Orthopedic surgery robot remote surgery control method, system and device

Abstract

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

Description

TECHNICAL FIELD

[0001] The application belongs to the field of remote robot control, and particularly relates to a remote surgery control method, system and device for an orthopedic surgery robot and a computer readable storage medium. BACKGROUND

[0002] Remote surgery robot control has very high requirements for low delay (usually below 200 ms), and the delay is mainly caused by three factors: 1, data packet transmission delay duration; 2, data packet receiving and processing duration; and 3, robot control instruction transmission delay duration.

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

[0004] Therefore, how to remotely control the orthopedic surgery robot with lower delay is a technical problem that those skilled in the art need to solve. SUMMARY

[0005] The application provides a remote surgery control method, system, device and computer readable storage medium for an orthopedic surgery robot, which can remotely control the orthopedic surgery robot with lower delay.

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

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

[0008] According to the data packet sending timestamp and the data packet receiving timestamp, the data packet transmission delay duration is calculated;

[0009] If the data packet transmission delay duration is less than the data packet receiving duration, the local master end dynamically allocates the 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 end sends the control instruction to the remote master end through the wireless communication network to control the orthopedic surgery robot to perform surgery.

[0011] Optionally, it further comprises:

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

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

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

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

[0016] The multiple sub-feedback data packets are integrated according to the order marked by the multiple sub-feedback data packets respectively;

[0017] If there is a case of missing sub-feedback data packet, a notification message is sent to the remote master to retransmit the missing sub-feedback data packet.

[0018] Optionally, if the data packet transmission delay duration is less than the data packet receiving duration, the local master dynamically allocates the processor nodes with idle resources to receive and process the data packet, comprising:

[0019] If the data packet transmission delay duration is less than the data packet receiving duration, the local master monitors the multiple processor nodes in the system in real time, records the load condition, the current processing task occupied, and whether it is in an idle state of each processor node;

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

[0021] First, select the node that has no task load at present to ensure the maximum efficiency of data processing;

[0022] If all nodes are highly loaded, the node with the smallest load at present is selected preferentially;

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

[0024] Optionally, after determining the idle processor node, the method further comprises:

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

[0026] The task queue is dynamically adjusted according to the first-in first-out or other priority scheduling strategy.

[0027] Optionally, further comprising:

[0028] If the data packet transmission delay duration is greater than the data packet receiving duration and greater than the preset maximum transmission delay duration, it means that the network environment has a problem, and the network state is fed back, the resource allocation strategy is adjusted, or the data packet is re-requested.

[0029] Optionally, the control instruction sent to the remote master end controls the surgery performed by the orthopedic surgery robot, including total hip arthroplasty, total knee arthroplasty, unicompartmental knee arthroplasty, periacetabular osteotomy, sports medicine, spine screw positioning navigation, and trauma positioning navigation.

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

[0031] The feedback data packet acquisition module is configured to receive the feedback data packet sent by the remote master end through the wireless communication network by the local master end, and record the data packet receiving timestamp and the data packet receiving duration; wherein the feedback data packet at least includes: mechanical arm motion posture information, mechanical arm motion path, positioning target, force feedback, image information, audio information, video information, and data packet sending timestamp.

[0032] The data packet transmission delay duration calculation module is configured to calculate the data packet transmission delay duration according to the data packet sending timestamp and the data packet receiving timestamp.

[0033] The idle node dynamic allocation module is configured to, if the data packet transmission delay duration is less than the data packet receiving duration, dynamically allocate the processor node with idle resources by the local master end to receive and process the data packet.

[0034] The robot control module is configured to, in response to the operation of the local user, send the control instruction to the remote master end by the local master end through the wireless communication network, so as to control the orthopedic surgery robot to perform the surgery.

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

[0036] The processor executes the computer program instructions to realize the orthopedic surgery robot remote surgery control method.

[0037] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, and the computer readable storage medium stores computer program instructions, and the computer program instructions are executed by the processor to realize the orthopedic surgery robot remote surgery control method.

[0038] The orthopedic surgery robot remote surgery control method, system, device and computer readable storage medium provided by the embodiment of the present application can remotely control the orthopedic surgery robot with lower delay.

[0039] The orthopedic surgery robot remote surgery control method comprises the following steps:

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

[0041] According to the data packet sending timestamp and the data packet receiving timestamp, the data packet transmission delay duration is calculated;

[0042] If the data packet transmission delay duration is less than the data packet receiving duration, the local master end dynamically allocates the 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 end sends a control instruction to the remote master end through the wireless communication network to control the orthopedic surgery robot to perform surgery. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

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

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

[0047] Figure 3 is a structural schematic diagram of the 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 with reference to the drawings. In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. The present application can be implemented without some of these specific details for those skilled in the art. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0049] It should be noted that, in this paper, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, 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] To solve the problems in the prior art, the embodiments of the present application provide an orthopedic surgery robot remote surgery control method, system, device and computer readable storage medium. First, the orthopedic surgery robot remote surgery control method provided by the embodiments of the present application will be introduced.

[0051] Figure 1 The flowchart of the orthopedic surgery robot remote surgery control method provided by one embodiment of the present application is shown. As shown in Figure 1 The orthopedic surgery robot remote surgery control method comprises:

[0052] S101, the local master end receives the feedback data packet sent by the remote master end 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: mechanical arm motion posture information, mechanical arm motion path, positioning target, force feedback, image information, audio information, video information, data packet sending timestamp;

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

[0054] S103, if the data packet transmission delay duration is less than the data packet receiving duration, the local master end dynamically allocates the 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 master control terminal sends a control instruction to the remote master control terminal 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, thereby obtaining multiple sub-feedback data packets;

[0058] The remote master control terminal sends the multiple sub-feedback data packets to the local master control terminal 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 via the corresponding wireless communication network, the method further includes:

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

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

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

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

[0064] If the packet transmission delay is less than the packet reception time, the local master monitors multiple processor nodes in the system in real time, recording 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 currently has no 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, further comprising:

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

[0071] The task queue is dynamically adjusted according to a first-in-first-out or other priority scheduling strategy.

[0072] In one embodiment, further comprising:

[0073] If the data packet transmission delay duration is greater than the data packet receiving duration and greater than the preset maximum transmission delay duration, it means that the network environment has a problem, and the network state is fed back, the resource allocation strategy is adjusted, or the data packet is re-requested.

[0074] In one embodiment, the control instruction sent to the remote master controls the orthopedic surgery robot to perform at least one of the following surgeries: total hip arthroplasty, total knee arthroplasty, unicompartmental arthroplasty, periacetabular osteotomy, sports medicine, spine screw positioning navigation, and trauma positioning navigation.

[0075] Figure 2 is a structural schematic diagram of an orthopedic surgery robot remote surgery control system provided in an embodiment of the present application. The orthopedic surgery robot remote surgery control system comprises:

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

[0077] The data packet transmission delay duration calculation module 202 is configured 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 configured to, if the data packet transmission delay duration is less than the data packet receiving duration, dynamically allocate the resource idle processor node by the local master to receive and process the data packet.

[0079] The robot control module 204 is configured to, in response to the operation of the local user, send a control instruction to the remote master through the wireless communication network to control the orthopedic surgery robot to perform a surgery.

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

[0081] The electronic device can include a processor 301 and a memory 302 having stored computer program instructions.

[0082] In particular, the processor 301 described above can include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or can be configured to implement one or more integrated circuits that embody the embodiments of the present application.

[0083] The memory 302 can include a mass storage for data or instructions. By way of example and not limitation, the memory 302 can 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. The memory 302 can be removable or non-removable (or fixed) as appropriate. The memory 302 can be internal or external to the electronic device as appropriate. In a particular embodiment, the memory 302 can be a non-volatile solid state memory.

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

[0085] The processor 301 implements any one of the orthopedic surgery robot remote surgery control methods described above by reading and executing the computer program instructions stored in the memory 302.

[0086] In one example, the electronic device can further include a communication interface 303 and a bus 310. Among them, as shown, the processor 301, the memory 302, the communication interface 303 are connected through the bus 310 and complete the communication between each other. Figure 3

[0087] The communication interface 303 is mainly used to realize the communication between each module, system, unit and / or device in the embodiments of the present application.

[0088] ​Bus 310 includes a hardware, software, or both that couples components of electronic device to each other. As an example and not by way of limitation, bus can include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand (IB) interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or another suitable bus or a combination of two or more of these. Where appropriate, bus 310 can include one or more buses. Although this application describes and shows a particular bus, this application contemplates any suitable bus or interconnect.

[0089] In addition, in combination with the orthopedic surgery robot remote surgery control method in the above embodiments, the embodiments of the present application can provide a computer readable storage medium to implement. The computer readable storage medium has computer program instructions stored thereon; the computer program instructions are executed by the processor to implement any one of the orthopedic surgery robot remote surgery control methods in the above embodiments.

[0090] It needs to be clear that the present application is not limited to the specific configurations and processes described above and shown in the drawings. For the sake of brevity, detailed descriptions of well-known methods are 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 steps, after understanding the spirit of the present application.

[0091] The functional modules shown in the structure block diagram described above 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 functional card, etc. When implemented in software, the elements of the present application are program or code segment used to perform the required tasks. The program or code segment can be stored in a machine readable medium or transmitted through a data signal carried in a carrier wave on a transmission medium or communication link. The "machine readable medium" can include any medium capable of storing or transmitting information. Examples of machine readable medium include electronic circuit, semiconductor memory device, ROM, flash memory, erasable ROM (EROM), floppy disk, CD-ROM, optical disk, hard disk, optical fiber medium, radio frequency (RF) link, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

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

[0093] The computer program instructions can also be loaded onto a computer, other programmable data processing system, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing system, or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable data processing system implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0094] The above describes only specific implementation manners of the present application. For the convenience and brevity of description, the specific working processes of the above-described systems, modules and units can refer to the corresponding processes in the foregoing method embodiments, which will not be described herein. It should be understood that the protection scope of the present application is not limited in this way. Any modifications or replacements within the technical scope disclosed by the present application can be easily conceived by those skilled in the art, and shall be included in the protection scope of the present 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 reception timestamp and data packet reception duration; wherein the feedback data packet at least includes: manipulator motion posture information, manipulator motion path, positioning target, force feedback, image information, audio information, video information, and data packet transmission timestamp; Calculate the data packet transmission delay time based on the data packet sending timestamp and the data packet receiving timestamp; If the packet transmission delay is less than the packet reception time, the local master dynamically allocates a processor node with idle resources to receive and process the packet; In response to the local user's operation, the local master terminal sends a control instruction to the remote master terminal via the wireless communication network; Among them, 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 and transmission rate of the wireless communication networks, 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; the local master control end receives the multiple sub-feedback data packets respectively through the corresponding wireless communication network; the multiple sub-feedback data packets are integrated according to the order in which the multiple sub-feedback data packets are respectively marked; if there is a sub-feedback data packet lost, a notification message is sent to the remote master control end to resend the lost sub-feedback data packet.

2. The orthopedic surgical robot remote surgery control method according to claim 1, characterized in that: If the packet transmission delay is less than the packet reception time, the local master dynamically allocates a processor node with idle resources to receive and process the packet, including: If the packet transmission delay is less than the packet reception time, the local master monitors multiple processor nodes in the system in real time, recording 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 currently has no 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.

3. The orthopedic surgical robot remote surgery control method according to claim 2, characterized in that: After determining the idle processor nodes, it also includes: The local master terminal uses the internal scheduling mechanism to call the task queue interface of the idle processor node and put the data packet processing task into the node's task queue for processing; Among them, the task queue is dynamically adjusted according to first-in-first-out or other priority scheduling strategies.

4. The orthopedic surgical robot remote surgery control method according to claim 3, 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.

5. 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 surgeries including at least: total hip replacement, total knee replacement, unicompartmental knee replacement, periacetabular osteotomy, sports medicine, spinal screw positioning navigation, and trauma positioning navigation.

6. A remote surgical control system for an orthopedic surgical robot, 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: manipulator motion posture information, manipulator motion path, positioning target, force feedback, image information, audio information, video information, and data packet transmission timestamp; The data packet transmission delay duration calculation module is used to calculate the data packet transmission delay duration according to the data packet sending timestamp and the data packet receiving timestamp; Idle node dynamic allocation module, used for dynamically allocating idle processor nodes to receive and process data packets at the local master end if the data packet transmission delay is less than the data packet reception time; The robot control module is used to respond to the local user's operation, and the local main control end sends control instructions to the remote main control end through the wireless communication network; Among them, 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 and transmission rate of the wireless communication networks, 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; the local master control end receives the multiple sub-feedback data packets respectively through the corresponding wireless communication network; the multiple sub-feedback data packets are integrated according to the order in which the multiple sub-feedback data packets are respectively marked; if there is a sub-feedback data packet lost, a notification message is sent to the remote master control end to resend the lost sub-feedback data packet.

7. An electronic device, characterized in that: The electronic device includes: 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 according to any one of claims 1 to 5 is implemented.

8. 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 according to any one of claims 1 to 5 is implemented.

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