Communication system and method of endoscopic surgery robot

Abstract

The invention belongs to the technical field of medical instruments, and provides a communication system and method of an endoscopic surgery robot. The system comprises a first subsystem platform, a second subsystem platform and a third subsystem platform which are provided with optical fiber interfaces. The optical fiber interface comprises a main optical fiber interface and a standby optical fiber interface so as to facilitate replacement connection when the optical fiber interface fails. The electric control boxes between the subsystem platforms are connected through optical fibers, the first voice module on the first subsystem platform is connected with the second voice module on the third subsystem platform through optical fibers, and the first image module on the first subsystem platform is connected with the second image module on the second subsystem platform through optical fibers. On the basis of an optical fiber communication mode, signals among the subsystem platforms are synchronously transmitted, and the problems that when the subsystem platforms transmit signals on the basis of an electrical connection mode, the connection sequence of the subsystem platforms is wrong, and potential safety hazards are likely to be formed are solved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a communication system and method for a laparoscopic surgical robot. Background Art

[0002] Laparoscopic surgical robots can be composed of multiple subsystem platforms, which can realize data interaction between subsystem platforms through electrical connection, wireless connection, etc. Then, through the mutual cooperation between subsystem platforms, a series of surgical actions are performed. Therefore, the speed and accuracy of data transmission between subsystem platforms will affect the completion quality of surgical actions.

[0003] In the related technology, the subsystem platforms use cables to transmit signals based on the local area network communication protocol to achieve data interaction between the subsystem platforms. However, the use of cables to transmit signals has the problems of high system delay and susceptibility to external electromagnetic interference, which easily leads to safety hazards during the execution of surgical actions.

[0004] In addition, since there is a certain communication and signal transmission order between the subsystem platforms, the cables must also be connected in a certain order. If the connection order is wrong, it is easy to cause damage to the components in the subsystem platform and create safety hazards during the surgical operation. Summary of the invention

[0005] The present application provides a communication system and method for a laparoscopic surgical robot to solve the problem that when the subsystem platforms of the laparoscopic surgical robot are connected to each other, it is easy for the components in the subsystem platforms to be damaged due to the wrong connection sequence of the subsystem platforms, thereby posing a safety hazard.

[0006] In a first aspect, the present application provides a communication system for a laparoscopic surgical robot, the communication system comprising a first subsystem platform and a second subsystem platform provided with an optical fiber interface, the optical fiber interface comprising a main optical fiber interface and a backup optical fiber interface; the first subsystem platform and the second subsystem platform establish a communication connection through the optical fiber interface and the optical fiber; the first subsystem platform and the second subsystem platform are both provided with an industrial computer;

[0007] The first subsystem platform is provided with an operation terminal, a first electric control box, a first voice module, and a first image module; the operation terminal is connected to the first electric control box; the second subsystem platform is provided with an electric control box, a second voice module, and an execution terminal;

[0008] The first electric control box is connected to the second electric control box via an optical fiber; the first voice module is connected to the second voice module via an optical fiber; the execution end is connected to the first image module; the first electric control box is connected to the first image module;

[0009] Wherein, the first subsystem platform is configured as:

[0010] In response to a stop command input by an operator, the industrial computer of the first subsystem platform is controlled to shut down, and a first time for representing the shutdown of the industrial computer of the first subsystem platform is recorded; and the industrial computer of the first subsystem platform is controlled to forward the stop command to the subsystem platform that is not shut down through an optical fiber;

[0011] In response to a startup instruction input by an operator, the industrial computer of the first subsystem platform is controlled to start up, and a second time used to characterize the startup of the industrial computer of the first subsystem platform is recorded; and the industrial computer of the first subsystem platform is controlled to forward the startup instruction to the unstarted subsystem platform through an optical fiber;

[0012] If the time difference between the first time and the second time is greater than the time difference threshold, the operation record of the first subsystem platform is updated.

[0013] In some feasible embodiments, the communication system also includes a third subsystem platform provided with a fiber optic interface, and a third electric control box and a second image module are provided on the third subsystem platform; any two of the first electric control box, the second electric control box and the third electric control box establish a communication connection through the fiber optic interface and the optical fiber; the electric control box is connected to the second image module; and the second image module is connected to the execution end.

[0014] In some feasible embodiments, the first subsystem platform, the second subsystem platform, and the third subsystem platform are all provided with a start-stop device; the first electric control box is provided with a first industrial computer, the second electric control box is provided with a second industrial computer, and the third electric control box is provided with a third industrial computer;

[0015] The start / stop device on the first subsystem platform is communicatively connected to the first industrial computer, the start / stop device on the second subsystem platform is communicatively connected to the second industrial computer, and the start / stop device on the third subsystem platform is communicatively connected to the third industrial computer; any two of the first industrial computer, the second industrial computer and the third industrial computer establish a communication connection through optical fiber.

[0016] In some feasible embodiments, the first electric control box is provided with a first controller, the second electric control box is provided with a second controller, and the third electric control box is provided with an execution end controller; the first controller is connected to the execution end controller via optical fiber, and the execution end controller is connected to the second controller via optical fiber.

[0017] In some feasible embodiments, the communication system also includes a photoelectric converter, the transmitting end of the first controller is provided with a first photoelectric converter, and the receiving end of the execution end controller is provided with a second photoelectric converter; the first industrial computer is connected to the first controller; the first controller is connected to the first photoelectric converter; the first photoelectric converter is communicatively connected to the second photoelectric converter via optical fiber; and the second photoelectric converter is connected to the execution end controller.

[0018] In some feasible embodiments, the communication system further comprises an optical fiber coupler disposed on the third subsystem platform; the first voice module is connected to the optical fiber coupler via an optical fiber, and the second voice module is connected to the optical fiber coupler via an optical fiber; the first voice module is configured as follows:

[0019] In response to a voice command input by an operator, the voice command is forwarded to the second voice module via an optical fiber.

[0020] In some feasible embodiments, the first voice module includes a sound input device and a sound player; the sound input device and the sound player are respectively arranged on both sides of the first image module.

[0021] In some feasible embodiments, the execution end includes at least one robotic arm, on which a surgical instrument is provided; and the third subsystem platform is configured as follows:

[0022] In response to a trigger instruction input by an operator, the trigger instruction is transmitted to the industrial computer of the second subsystem platform via an optical fiber, so that the industrial computer of the second subsystem platform drives the surgical instrument to perform a preset action.

[0023] In some feasible embodiments, the surgical instrument includes an endoscope; the endoscope is connected to the second image module; the second image module is connected to a third industrial computer in the third electric control box; the third industrial computer is connected to the first industrial computer via the optical fiber and the photoelectric converter; the third subsystem platform is configured as follows:

[0024] In response to an operation instruction for operating the endoscope, controlling the endoscope to acquire a target image;

[0025] controlling the endoscope to transmit the target image to the second image module so that the second image module displays the target image;

[0026] The second image module is controlled to transmit the target image to the first image module, so that the first image module displays the target image.

[0027] In a second aspect, the present application provides a communication method for a laparoscopic surgical robot, which is applied to the laparoscopic surgical robot communication system mentioned in the first aspect, wherein the system includes a plurality of subsystem platforms provided with optical fiber interfaces, wherein the subsystem platforms communicate with each other via optical fiber, wherein the optical fiber interfaces include a main optical fiber interface and a backup optical fiber interface; each subsystem platform includes a controller, an industrial computer, and a keypad;

[0028] Wherein, the keypad is configured to send a stop instruction to the controller in response to a stop operation by an operator, and to send a start instruction to the controller in response to a start operation by an operator;

[0029] The method comprises:

[0030] In response to the stop instruction, the industrial computer is controlled to shut down, and a first time used to characterize the shutdown of the industrial computer is recorded; and the industrial computer is controlled to forward the stop instruction to the subsystem platform that is not shut down through the optical fiber;

[0031] In response to the startup instruction, the controller starts the industrial computer and records a second time used to characterize the startup of the industrial computer; and controls the industrial computer to forward the startup instruction to the unstarted subsystem platform through the optical fiber;

[0032] If the time difference between the first time and the second time is greater than a time difference threshold, the operation record of the subsystem platform is updated.

[0033] In some feasible embodiments, the system further includes a display; when the controller controls the industrial computer to shut down, it also includes:

[0034] In response to the stop instruction, controlling the display to display prompt information;

[0035] If it is detected that the display time of the prompt resource is greater than or equal to the display time threshold, the step of controlling the industrial computer to shut down is executed;

[0036] If a cancel instruction for canceling the shutdown operation of the industrial computer is detected when the display displays the prompt resource, the display is controlled to stop displaying the prompt resource, and the step of controlling the shutdown of the industrial computer is canceled.

[0037] In some feasible embodiments, the system further includes a surgical instrument, wherein the surgical instrument includes an endoscope; and further includes:

[0038] In response to an operation instruction for operating the endoscope, controlling the endoscope to acquire a target image;

[0039] The endoscope is controlled to transmit the target image to the display so that the display displays the target image.

[0040] In some feasible embodiments, the system further includes a trigger, which is used to send a trigger instruction to the controller to drive the surgical instrument to perform a preset action; and further includes:

[0041] In response to the trigger instruction, the trigger instruction is sent to the industrial computer of the subsystem platform where the surgical instrument is located through an optical fiber, so that the industrial computer of the subsystem platform where the surgical instrument is located drives the surgical instrument to perform a preset action according to the trigger instruction.

[0042] In some feasible embodiments, the system further includes a voice module, and the voice module on any subsystem platform can be used as a voice input terminal and / or a voice output terminal; and further includes:

[0043] In response to a voice instruction input to a voice module of any subsystem platform, the voice module receiving the voice instruction is controlled to forward the voice instruction to a voice module of another subsystem platform through an optical fiber.

[0044] In some feasible embodiments, when the subsystem platform to which the controller belongs is not connected to other subsystem platforms through optical fibers, the method includes:

[0045] In response to the startup instruction, controlling the industrial computer to start;

[0046] When the unstarted industrial computer is connected to the started industrial computer, the started industrial computer is controlled to send a startup instruction to the unstarted industrial computer to start the subsystem platform to which the unstarted industrial computer belongs.

[0047] It can be known from the above technical content that the present application provides a communication system and method for a laparoscopic surgical robot. The system includes a first subsystem platform, a second subsystem platform, and a third subsystem platform provided with a fiber optic interface. The fiber optic interface includes a main fiber optic interface and a spare fiber optic interface to facilitate replacement of the connection when the fiber optic interface fails. The electrical control boxes between the subsystem platforms are connected by optical fiber, the first voice module on the first subsystem platform is connected to the second voice module on the third subsystem platform by optical fiber, and the first image module on the first subsystem platform is connected to the second image module on the second subsystem platform by optical fiber. Based on the fiber optic communication method, the signals between the subsystem platforms are transmitted synchronously, which solves the problem that when the subsystem platforms transmit signals based on electrical connection, the connection order of the subsystem platforms is wrong, which is easy to form a safety hazard. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0049] Figure 1 A schematic diagram of a subsystem platform provided for an embodiment of the present application;

[0050] Figure 2 One of the subsystem platform connection relationship diagrams provided in the embodiment of the present application;

[0051] Figure 3 One of the subsystem platform connection relationship diagrams provided in the embodiment of the present application;

[0052] Figure 4 A schematic diagram of the connection relationship of the electric control box provided in the embodiment of the present application;

[0053] Figure 5 A schematic diagram of the connection of the photoelectric converter provided in the embodiment of the present application;

[0054] Figure 6 A schematic diagram of the connection of the optical fiber coupler provided in the embodiment of the present application;

[0055] Figure 7 A schematic diagram of switch connection provided in an embodiment of the present application;

[0056] Figure 8 A schematic diagram of target image transmission provided in an embodiment of the present application;

[0057] Fig. 9 A schematic diagram of the laparoscopic surgical robot communication method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] The following embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following embodiments do not represent all implementations consistent with the present application. They are only examples of systems and methods consistent with some aspects of the present application as detailed in the claims.

[0059] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0060] In this specification, many specific technical details are described in some places. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed descriptions should not be regarded as limiting, and the scope of protection of the present application is limited only by the claims. In other places, well-known structures, circuits and other details are not shown in detail to avoid misunderstandings of the main points of the present application by the public.

[0061] In this specification, the drawings show schematic diagrams of several embodiments of the present application. However, the drawings are only schematic, and it should be understood that other embodiments or combinations may be used, and that mechanical structures, physical components, electrical and step changes may be made without departing from the spirit and scope of the present application.

[0062] The following terms used herein are only used to describe specific embodiments and are not intended to limit the present application. Spatially relative terms, such as "below", "lower", "above", "upper", etc., can be used to describe the relationship between an element or feature illustrated in the figure and another element or feature for the convenience of explanation. It should be understood that spatially relative terms are intended to cover different orientations of the device in use or operation except the orientation depicted in the figure. For example, if the device in the figure is turned over, the element described as being "below" other elements or features will become "above" other elements or features. Therefore, the exemplary term "below" can cover the orientation of the top and bottom. And the device can be oriented in other ways (for example, rotated 90 ° or in other orientations), and the spatially relative descriptors used here are interpreted accordingly.

[0063] As used herein, "several", the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of stated features, steps, operations, elements, and / or components, but do not exclude the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0064] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "portion", "part" and "item" are used interchangeably.

[0065] The term "surgical instrument" is used herein to describe a medical device configured to be inserted into a patient and used to perform a surgical or diagnostic procedure, including an end effector. An end effector may be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cautery, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of the present application further provide an articulated support (sometimes referred to as a "wrist") for the surgical tool, so that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or knives that translate along a path. The instrument may also contain information stored (e.g., on a PCBA board within the instrument) that is permanent or updateable by the surgical system. Accordingly, the system may provide one-way or two-way information communication between the instrument and one or more system components.

[0066] The term "energy device" is used here to describe surgical instruments that emit energy used during surgery. They generally utilize electrical energy or mechanical energy such as high-frequency current, ultrasound, and microwaves. These energies interact with living tissue while cutting tissue and organs or stopping bleeding, such as electrocoagulation hooks, electrocoagulation scissors, and ultrasonic scalpels.

[0067] The description of the terms "one embodiment", "some embodiments", "example", "preferred", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0068] The term "connection" is used here to describe that information can be exchanged between functional modules within the same subsystem platform to cooperate with the execution of the control logic of the subsystem platform. The connection medium between the functional modules within the same subsystem platform can be a high-speed shielded network cable.

[0069] The term "communication connection" is used here to describe the information interaction between functional modules located in different subsystem platforms through optical fiber connections, thereby realizing information interaction between multiple subsystem platforms to cooperate with the operator's operating instructions to perform surgery.

[0070] Finally, the terms "or" and "and / or" as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B and / or C" means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. An exception to this definition will only occur when a combination of elements, functions, steps, or actions are inherently mutually exclusive in some way.

[0071] With the continuous development of medical equipment, computer technology and control technology, minimally invasive surgery has been widely used for its advantages of small surgical trauma, short recovery time and less pain for patients. A surgical robot is a robot that can be remotely controlled to complete surgery. The surgeon controls the surgical instruments on the instrument driver on the surgical side at the console side. Among them, minimally invasive surgical robots, such as laparoscopic surgical robots, can avoid operational limitations with their high dexterity, high control accuracy, and intuitive surgical images, such as hand vibration during filtering operations, and are widely used in surgical areas such as the abdominal cavity, pelvic cavity, and thoracic cavity. Of course, minimally invasive surgical robots are also suitable for other surgical areas. The applicable areas of minimally invasive surgical robots in the embodiments of this application are only used as some specific examples for illustration, and do not limit the scope of application of surgical robots.

[0072] Overview of master-slave teleoperated laparoscopic surgical robots.

[0073] Laparoscopic surgical robots usually include a doctor control platform, a patient platform, and an image platform. The surgeon sits on the doctor control platform to view the two-dimensional or three-dimensional image of the surgical area transmitted by the laparoscope placed in the patient's body, and to control the movement of the robotic arm on the patient platform, as well as the surgical instruments or laparoscopes attached to the robotic arm. The robotic arm simulates the human arm, and the surgical instrument simulates the human hand. Both provide surgeons with a series of movements that simulate the human wrist, while filtering out the tremor of the human hand itself.

[0074] The patient platform includes a chassis, a column, a mechanical arm connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each mechanical arm. The surgical instrument and / or laparoscope is detachably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes operated at the surgical site in the patient's body. The relevant surgical instruments can be provided in various forms that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is limited by mechanical or software constraints to rotate the relevant surgical instrument around the center of motion on the surgical instrument that remains stationary relative to the patient, and the center of motion is usually located at the position where the surgical instrument enters the body, and the center of motion is called the "telecentric point".

[0075] The imaging platform usually includes a video image capture function (commonly an endoscope) and one or more video displays for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, the laparoscope includes an optical device that transmits images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, and then transmits the video image to the host of the imaging platform through steps such as photoelectric conversion. Subsequently, through image processing, the processed image is displayed on the video display for observation by the assistant.

[0076] The doctor control platform may be at a single location in the surgical system consisting of a laparoscopic surgical robot or it may be distributed at two or more locations in the system. Remote control master / slave operation can be performed according to a preset control degree. In some embodiments, the doctor control platform includes one or more manually operated input devices, such as a joystick, an exoskeleton glove, a power and gravity compensation manipulator, etc. These input devices collect the surgeon's operating signals, and after processing by the control system, generate control signals for the robotic arm and the surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, which in turn controls the movement of the surgical instrument.

[0077] Typically, the force generated by the remote motor is transmitted via a transmission system that transmits the force from the remote motor to the end effector of the surgical instrument. In some telesurgery embodiments, the input device for controlling the manipulator may be located remotely from the patient, in or outside the room where the patient is located, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with telemanipulation, telecontrol, and telepresentation surgery will be familiar with such systems and their components.

[0078] like Figure 1 As shown, the laparoscopic surgical robot used to perform laparoscopic surgery can be divided into multiple subsystem platforms, such as a doctor control platform, an image platform, and a patient platform. The bottom of the subsystem platform can be provided with a chassis and universal wheels to form a trolley structure for easy movement. Among them, the doctor control platform is provided with a main armrest, a main control arm, a human-machine adjustment device and other systems. By operating the main control arm of the doctor control platform and inputting control instructions to the control system of the doctor control platform, the slave mechanical arm on the patient platform or the energy device on the slave mechanical arm can be controlled to perform preset actions to complete the operation. The image platform can be equipped with image processors, image displays and other equipment to provide real-time feedback on the surgical situation. The image platform is set between the doctor control platform and the patient platform and can also serve as a communication and control center to facilitate communication between multiple subsystem platforms.

[0079] Each subsystem platform can be connected by a twisted pair cable for communication, but twisted pair cables have defects such as high delay and susceptibility to electromagnetic interference in the process of signal transmission, which can easily affect surgical accuracy and pose a safety hazard. In addition, based on the characteristics of twisted pair cables for electrical transmission, there is a signal transmission sequence between the subsystem trolleys, so the cables must be connected in a certain order. Therefore, when the cable connection sequence is wrong, it is easy to damage the electrical components in each subsystem platform, thus posing a safety hazard.

[0080] like Figure 2 As shown, the present application provides a communication system for a laparoscopic surgical robot to solve the above-mentioned problems.

[0081] It includes a first subsystem platform and a second subsystem platform provided with an optical fiber interface, wherein the optical fiber interface includes a main optical fiber interface and a backup optical fiber interface; the first subsystem platform and the second subsystem platform establish a communication connection through the optical fiber interface and the optical fiber; the first subsystem platform and the second subsystem platform are both provided with an industrial computer;

[0082] The first subsystem platform is provided with an operation terminal, a first electric control box, a first voice module, and a first image module; the operation terminal is connected to the first electric control box; the second subsystem platform is provided with an electric control box, a second voice module, and an execution terminal;

[0083] The first electric control box is connected to the second electric control box via an optical fiber; the first voice module is connected to the second voice module via an optical fiber; the execution end is connected to the first image module; the first electric control box is connected to the first image module;

[0084] In some embodiments, the first subsystem platform may be a doctor control platform, and the second subsystem platform may be a patient platform. The operator may control the surgical instrument on the patient platform through the doctor control platform to perform preset actions. The first image module on the doctor control platform may display the target image captured by the surgical instrument. An intercom function may be formed between the first voice module and the second voice module to facilitate real-time communication between the operator on the doctor control platform side and the patient or other operators on the patient platform side. A controller with control logic may be provided inside the first electric control box and the second electric control box, and used to execute the control logic inside the subsystem platform and between the subsystem platforms.

[0085] It should be noted that communication connections are established between different subsystem platforms through optical fibers and optical fiber interfaces to alleviate electrical interference during signal transmission, thereby improving the stability of signal transmission and helping to improve surgical safety.

[0086] In other embodiments, Figure 3As shown, a third subsystem platform is also included, and the third subsystem platform can be an image platform. The operator can control the energy instruments and surgical instruments on the patient platform through the doctor control platform to perform preset actions. The image platform can display the target image fed back by the surgical instrument with image acquisition function on the patient platform, and transmit the image to the first subsystem platform for display, so that the operator can operate according to the target image. The image platform can be set between the doctor control platform and the patient platform, so the image platform can also serve as the control center of the laparoscopic surgical robot communication system, and being in the middle position is conducive to the transmission of the entire communication system. It should be noted that in the description of the embodiments of the present application, the above settings are used, but the functions and types of the subsystem platforms are not restricted. Before the third subsystem platform is added, the control center can be set on the doctor control platform, and after the third subsystem platform is added, the control center can be set on the image platform, that is, the third subsystem platform, to facilitate the signal transmission between the subsystem platform and each functional module.

[0087] It is understandable that industrial computers can be set up on the doctor control platform, image platform, and patient platform to realize some communication functions, such as starting the system, shutting down the system, restarting the system, etc. The industrial computers are connected by optical fiber to solve the problem that the electrical connection is easily disturbed by magnetic fields and has high latency.

[0088] The electric control box on each subsystem platform can be used to accommodate a controller such as an industrial computer to protect the controller. An optical fiber interface can be provided on the electric control box to facilitate optical fiber connection.

[0089] The first voice module can be arranged on the doctor control platform to form an intercom device with the second voice module arranged on the patient platform. When the operator operates the doctor control platform, the operator can communicate with the patient through the voice module to facilitate the smooth operation. It should be noted that the first voice module and the second voice module are also connected by optical fiber to obtain higher signal transmission quality.

[0090] The first image module can be set on the doctor control platform, and the second image module can be set on the image platform. The second image module can be connected to the execution end by optical fiber, and the communication connection between the second image module and the execution end specifically refers to the communication connection between the second image module and the surgical instrument and energy instrument with image acquisition function connected to the execution end. Therefore, the second image module can receive the target image sent by the execution end, display the target image, and transmit the target image to the first image module through optical fiber for display.

[0091] In addition, the operator can input operation instructions through the operation end of the doctor control platform, and then control the execution end of the patient platform to perform the preset action. For example, the operator controls the main control arm at the operation end to drive the slave mechanical arm at the execution end to reach the preset position to perform the preset action.

[0092] like Figure 3 As described in the above embodiments, the voice module, image module, and industrial computer of the laparoscopic surgical robot communication system can be connected by optical fiber instead of electrical connection (such as twisted pair cable) to solve the problem that electrical transmission is susceptible to interference, resulting in low signal transmission accuracy and easy to form safety hazards. At the same time, optical fiber transmission does not need to rely on the connection sequence between each subsystem platform or each component to transmit the signal, and has the characteristics of synchronous transmission, which can improve the response speed of the communication system and avoid the problem of easily damaged components due to confusion of the connection sequence, which poses a safety hazard.

[0093] It should be noted that, in the above-mentioned embodiment, the optical fiber interface for optical fiber connection includes a main optical fiber interface and a spare optical fiber interface. By setting a redundant spare optical fiber interface, the optical fiber connection interface can be replaced in time when the main optical fiber interface fails, without replacing the device where the failed interface is located, thereby saving surgical preparation time. It is understandable that each main optical fiber interface can have at least one spare optical fiber interface associated with it, and the associated main optical fiber interface and spare optical fiber interface can be set in adjacent positions and have associated marks to facilitate replacement connection in case of failure.

[0094] Based on the communication system of the laparoscopic surgical robot, the first subsystem platform can be configured as follows:

[0095] In response to a stop command input by an operator, the industrial computer of the first subsystem platform is controlled to shut down, and a first time for representing the shutdown of the industrial computer of the first subsystem platform is recorded; and the industrial computer of the first subsystem platform is controlled to forward the stop command to the subsystem platform that is not shut down through an optical fiber;

[0096] In response to a startup instruction input by an operator, the industrial computer of the first subsystem platform is controlled to start up, and a second time used to characterize the startup of the industrial computer of the first subsystem platform is recorded; and the industrial computer of the first subsystem platform is controlled to forward the startup instruction to the unstarted subsystem platform through an optical fiber;

[0097] If the time difference between the first time and the second time is greater than the time difference threshold, the operation record of the first subsystem platform is updated.

[0098] Continuing with the above embodiment, when the communication system of the laparoscopic surgical robot only includes the first subsystem platform and the second subsystem platform, namely the doctor control platform and the patient platform, the first subsystem platform is used as the control core to execute the control logic between the subsystem platforms.

[0099] However, in some embodiments, a third subsystem platform, namely, an image platform, is further included. The image platform is provided to facilitate signal transmission in the communication system, so in the subsequent embodiments, the communication system including the first subsystem platform, the second subsystem platform and the third subsystem platform is used as an example to describe the technical solution of the present application.

[0100] Among them, the third subsystem platform is the image platform. Since the image platform is located between the doctor control platform and the patient platform, the image platform can be used as a control center to regulate the communication system of the laparoscopic surgical robot. During the operation of the image platform, when a stop command is received, the industrial computer set on the image platform will be controlled to shut down, and the shutdown time of the industrial computer will be recorded (first time). When the image platform receives the start command again, it will start the industrial computer and record the start time of the industrial computer (second time). By calculating the time difference between the first time and the second time, and comparing it with the time difference threshold, the image platform can determine whether the current stop and restart operation is a restart operation.

[0101] It is understandable that the restart operation may be performed due to line connection, configuration update and other requirements, so the surgical procedures associated before and after the restart should be the same. Therefore, by determining whether the current stop and restart operation is a restart operation, the image platform is conducive to reducing the steps of reconfiguring each subsystem platform, thereby saving surgical preparation time. The time difference threshold is the basis for judging the restart operation. Different time difference thresholds can be set according to different types of surgery to improve the adaptability of the laparoscopic surgical robot communication system.

[0102] In some embodiments, based on the feature that the communication system is connected via optical fiber, the operator can start any subsystem platform in the laparoscopic surgical robot to start other subsystem platforms connected to the subsystem platform in the communication system. Similarly, the operator can also shut down other subsystem platforms connected to the subsystem platform by shutting down one of the subsystem platforms. Therefore, when the image platform is stopped or started, other subsystem platforms connected to the image platform via optical fiber will be started together.

[0103] In some embodiments, the first subsystem platform, the second subsystem platform, and the third subsystem platform are all provided with a start-stop device; the first electric control box is provided with a first industrial computer, the second electric control box is provided with a second industrial computer, and the third electric control box is provided with a third industrial computer;

[0104] The start / stop device on the first subsystem platform is communicatively connected to the first industrial computer, the start / stop device on the second subsystem platform is communicatively connected to the second industrial computer, and the start / stop device on the third subsystem platform is communicatively connected to the third industrial computer; any two of the first industrial computer, the second industrial computer and the third industrial computer establish a communication connection through optical fiber.

[0105] The start-stop device includes but is not limited to switches, keypads, etc. It is understandable that a start-stop device can be configured on each subsystem platform to achieve independent start or stop of the subsystem platform, or to drive other connected subsystem platforms to start or stop together through independent start.

[0106] An industrial computer can also be set on each subsystem platform, such as the first industrial computer, the second industrial computer, and the third industrial computer. The industrial computer can receive the start / stop signal of the start / stop device and control the start / stop of the subsystem platform to which it belongs. The industrial computer and the start / stop device can be connected through a high-speed shielded network cable to obtain a faster response speed.

[0107] like Figure 4 As shown, the first industrial computer, the second industrial computer, and the third industrial computer can also be connected by optical fiber, so as to facilitate the synchronous transmission of start / stop signals, for example. It should be noted that the first industrial computer, the second industrial computer, and the third industrial computer are all provided with a main optical fiber interface and a spare optical fiber interface to facilitate replacement when the optical fiber interface fails. Then, on the basis of setting up a redundant spare optical fiber interface, it is not necessary to replace the industrial computer due to a failure of the optical fiber interface when connecting multiple devices. Fault maintenance can be performed by simply replacing the optical fiber connection interface.

[0108] Continuing with the above embodiment, the first electric control box is provided with a first controller, the third electric control box is provided with an execution end controller, and the second electric control box is provided with a second controller; the first controller is connected to the execution end controller via optical fiber, and the execution end controller is connected to the second controller via optical fiber.

[0109] It should be noted that the electric control box set on each subsystem platform can not only accommodate the industrial computer of the platform, but also other devices with control logic, such as PLC (Programmable Logic Controller), so as to control the subsystem platform to which it belongs through at least one device with control logic. That is, in some embodiments, the first electric control box includes a first industrial computer and a first PLC connected by a high-speed shielded network cable. Among them, the first PLC can be connected to the start / stop device, and the start / stop signal can be transmitted to the first industrial computer, and the start / stop operation can be performed by the first industrial computer. Similarly, the second electric control box includes a third industrial computer and a second PLC connected by a high-speed shielded network cable.

[0110] Still taking the third subsystem platform as an image platform as an example, the third electric control box is also provided with an execution end controller for controlling the surgical instrument at the execution end of the patient platform to perform a preset action. In some embodiments, the execution end controller can also serve as a control center to regulate the communication system of the laparoscopic surgical robot.

[0111] The first PLC, the second PLC and the execution end controller are connected via optical fiber to facilitate synchronous transmission of signals, and there is no need to set a connection sequence to simplify the connection operation between the subsystem platforms. It can be understood that the optical fiber interface of the first PLC, the second PLC and the execution end controller also includes a main optical fiber interface and a backup optical fiber interface, and their functions have been described in the above embodiment and will not be repeated here.

[0112] As described in the above embodiments, each subsystem platform can transmit signals through a high-speed shielded network cable. Therefore, when transmitting signals between subsystem platforms through optical fibers, the signals need to be modulated, and the modulation process includes signal scaling and signal type conversion. Therefore, the laparoscopic surgical robot communication system also includes a photoelectric converter; the transmitting end of the first controller is provided with a first photoelectric converter, and the receiving end of the execution end controller is provided with a second photoelectric converter; the first industrial computer is connected to the first controller; the first controller is connected to the first photoelectric converter; the first photoelectric converter is connected to the second photoelectric converter through optical fiber; the second photoelectric converter is connected to the execution end controller. Among them, the first photoelectric converter and the second photoelectric converter are only used to distinguish photoelectric converters in different positions, and their specific types can be photoelectric converters that can be used together, and are not limited here.

[0113] In some embodiments, Figure 5As shown, only the connection method between the first controller on the first subsystem platform and the execution end controller on the third subsystem platform is taken as an example. When connected through optical fiber, a photoelectric converter is required as a transfer to modulate the signal into a signal that meets the transmission conditions and transmit it. It can be understood that a photoelectric converter can be set at the transmitting end of the first controller and the receiving end of the execution end controller, and the photoelectric converters at both ends are connected by optical fiber to form a complete optical fiber communication connection relationship. It should be noted that when each subsystem platform is connected through optical fiber, a similar connection method can be adopted, which will not be repeated here.

[0114] like Figure 6 As shown, when the first subsystem platform is a doctor control platform, the second subsystem platform is an image platform, and the third subsystem platform is a patient platform, the doctor control platform is far away from the patient platform, so it is not conducive to connecting the first voice module and the second voice module respectively arranged on the doctor control platform and the patient platform through optical fiber. Too long a connection distance places high demands on the space used to set up the optical fiber. Therefore, the audio signals of the first voice module and the second voice module can be forwarded with the image platform as a relay. That is, the laparoscopic surgical robot communication system also includes a fiber optic coupler arranged on the third subsystem platform; the first voice module is connected to the fiber optic coupler through optical fiber, and the second voice module is connected to the fiber optic coupler through optical fiber;

[0115] The fiber coupler can be used as a connection relay for connecting two devices that are far apart. For example, a fiber coupler can be set on the image platform between the doctor control platform and the patient platform to connect the first voice module and the second voice module on the doctor control platform and the patient platform. By setting up a fiber coupler, the space requirement for setting up optical fibers can be reduced to adapt to more application scenarios.

[0116] In the above embodiment, the first voice module and the second voice module may transmit audio signals via optical fiber, wherein the first voice module is configured as follows:

[0117] In response to a voice command input by an operator, the voice command is forwarded to the second voice module via an optical fiber.

[0118] The operator can input an audio signal on the doctor control platform, which is received by the first voice module and transmitted to the second voice module. The operator on the doctor control platform can communicate with the patient on the patient platform to facilitate the operation. It is understandable that the second voice module can also be configured to have the same function as the first voice module.

[0119] It should be noted that, when the first voice module and the second voice module are not started on the subsystem platform to which they belong, voice signals can also be transmitted through optical fiber based on power supply. That is, the intercom function implemented based on the first voice module and the second voice module is not limited by whether the subsystem platform is started, so as to facilitate the communication between the operator on the doctor control platform side and the patient or operator on the patient platform side during the preoperative preparation process.

[0120] In some embodiments, the first voice module includes a sound input device and a sound player; the sound input device and the sound player are respectively arranged on both sides of the first image module. The first voice module can be composed of a sound input device and a sound player, and can be arranged in combination with the position of the first image module. The sound input device can be a microphone and the sound player can be a speaker. It can be understood that in order to facilitate the operator of the doctor control platform to observe the target image from the first image module, the image display in the first image module can be retractably connected to the doctor control platform through a telescopic rod and a mechanical arm to obtain a better sound reception / playback effect.

[0121] like Figure 7 As shown, the laparoscopic surgical robot communication system may include a switch disposed on the second subsystem platform; the second industrial computer is communicatively connected to the switch; and the switch is communicatively connected to the execution end. The switch and the execution end may communicate based on a high-speed shielded network cable and an Ethernet signal. The second industrial computer may receive an operation instruction of the execution end controller forwarded by the second PLC (second controller), and drive the energy device and surgical instrument of the execution end through the switch to execute a preset action.

[0122] In some embodiments, the execution end includes at least one robotic arm, on which a surgical instrument is provided; and the third subsystem platform is configured as follows:

[0123] In response to a trigger instruction input by an operator, the trigger instruction is transmitted to the industrial computer of the second subsystem platform via an optical fiber, so that the industrial computer of the second subsystem platform drives the surgical instrument to perform a preset action.

[0124] Associated with the mechanical arm provided on the execution end of the patient platform, a main control arm is provided on the operation end of the doctor control platform. The operator can drive the mechanical arm on the execution end by controlling the main control arm to drive the surgical instrument on the mechanical arm to a preset position. The surgical instrument can be an endoscope for acquiring target images, or an energy instrument such as a monopolar / bipolar electrosurgical knife.

[0125] When operating the main control arm, the operator can also input a trigger command to control the surgical instrument to perform a preset action. The image platform or the execution end controller set on the image platform can serve as a control center to drive the energy device or surgical instrument according to the trigger command. That is, the third subsystem platform is configured as:

[0126] In response to a trigger instruction input by a user, the trigger instruction is transmitted to the industrial computer of the second subsystem platform via an optical fiber, so that the industrial computer of the second subsystem platform drives the surgical instrument to perform a preset action through the switch.

[0127] In some embodiments, the operator inputs a trigger instruction through the trigger device on the doctor control platform to control the surgical instrument on the patient platform to perform a preset action. The execution end controller on the image platform receives the trigger instruction forwarded by the first PLC through the optical fiber, and forwards the trigger instruction to the execution end controller. The execution end controller forwards the trigger instruction to the second industrial computer, and the second industrial computer drives the energy device to perform the preset action through the switch.

[0128] In the embodiment, the trigger command is transmitted through optical fiber, which is not easily disturbed by magnetic field and has the characteristics of fast response, which is conducive to improving the stability of surgery. Each subsystem platform is provided with at least one device with control logic, which is conducive to reducing the computing pressure of each device, thereby maintaining the stability of system operation.

[0129] like Figure 8 As shown, the surgical instrument includes an endoscope; the endoscope is connected to the second image module; the second image module is connected to the third industrial computer in the third electric control box; the third industrial computer is connected to the first industrial computer through the optical fiber and the photoelectric converter; the third subsystem platform is configured as follows:

[0130] In response to an operation instruction for operating the endoscope, controlling the endoscope to acquire a target image;

[0131] controlling the endoscope to transmit the target image to the second image module so that the second image module displays the target image;

[0132] The second image module is controlled to transmit the target image to the first image module, so that the first image module displays the target image.

[0133] In some embodiments, surgical instruments with image acquisition functions, such as endoscopes, can feed back the acquired target image to the third industrial computer, and transmit it to the second image module and the first image module for display, so as to facilitate the operation. The specific transmission process can be that the endoscope transmits the target image to the second industrial computer, the second industrial computer transmits the target image to the third industrial computer, and the third industrial computer transmits it to the second image module for processing and display. The second image module can also transmit the processed target image to the first image module through an optical fiber for display, so as to facilitate observation by the operator.

[0134] like Fig. 9 As shown, the present application also provides a communication method for a laparoscopic surgical robot, which is applied to a communication system of a laparoscopic surgical robot. The method comprises:

[0135] S100: In response to the stop instruction, control the industrial computer to shut down, and record the first time used to characterize the shutdown of the industrial computer; and control the industrial computer to forward the stop instruction to the subsystem platform that is not shut down through the optical fiber;

[0136] S200: In response to the startup instruction, the controller starts the industrial computer and records a second time used to characterize the startup of the industrial computer; and controls the industrial computer to forward the startup instruction to the unstarted subsystem platform through an optical fiber;

[0137] S300: If the time difference between the first time and the second time is greater than a time difference threshold, updating the operation record of the subsystem platform.

[0138] The communication system of the laparoscopic surgical robot using the communication method may include multiple subsystem platforms provided with optical fiber interfaces, each subsystem platform communicates with each other through optical fiber, the optical fiber interface includes a main optical fiber interface and a backup optical fiber interface, and each subsystem platform includes a controller, an industrial computer, and a keypad. The keypad is configured to send a stop instruction to the controller in response to a stop operation by a user, and to send a start instruction to the controller in response to a start operation by a user.

[0139] In some embodiments, the operator presses the stop button on the keypad during the operation of the subsystem platform to stop the operation of the subsystem platform. The industrial computer on the subsystem platform receives the stop command sent by the keypad, controls the subsystem platform to shut down, and records the shutdown time (first time). This is used to determine whether it is a restart operation when the industrial computer is subsequently started. The stop command is forwarded to other subsystem platforms that have been connected through optical fibers to perform shutdown operations at the same time.

[0140] After the subsystem platform is shut down, the operator triggers the start button on the same keypad to start the subsystem platform. The industrial computer on the subsystem platform receives the start command sent by the keypad, controls the start of the subsystem platform, and records the start time (second time). The time difference threshold is used to determine whether the current stop-start operation is a restart operation.

[0141] The industrial computer calculates the time difference according to the shutdown time and the startup time. When the time difference is less than the time difference threshold, it determines that the current operation is a restart operation, and controls the operation of each subsystem platform according to the configuration information before shutdown.

[0142] When the time difference is greater than the time difference threshold, it is determined that the current operation is not a restart operation, and the operation record of the subsystem platform needs to be updated to indicate that a new operation is about to be performed.

[0143] By setting the time difference threshold and recording the first time and the second time, it is possible to determine whether it is a restart operation when performing continuous stop-start operations, and then update the surgical record or maintain the original configuration to adapt to a variety of situations. In the case of a restart operation, maintaining the original configuration can save time in configuring the subsystem platform; when updating the surgical record to indicate the start of a new surgery, the configuration can be restored to the initialization, so that the configuration can be updated according to the new surgery, and the configuration of the current surgery is not easily affected by the configuration of the previous surgery, which is conducive to improving the safety of the surgery.

[0144] In some embodiments, the system further includes a display. The display can display a target image fed back by a surgical instrument such as an endoscope to assist the operator in performing the surgery. In addition, the display can also display a prompt message when the industrial computer stops to assist the operator in deciding whether to perform the stop operation. It is understandable that the display can also prompt the operator when performing other operations. That is, when the controller controls the industrial computer to shut down, it also includes:

[0145] In response to the stop instruction, controlling the display to display prompt information;

[0146] If it is detected that the display time of the prompt resource is greater than or equal to the display time threshold, the step of controlling the industrial computer to shut down is executed;

[0147] If a cancel instruction for canceling the shutdown operation of the industrial computer is detected when the display displays the prompt information, the display is controlled to stop displaying the prompt information, and the step of controlling the shutdown of the industrial computer is canceled.

[0148] The prompt information can be media data such as text, pictures, etc. that are preset in the storage part of the industrial computer / display. In some embodiments, the industrial computer receives a stop command and controls the display to display the prompt word "The system will be shut down in 10 seconds, please confirm whether to shut down." If the operator does not enter a cancel command to cancel the current shutdown operation within 10 seconds, the industrial computer control subsystem platform will shut down. If the operator enters a cancel command to cancel the current shutdown operation within 10 seconds, the industrial computer cancels this shutdown operation. It can be understood that when the display displays the prompt information, it can also display an area for entering a cancel command and an area for confirming the shutdown. After the operator clicks the corresponding area, the industrial computer will immediately perform the associated action according to the click result.

[0149] In some embodiments, the communication system of the laparoscopic surgical robot further includes a surgical instrument, wherein the surgical instrument includes an endoscope, and the endoscope can be used to collect a target image of the target area. The method further includes:

[0150] In response to an operation instruction for operating the endoscope, controlling the endoscope to acquire a target image;

[0151] The endoscope is controlled to transmit the target image to the display so that the display displays the target image.

[0152] In the embodiment, an endoscope pedal associated with the endoscope can be provided on the subsystem platform to generate an operation instruction for driving the endoscope. It should be noted that when the endoscope is connected to the robotic arm, it is in an activated state, so the endoscope pedal is used to control the endoscope to perform operations such as lateral movement, flipping, and telescopic movement. The controller on the subsystem platform receives the control instruction, forwards the control instruction to the subsystem platform to which the endoscope belongs through an optical fiber, and drives the endoscope to collect the target image. The endoscope transmits the target image to the display for display.

[0153] In some embodiments, the system further includes a voice module, and the voice module on any subsystem platform can be used as a voice input terminal and / or a voice output terminal; and further includes:

[0154] In response to a voice instruction input to a voice module of any subsystem platform, the voice module receiving the voice instruction is controlled to forward the voice instruction to a voice module of another subsystem platform through an optical fiber.

[0155] It is understandable that the voice input end and / or the voice output end of the voice module can be composed of a microphone and a speaker. The voice command can be a command input by an operator to perform a certain function, or it can be the content of communication between the operator and the patient. When any microphone receives a voice command, it can be transmitted to other voice modules by the voice module through optical fiber and played through the speaker.

[0156] It should be noted that when the voice module is not started, the voice signal can be transmitted through the optical fiber to realize the intercom function, thereby realizing the communication between the doctor control platform and the patient platform in the preoperative preparation stage.

[0157] In some embodiments, the system further includes a trigger, the trigger being used to send a trigger instruction to the controller to drive the surgical instrument to perform a preset action; and further includes:

[0158] In response to the trigger instruction, the trigger instruction is sent to the industrial computer of the subsystem platform where the surgical instrument is located through an optical fiber, so that the industrial computer of the subsystem platform where the surgical instrument is located drives the surgical instrument to perform a preset action according to the trigger instruction.

[0159] The trigger can be installed on the subsystem platform in the form of a pedal, such as the endoscope pedal mentioned in the above embodiment. For energy devices with multiple functions, such as monopolar electrosurgical units, different colors can be set for the triggers to distinguish the functions, and different triggers can be triggered to drive the energy devices to perform different preset actions.

[0160] In some embodiments, each subsystem platform can also be started separately when it is not connected to other subsystem platforms through optical fibers. That is, the method includes:

[0161] In response to the startup instruction, controlling the industrial computer to start;

[0162] When the unstarted industrial computer is connected to the started industrial computer, the started industrial computer is controlled to send a startup instruction to the unstarted industrial computer to start the subsystem platform to which the unstarted industrial computer belongs.

[0163] In the embodiment, each subsystem platform has a start-stop device connected to the industrial computer. When the subsystem platforms are not connected, each subsystem platform can be started one by one. When the industrial computer receives the start instruction sent by the start-stop device, it can be started.

[0164] It should be noted that after the subsystem platform has been started, based on the characteristics of the optical fiber connection, after the unstarted subsystem platform is connected to the started subsystem platform through the optical fiber, the industrial control machine on the started subsystem platform will send the startup command to the unstarted subsystem platform through the optical fiber to drive the unstarted subsystem platform to start, so as to save the operation time of starting the subsystem platform and shorten the surgical preparation time.

[0165] It can be known from the above technical content that the present application provides a communication system and method for a laparoscopic surgical robot. The system includes a first subsystem platform, a second subsystem platform, and a third subsystem platform provided with a fiber optic interface. The fiber optic interface includes a main fiber optic interface and a spare fiber optic interface to facilitate replacement of the connection when the fiber optic interface fails. The electrical control boxes between the subsystem platforms are connected by optical fiber, the first voice module on the first subsystem platform is connected to the second voice module on the third subsystem platform by optical fiber, and the first image module on the first subsystem platform is connected to the second image module on the second subsystem platform by optical fiber. Based on the fiber optic communication method, the signals between the subsystem platforms are transmitted synchronously, which solves the problem that when the subsystem platforms transmit signals based on electrical connection, the connection order of the subsystem platforms is wrong, which is easy to form a safety hazard.

[0166] Similar parts between the embodiments provided in this application can be referenced to each other. The specific implementation methods provided above are only a few examples under the general concept of this application and do not constitute a limitation on the protection scope of this application. For those skilled in the art, any other implementation methods expanded based on the scheme of this application without creative work belong to the protection scope of this application.

Claims

1. A communication system for a laparoscopic surgical robot, characterized in that: It includes a first subsystem platform and a second subsystem platform provided with an optical fiber interface, wherein the optical fiber interface includes a main optical fiber interface and a backup optical fiber interface; the first subsystem platform and the second subsystem platform establish a communication connection through the optical fiber interface and the optical fiber; the first subsystem platform and the second subsystem platform are both provided with an industrial computer; The first subsystem platform is provided with an operation terminal, a first electric control box, a first voice module, and a first image module; the operation terminal is connected to the first electric control box; the second subsystem platform is provided with an electric control box, a second voice module, and an execution terminal; The first electric control box is connected to the second electric control box via an optical fiber; the first voice module is connected to the second voice module via an optical fiber; the execution end is connected to the first image module; the first electric control box is connected to the first image module; Wherein, the first subsystem platform is configured as: In response to a stop command input by an operator, the industrial computer of the first subsystem platform is controlled to shut down, and a first time for representing the shutdown of the industrial computer of the first subsystem platform is recorded; and the industrial computer of the first subsystem platform is controlled to forward the stop command to the subsystem platform that is not shut down through an optical fiber; In response to a startup instruction input by an operator, the industrial computer of the first subsystem platform is controlled to start up, and a second time used to characterize the startup of the industrial computer of the first subsystem platform is recorded; and the industrial computer of the first subsystem platform is controlled to forward the startup instruction to the unstarted subsystem platform through an optical fiber; If the time difference between the first time and the second time is greater than the time difference threshold, the operation record of the first subsystem platform is updated.

2. The system according to claim 1, characterized in that It also includes a third subsystem platform with a fiber optic interface, on which a third electric control box and a second image module are provided; any two of the first electric control box, the second electric control box and the third electric control box establish communication connection through the fiber optic interface and the optical fiber; the electric control box is connected to the second image module; and the second image module is connected to the execution end.

3. The system according to claim 2, characterized in that The first subsystem platform, the second subsystem platform, and the third subsystem platform are all provided with a start-stop device; the first electric control box is provided with a first industrial computer, the second electric control box is provided with a second industrial computer, and the third electric control box is provided with a third industrial computer; The start / stop device on the first subsystem platform is communicatively connected to the first industrial computer, the start / stop device on the second subsystem platform is communicatively connected to the second industrial computer, and the start / stop device on the third subsystem platform is communicatively connected to the third industrial computer; any two of the first industrial computer, the second industrial computer and the third industrial computer establish a communication connection through optical fiber.

4. The system according to claim 2, characterized in that The first electric control box is provided with a first controller, the second electric control box is provided with a second controller, and the third electric control box is provided with an execution end controller; the first controller is connected to the execution end controller via an optical fiber, and the execution end controller is connected to the second controller via an optical fiber.

5. The system according to claim 4, characterized in that It also includes a photoelectric converter, the transmitting end of the first controller is provided with a first photoelectric converter, and the receiving end of the execution end controller is provided with a second photoelectric converter; the first industrial computer is connected to the first controller; the first controller is connected to the first photoelectric converter; the first photoelectric converter is connected to the second photoelectric converter through optical fiber; the second photoelectric converter is connected to the execution end controller.

6. The system according to claim 2, characterized in that It also includes an optical fiber coupler disposed on the third subsystem platform; the first voice module is connected to the optical fiber coupler via an optical fiber, and the second voice module is connected to the optical fiber coupler via an optical fiber; the first voice module is configured as: In response to a voice command input by an operator, the voice command is forwarded to the second voice module via an optical fiber.

7. The system according to claim 6, characterized in that The first voice module includes a sound input device and a sound player; the sound input device and the sound player are respectively arranged on both sides of the first image module.

8. The system according to claim 7, characterized in that The execution end includes at least one mechanical arm, on which a surgical instrument is provided; the third subsystem platform is configured as follows: In response to a trigger instruction input by an operator, the trigger instruction is transmitted to the industrial computer of the second subsystem platform via an optical fiber, so that the industrial computer of the second subsystem platform drives the surgical instrument to perform a preset action.

9. The system according to claim 8, characterized in that The surgical instrument includes an endoscope; the endoscope is connected to the second image module; the second image module is connected to a third industrial computer in the third electric control box; the third industrial computer is connected to the first industrial computer via the optical fiber and the photoelectric converter; the third subsystem platform is configured as follows: In response to an operation instruction for operating the endoscope, controlling the endoscope to acquire a target image; controlling the endoscope to transmit the target image to the second image module so that the second image module displays the target image; The second image module is controlled to transmit the target image to the first image module, so that the first image module displays the target image.

10. A communication method for a laparoscopic surgical robot, characterized in that: A communication system for a laparoscopic surgical robot according to any one of claims 1 to 9, the system comprising a plurality of subsystem platforms provided with optical fiber interfaces, the subsystem platforms communicating with each other via optical fiber, the optical fiber interfaces comprising a main optical fiber interface and a backup optical fiber interface; each subsystem platform comprising a controller, an industrial computer, and a keypad; Wherein, the keypad is configured to send a stop instruction to the controller in response to a stop operation by an operator, and to send a start instruction to the controller in response to a start operation by an operator; The method comprises: In response to the stop instruction, the industrial computer is controlled to shut down, and a first time used to characterize the shutdown of the industrial computer is recorded; and the industrial computer is controlled to forward the stop instruction to the subsystem platform that is not shut down through the optical fiber; In response to the startup instruction, the controller starts the industrial computer and records a second time used to characterize the startup of the industrial computer; and controls the industrial computer to forward the startup instruction to the unstarted subsystem platform through the optical fiber; If the time difference between the first time and the second time is greater than a time difference threshold, the operation record of the subsystem platform is updated.

11. The method according to claim 10, characterized in that The system further includes a display; when the controller controls the industrial computer to shut down, it also includes: In response to the stop instruction, controlling the display to display prompt information; If it is detected that the display time of the prompt resource is greater than or equal to the display time threshold, the step of controlling the industrial computer to shut down is executed; If a cancel instruction for canceling the shutdown operation of the industrial computer is detected when the display displays the prompt resource, the display is controlled to stop displaying the prompt resource, and the step of controlling the shutdown of the industrial computer is canceled.

12. The method according to claim 11, characterized in that The system further includes a surgical instrument, the surgical instrument including an endoscope; and further includes: In response to an operation instruction for operating the endoscope, controlling the endoscope to acquire a target image; The endoscope is controlled to transmit the target image to the display so that the display displays the target image.

13. The method according to claim 12, characterized in that The system further includes a trigger, which is used to send a trigger instruction to the controller to drive the surgical instrument to perform a preset action; and further includes: In response to the trigger instruction, the trigger instruction is sent to the industrial computer of the subsystem platform where the surgical instrument is located through an optical fiber, so that the industrial computer of the subsystem platform where the surgical instrument is located drives the surgical instrument to perform a preset action according to the trigger instruction.

14. The method according to claim 10, characterized in that The system further includes a voice module, and the voice module on any subsystem platform can be used as a voice input terminal and / or a voice output terminal; and further includes: In response to a voice instruction input to a voice module of any subsystem platform, the voice module receiving the voice instruction is controlled to forward the voice instruction to a voice module of another subsystem platform through an optical fiber.

15. The method according to claim 10, characterized in that When the subsystem platform to which the controller belongs is not connected to other subsystem platforms through optical fibers, it includes: In response to the startup instruction, controlling the industrial computer to start; When the unstarted industrial computer is connected to the started industrial computer, the started industrial computer is controlled to send a startup instruction to the unstarted industrial computer to start the subsystem platform to which the unstarted industrial computer belongs.

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