal is detachably connected to the at least one auxiliary surgical device; in response to the interactive operation performed by the first terminal or the second terminal and the auxiliary surgical device, the second control state of the remote surgical robot is triggered, and the interactive operation at least includes the disassembly and assembly operation corresponding to the detachable connection; when the first control state and the second control state are triggered at the same time, one of the first control state and the second control state is selected from the first control state and the second control state according to a preset control state priority through at least one end of the first terminal and the second terminal; according to the selected control state, the bandwidth of the communication connection between the first terminal and the second terminal is adjusted through the central server.

[0125] For example, Fig.10 As shown, if the remote doctor console is connected to an auxiliary surgical device, it may include at least one of the following: an endoscope control headset, an EEG monitoring headset, an eye tracking device, a large display screen, etc.; if the patient's operating platform is connected to an auxiliary surgical device, it may include at least one of the following: surgical instruments, catheter instruments, flushing systems, operating tables, sterile covers, puncture cards, energy platforms, monitors, liquid suction systems, pneumoperitoneum machines, etc.

[0126] Different interactive operations between the first terminal or the second terminal and different auxiliary surgical devices represent different surgical stages or surgical tasks, and trigger the corresponding second control state; for example, the second control state is set to include: preoperative control state, intraoperative control state, postoperative control state, and the interactive operations include unconnected operation, connected operation and removed operation; then the unconnected operation corresponds to the preoperative control state, the connected operation corresponds to the intraoperative control state, and the removed operation corresponds to the postoperative control state.

[0127] Furthermore, when the remote hand robot performs different surgical projects, the auxiliary surgical devices required for each surgical project are preset: when all the preset auxiliary surgical devices have not completed all connection operations, the pre-operative control state is triggered; when all the connection operations are completed, the intra-operative control state is triggered; when any auxiliary surgical device is removed, the post-operative control state is triggered; wherein, the key auxiliary surgical device for each surgical project can be further set, and the post-operative control state will be triggered only when the key auxiliary surgical device is removed.

[0128] For example, if the triggered second control state is the preoperative control state, the bandwidth of the network channel is adjusted to 10 Mbps; if the triggered second control state is the intraoperative control state, the bandwidth of the network channel is adjusted to 60 Mbps; if the triggered second control state is the postoperative control state, the bandwidth of the network channel is adjusted to 10 Mbps;

[0129] Exemplarily, the key auxiliary surgical devices of the remote doctor's console include: an endoscope control head-mounted device; the key auxiliary surgical devices of the patient's surgical platform include: surgical instruments, catheter instruments, puncture cards, sterile covers, monitors, and operating tables.

[0130] In one embodiment, the preset control state priority may indicate that: between the first control state and the second control state, the control state with a lower matched bandwidth value has a higher priority; for example, if the first control state is the preoperative state and the matched bandwidth is 20 Mbps, and the second control state is the intraoperative control state and the matched bandwidth is 60 Mbps, it means that the remote surgical robot has not yet started to perform the surgical operation, and the first control state has a higher priority. The control state with a higher priority is selected from the first control state and the second control state.

[0131] In one embodiment, the preset control state priority can also represent: the importance of the interactive operations performed on the remote physician console and the patient surgical platform relative to the interactive operations performed on the auxiliary surgical device, which is used to determine whether the bandwidth needs to be adjusted or the amount of bandwidth to be adjusted to meet the required bandwidth of the surgical project.

[0132] For example, if the first control state includes: a first preoperative control state (such as power-on self-test, remote pairing, remote connection), a first intraoperative control state (such as remote interactive communication, remote surgical operation), and a first postoperative control state (such as remote pairing release and power-off self-test); the second control state includes: a second preoperative control state, a second intraoperative control state, and a second postoperative control state; with the first control state as a reference, the preset control state priorities include:

[0133] 1. The first preoperative control state > the second intraoperative control state / the second postoperative control state; that is, when the remote doctor console and the patient surgical platform are performing the interactive operations of power-on self-check, remote pairing, and remote connection, the network channel is adjusted to, for example, 10Mbps or 20Mbps. When all auxiliary surgical devices are connected or removed, the surgical robot self-check program and remote pairing program need to be completed before the subsequent surgical operations can be performed. Therefore, the bandwidth of the network channel does not need to be adjusted to 60Mbps or 10Mbps at this time;

[0134] 2. The first intraoperative control state is less than the second preoperative control state / the second postoperative control state; that is, when the remote doctor console and the patient surgery platform are performing remote interactive communication and remote surgery operations, the network channel is adjusted to, for example, 60Mbps. When all auxiliary surgical devices have not completed the connection operation or have been removed, the surgical conditions are not met, and the bandwidth of the network channel only needs 10Mbps;

[0135] 3. The first postoperative control state > the second preoperative control state / the second intraoperative control state; that is, when the remote doctor console and the patient surgical platform are performing the interactive operations of remote pairing release and shutdown self-check, the network channel is adjusted to, for example, 10Mbps or 20Mbps, indicating that the remote surgical robot has stopped the surgical operation. Therefore, even if all auxiliary surgical devices have completed the connection operation, there is no need to perform the surgical operation, and at this time the network channel does not need to be adjusted to 60Mbps;

[0136] In addition, the remote doctor console and the patient surgery platform store a historical first control state or a second control state, indicating the current surgical stage and surgical task of the remote surgery robot; when the historical first control state is stored and the current second control state is triggered, or when the historical second control state is stored and the current first control state is triggered, it is determined that the first control state and the second control state are triggered at the same time.

[0137] In addition, it also includes an external image acquisition device, which is communicatively connected to a first terminal or a second terminal detachably connected to the auxiliary surgical device; before triggering the second control state of the remote surgical robot in response to an interactive operation performed by the first terminal or the second terminal with the auxiliary surgical device, it also includes: acquiring a surgical scene image through the external image acquisition device, wherein the surgical scene image includes the auxiliary surgical device and an image of the first terminal or the second terminal detachably connected to the auxiliary surgical device; according to the surgical scene image, the disassembly and assembly operation of the first terminal or the second terminal and the auxiliary surgical device is identified through the first terminal or the second terminal detachably connected to the auxiliary surgical device.

[0138] In this embodiment, if the remote doctor console is connected to an auxiliary surgical device, an external image acquisition device is provided at one end of the remote doctor console, and an image recognition algorithm is arranged; if the patient surgical platform is connected to an auxiliary surgical device, an external image acquisition device is provided at one end of the patient surgical platform, and an image recognition algorithm is arranged. The spatial position of the external image acquisition device is set to: collect the surgical scene image, including the junction of the auxiliary surgical device and the remote doctor console, or including the junction of the auxiliary surgical device and the patient surgical platform.

[0139] Based on the surgical scene image, the deployed image recognition algorithm is applied to identify the disassembly and assembly operations between the remote doctor console and the auxiliary surgical device, or between the patient surgical platform and the auxiliary surgical device, including disassembly and assembly operations. Image recognition algorithms include machine learning algorithms, deep learning algorithms, such as convolutional neural networks, recurrent neural networks, support vector machines, etc.

[0140] In addition to being identified through an in vitro image acquisition device and the application of an image recognition algorithm, the assembly and disassembly operations between the remote doctor's console and the auxiliary surgical device, and between the patient's surgical platform and the auxiliary surgical device, may also be identified by providing an assembly and disassembly trigger component at the joint between the patient's surgical platform and the auxiliary surgical device, such as a ranging sensor or a pressure sensor. The assembly and disassembly operations may also be confirmed based on the detection results of the connection status of the auxiliary surgical device by the remote surgical robot.

[0141] In addition, the aforementioned disassembly and assembly operations refer to disassembly and installation operations in a physical state; the interactive operations between the remote doctor console and the auxiliary surgical device, and between the patient surgical platform and the auxiliary surgical device, may also include start-stop operations, which refer to the start and stop operations in the control state. The start-stop operation can be achieved through the start and stop button / joystick operation, or the start and stop display touch operation. Exemplarily, the start and stop operations in the control state can be: operations to start and stop the output of current, voltage, light, electromagnetic and other energy.

[0142] In one embodiment, the first control state includes: a third control state of the remote doctor console over the patient surgical platform, and a fourth control state of the patient surgical platform over the remote doctor console, and a master-slave state priority is preset between the third control state and the fourth control state; the central server is communicatively connected with one end of the remote doctor console and the patient surgical platform; the third control state is sent to the patient surgical platform through the remote doctor console, and the patient surgical platform selects one of the control states from its current fourth control state and the received third control state according to the master-slave state priority; or, the fourth control state is sent to the remote doctor console through the patient surgical platform, and the remote doctor console selects one of the control states from its current third control state and the received fourth control state according to the master-slave state priority; according to the control state selected by the remote doctor console or the patient surgical platform, the bandwidth of the communication connection between the remote doctor console and the patient surgical platform is adjusted through the central server.

[0143] In this embodiment, the central server is only connected to the remote doctor console or the patient surgery platform for communication, and the third control state and the fourth control state are aggregated to one end of the two. One of the aggregated ends sends a first bandwidth adjustment request to the central server based on the selected control state to adjust the bandwidth of the network channel.

[0144] Specifically, the remote doctor console also stores a third control state triggered by history. When the patient surgery platform sends a fourth control state to the remote doctor console, one of the control states is selected to determine whether the bandwidth needs to be adjusted; or the patient surgery platform also stores a fourth control state triggered by history, indicating the current surgical stage and surgical task of the remote surgery robot; when the remote doctor console sends the third control state to the patient surgery platform, one of the control states is selected to determine whether the bandwidth needs to be adjusted.

[0145] In one embodiment, the master-slave state priority can also be expressed as the control state priority: in the third control state and the fourth control state, the connection state with a lower matched bandwidth value has a higher priority. For example, the third control state represents the postoperative control state of the remote surgical robot, and the matched bandwidth is 20Mbps. The fourth control state represents the intraoperative control state of the remote surgical robot, and the matched bandwidth is 60Mbps; it means that the remote surgical robot should end the surgical operation at this time, and the third control state has a higher priority. The above examples of relative control state priorities are also applicable to the examples of master-slave state priorities here, so they will not be repeated.

[0146] Among them, according to the master-slave state priority from high to low, one of the control states is selected from the third control state and the fourth control state.

[0147] In one embodiment, the master-slave state priority can also be expressed as the control state priority: in the third control state and the fourth control state, the control state with a lower matched bandwidth value has a higher priority, for example, the fourth control state is a postoperative control state, and the matched bandwidth is 20Mbps, and the third control state is an intraoperative control state, and the matched bandwidth is 60Mbps; it means that the remote surgical robot should end the surgical operation at this time, and the fourth control state has a higher priority. The above examples of relative control state priorities are also applicable to the examples of master-slave state priorities here, so they will not be repeated.

[0148] In addition, the central server is communicatively connected with the remote doctor console and the patient surgery platform respectively; the third control state is sent to the central server through the remote doctor console, and the fourth control state is sent to the central server through the patient surgery platform; through the central server, one of the control states is selected from the third control state and the fourth control state according to the master-slave state priority, and the bandwidth of the communication connection between the remote doctor console and the patient surgery platform is adjusted according to the selected control state.

[0149] In this embodiment, the central server can also communicate with the remote doctor console and the patient surgery platform at the same time. The third control state and the fourth control state are collected in the central server, and the bandwidth of the network channel is adjusted based on the selected control state.

[0150] Please refer to the following Fig.11 A flow chart of a bandwidth adjustment method is provided, and a preferred embodiment of the bandwidth adjustment method is provided, which is specifically as follows:

[0151] During the interactive operation with the patient surgical platform, the remote doctor console can first determine surgical task 1 based on the interactive operation, and then further determine surgical stage 1 based on the interactive operation, thereby determining the remote surgical robot to be in the third control state; similarly, during the interactive operation with the remote doctor console, the patient surgical platform can first determine surgical task 2 and then surgical stage 2, and further determine the remote surgical robot to be in the fourth control state. One of the control states is selected based on the master-slave state priority.

[0152] The remote doctor console is detachably connected to an auxiliary surgery device A, and during the interactive operation between the two, the second control state of the remote surgery robot can be determined; the patient surgery platform is detachably connected to an auxiliary surgery state B, and during the interactive operation between the two, the second control state of the remote surgery robot can also be determined.

[0153] Based on the control state previously selected based on the master-slave state priority and the second control state, a control state is further selected according to the control state priority to initiate a first bandwidth adjustment request to the central server, so that the central server can initiate a second bandwidth adjustment request to the network operator server, so that the network operator server can adjust the bandwidth between the remote doctor console and the patient surgical platform based on the second bandwidth adjustment request.

[0154] 5. Dynamic bandwidth adjustment based on assisted surgical devices

[0155] The bandwidth adjustment system includes: at least one auxiliary surgical device; a remote surgical robot including a first terminal and a second terminal in communication connection, wherein one end of the first terminal and the second terminal is a remote doctor console and the other end is a patient surgery platform, and at least one end of the first terminal and the second terminal is detachably connected with at least one of the auxiliary surgical devices; a central server, which is in communication connection with at least one end of the first terminal and the second terminal; a processor, which is configured to: trigger a first connection state between the two in response to an interactive operation performed by the first terminal or the second terminal and the auxiliary surgical device; and adjust the bandwidth of the communication connection between the first terminal and the second terminal through the central server according to the first connection state.

[0156] Specifically, Fig.12 Example: When only the first terminal is connected to the central server for communication, the bandwidth adjustment process for the first terminal and the second terminal is shown. The second terminal sends the first control state triggered by itself to the first terminal, and the first terminal checks the first control state triggered by the first terminal and the second terminal in real time according to the surgical process / according to a preset period; when the first connection state remains unchanged, there is no need to adjust the bandwidth; when the first connection state changes, the bandwidth adjustment is requested from the central server based on the changed first connection state.

[0157] After receiving the request, the central server triggers a bandwidth adjustment request to the network operator server: first, the network operator server is queried for the node bandwidth of the requested first terminal, and the node bandwidth is returned based on the confirmation query information; the central server sends its own identity information or the identity information of the first terminal for the operator server to authenticate to ensure the security of bandwidth adjustment; after the authentication is passed, the node bandwidth of the first terminal can be adjusted to the requested bandwidth; after receiving the adjusted bandwidth size, the central server forwards it to the first terminal, and a prompt can be given at the first terminal.

[0158] In this embodiment, the interactive operation includes a start / stop operation and a disassembly / assembly operation; in response to the start / stop operation or the disassembly / assembly operation performed by the first terminal or the second terminal and the auxiliary surgical device, a first connection state between the two is triggered.

[0159] Specifically, the surgical assistance device triggers the start / stop operation in response to a touch operation on the graphical user interface or a physical operation on the physical hardware, wherein the operating components are buttons / joysticks, etc., and the graphical user interface can be displayed on a touch screen.

[0160] Specifically, it also includes an external image acquisition device, which is communicatively connected to a first terminal or a second terminal detachably connected to the auxiliary surgical device; the surgical scene image is acquired by the external image acquisition device, wherein the surgical scene image includes the auxiliary surgical device and an image of the first terminal or the second terminal detachably connected to the auxiliary surgical device; according to the surgical scene image, the disassembly and assembly operation of the first terminal or the second terminal and the auxiliary surgical device is identified through the first terminal or the second terminal detachably connected to the auxiliary surgical device.

[0161] Please refer to Fig.13 A flow chart of a bandwidth adjustment method is provided, and an embodiment of the bandwidth adjustment method is provided, which is specifically as follows:

[0162] 1301. In response to an interactive operation performed by the first terminal or the second terminal and the auxiliary surgery device, triggering a first connection state between the two;

[0163] In this embodiment, at least one of the first terminal and the second terminal stores a historical first connection state, and each first connection state is preset with a connection state priority; through at least one of the first terminal and the second terminal, one of the first connection states is selected from the currently triggered first connection state and the historical first connection state according to the connection state priority; according to the selected first connection state, the bandwidth of the communication connection between the first terminal and the second terminal is adjusted through the central server.

[0164] Specifically, the central server is only connected to the remote doctor console or the patient surgery platform for communication. The first connection states generated by the remote doctor console or the patient surgery platform are aggregated to one end of the two. One of the aggregated ends selects one of the first connection states based on the connection state priority, and uniformly sends a first bandwidth adjustment request to the central server to adjust the bandwidth of the network channel.

[0165] Specifically, the remote doctor console also stores a first connection state that is triggered historically, indicating the current surgical stage and surgical task of the remote surgical robot. When the patient surgical platform sends the first connection state generated by itself to the remote doctor console, one of the first connection states is selected to determine whether the bandwidth needs to be adjusted; or the patient surgical platform also stores a first connection state that is triggered historically, indicating the current surgical stage and surgical task of the remote surgical robot; when the remote doctor console sends the first connection state to the remote doctor console, one of the first connection states is selected to determine whether the bandwidth needs to be adjusted.

[0166] In one embodiment, the connection state priority can also be expressed as the control state priority: in the first connection state, the data type with a lower matched bandwidth value has a higher priority. For example, the first connection state triggered historically represents the postoperative stage, and the matched bandwidth is 20Mbps. The first connection state triggered currently represents the intraoperative stage, and the matched bandwidth is 60Mbps; indicating that the remote surgical robot should end the surgical operation at this time, the first connection state triggered historically has a higher priority, and the bandwidth is adjusted to 20Mbps. The aforementioned examples of relative control state priorities are also applicable to the examples of connection state priorities here, so they will not be repeated.

[0167] Wherein, according to the connection state priorities from high to low, one of the first connection states is selected from the first connection state triggered historically and the first connection state triggered currently.

[0168] In this embodiment, the central server can also communicate with the remote doctor console and the patient surgery platform at the same time. The first connection states generated by the two are collected in the central server. The central server selects the first connection state according to the connection state priority and adjusts the bandwidth of the network channel.

[0169] Furthermore, the central server may also store historical first connection states, and after receiving the first connection states sent by either the remote doctor console or the patient surgery platform, select one of the first connection states based on the connection state priority and adjust the bandwidth of the network channel.

[0170] 1302. According to the first connection state, adjust, by the central server, a bandwidth of the communication connection between the first terminal and the second terminal.

[0171] In one embodiment, in response to the interactive operation of the first terminal to the second terminal, the first control state of the remote surgical robot is triggered, and in response to the first connection state, the second control state of the remote surgical robot is triggered; when the first control state and the second control state are triggered at the same time, one of the first control state and the second control state is selected from the first control state and the second control state according to a preset control state priority through at least one of the first terminal and the second terminal; according to the selected control state, the bandwidth of the communication connection between the first terminal and the second terminal is adjusted through the central server.

[0172] In one embodiment, in response to the first connection state, the second control state of the remote surgical robot is triggered; according to the second control state, the bandwidth of the communication connection between the first terminal and the second terminal is adjusted through the central server.

[0173] The methods of adjusting the bandwidth based on the auxiliary surgical device include the following three methods: 1) directly triggering the second control state based on the interactive operation performed between the first terminal or the second terminal and the auxiliary surgical device, and using it to adjust the bandwidth; 2) directly triggering the first connection state based on the interactive operation, and using it to adjust the bandwidth; 3) further determining the second control state based on the first connection state, and then adjusting the bandwidth according to the second control state.

[0174] In this embodiment, the auxiliary surgical device includes: a first auxiliary surgical device detachably connected to the remote doctor console, and a second auxiliary surgical device detachably connected to the patient surgical platform; wherein, the first connection state includes: a second connection state triggered based on the interactive operation between the remote doctor console and the first auxiliary surgical device, and a third connection state triggered based on the interactive operation between the patient surgical platform and the second auxiliary surgical device, and a master-slave state priority is preset between the second connection state and the third connection state; through the remote doctor console or the patient surgical platform, one of the connection states is selected from the second connection state and the third connection state according to the master-slave state priority; according to the selected connection state, the bandwidth of the communication connection between the remote doctor console and the patient surgical platform is adjusted through the central server.

[0175] In this embodiment, the central server is only connected to the remote doctor console or the patient surgery platform for communication, and the second connection state and the third connection state are aggregated to one end of the two. One of the aggregated ends sends a first bandwidth adjustment request to the central server based on the selected connection state to adjust the bandwidth of the network channel.

[0176] Specifically, the remote doctor console also stores a second connection state triggered by history. When the patient surgery platform sends a third connection state to the remote doctor console, one of the connection states is selected to determine whether the bandwidth needs to be adjusted; or the patient surgery platform also stores a third connection state triggered by history, indicating the current surgical stage and surgical task of the remote surgical robot. When the remote doctor console sends the second connection state to the remote doctor console, one of the connection states is selected to determine whether the bandwidth needs to be adjusted.

[0177] In one embodiment, the master-slave state priority can also be expressed as the control state priority: in the second connection state and the third connection state, the connection state with a lower matched bandwidth value has a higher priority. For example, the third connection state represents the postoperative control state of the remote surgical robot, and the matched bandwidth is 20Mbps. The second connection state represents the intraoperative control state of the remote surgical robot, and the matched bandwidth is 60Mbps; indicating that the remote surgical robot should end the surgical operation at this time, and the third connection state has a higher priority. The above examples of relative control state priorities are also applicable to the examples of master-slave state priorities here, so they will not be repeated.

[0178] In addition, the central server can also communicate with the remote doctor console and the patient surgery platform at the same time. The second connection state and the third connection state are aggregated in the central server, and the bandwidth of the network channel is adjusted based on the connection state selected based on the master-slave state priority.

[0179] In this embodiment, the central server is communicatively connected to a preset network operator server; according to the first connection state, the bandwidth of the communication connection between the first terminal and the second terminal is adjusted through the central server, including: matching the bandwidth parameters corresponding to the first connection state through at least one of the first terminal and the second terminal, and sending a first bandwidth adjustment request to the central server based on the bandwidth parameters; and initiating a second bandwidth adjustment request to the network operator server through the central server based on the first bandwidth adjustment request, so as to adjust the bandwidth of the communication connection between the first terminal and the second terminal through the network operator server.

[0180] In this embodiment, the bandwidth parameter can be matched with the first connection state in addition to the first control state, thereby reducing the association steps between the first control state and the first connection state. The first connection state is matched to obtain the bandwidth parameter of the corresponding second control state.

[0181] Furthermore, at least one of the first terminal and the second terminal stores mapping information, and the bandwidth parameter includes multiple bandwidth levels in order of bandwidth, and the mapping information includes: a mapping relationship between multiple first connection states and multiple bandwidth levels; based on the bandwidth parameter, sending a first bandwidth adjustment request to the central server includes: matching the target bandwidth level corresponding to the first connection state in the stored mapping information through at least one of the first terminal and the second terminal, and initiating a first bandwidth adjustment request to the central server based on the target bandwidth level.

[0182] In this embodiment, bandwidth levels of different first connection states are set to determine preset bandwidth sizes for different surgical stages and surgical tasks. The larger the preset bandwidth, the higher the level, and the smaller the preset bandwidth, the lower the level. For example, four bandwidth levels from low to high are set: 20Mbps, 30Mbps, 40Mbps, and 60Mbps, then: {pre-surgery: 20Mbps; intra-surgery: 60Mbps; post-surgery: 20Mbps; surgical operation task: 60 Mbps; debugging task: 40Mbps; teaching task: 30Mbps}.

[0183] Each bandwidth level corresponds to a bandwidth value range or a bandwidth value. The first bandwidth adjustment request includes the bandwidth value range or the bandwidth value. After receiving the first bandwidth request, the central server queries the network operator server for the bandwidth size of the current network channel: if it is greater than the bandwidth value range, the bandwidth size is adjusted to the upper limit value of the bandwidth value range; if it is less than the bandwidth value range, the bandwidth size is adjusted to the lower limit value of the bandwidth value range; the bandwidth size of the current network channel is adjusted to the requested bandwidth value.

[0184] In addition, when both the remote doctor console and the patient surgery platform store mapping information, the two respectively match their own target bandwidth levels of the first connection state, and initiate first bandwidth adjustment requests to the central server based on their respective target bandwidth levels.

[0185] When only the remote doctor console stores the mapping information, the patient surgery platform sends its first connection state to the remote doctor console, and the remote doctor console uniformly matches the target bandwidth level of its own and the patient surgery platform's first connection state. At this time, the remote doctor console initiates a first bandwidth adjustment request to the central server based on the target bandwidth level.

[0186] When only the patient surgery platform stores the mapping information, the remote doctor console sends its first connection state to the patient surgery platform. The patient surgery platform uniformly matches the target bandwidth level of its own and the remote doctor console's first connection state. At this time, the patient surgery platform initiates a first bandwidth adjustment request to the central server based on the target bandwidth level.

[0187] In addition, the mapping information can also be stored in the central server, which will uniformly match the target bandwidth level corresponding to the first connection state of the remote doctor console and the patient surgery platform based on the stored mapping information, and directly initiate a second bandwidth adjustment request to the network operator server based on the target bandwidth level.

[0188] In this embodiment, the auxiliary surgical device includes a first auxiliary surgical device and a second auxiliary surgical device of different functional types; according to a first connection state triggered by the first auxiliary surgical device, the bandwidth of the communication connection between the first terminal and the second terminal is adjusted according to a preset first amplitude through the central server; according to the first connection state triggered by the second auxiliary surgical device, the bandwidth of the communication connection between the first terminal and the second terminal is adjusted according to a preset second amplitude through the central server.

[0189] In this embodiment, the function type of the first auxiliary surgical device is: the auxiliary surgical device needs to provide uninterrupted functional effects throughout the surgical project; the function type of the second auxiliary surgical device is: the auxiliary surgical device does not need to provide uninterrupted functional effects throughout the surgical project. Based on the aforementioned difference between the two functional types, specific examples are as follows:

[0190] A. Auxiliary surgical devices that can be detachably connected to the remote doctor's console include: endoscope control head-mounted devices, EEG monitoring head-mounted devices, eye tracking devices, large display screens, etc. If the EEG monitoring head-mounted devices and eye tracking devices are used to control the movement of the suction head of the liquid suction system, and the liquid suction system needs to be used throughout the current surgical project, the endoscope control head-mounted devices, EEG monitoring head-mounted devices, and eye tracking devices are the first auxiliary surgical devices, and the large display screen is the second auxiliary surgical device. If the liquid suction system does not need to be used throughout the current surgical project, the endoscope control head-mounted devices are the first auxiliary surgical devices, and the EEG monitoring head-mounted devices, eye tracking devices, and large display screens are the second auxiliary surgical devices.

[0191] B. Auxiliary surgical devices that can be detachably connected to the patient's surgical platform include: surgical instruments, catheter instruments, flushing systems, operating tables, sterile covers, puncture cards, energy platforms, monitors, liquid suction systems, pneumoperitoneum machines, etc. The first auxiliary surgical device includes: operating tables, sterile covers, puncture cards, and monitors; the second auxiliary surgical device includes: surgical instruments, catheter instruments, flushing systems, energy platforms, liquid suction systems, and pneumoperitoneum machines.

[0192] Specifically, the duration of the first connection state triggered by the first auxiliary surgical device is monitored through at least one of the first terminal and the second terminal; when the duration exceeds a preset first duration, the bandwidth of the communication connection between the first terminal and the second terminal is adjusted according to a preset first amplitude through the central server.

[0193] For the connection relationship between the first auxiliary surgical device, such as the operating table, sterile cover, puncture card, monitor and the patient surgical platform, when not connected, the first connection state is determined to be the unconnected state (belonging to the preoperative control state), and the bandwidth is adjusted to 10Mbps; when connected, the first connection state is determined to be the connected state (belonging to the intraoperative control state), and the bandwidth is adjusted to 60Mbps; when disassembled, the first connection state is determined to be the disassembled state (belonging to the postoperative control state), and the bandwidth is adjusted to 10Mbps.

[0194] Specifically, different first durations are set according to different first connection states of the first auxiliary surgical device: 0, 17ms, 60ms, etc. in the unconnected state and the connected state, and 1min, 2min, 5min, 10min, etc. in the disassembled state. That is, the former has real-time switching bandwidth to meet surgical needs; the latter has an obvious time interval to prevent the situation where the surgical operation is interrupted and needs to be continued.

[0195] For the second auxiliary surgical device, such as EEG monitoring head-mounted equipment, eye tracking equipment, large display screen, surgical instruments, catheter instruments, flushing systems, energy platforms, liquid suction systems, and pneumoperitoneum machines. According to the different first connection states of the second auxiliary surgical device, different second durations are set respectively: in the unconnected state and the connected state, it is set to a shorter duration such as 0, 17ms, 60ms, etc.; in the disassembled state, it can be set to the required surgical duration (i.e. static duration) of each surgical project, or the remaining surgical duration (i.e. dynamic duration) of the current surgical process. For example, if the required surgical duration of the surgical project is 180 minutes, the second duration can be directly set to 180 minutes; after 50 minutes of the current surgical process, the second duration can be set to 130 minutes. That is, the former has a real-time switching bandwidth to meet the surgical needs; the latter has a clear time interval, because although the second auxiliary surgical device is disassembled, it cannot indicate the end of the operation, so it is necessary to wait for the required surgical duration before adjusting the bandwidth. Among them, the preset first duration is also set to be less than the remaining surgical duration.

[0196] Specifically, the duration of the first connection state triggered by the second auxiliary surgical device is monitored through at least one of the first terminal and the second terminal; when the duration exceeds the preset second duration, the bandwidth of the communication connection between the first terminal and the second terminal is adjusted according to the preset second amplitude through the central server; wherein the first amplitude is greater than the second amplitude, and the preset first duration is less than the preset second duration.

[0197] For the first auxiliary surgical device, the connection status switching at different surgical stages involves the increase / decrease of transmission of a large amount of data, so a larger first amplitude adjustment bandwidth is required. For example, the connection status switching before surgery (10Mbps), during surgery (60Mbps), and after surgery (10Mbps); or the connection status switching of power-on self-test (10Mbps), remote pairing / remote connection (20Mbps), remote interactive communication / remote surgical operation (60Mbps), remote pairing release / remote pairing switch (20Mbps), and power-off self-test (10Mbps).

[0198] For the second auxiliary surgical device, it indicates the switching of the connection status at the same stage of the operation, which involves the increase / decrease of the transmission of a smaller amount of data, so a smaller second amplitude adjustment bandwidth is required. For example, during the operation, only part of the data transmission related to the EEG monitoring headset, eye tracking equipment, display screen, surgical instruments, catheter instruments, flushing system, energy platform, liquid suction system, and pneumoperitoneum machine is reduced, and the bandwidth occupied by this part of the data transmission is small, while the video data and voice data (such as occupying 90% of the bandwidth) that occupy a large bandwidth during the operation are still being transmitted.

[0199] 6. Dynamic bandwidth adjustment based on data type transmission

[0200] The bandwidth adjustment system includes: a first remote host and a second remote host, a network channel is established between the first remote host and the second remote host; a remote surgical robot includes a first terminal connected to the first remote host, and a second terminal connected to the second remote host, one end of the first terminal and the second terminal is a remote doctor console, and the other end is a patient surgical platform; a central server connected to at least one of the first remote host and the second remote host; a processor is configured to: generate first interactive data in response to a first interactive operation performed by the first terminal on the second terminal, and transmit the first interactive data to the second remote host through the network channel through the first remote host, so that the second terminal can perform motion control based on the first interactive data; identify a first data type of the first interactive data transmitted in the network channel through at least one of the first remote host and the second remote host; and adjust the bandwidth of the network channel through the central server according to the first data type.

[0201] Specifically, Fig.14 Example: When only the first terminal is connected to the central server for communication, the bandwidth adjustment process for the first terminal and the second terminal is as follows: The first terminal checks the first data type of the first interactive data transmitted in the network channel in real time according to the surgical process / according to the preset period, such as Fig.14 The first interactive data generated by the first remote host and sent to the second remote host through the first remote host is shown; the first data type is sent to the first remote host for forwarding, so the first data type can be identified by the first remote host. When the first data type remains unchanged, there is no need to adjust the bandwidth; when the first data type changes, based on the changed first data type, a request is made to the central server to adjust the bandwidth.

[0202] After receiving the request, the central server triggers a bandwidth adjustment request to the network operator server: first, the network operator server is queried for the node bandwidth of the requested first terminal, and the node bandwidth is returned based on the confirmation query information; the central server sends its own identity information or the identity information of the first terminal for the operator server to authenticate to ensure the security of bandwidth adjustment; after the authentication is passed, the node bandwidth of the first terminal can be adjusted to the requested bandwidth; after receiving the adjusted bandwidth size, the central server forwards it to the first terminal, and a prompt can be given at the first terminal.

[0203] Please refer to Fig.15 A flow chart of a bandwidth adjustment method is provided, and an embodiment of the bandwidth adjustment method is provided, which is specifically as follows:

[0204] 1501. In response to a first interactive operation performed by the first terminal on the second terminal, first interactive data is generated, and the first interactive data is transmitted to the second remote host through the network channel by the first remote host, so that the second terminal performs motion control based on the first interactive data;

[0205] In this embodiment, the first interactive data includes at least one of the following: endoscope video data, operating room pan / tilt video data, operating room gun video data, audio data, master-slave control signaling data, pairing data, energy control data, etc.

[0206] Exemplarily, the remote doctor console and the patient surgery platform both perform the following first interactive operation: turn on the endoscope video function, the operating room pan / tilt video function, the operating room gun video function, the voice call function, and the pairing function, and based on the turned-on functions, transmit the corresponding video data, audio data, and pairing data; when the remote doctor console performs the first interactive operation on the foot pedal, operating parts such as the clamp / ring, and handle, it transmits control signaling and energy control data.

[0207] Among them, when at least one end of the remote doctor console and the patient's surgical platform performs the first interactive operation, the target end performs corresponding motion control. For example, based on the endoscope video function, the operating room pan-tilt video function, and the operating room gun video function being turned on at both ends, the remote doctor console displays the endoscope video, the operating room pan-tilt video, and the operating room gun video; the voice call function is turned on at both ends, and the voice is played at both ends; based on one end turning on the pairing function, the other end displays the pairing confirmation interface, the pairing waiting interface, the pairing success interface, etc.; based on the remote doctor console selecting the control mode through the foot pedal and performing the operation through the operating component, the patient's surgical platform's robotic arm and the connected surgical instruments and energy instruments move accordingly.

[0208] 1502. Identify, through at least one of the first remote host and the second remote host, a first data type of first interactive data transmitted in the network channel;

[0209] In this embodiment, the first interactive data is transmitted between the remote doctor console and the patient surgery platform through the network channel established between the first remote host and the second remote host; therefore, the first data type of the first interactive data transmitted in the network channel can be directly identified by the first remote host and the second remote host.

[0210] The amount of data transmitted for the first interactive data of each first data type is different, so the bandwidth required for transmission in the network channel is also different. For example, when transmitting in the network channel, the endoscopic video needs to occupy a bandwidth of 30Mbps, the operating room pan / tilt video needs to occupy a bandwidth of 10Mbps, the operating room gun video needs to occupy a bandwidth of 10Mbps, the audio data needs to occupy a bandwidth of 20Mbps, the master-slave control signaling data needs to occupy a bandwidth of 10 Mbps, the pairing data needs to occupy a bandwidth of 5Mbps, the energy control data needs to occupy a bandwidth of 5Mbps, etc. The actual required bandwidth value can be set based on demand and is not specifically limited here.

[0211] In this embodiment, the historical interactive data type transmitted in the network channel is obtained through at least one of the first remote host and the second remote host, and the first data type is compared with the historical interactive data type to determine the switching state of the first data type transmitted in the network channel; according to the switching state, the bandwidth of the network channel is adjusted through the central server. The historical interactive data type refers to the latest interactive data type transmitted last time.

[0212] Exemplarily, the historical interaction data type is such as the pairing data type, and the first data type currently being transmitted is the endoscope video data type; the switching state of the first data type transmitted in the network channel is: the pairing data type is switched to the endoscope video data type. Based on the switching state, the central server adjusts the 5Mbps bandwidth required for the network channel to transmit the pairing data to 30Mbps bandwidth required for transmitting the endoscope video data. The first data type currently being transmitted is the pairing data type; then the switching state is: the pairing data type remains unchanged. The central server does not need to adjust the bandwidth of the network channel. Among them, multiple first data types can be transmitted in the network channel, and the bandwidth of the network channel is adjusted according to the sum of the required bandwidth of each first data type.

[0213] In one embodiment, the switching state includes a first switching state and a second switching state, wherein the first switching state includes a state of switching data types under different surgical stages or surgical tasks, and the second switching state includes a state of switching data types under the same surgical stage or surgical task; the duration of the first switching state is monitored, and when the duration exceeds a preset first duration, the bandwidth of the network channel is adjusted according to a preset first amplitude; or, the duration of the second switching state is monitored, and when the duration exceeds a preset second duration, the bandwidth of the network channel is adjusted according to a preset second amplitude; wherein the first amplitude is greater than the second amplitude, and the preset first duration is less than the preset second duration.

[0214] In this embodiment, the first switching state and the second switching state respectively preset the first data type contained before and after the switching; a simple example is shown below:

[0215] 1) In the first switching state, the first data type before switching includes: a pairing data type; the first data type after switching includes at least one of the following: an endoscope video data type, an operating room pan / tilt video data type, an operating room gun video data type, an audio data data type, and a master-slave control signaling data type.

[0216] 2) In the first switching state, the first data type before switching includes at least one of the following: endoscope video data type, operating room pan / tilt video data type, operating room gun video data type, audio data data type, master-slave control signaling data type; the first data type after switching includes: pairing data type.

[0217] 3) In the second switching state, the first data type before switching includes at least one of the following: an endoscope video data type, an operating room pan / tilt video data type, an operating room gun video data type, an audio data data type, and a master-slave control signaling data type; the first data type after switching includes at least one of the following: an endoscope video data type, an operating room pan / tilt video data type, an operating room gun video data type, an audio data data type, and a master-slave control signaling data type.

[0218] In this embodiment, after the first data type is switched, it indicates that the current remote surgical robot has entered the next surgical stage or a different surgical task, that is, the first switching state indicates the switching of the surgical stage or the switching of the surgical task. At this time, a large amount of data transmission is involved, and the next surgical stage is switched in time, so a shorter first duration and a larger first amplitude adjustment bandwidth are required.

[0219] Exemplarily, the first interactive data may represent pre-operative pairing data (10Mbps); intra-operative endoscopic video data, operating room pan / tilt video data, operating room gun video data, audio data, master-slave control signaling data, and energy control data (60Mbps); and post-operative pairing data (10Mbps). Therefore, the first switching state of the first data type before, during, and after surgery requires a shorter first duration (such as real-time switching, 17ms, 60ms, etc.) and a larger first amplitude adjustment bandwidth (such as ±50 Mbps).

[0220] In this embodiment, after the first data type is switched, it indicates that the current remote surgical robot is still in the same surgical stage or surgical task, that is, the second switching state indicates the state switching under the same surgical stage or surgical task. At this time, the transmission of a smaller amount of data is increased / decreased, and the situation where the surgical operation needs to be continued and has not yet switched to the next surgical stage is prevented due to the interruption of the operation, so a longer second duration and a smaller second amplitude adjustment bandwidth are required.

[0221] For example, the first interactive data may represent intraoperative endoscopic video data (30Mbps), operating room PTZ video data (10Mbps), operating room gun video data (10Mbps), audio data (20Mbps), master-slave control signaling data (10 Mbps), and energy control data (5Mbps). During each transmission, one or more first interactive data may be involved. Temporary suspension of transmission of some first interactive data does not mean that the operation is over and the postoperative stage has begun. Therefore, the second switching state of multiple types of first data during the operation requires a longer first duration (such as 3 hours for the duration of the operation) and a smaller first amplitude adjustment bandwidth (such as 5 Mbps, 10 Mbps, 20 Mbps).

[0222] To provide a specific example, when the first interaction data is transmitted over time T (t1, t2, ... tn, t1-t2 is a standard duration), the first switching state M1 and the second switching state M2 are determined, and the third switching state M0 of the original data type is maintained. The first duration includes zero standard durations, and the second duration includes i standard durations. Then:

[0223] t1: {first interaction data: pairing data; switching state: M0; bandwidth: 10Mbps};

[0224] t2: {First interactive data: endoscope video data, operating room PTZ video data, operating room gun video data, audio data; switching state: M1; bandwidth: 70Mbps};

[0225] t3: {First interactive data: endoscope video data, operating room PTZ video data, operating room gun video data; switching state: M2; bandwidth: 70Mbps};

[0226] t4: {First interactive data: endoscope video data, operating room PTZ video data, operating room gun video data; switching state: M2; bandwidth: 70Mbps};

[0227] …

[0228] Ti+3: {first interaction data: endoscope video data; switching state: M2; bandwidth: 50Mbps};

[0229] Ti+4: {first interaction data: endoscope video data, pairing data; switching state: M1; bandwidth: 10Mbps}.

[0230] Furthermore, the surgical stage includes at least any one of the following: power-on self-test, remote pairing, remote connection, remote interactive communication, remote surgical operation, remote pairing release, and power-off self-test; the surgical task includes any one of the following: surgical operation task, teaching task, and debugging task.

[0231] In this embodiment, it is determined whether the first data type contains a preset target data type; the configuration information of the first interactive data of the preset target data type is detected through at least one of the first remote host and the second remote host; and according to the configuration information, the bandwidth of the network channel is adjusted through the central server.

[0232] Specifically, the target data types include at least: endoscope video data, operating room PTZ video data, operating room gun video data, etc.; the configuration information of the video data includes at least: image resolution, video encoding format, and video transmission bit rate. The corresponding relationship between the configuration information and the bandwidth (the corresponding bandwidth includes the occupation of other data types) is exemplified as: {image resolution: 4k, video encoding format: H265, video transmission bit rate: 6000; bandwidth: 100Mbps}, {image resolution: 4k, video encoding format: H265, video transmission bit rate: 3000; bandwidth: 70Mbps} {image resolution: 2k, video encoding format: H265, video transmission bit rate: 2500; bandwidth: 50Mbps}.

[0233] Furthermore, the correspondence between configuration information and bandwidth can also be determined based on different surgical task types. The correspondence between the aforementioned configuration information and bandwidth can be determined based on the surgical operation task, and the teaching task sets a lower corresponding bandwidth based on the same configuration information: {image resolution: 4k, video encoding format: H265, video transmission bit rate: 6000; bandwidth: 20Mbps}, {image resolution: 4k, video encoding format: H265, video transmission bit rate: 3000; bandwidth: 10Mbps}{image resolution: 2k, video encoding format: H265, video transmission bit rate: 2500; bandwidth: 10Mbps}. The debugging task can be set to: the same correspondence between configuration information and bandwidth as the surgical operation task, or the same correspondence between configuration information and bandwidth as the teaching task.

[0234] In this embodiment, the first interaction data includes: third interaction data transmitted from the remote doctor console to the patient surgery platform, and fourth interaction data sent from the patient surgery platform to the doctor console, and a master-slave data type priority is preset between the third data type of the third interaction data and the fourth data type of the fourth interaction data; the central server is respectively communicated with at least one end of the remote doctor console and the patient surgery platform; according to the master-slave data type priority, one of the data types is selected from the third data type and the fourth data type; according to the selected third data type or fourth data type, the bandwidth of the network channel is adjusted by the central server.

[0235] In this embodiment, when the central server is only connected to the remote doctor console or the patient surgery platform for communication, the third interaction data and the fourth interaction data are collected at one end of the two. One of the collected ends sends a first bandwidth adjustment request to the central server through the remote host based on the selected data type to adjust the bandwidth of the network channel.

[0236] Specifically, the remote doctor console also stores historical third interaction data, indicating the current surgical stage and surgical task of the remote surgical robot; when the patient surgical platform sends fourth interaction data to the remote doctor console, one of the data types is selected to determine whether the bandwidth needs to be adjusted; or the patient surgical platform also stores historical fourth interaction data, indicating the current surgical stage and surgical task of the remote surgical robot; when the remote doctor console sends third interaction data to the patient surgical platform, one of the data types is selected to determine whether the bandwidth needs to be adjusted.

[0237] In one embodiment, the master-slave data type priority can also be expressed as the control state priority: in the third interaction data and the fourth interaction data, the data type with a lower matched bandwidth value has a higher priority. For example, the fourth interaction data represents the postoperative stage, and the matched bandwidth is 20Mbps. The third interaction data represents the intraoperative stage, and the matched bandwidth is 60Mbps; indicating that the remote surgical robot should end the surgical operation at this time, the fourth data type has a higher priority, and the bandwidth is adjusted to 20Mbps. The above examples of relative control state priorities are also applicable to the examples of master-slave data type priorities here, so they will not be repeated.

[0238] Among them, according to the master and slave data type priorities from high to low, one of the data types is selected from the third data type and the fourth data type.

[0239] In this embodiment, the central server can also communicate with the remote doctor console and the patient surgery platform at the same time. The third interaction data and the fourth interaction data are collected in the central server, and the bandwidth of the network channel is adjusted based on the selected data type.

[0240] 1503. According to the first data type, adjust the bandwidth of the network channel through the central server.

[0241] In this embodiment, the central server is communicatively connected to a preset network operator server; through at least one of the first remote host and the second remote host, the bandwidth parameter corresponding to the first data type is matched, and based on the bandwidth parameter, a first bandwidth adjustment request is sent to the central server; through the central server, based on the first bandwidth adjustment request, a second bandwidth adjustment request is initiated to the network operator server to adjust the bandwidth of the network channel through the network operator server.

[0242] In this embodiment, the bandwidth parameter may be matched with the first control state and the first connection state as well as the first data type, and the corresponding bandwidth parameter may be obtained based on the matching of the first connection state.

[0243] In one embodiment, the first interaction data includes multiple first data types, and the multiple first data types are preset with data type priorities; through at least one end of the first remote host and the second remote host, at least one first data type is selected from the multiple first data types according to the data type priority, and the corresponding bandwidth parameters are matched according to the selected first data type.

[0244] In this embodiment, the preset data type priority can be expressed as a control state priority: among the multiple first data types representing different surgical stages, the lower the matched bandwidth value, the higher its priority. For example, when the paired data is transmitted in the postoperative stage, the bandwidth matched by the paired data type is 20Mbps, and when the endoscopic video data is transmitted in the intraoperative stage, the bandwidth matched by the endoscopic video data type is 60Mbps. This means that the remote surgical robot is now releasing the pairing relationship and ending the surgical operation. The paired data type has a higher priority and the bandwidth is adjusted to 20Mbps. The aforementioned examples of relative control state priorities also apply to the examples of data type priorities here, so they will not be repeated here.

[0245] Furthermore, the data type priority can also be expressed as: the importance of each first data type, the higher the importance, the higher its priority. For example, the data type priorities from high to low include: endoscope video data type, master-slave control signaling data type, energy control data type, audio data type, operating room pan / tilt video data type, operating room gun video data type, and pairing data type; according to the data type with the highest priority, all data types under the surgical stage and surgical task corresponding to the data type are calculated, and the bandwidth parameters of all data types are matched.

[0246] In one embodiment, at least one of the first terminal and the second terminal stores mapping information, and the bandwidth parameter includes multiple bandwidth levels in order of bandwidth, and the mapping information includes: a mapping relationship between multiple first data types and multiple bandwidth levels; through at least one of the first remote host and the second remote host, the target bandwidth level corresponding to the first data type is matched in the mapping information stored in the corresponding first terminal and the second terminal, and a first bandwidth adjustment request is initiated to the central server based on the target bandwidth level.

[0247] In this embodiment, bandwidth levels of different first data types are set to determine preset bandwidth sizes for different surgical stages and surgical tasks. The larger the preset bandwidth, the higher the level, and the smaller the preset bandwidth, the lower the level. For example, four bandwidth levels from low to high are set: 20Mbps, 30Mbps, 40Mbps, and 60Mbps, then: {preoperative: 20Mbps; intraoperative: 60Mbps; postoperative: 20Mbps; surgical operation task: 60 Mbps; debugging task: 40Mbps; teaching task: 30Mbps}.

[0248] Each bandwidth level corresponds to a bandwidth value range or a bandwidth value. The first bandwidth adjustment request includes the bandwidth value range or the bandwidth value. After receiving the first bandwidth request, the central server queries the network operator server for the bandwidth size of the current network channel: if it is greater than the bandwidth value range, the bandwidth size is adjusted to the upper limit value of the bandwidth value range; if it is less than the bandwidth value range, the bandwidth size is adjusted to the lower limit value of the bandwidth value range; the bandwidth size of the current network channel is adjusted to the requested bandwidth value.

[0249] In addition, when both the remote doctor console and the patient surgery platform store mapping information, they respectively match the target bandwidth level of the first data type output by themselves, and initiate a first bandwidth adjustment request to the central server based on their respective target bandwidth levels.

[0250] When only the remote doctor console stores the mapping information, the patient surgery platform sends its first data type to the remote doctor console, and the remote doctor console uniformly matches the target bandwidth level of the first data type output by itself and the patient surgery platform. At this time, the remote doctor console initiates a first bandwidth adjustment request to the central server based on the target bandwidth level.

[0251] When only the patient surgery platform stores the mapping information, the remote doctor console sends its output of the first data type to the patient surgery platform. The patient surgery platform uniformly matches the target bandwidth level of the first data type output by itself and the remote doctor console. At this time, the patient surgery platform initiates a first bandwidth adjustment request to the central server based on the target bandwidth level.

[0252] In addition, the mapping information can also be stored in the central server, which will uniformly match the target bandwidth level corresponding to the first data type output by the remote doctor console and the patient surgery platform based on the stored mapping information, and directly initiate a second bandwidth adjustment request to the network operator server based on the target bandwidth level.

[0253] In this embodiment, at least one auxiliary surgical device is further included, and at least one end of the first terminal and the second terminal is detachably connected to the at least one auxiliary surgical device; in response to a second interactive operation performed by the first terminal or the second terminal with the auxiliary surgical device, second interactive data is generated and transmitted between the first remote host and the second remote host via the network channel; through at least one of the first remote host and the second remote host, a second data type of the second interactive data transmitted in the network channel is identified, and according to a preset relative type priority between the first data type and the second data type, one of the data types is selected from the first data type and the second data type; according to the selected first data type or second data type, the bandwidth of the network channel is adjusted through the central server.

[0254] In one embodiment, the preset relative type priority can also be expressed as a control state priority: between the first data type and the second data type, the lower the matched bandwidth value is, the higher its priority is. The preset relative type priority can also be expressed as a control state priority: the importance of the first interaction data relative to the second interaction data is used to determine whether the bandwidth needs to be adjusted or the size of the adjusted bandwidth to meet the required bandwidth of the surgical project. The aforementioned examples of relative control state priorities are also applicable to the examples of relative type priorities here, so they will not be repeated. Among them, one of the data types is selected from the first data type and the second data type according to the relative type priority from high to low.

[0255] 7. Bandwidth Allocation for Multiple Groups of Remote Surgery Robots

[0256] The bandwidth allocation system includes: multiple groups of remote surgical robots, each group of the remote surgical robots includes a first terminal and a second terminal that are communicatively connected, wherein the first terminal and the second terminal of each group are communicatively connected in the same network channel, and one end is a remote doctor's console and the other end is a patient surgery platform; a central server, which is communicatively connected to at least one of the first terminal and the second terminal of each group of the remote surgical robots; a processor, which is configured to: obtain interaction information between the first terminal and the second terminal of each group, and determine a surgical scene for each group of the remote surgical robots based on the interaction information; allocate bandwidth to each group of the remote surgical robots based on each surgical scene and the current bandwidth in the network channel, so that the central server can adjust the bandwidth of each group of the remote surgical robots.

[0257] For example, Fig.16 As shown, there are two groups of remote surgical robots, the first group of remote surgical robots includes a first terminal TX1 and a second terminal RX1, and the second group of remote surgical robots includes a first terminal TX2 and a second terminal RX2; in the example, when only the first terminal TX1 and the first terminal TX2 are respectively communicated with the central server, bandwidth is allocated to the two groups of remote surgical robots.

[0258] The two groups of remote surgical robots collect the interactive information to the first terminal TX1 and the first terminal TX2 respectively. For example, the second terminal RX1 and the second terminal RX2 send the interactive information generated by themselves to the first terminal TX1 and the first terminal TX2 respectively; the first terminal TX1 and the first terminal TX2 check the surgical scene in real time according to the surgical process / according to the preset period, based on the collected interactive information; when the surgical scene remains unchanged, there is no need to request to adjust the bandwidth; when the surgical scene changes, based on the changed surgical scene, a request is made to the central server to adjust the bandwidth.

[0259] After receiving the request, the central server allocates bandwidth to the two groups of remote surgical robots according to the surgical scenario for which bandwidth adjustment is requested, and initiates a bandwidth adjustment request to the network operator server based on the allocated bandwidth: first, the network operator server is queried for the node bandwidth of the first terminal TX1 and the first terminal TX2, and the node bandwidth is returned based on the confirmation query information; the central server sends its own identity information, or the identity information of the first terminal TX1 and the first terminal TX2, for authentication by the operator server to ensure the security of bandwidth adjustment; after authentication, the node bandwidth of the first terminal TX1 and the first terminal TX2 can be adjusted to the requested allocated bandwidth; after receiving the adjusted bandwidth size, the central server forwards it to the first terminal TX1 and the first terminal TX2, and can prompt the first terminal TX1 and the first terminal TX2.

[0260] Please refer to Fig.17 A flow chart of a bandwidth allocation method is provided, and an embodiment of the bandwidth allocation method is provided, which is specifically as follows:

[0261] 1701. Obtain interaction information between the first terminal and the second terminal through each group of the remote surgical robots, and determine a surgical scene for each group of the remote surgical robots according to the interaction information;

[0262] In this embodiment, the interaction information includes at least one of the following: the first control state of the remote surgical robot when the first terminal interacts with the second terminal, and the interaction data transmitted in the network channel; at least one auxiliary surgical device is also included, and the interaction information may also include: the second control state of the remote surgical robot when the first terminal and / or the second terminal interacts with the detachably connected auxiliary surgical device; wherein at least one of the first terminal and the second terminal is detachably connected to at least one auxiliary surgical device. According to at least one of the first control state, the second control state and the interaction data, the surgical scene of each group of the remote surgical robots is determined.

[0263] In this embodiment, the surgical scenario includes at least one of the following: scenarios under different surgical stages, scenarios under different surgical tasks, and scenarios under different surgical types, wherein the surgical stage includes at least any one of the following: power-on self-test, remote pairing, remote connection, remote interactive communication, remote surgical operation, remote pairing release, and power-off self-test; the surgical task includes at least any one of the following: surgical operation task, teaching task, and debugging task; the surgical type includes any one of surgical types with different degrees of urgency.

[0264] In one embodiment, each group of the remote surgical robots further includes a first voice acquisition device corresponding to the first terminal and a second voice acquisition device corresponding to the second terminal; and / or, further includes an in-vivo image acquisition device corresponding to the patient surgical platform. The medical staff of the remote doctor console and the patient surgical platform can communicate through the first voice acquisition device and the second voice acquisition device.

[0265] Among them, the first voice acquisition device and the second voice acquisition device are used to acquire voice communication information during the operation, and the in-vivo image acquisition device is used to acquire anatomical scene images during the operation, the voice communication information and the anatomical scene images are transmitted through the network channel, and the interactive information includes the voice communication information and / or the anatomical scene image; according to the voice communication information, the scene of the corresponding remote surgical robot in any surgical stage, the scene under any surgical task, and / or the scene under any surgical type is determined; and / or, according to the anatomical scene image, the scene of the corresponding remote surgical robot in any surgical task and / or the scene under any surgical type is determined.

[0266] Specifically, the in-vivo image acquisition device is arranged at one end of the patient's surgical platform, and can be arranged at the end of the surgical instrument. As the surgical instrument moves into the patient's body, the anatomical scene image is captured in the patient's body. The patient's surgical platform is arranged with an image recognition algorithm; according to the anatomical scene image, the arranged image recognition algorithm is applied to recognize the scene under any surgical task and / or the scene under any surgical type. The image recognition algorithm includes machine learning algorithms, deep learning algorithms, etc., such as convolutional neural networks, recurrent neural networks, support vector machines, etc.

[0267] Specifically, at least one end of the patient's surgical platform and the remote doctor's console is provided with a speech recognition algorithm, which extracts characteristic keywords based on the voice communication information during the communication process between the medical staff at both ends, and identifies the scenes under any surgical stage, any surgical task, and / or any surgical type based on the characteristic words.

[0268] For example, relevant feature keywords such as "cutting", "suturing", and "aspiration" can determine the surgical scene that is currently in the intraoperative stage. Other feature keywords can be collected based on prior knowledge to establish a feature keyword library for identifying surgical scenes. The speech recognition algorithm can be specifically based on: Dynamic Time Warping (DTW), Hidden Markov Model (HMM) based on parameter model, convolutional neural network, deep learning neural network, etc.

[0269] In addition, different types of surgeries are classified according to the urgency of the surgery; the classification is based on at least one of the following: preoperative evaluation information and intraoperative surgical information. Preoperative evaluation information such as patient age, surgical risk, operation duration, surgical site, etc., intraoperative surgical information such as patient bleeding condition, whether an emergency accident occurs, and surgical progress.

[0270] 1702. Allocate bandwidth to each group of the remote surgical robots according to each of the surgical scenes and the current bandwidth in the network channel, so that the central server can adjust the bandwidth of each group of the remote surgical robots.

[0271] In this embodiment, the preset required bandwidth of each surgical scene is obtained, and the total required bandwidth of each preset required bandwidth is determined; the total required bandwidth is compared with the current bandwidth in the network channel; if the total required bandwidth is higher than the current bandwidth in the network channel, at least one of the preset required bandwidth and the current bandwidth in the network channel of at least one group of remote surgical robots is adjusted so that the adjusted total required bandwidth is not higher than the current bandwidth in the network channel; based on the adjusted preset required bandwidth and / or current bandwidth, the bandwidth allocated to each group of remote surgical robots is determined.

[0272] For example, the first group of remote surgical robots have a preoperative surgical scenario, and the preset bandwidth requirement is 20 Mbps; the second group of remote surgical robots have an intraoperative surgical scenario, and the preset bandwidth requirement is 80 Mbps; the third group of remote surgical robots have a postoperative surgical scenario, and the preset bandwidth requirement is 20 Mbps; the total bandwidth requirement is 120 Mbps. The current bandwidth in the network channel is 100 Mbps. In one solution, the total bandwidth requirement is adjusted to be no higher than 100 Mbps, and in another solution, the current bandwidth is adjusted to be higher than 120 Mbps.

[0273] Among them, when the total required bandwidth is 120Mbps, if the total required bandwidth is adjusted not to be higher than 100Mbps, it is necessary to reduce the preset required bandwidth of the first group of remote surgical robots (lower than 20Mbps), the preset required bandwidth of the second group of remote surgical robots (lower than 80Mbps), and / or the preset required bandwidth of the third group of remote surgical robots (lower than 20Mbps).

[0274] In one embodiment, a plurality of the surgical scenes are preset with scene priorities, and a bandwidth threshold is preset with the network channel; if the total required bandwidth is higher than the current bandwidth in the network channel, the transmission frequency of at least one group of the remote surgical robots is reduced in turn according to the scene priority; based on the reduced transmission frequency, the reduced preset required bandwidth corresponding to at least one of the surgical scenes is determined, and the reduced total required bandwidth is determined based on the reduced preset required bandwidth; if the reduced total required bandwidth is higher than the current bandwidth in the network channel and not higher than the bandwidth threshold, the current bandwidth in the network channel is increased to the reduced total required bandwidth.

[0275] In this embodiment, the bandwidth threshold of the network channel setting is exemplified by 100Mbps, 150Mbps, 200Mbps, 300Mbps, 500Mbps, etc. The bandwidth threshold is set based on the occupied bandwidth of multiple groups of remote surgical robots that need to be compatible. This embodiment introduces that when the total required bandwidth is higher than the current bandwidth, the transmission frequency of the remote surgical robot is adjusted first to adjust the total required bandwidth, and then adjust the current bandwidth of the network channel.

[0276] In this embodiment, for different surgical stages, the scene priorities are set from high to low as follows: intraoperative stage (remote interactive communication, remote surgical operation), preoperative stage (power-on self-test, remote pairing, remote connection), and postoperative stage (remote pairing release, remote pairing switch, power-off self-test); for different surgical tasks, the scene priorities are set from high to low as follows: surgical operation tasks, teaching tasks, and debugging tasks; for different surgical types, the scene priorities are set from high to low as follows: urgency from high to low.

[0277] For example, three groups of remote surgical robots are respectively in the preoperative stage, intraoperative stage, and postoperative stage; then, according to the scene priority, the transmission frequency of the remote surgical robots in the postoperative stage is reduced in turn, the required bandwidth of this group of remote surgical robots is reduced, so that the total required bandwidth is reduced; if the reduced total required bandwidth is still higher than the current bandwidth, the transmission frequency of the remote surgical robots in the preoperative stage is further reduced; and so on, and finally the transmission frequency of the remote surgical robots in the intraoperative stage continues to be reduced.

[0278] In one embodiment, a plurality of the surgical scenes are preset with scene priorities, and a bandwidth threshold is preset for the network channel; if the total required bandwidth is higher than the current bandwidth in the network channel and not higher than the bandwidth threshold, the current bandwidth in the network channel is increased to the total required bandwidth; if the total required bandwidth is higher than the current bandwidth in the network channel and the bandwidth threshold, the current bandwidth in the network channel is increased to the bandwidth threshold; according to the scene priorities, the transmission frequency of at least one group of the remote surgical robots is reduced in turn; based on the reduced transmission frequency, the reduced preset required bandwidth corresponding to at least one of the surgical scenes is determined, so that the reduced total required bandwidth is not higher than the bandwidth threshold of the network channel.

[0279] This embodiment further introduces that when the total required bandwidth is higher than the current bandwidth, the current bandwidth of the network channel is adjusted first, and then the transmission frequency of the remote surgical robot is adjusted to adjust the total required bandwidth.

[0280] In one embodiment, the interaction data includes multiple data types, and the multiple interaction data are preset with data type priorities according to different data types, and the network channel is preset with a bandwidth threshold; if the total required bandwidth is higher than the current bandwidth in the network channel and the bandwidth threshold, the current bandwidth in the network channel is increased to the bandwidth threshold of the network channel; according to the data type priority, the preset required bandwidth corresponding to at least one data type is reduced in each surgical scenario in turn, so that the reduced total required bandwidth is stopped when it is not higher than the bandwidth threshold of the network channel.

[0281] This embodiment further introduces that when the total required bandwidth is higher than the bandwidth threshold, the current bandwidth of the network channel is adjusted first, and then the preset required bandwidth of the remote surgery robot is adjusted to adjust the total required bandwidth.

[0282] Exemplarily, the aforementioned data types include, in descending order of priority: endoscope video data type, master-slave control signaling data type, energy control data type, audio data type, operating room pan / tilt video data type, operating room gun camera video data type, and pairing data type; the preset required bandwidth corresponding to one data type in all surgical scenarios can be reduced each time according to the data type priority from low to high.

[0283] For example, the first surgical scenario includes an endoscope video data type, an audio data type, and an operating room gun video data type; the second surgical scenario includes an endoscope video data type, a master-slave control signaling data type, an energy control data type, an audio data type, and an operating room PTZ video data type; the third surgical scenario includes a pairing data type, an audio data type, an operating room PTZ video data type, and an operating room gun video data type; the specific examples of the data type reduction process are as follows:

[0284] First, reduce the required bandwidth of paired data types in the third surgical scenario;

[0285] Second, the bandwidth required for the data type of the operating room PTZ video in the second and third surgical scenarios is reduced;

[0286] The third is to reduce the required bandwidth of the operating room gun camera video data type in the first and third surgical scenarios;

[0287] The process continues in this way until the reduced total required bandwidth is no higher than the bandwidth threshold of the network channel.

[0288] In one embodiment, it also includes an external image acquisition device, which is communicatively connected to a first terminal or a second terminal detachably connected to the auxiliary surgical device; the surgical scene image is acquired by the external image acquisition device, wherein the surgical scene image includes the auxiliary surgical device and an image of the first terminal or the second terminal detachably connected to the auxiliary surgical device; according to the surgical scene image, the disassembly and assembly operation of the first terminal or the second terminal and the auxiliary surgical device is identified through the first terminal or the second terminal detachably connected to the auxiliary surgical device, and the second control state of the remote surgical robot is determined based on the disassembly and assembly operation.

[0289] Furthermore, the central server is communicatively connected with a network operator server; based on the current bandwidth adjusted in the network channel, a bandwidth adjustment request is initiated to the network operator server through the central server, so as to adjust the network channel to the adjusted current bandwidth through the network operator server; wherein the adjusted current bandwidth includes the total required bandwidth, the adjusted total required bandwidth, or a preset bandwidth threshold of the network channel.

[0290] It should be noted that other sorting schemes that can be easily thought of by those skilled in the art within the technical scope disclosed in the present invention should also be within the protection scope of the present invention and will not be described in detail here.

[0291] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the mobile terminal can be divided into different functional units or modules to complete all or part of the functions described above. The functional modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the modules in the above-mentioned mobile terminal can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0292] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0293] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0294] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0295] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0296] As used in the specification of this application and the appended claims, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrase "if it is determined" or "if the described condition or event is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce the described condition or event is detected" or "in response to detecting the described condition or event" depending on the context.

[0297] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0298] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0299] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0300] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0301] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0302] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0303] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0304] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A bandwidth adjustment method for a remote surgical robot, characterized in that: include: A remote surgical robot comprises a first terminal and a second terminal in communication connection, wherein one end of the first terminal and the second terminal is a remote doctor console and the other end is a patient surgical platform, wherein the remote doctor console is provided with a first remote host, and the patient surgical platform is provided with a second remote host, the remote doctor console and the patient surgical platform are respectively connected to an information network channel through the first remote host and the second remote host, and communicate through the information network channel through nodes representing the remote doctor console and the patient surgical platform in a cloud network; a central server, communicatively connected to at least one of the first terminal and the second terminal, and the central server is communicatively connected to a preset network operator server; The bandwidth adjustment method comprises: In response to the interactive operation of the first terminal on the second terminal, triggering a first control state of the remote surgical robot; According to the first control state, adjusting, by the central server, the bandwidth of the information network channel of the communication connection between the first remote host in the first terminal and the second remote host in the second terminal; According to the first control state, adjusting the bandwidth of the information network channel of the communication connection between the first remote host in the first terminal and the second remote host in the second terminal by the central server includes: Matching bandwidth parameters corresponding to the first control state through at least one of a first remote host of the first terminal and a second remote host of the second terminal, and sending a first bandwidth adjustment request to the central server based on the bandwidth parameters, and initiating a second bandwidth adjustment request to the preset network operator server through the central server based on the first bandwidth adjustment request, so as to adjust the bandwidth of the information network channel of the communication connection between the first terminal and the second terminal through the preset network operator server, wherein at least one of the first terminal and the second terminal stores mapping information, and the bandwidth parameter includes multiple bandwidth levels in order of bandwidth, and the mapping information includes: mapping relationships between multiple different first control states and multiple bandwidth levels; sending a first bandwidth adjustment request to the central server based on the bandwidth parameters, including: matching a target bandwidth level corresponding to the first control state in the stored mapping information through at least one of the first terminal and the second terminal, and initiating a first bandwidth adjustment request to the central server based on the target bandwidth level; or, In response to an interactive operation performed between the first terminal or the second terminal and an auxiliary surgical device, the second control state of the remote surgical robot is triggered, and the interactive operation at least includes a disassembly and assembly operation corresponding to the detachable connection; when the first control state and the second control state are triggered simultaneously, one of the first control state and the second control state is selected from the first control state and the second control state according to a preset control state priority through at least one of the first terminal and the second terminal; according to the selected control state, the bandwidth of the communication connection between the first terminal and the second terminal is adjusted through the central server; wherein, at least one of the first terminal and the second terminal is detachably connected to at least one auxiliary surgical device.

2. The bandwidth adjustment method according to claim 1, characterized in that: The interactive operation includes: an operation for triggering any one of a plurality of surgical stages, and an operation for triggering any one of a plurality of surgical tasks; The first control state indicates: in any surgical stage and / or any surgical task, the state of the interactive operation authority of the first terminal to the second terminal.

3. The bandwidth adjustment method according to claim 2, characterized in that: Any one of the surgical stages includes at least one of the following: power-on self-test, remote pairing, remote connection, remote interactive communication, remote surgical operation, remote pairing release, and power-off self-test; Any of the surgical tasks includes at least one of the following: a surgical operation task, a teaching task, and a debugging task.

4. The bandwidth adjustment method according to claim 2, characterized in that: The remote physician console and the patient surgical platform include operating components, the operating components including at least one of: a graphical user interface and physical hardware; In response to the interactive operation of the first terminal on the second terminal, triggering the first control state of the remote surgery robot includes: In response to a touch operation on a graphical user interface of the remote physician console or a physical operation on physical hardware, triggering an interactive operation on the patient surgical platform; In response to a touch operation on the graphical user interface of the patient surgery platform or a physical operation on the physical hardware, an interactive operation on the remote doctor console is triggered.

5. The bandwidth adjustment method according to claim 1, characterized in that: Also included is an in vitro image acquisition device, communicatively connected to a first terminal or a second terminal detachably connected to the auxiliary surgery device; Before triggering the second control state of the remote surgical robot in response to the interactive operation performed by the first terminal or the second terminal and the auxiliary surgery device, the method further includes: Acquiring a surgical scene image by means of the in vitro image acquisition device, wherein the surgical scene image includes an image of the auxiliary surgical device and a first terminal or a second terminal detachably connected to the auxiliary surgical device; According to the surgical scene image, the disassembly and assembly operation of the first terminal or the second terminal and the surgical auxiliary device is identified through the first terminal or the second terminal detachably connected to the surgical auxiliary device.

6. The bandwidth adjustment method according to any one of claims 1 to 5, characterized in that: The first control state includes: a third control state of the remote doctor console over the patient surgical platform, and a fourth control state of the patient surgical platform over the remote doctor console, and a master-slave state priority is preset between the third control state and the fourth control state; The central server is communicatively connected to one of the remote doctor console and the patient surgery platform; According to the first control state, adjusting, by the central server, a bandwidth of a communication connection between the first terminal and the second terminal, comprises: The third control state is sent to the patient surgery platform through the remote doctor console, and the patient surgery platform selects one of the control states from its current fourth control state and the received third control state according to the master-slave state priority; or, The fourth control state is sent to the remote doctor console through the patient surgery platform, and the remote doctor console selects one control state from its current third control state and the received fourth control state according to the master-slave state priority; According to the control state selected by the remote doctor console or the patient surgery platform, the bandwidth of the communication connection between the remote doctor console and the patient surgery platform is adjusted through the central server.

7. The bandwidth adjustment method according to any one of claims 1 to 5, characterized in that: The first control state includes: a third control state of the remote doctor console over the patient surgical platform, and a fourth control state of the patient surgical platform over the remote doctor console, and a master-slave state priority is preset between the third control state and the fourth control state; The central server is respectively connected to the remote doctor console and the patient surgery platform for communication; According to the first control state, adjusting, by the central server, a bandwidth of a communication connection between the first terminal and the second terminal, comprises: sending the third control state to the central server via the remote doctor console, and sending the fourth control state to the central server via the patient surgery platform; Through the central server, one of the control states is selected from the third control state and the fourth control state according to the master-slave state priority, and the bandwidth of the communication connection between the remote doctor console and the patient surgery platform is adjusted according to the selected control state.

8. A bandwidth adjustment system for a remote surgical robot, using the bandwidth adjustment method for a remote surgical robot as claimed in any one of claims 1 to 7, characterized in that: The bandwidth adjustment system comprises: A remote surgical robot comprises a first terminal and a second terminal in communication connection, wherein one end of the first terminal and the second terminal is a remote doctor console and the other end is a patient surgical platform, wherein the remote doctor console is provided with a first remote host, and the patient surgical platform is provided with a second remote host, the remote doctor console and the patient surgical platform are respectively connected to an information network channel through the first remote host and the second remote host, and communicate through the information network channel through nodes representing the remote doctor console and the patient surgical platform in a cloud network; a central server, communicatively connected to at least one of the first terminal and the second terminal, and the central server is communicatively connected to a preset network operator server; The processor is configured as: In response to the interactive operation of the first terminal on the second terminal, triggering a first control state of the remote surgical robot; According to the first control state, adjusting, by the central server, the bandwidth of the information network channel of the communication connection between the first remote host in the first terminal and the second remote host in the second terminal; According to the first control state, adjusting the bandwidth of the information network channel of the communication connection between the first remote host in the first terminal and the second remote host in the second terminal by the central server includes: Matching bandwidth parameters corresponding to the first control state through at least one of the first remote host and the second remote host, and sending a first bandwidth adjustment request to the central server based on the bandwidth parameters, and initiating a second bandwidth adjustment request to the preset network operator server through the central server based on the first bandwidth adjustment request, so as to adjust the bandwidth of the information network channel of the communication connection between the first terminal and the second terminal through the preset network operator server, wherein at least one of the first terminal and the second terminal stores mapping information, and the bandwidth parameters include multiple bandwidth levels in order of bandwidth, and the mapping information includes: mapping relationships between multiple different first control states and multiple bandwidth levels; sending a first bandwidth adjustment request to the central server based on the bandwidth parameters includes: matching a target bandwidth level corresponding to the first control state in the stored mapping information through at least one of the first terminal and the second terminal, and initiating a first bandwidth adjustment request to the central server based on the target bandwidth level; or, In response to an interactive operation performed between the first terminal or the second terminal and an auxiliary surgical device, the second control state of the remote surgical robot is triggered, and the interactive operation at least includes a disassembly and assembly operation corresponding to the detachable connection; when the first control state and the second control state are triggered simultaneously, one of the first control state and the second control state is selected from the first control state and the second control state according to a preset control state priority through at least one of the first terminal and the second terminal; according to the selected control state, the bandwidth of the communication connection between the first terminal and the second terminal is adjusted through the central server; wherein, at least one of the first terminal and the second terminal is detachably connected to at least one auxiliary surgical device.

9. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the bandwidth adjustment method of the remote surgical robot as described in any one of claims 1 to 7 are implemented.

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