Remote surgery control method, system and equipment for orthopedic surgery robot

Abstract

The invention provides an orthopedic surgery robot remote surgery control method, system and device and a computer readable storage medium. The method comprises the following steps: a local master control end receives a feedback data packet sent by a remote master control end through a wireless communication network, and records a data packet receiving timestamp and a data packet receiving duration; calculating a data packet transmission delay duration according to the data packet sending timestamp and the data packet receiving timestamp; if the data packet transmission delay duration is less than the data packet receiving duration, the local master control terminal dynamically allocates processor nodes with idle resources to receive and process the data packet; and in response to the operation of the local user, the local master control terminal sends a control instruction to the remote master control terminal through the wireless communication network so as to control the orthopedic surgery robot to perform surgery. According to the embodiment of the invention, the orthopedic surgical robot can be remotely controlled with lower delay.

Description

Technical Field

[0001] The present application belongs to the field of remote robot control, and in particular, relates to a remote surgery control method, system, device and computer-readable storage medium for an orthopedic surgical robot. Background Art

[0002] Remote surgical robot control has very high requirements for low latency (usually less than 200ms). There are three main factors that cause delay: 1. Data packet transmission delay; 2. Data packet reception and processing time; 3. Transmission delay of robot control instructions.

[0003] Among them, the delay time of data packet transmission and the delay time of robot control command transmission are inherent delays, which mainly depend on bandwidth and network service quality. Therefore, when bandwidth and network service quality are fixed, it is very difficult to reduce the delay time of data packet transmission and the delay time of robot control command transmission, and the effect is not obvious.

[0004] Therefore, how to remotely control orthopedic surgical robots with lower latency is a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] The embodiments of the present application provide a method, system, device and computer-readable storage medium for remote surgery control of an orthopedic surgical robot, which can remotely control the orthopedic surgical robot with lower latency.

[0006] In a first aspect, an embodiment of the present application provides a remote surgery control method of an orthopedic surgical robot, comprising:

[0007] The local master terminal receives the feedback data packet sent by the remote master terminal through the wireless communication network, and records the data packet receiving timestamp and data packet receiving duration; wherein the feedback data packet at least includes: robot arm motion posture information, robot arm motion path, positioning target, force feedback, image information, audio information, video information, and data packet sending timestamp;

[0008] Calculate the data packet transmission delay time according to the data packet sending timestamp and the data packet receiving timestamp;

[0009] If the data packet transmission delay is less than the data packet reception time, the local master dynamically allocates a processor node with idle resources to receive and process the data packet;

[0010] In response to the operation of the local user, the local master control terminal sends control instructions to the remote master control terminal through the wireless communication network to control the orthopedic surgical robot to perform surgery.

[0011] Optionally, also include:

[0012] If there are multiple wireless communication networks, the remote master control end divides the data volume of the feedback data packet and marks the order according to the number of wireless communication networks and the transmission rate, to obtain multiple sub-feedback data packets;

[0013] The remote master control end sends the multiple sub-feedback data packets to the local master control end through the corresponding wireless communication network.

[0014] Optionally, after the remote master control end sends the multiple sub-feedback data packets to the local master control end through the corresponding wireless communication network, the method further includes:

[0015] The local master control end receives the multiple sub-feedback data packets respectively through the corresponding wireless communication network;

[0016] Integrate the multiple sub-feedback data packets according to the order in which the multiple sub-feedback data packets are marked;

[0017] If there is a situation where a sub-feedback data packet is lost, a notification message is sent to the remote master control end to resend the lost sub-feedback data packet.

[0018] Optionally, if the data packet transmission delay duration is less than the data packet reception duration, the local master control end dynamically allocates a processor node with idle resources to receive and process the data packet, including:

[0019] If the data packet transmission delay is less than the data packet reception time, the local master control terminal monitors multiple processor nodes in the system in real time, and records the load of each processor node, the currently occupied processing tasks, and whether it is in an idle state;

[0020] When the system detects an idle processor node, the local host selects the node that is most suitable for processing the current data packet according to the following strategy:

[0021] First, select a node that does not currently have any task load to ensure maximum data processing efficiency;

[0022] If all nodes are highly loaded, the node with the smallest current load will be selected first;

[0023] A certain number of processor nodes are also reserved for processing high-priority tasks to prevent all nodes from being occupied by low-priority tasks.

[0024] Optionally, after determining the idle processor node, the following steps are further included:

[0025] The local master end calls the task queue interface of the idle processor node through the internal scheduling mechanism and puts the data packet processing task into the task queue of the node to wait for processing;

[0026] Among them, the task queue is dynamically adjusted according to first-in-first-out or other priority scheduling strategies.

[0027] Optionally, also include:

[0028] If the data packet transmission delay is longer than the data packet reception time and longer than the preset maximum transmission delay, it means that there is a problem with the network environment. In this case, the network status is fed back, the resource allocation strategy is adjusted, or the data packet is requested again.

[0029] Optionally, control instructions are sent to the remote master control terminal to control the orthopedic surgical robot to perform surgeries including at least: total hip replacement, total knee replacement, unicompartmental hip replacement, periacetabular osteotomy, sports medicine, spinal screw placement positioning navigation, and trauma positioning navigation.

[0030] In a second aspect, the present application provides an orthopedic surgical robot remote surgery control system, comprising:

[0031] A feedback data packet acquisition module is used for the local master terminal to receive the feedback data packet sent by the remote master terminal through the wireless communication network, and record the data packet reception timestamp and data packet reception duration; wherein the feedback data packet at least includes: robot arm motion posture information, robot arm motion path, positioning target, force feedback, image information, audio information, video information, and data packet sending timestamp;

[0032] A data packet transmission delay duration calculation module, used to calculate the data packet transmission delay duration according to the data packet sending timestamp and the data packet receiving timestamp;

[0033] An idle node dynamic allocation module is used to dynamically allocate a processor node with idle resources to receive and process the data packet if the data packet transmission delay duration is less than the data packet reception duration;

[0034] The robot control module is used to respond to the operation of the local user. The local main control end sends control instructions to the remote main control end through the wireless communication network to control the orthopedic surgical robot to perform surgery.

[0035] In a third aspect, an embodiment of the present application provides an electronic device, the electronic device comprising: a processor and a memory storing computer program instructions;

[0036] When the processor executes the computer program instructions, an orthopedic surgical robot remote surgery control method is implemented.

[0037] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement a method for remote surgical control of an orthopedic surgical robot.

[0038] The orthopedic surgical robot remote surgery control method, system, device and computer-readable storage medium of the embodiments of the present application can remotely control the orthopedic surgical robot with lower latency.

[0039] The orthopedic surgical robot remote surgery control method comprises:

[0040] The local master terminal receives the feedback data packet sent by the remote master terminal through the wireless communication network, and records the data packet receiving timestamp and data packet receiving duration; wherein the feedback data packet at least includes: robot arm motion posture information, robot arm motion path, positioning target, force feedback, image information, audio information, video information, and data packet sending timestamp;

[0041] Calculate the data packet transmission delay time according to the data packet sending timestamp and the data packet receiving timestamp;

[0042] If the data packet transmission delay is less than the data packet reception time, the local master dynamically allocates a processor node with idle resources to receive and process the data packet;

[0043] In response to the operation of the local user, the local master control terminal sends control instructions to the remote master control terminal through the wireless communication network to control the orthopedic surgical robot to perform surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 It is a flowchart of a remote surgery control method of an orthopedic surgical robot provided by an embodiment of the present application;

[0046] Figure 2 It is a structural schematic diagram of an orthopedic surgical robot remote surgery control system provided by an embodiment of the present application;

[0047] Figure 3 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0048] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0049] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0050] In order to solve the problems of the prior art, the embodiments of the present application provide a remote surgery control method, system, device and computer readable storage medium for an orthopedic surgical robot. The remote surgery control method for an orthopedic surgical robot provided by the embodiments of the present application is first introduced below.

[0051] Figure 1 FIG. 1 is a flow chart of a remote surgical control method for an orthopedic surgical robot provided by an embodiment of the present application. Figure 1 As shown, the orthopedic surgical robot remote surgery control method comprises:

[0052] S101, the local master terminal receives a feedback data packet sent by the remote master terminal through a wireless communication network, and records the data packet receiving timestamp and data packet receiving duration; wherein the feedback data packet at least includes: robot arm motion posture information, robot arm motion path, positioning target, force feedback, image information, audio information, video information, and data packet sending timestamp;

[0053] S102, calculating the data packet transmission delay duration according to the data packet sending timestamp and the data packet receiving timestamp;

[0054] S103, if the data packet transmission delay duration is less than the data packet reception duration, the local master control end dynamically allocates a processor node with idle resources to receive and process the data packet;

[0055] S104. In response to the operation of the local user, the local main control end sends a control instruction to the remote main control end through the wireless communication network to control the orthopedic surgical robot to perform surgery.

[0056] In one embodiment, it further includes:

[0057] If there are multiple wireless communication networks, the remote master control end divides the data volume of the feedback data packet and marks the order according to the number of wireless communication networks and the transmission rate, to obtain multiple sub-feedback data packets;

[0058] The remote master control end sends the multiple sub-feedback data packets to the local master control end through the corresponding wireless communication network.

[0059] In one embodiment, after the remote master terminal sends the plurality of sub-feedback data packets to the local master terminal through the corresponding wireless communication network, the method further includes:

[0060] The local master control end receives the multiple sub-feedback data packets respectively through the corresponding wireless communication network;

[0061] Integrate the multiple sub-feedback data packets according to the order in which the multiple sub-feedback data packets are marked;

[0062] If there is a situation where a sub-feedback data packet is lost, a notification message is sent to the remote master control end to resend the lost sub-feedback data packet.

[0063] In one embodiment, if the data packet transmission delay duration is less than the data packet reception duration, the local host dynamically allocates a processor node with idle resources to receive and process the data packet, including:

[0064] If the data packet transmission delay is less than the data packet reception time, the local master control terminal monitors multiple processor nodes in the system in real time, and records the load of each processor node, the currently occupied processing tasks, and whether it is in an idle state;

[0065] When the system detects an idle processor node, the local host selects the node that is most suitable for processing the current data packet according to the following strategy:

[0066] First, select a node that does not currently have any task load to ensure maximum data processing efficiency;

[0067] If all nodes are highly loaded, the node with the smallest current load will be selected first;

[0068] A certain number of processor nodes are also reserved for processing high-priority tasks to prevent all nodes from being occupied by low-priority tasks.

[0069] In one embodiment, after determining the idle processor node, the method further includes:

[0070] The local master end calls the task queue interface of the idle processor node through the internal scheduling mechanism and puts the data packet processing task into the task queue of the node to wait for processing;

[0071] Among them, the task queue is dynamically adjusted according to first-in-first-out or other priority scheduling strategies.

[0072] In one embodiment, it further includes:

[0073] If the data packet transmission delay is longer than the data packet reception time and longer than the preset maximum transmission delay, it means that there is a problem with the network environment. In this case, the network status is fed back, the resource allocation strategy is adjusted, or the data packet is requested again.

[0074] In one embodiment, control instructions are sent to a remote master terminal to control the orthopedic surgical robot to perform surgeries including at least: total hip replacement, total knee replacement, unicompartmental knee replacement, periacetabular osteotomy, sports medicine, spinal screw placement and navigation, and trauma positioning and navigation.

[0075] Figure 2 : is a structural diagram of an orthopedic surgical robot remote surgery control system provided by an embodiment of the present application, the orthopedic surgical robot remote surgery control system comprises:

[0076] The feedback data packet acquisition module 201 is used for the local master terminal to receive the feedback data packet sent by the remote master terminal through the wireless communication network, and record the data packet receiving timestamp and data packet receiving duration; wherein the feedback data packet at least includes: the robot arm motion posture information, the robot arm motion path, the positioning target, the force feedback, the image information, the audio information, the video information, and the data packet sending timestamp;

[0077] The data packet transmission delay duration calculation module 202 is used to calculate the data packet transmission delay duration according to the data packet sending timestamp and the data packet receiving timestamp;

[0078] The idle node dynamic allocation module 203 is used for dynamically allocating idle processor nodes to receive and process data packets at the local master control end if the data packet transmission delay duration is less than the data packet reception duration;

[0079] The robot control module 204 is used to respond to the operation of the local user. The local main control end sends control instructions to the remote main control end through the wireless communication network to control the orthopedic surgical robot to perform surgery.

[0080] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown.

[0081] The electronic device may include a processor 301 and a memory 302 storing computer program instructions.

[0082] Specifically, the processor 301 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0083] The memory 302 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 302 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 302 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 302 may be inside or outside the electronic device. In a particular embodiment, the memory 302 may be a non-volatile solid-state memory.

[0084] In one embodiment, the memory 302 may be a read-only memory (ROM). In one embodiment, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0085] The processor 301 reads and executes the computer program instructions stored in the memory 302 to implement any one of the orthopedic surgical robot remote surgery control methods in the above embodiments.

[0086] In one example, the electronic device may further include a communication interface 303 and a bus 310. Figure 3 As shown, the processor 301, the memory 302, and the communication interface 303 are connected via a bus 310 and communicate with each other.

[0087] The communication interface 303 is mainly used to implement communication between various modules, systems, units and / or devices in the embodiments of the present application.

[0088] Bus 310 includes hardware, software or both, and the parts of electronic equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 310 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0089] In addition, in combination with the orthopedic surgical robot remote surgery control method in the above embodiment, the embodiment of the present application can provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the orthopedic surgical robot remote surgery control methods in the above embodiment is implemented.

[0090] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0091] The functional modules shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. Programs or code segments can be stored in machine-readable media, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable media" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0092] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or systems. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0093] The above reference is according to the method of the embodiment of the present application, the flowchart and / or block diagram of the system and computer program product described various aspects of the present application.It should be understood that each square block in the flowchart and / or block diagram and the combination of each square block in the flowchart and / or block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing system, to produce a kind of machine, so that these instructions executed by the processor of the computer or other programmable data processing system enable the realization of the function / action specified in one or more square blocks of the flowchart and / or block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square block in the block diagram and / or the flowchart and the combination of the square blocks in the block diagram and / or the flowchart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0094] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A remote surgical control method for an orthopedic surgical robot, characterized in that: include: The local master terminal receives the feedback data packet sent by the remote master terminal through the wireless communication network, and records the data packet receiving timestamp and data packet receiving duration; wherein the feedback data packet at least includes: robot arm motion posture information, robot arm motion path, positioning target, force feedback, image information, audio information, video information, and data packet sending timestamp; Calculate the data packet transmission delay time according to the data packet sending timestamp and the data packet receiving timestamp; If the data packet transmission delay is less than the data packet reception time, the local master dynamically allocates a processor node with idle resources to receive and process the data packet; In response to the operation of the local user, the local master control terminal sends control instructions to the remote master control terminal through the wireless communication network to control the orthopedic surgical robot to perform surgery.

2. The orthopedic surgical robot remote surgery control method according to claim 1, characterized in that: Also includes: If there are multiple wireless communication networks, the remote master control end divides the data volume of the feedback data packet and marks the order according to the number of wireless communication networks and the transmission rate, to obtain multiple sub-feedback data packets; The remote master control end sends the multiple sub-feedback data packets to the local master control end through the corresponding wireless communication network.

3. The orthopedic surgical robot remote surgery control method according to claim 2, characterized in that: After the remote master control end sends the plurality of sub-feedback data packets to the local master control end through the corresponding wireless communication network, the method further includes: The local master control end receives the multiple sub-feedback data packets respectively through the corresponding wireless communication network; Integrate the multiple sub-feedback data packets according to the order in which the multiple sub-feedback data packets are marked; If there is a situation where a sub-feedback data packet is lost, a notification message is sent to the remote master control end to resend the lost sub-feedback data packet.

4. The orthopedic surgical robot remote surgery control method according to claim 1, characterized in that: If the data packet transmission delay is less than the data packet reception time, the local master dynamically allocates a processor node with idle resources to receive and process the data packet, including: If the data packet transmission delay is less than the data packet reception time, the local master control terminal monitors multiple processor nodes in the system in real time, and records the load of each processor node, the currently occupied processing tasks, and whether it is in an idle state; When the system detects an idle processor node, the local host selects the node that is most suitable for processing the current data packet according to the following strategy: First, select a node that does not currently have any task load to ensure maximum data processing efficiency; If all nodes are highly loaded, the node with the smallest current load will be selected first; A certain number of processor nodes are also reserved for processing high-priority tasks to prevent all nodes from being occupied by low-priority tasks.

5. The orthopedic surgical robot remote surgery control method according to claim 4, characterized in that: After determining the idle processor nodes, it also includes: The local master end calls the task queue interface of the idle processor node through the internal scheduling mechanism and puts the data packet processing task into the task queue of the node to wait for processing; Among them, the task queue is dynamically adjusted according to first-in-first-out or other priority scheduling strategies.

6. The orthopedic surgical robot remote surgery control method according to claim 5, characterized in that: Also includes: If the data packet transmission delay is longer than the data packet reception time and longer than the preset maximum transmission delay, it means that there is a problem with the network environment. In this case, the network status is fed back, the resource allocation strategy is adjusted, or the data packet is requested again.

7. The orthopedic surgical robot remote surgery control method according to claim 1, characterized in that: Send control instructions to the remote master terminal to control the orthopedic surgical robot to perform at least the following operations: total hip replacement, total knee replacement, unicompartmental joint replacement, periacetabular osteotomy, sports medicine, spinal screw placement and navigation, and trauma positioning and navigation.

8. An orthopedic surgical robot remote surgery control system, characterized in that: The system comprises: A feedback data packet acquisition module is used for the local master terminal to receive the feedback data packet sent by the remote master terminal through the wireless communication network, and record the data packet reception timestamp and data packet reception duration; wherein the feedback data packet at least includes: robot arm motion posture information, robot arm motion path, positioning target, force feedback, image information, audio information, video information, and data packet sending timestamp; A data packet transmission delay duration calculation module, used to calculate the data packet transmission delay duration according to the data packet sending timestamp and the data packet receiving timestamp; An idle node dynamic allocation module is used to dynamically allocate a processor node with idle resources to receive and process the data packet if the data packet transmission delay duration is less than the data packet reception duration; The robot control module is used to respond to the operation of the local user. The local main control end sends control instructions to the remote main control end through the wireless communication network to control the orthopedic surgical robot to perform surgery.

9. An electronic device, characterized in that: The electronic device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the orthopedic surgical robot remote surgery control method as described in any one of claims 1-7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by the processor, the orthopedic surgical robot remote surgery control method as described in any one of claims 1-7 is implemented.

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