Remote surgery system and testing system, method and device used for remote surgery system

Abstract

The invention relates to the technical field of network communication, and discloses a remote operation system and a test system, method and device used for the remote operation system, and the test system used for the remote operation system comprises a network performance adjustment device which is configured to adjust network performance parameters of the test system; the core transmission network is connected with the network performance adjusting equipment and is configured to realize basic signal transmission of the test system; the remote transmission network is connected with the core transmission network and remote end equipment and is configured to transmit the first signal from the remote end equipment to the core transmission network and transmit the second signal from the core transmission network to the remote end equipment; and the local transmission network is connected with the core transmission network and the local end equipment and is configured to transmit the second signal from the local end equipment to the core transmission network and transmit the first signal from the core transmission network to the local end equipment. According to the test system, comprehensive, reliable and standardized test of the remote surgical system can be realized.

Description

Technical Field

[0001] This application relates to the field of network communication technologies, for example, to a remote surgery system and a test system, method, and device therefor. Background Art

[0002] Currently, during remote surgery, by accessing a network that meets the requirements, a doctor at the remote end operates the remote doctor console to control the patient surgery platform at the local end, thereby enabling the movement of the robotic arm and the surgical instruments mounted thereon on the patient surgery platform at the local end, and further realizing remote surgery. During the remote control process, the doctor at the remote end can view the tissue information of the patient's surgery location and the system prompt information through the remote doctor console. In addition, the remote end and the local end can achieve real-time audio and video interaction through a conferencing system. Since the remote surgery system relies on a communication network for data transmission, the network performance will directly affect the safety and reliability of the surgery. Therefore, a complete set of test methods is required to ensure the availability of the remote surgery system under different network conditions.

[0003] In the related art, a test method for a remote surgery system is proposed, which confirms the performance of the remote surgery system by testing the surgical robot at the local end, such as robotic arm accuracy, force feedback, etc.

[0004] In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art: In the related art, only the performance of the local surgical robot is concerned, and the impact of the communication network on remote control is not fully considered.

[0005] It should be noted that the information disclosed in the above background art section is only used to enhance the understanding of the background of this application, and thus may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0006] To provide a basic understanding of some aspects of the disclosed embodiments, a simple summary is given below. This summary is not a comprehensive review, nor is it intended to identify key / important elements or delineate the scope of protection of these embodiments. Instead, it serves as a preamble to the following detailed description.

[0007] The embodiments of the present disclosure provide a remote surgery system and a test system, method, and device therefor to improve the comprehensiveness and reliability of the remote surgery system test.

[0008] In some embodiments, the remote surgery system includes a remote device and a local device. The test system for the remote surgery system includes: a network performance adjustment device configured to adjust the network performance parameters of the test system; a core transmission network connected to the network performance adjustment device and configured to implement the basic signal transmission of the test system; a remote transmission network connected to the core transmission network and the remote device and configured to transmit a first signal from the remote device to the core transmission network and transmit a second signal from the core transmission network to the remote device; a local transmission network connected to the core transmission network and the local device and configured to transmit the second signal from the local device to the core transmission network and transmit the first signal from the core transmission network to the local device; wherein the first signal includes a surgical control signal and a remote conference audio-video signal; and the second signal includes a feedback signal of the surgical control signal and a local conference audio-video signal.

[0009] Optionally, the core transmission network includes a remote core network and a local core network; the remote core network is respectively connected to the network performance adjustment device and the remote transmission network and configured to transmit the first signal from the remote transmission network to the local core network and transmit the second signal from the local core network to the remote transmission network; the local core network is respectively connected to the network performance adjustment device and the local transmission network and configured to transmit the second signal from the local transmission network to the remote core network and transmit the first signal from the remote core network to the local transmission network.

[0010] Optionally, the remote transmission network includes a remote 5G communication device and a remote 5G base station; the remote 5G communication device is respectively connected to the remote 5G base station and the remote device and configured to transmit the first signal from the remote device to the remote 5G base station and transmit the second signal from the remote 5G base station to the remote device; the remote 5G base station is connected to the remote core network and configured to transmit the first signal from the remote 5G communication device to the remote core network and transmit the second signal from the remote core network to the remote 5G communication device; wherein the remote 5G communication device is disposed in an OTA anechoic chamber or an electromagnetic shielding chamber.

[0011] Optionally, the local transmission network includes a local 5G communication device and a local 5G base station; the local 5G communication device is respectively connected to the local 5G base station and the local device and configured to transmit the second signal from the local device to the local 5G base station and transmit the first signal from the local 5G base station to the local device; the local 5G base station is connected to the local core network and configured to transmit the second signal from the local 5G communication device to the local core network and transmit the first signal from the local core network to the local 5G communication device; wherein the local 5G communication device is disposed in an OTA anechoic chamber or an electromagnetic shielding chamber.

[0012] Optionally, the test system further includes: a switch configured to implement connections between the network performance adjustment device and the core transmission network, between the core transmission network and the remote transmission network, between the core transmission network and the local transmission network, between the remote transmission network and the remote terminal device, and between the local transmission network and the local terminal device; and / or, a network monitoring device configured to detect the network performance of the test system.

[0013] In some embodiments, a test method for a remote surgery system includes: adjusting network performance parameters based on a network performance adjustment device to determine the limit network performance parameters that the remote surgery system can withstand; configuring a test network environment according to the limit network performance parameters, forming a communication network through the core transmission network, the remote transmission network, and the local transmission network to connect the remote terminal device and the local terminal device; transmitting a first signal generated by the remote terminal device to the local terminal device through the communication network, and transmitting a second signal generated by the local terminal device to the remote terminal device through the communication network; performing one or more of functional testing, performance testing, and security testing on the remote surgery system according to the transmission process and results of the first signal and the second signal.

[0014] Optionally, determining the limit network performance parameters that the remote surgery system can withstand includes: measuring the original performance parameters of the remote surgery system without adding impairments; gradually increasing the additional impairment performance parameters added to the remote surgery system until the remote surgery system can establish a connection normally; determining the limit network performance parameters according to the original performance parameters and the additional impairment performance parameters.

[0015] Optionally, the test method further includes: determining abnormal network performance parameters at which the remote surgery system cannot work properly; performing abnormal environment testing on the remote surgery system in a test network environment configured according to the abnormal network performance parameters.

[0016] In some embodiments, a test device for a remote surgery system includes a processor and a memory storing program instructions, and the processor is configured to execute the test method for the remote surgery system as described above when running the program instructions.

[0017] In some embodiments, a remote surgery system includes: a local terminal device including a local doctor console, a local patient surgery platform, a local conference system, and a local signal processing unit; a remote terminal device including a remote doctor console, a remote imaging feedback platform, a remote conference system, and a remote signal processing unit; and the test system for the remote surgery system as described above, which is respectively connected to the remote terminal device and the local terminal device.

[0018] The remote surgery system and the test system, method, and device therefor provided by the embodiments of the present disclosure can achieve the following technical effects: In the embodiments of the present disclosure, the core architecture of the test system includes a network performance adjustment device, a core transmission network, a remote transmission network, and a local transmission network. Through the network performance adjustment device, different network conditions can be set to cover various network scenarios that may be encountered. Through the core transmission network, the remote transmission network, and the local transmission network, the two-way signal flow of remote surgery can be fully realized, and the synchronization and reliability of control signals, feedback signals, and audio-visual signals can be verified. Therefore, the test system provided by the embodiments of the present disclosure can comprehensively, reliably, and standardly test the remote surgery system while ensuring the stability of the system network communication.

[0019] The above general description and the following description are only exemplary and explanatory, and are not used to limit this application. Brief Description of the Drawings

[0020] One or more embodiments are exemplarily illustrated by corresponding drawings. These exemplary illustrations and the drawings do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements. The drawings do not constitute a scale limitation, and wherein: Figure 1 is a schematic diagram of a test system for a remote surgery system provided by an embodiment of the present disclosure; Figure 2 is a schematic diagram of another test system for a remote surgery system provided by an embodiment of the present disclosure; Figure 3 is a schematic diagram of a test system for a remote thoracoscopic and laparoscopic surgery system provided by an embodiment of the present disclosure; Figure 4 is a schematic diagram of a test method for a remote surgery system provided by an embodiment of the present disclosure; Figure 5 is a schematic diagram of another test method for a remote surgery system provided by an embodiment of the present disclosure; Figure 6 is a schematic diagram of a test device for a remote surgery system provided by an embodiment of the present disclosure. Detailed Description of the Embodiments

[0021] In order to be able to understand the features and technical content of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure will be described in detail below with reference to the drawings. The attached drawings are only for reference and illustration, and are not used to limit the embodiments of the present disclosure. In the following technical description, for the sake of explanation, a sufficient understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, well-known structures and devices can be shown in a simplified manner to simplify the drawings.

[0022] In the technical solutions described in this application, terms such as "first" and "second" are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so as to implement the embodiments of the present disclosure described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion.

[0023] Unless otherwise specified, the term "plurality" means two or more.

[0024] In the embodiments of the present disclosure, the character " / " indicates that the front and rear objects are in an "or" relationship. For example, A / B means: A or B.

[0025] The term "and / or" is an associative relationship describing an object and indicates that three relationships can exist. For example, A and / or B means: A or B, or, the three relationships of A and B.

[0026] The term "correspond to" may refer to an associative relationship or a binding relationship. A corresponding to B means that there is an associative relationship or a binding relationship between A and B.

[0027] In combination Figure 1 As shown, the embodiments of the present disclosure provide a test system for a remote surgery system. The remote surgery system includes a remote device 10 and a local device 20. The test system includes: a network performance adjustment device 30, a core transmission network 40, a remote transmission network 50, and a local transmission network 60.

[0028] In the embodiments of the present disclosure, the network performance adjustment device 30 is configured to adjust the network performance parameters of the test system. The core transmission network 40 is connected to the network performance adjustment device 30 and is configured to implement the basic signal transmission of the test system. The remote transmission network 50 is connected to the core transmission network 40 and the remote device 10 and is configured to transmit the first signal from the remote device 10 to the core transmission network 40 and transmit the second signal from the core transmission network 40 to the remote device 10. The local transmission network 60 is connected to the core transmission network 40 and the local device 20 and is configured to transmit the second signal from the local device 20 to the core transmission network 40 and transmit the first signal from the core transmission network 40 to the local device 20. Among them, the first signal includes a surgical control signal and a remote conference audio-visual signal; the second signal includes a feedback signal of the surgical control signal and a local conference audio-visual signal.

[0029] In the embodiments of the present disclosure, through the network performance adjustment device 30, different network conditions can be set to cover various network scenarios that may be encountered. Through the core transmission network 40, the remote transmission network 50, and the local transmission network 60, the two-way signal flow of remote surgery can be fully realized, and the synchronization and reliability of control signals, feedback signals, and audio-visual signals can be verified. Therefore, the test system provided by the embodiments of the present disclosure can comprehensively, reliably, and standardly test the remote surgery system while ensuring the stability of the system network communication.

[0030] Optionally, the test system is implemented based on a 5G cellular test network.

[0031] Optionally, the feedback signal includes a feedback image signal.

[0032] Optionally, in combination with Figure 2 As shown, the remote device 10 includes a remote doctor console 11, a remote image feedback platform 12, a remote conferencing system 13, and a remote signal processing unit 14.

[0033] Optionally, in combination with Figure 2 As shown, the remote signal processing unit 14 includes: a remote control signal processing module 15, a remote image transmission processing module 16, and a remote conferencing audio-visual transmission processing module 17.

[0034] Optionally, in combination with Figure 2 As shown, the local device 20 includes a local doctor console 21, a local patient surgery platform 22, a local conferencing system 23, and a local signal processing unit 24.

[0035] Optionally, in combination with Figure 2 As shown, the local signal processing unit 24 includes: a local control signal processing module 25, a local image transmission processing module 26, and a local conferencing audio-visual transmission processing module 27.

[0036] Optionally, the local device 20 and the remote device 10 can use different network operators; and / or, the local device 20 and the remote device 10 can be in different regions.

[0037] Optionally, the local device 20 and the remote device 10 are communicatively connected through the test system.

[0038] In this embodiment, through the communication network formed by the test system, the local device 20 and the remote device 10 can achieve communication connection. During the test, according to the surgical control signal sent by the remote device 10, after the local device 20 responds, it returns the corresponding feedback image signal, so that the test can be carried out according to the surgical control signal and the feedback image signal. In addition, the audio and video signals in the conferencing system can also be tested to ensure accurate real-time audio and video interaction.

[0039] Optionally, the network performance adjustment device 30 includes: a network impairment emulator. The network impairment emulator can adjust one or more network performance parameters such as bandwidth, latency, jitter, packet loss, and bit error.

[0040] Optionally, in combination with Figure 2 As shown, the core transmission network 40 includes a remote core network 41 and a local core network 42. The remote core network 41 is respectively connected to the network performance adjustment device 30 and the remote transmission network 50, and is configured to transmit the first signal from the remote transmission network 50 to the local core network 42, and transmit the second signal from the local core network 42 to the remote transmission network 50. The local core network 42 is respectively connected to the network performance adjustment device 30 and the local transmission network 60, and is configured to transmit the second signal from the local transmission network 60 to the remote core network 41, and transmit the first signal from the remote core network 41 to the local transmission network 60.

[0041] In this embodiment, the load of the core transmission network 40 is distributed to the remote core network 41 and the local core network 42, realizing finer network isolation and control, which can reduce the situation of single-point congestion and improve the signal transmission efficiency. The remote core network 41 and the local core network 42 can be interconnected through a standardized interface to be compatible with the core network protocol differences of different operators. Through the network performance adjustment device 30, delays, packet losses and other impairments can also be injected into the remote core network 41 and the local core network 42 respectively to simulate the degradation scenarios of the two independent networks, so as to cover more complex network anomaly scenarios.

[0042] Optionally, in combination with Figure 2As shown in the figure, the remote transmission network 50 includes a remote 5G communication device (Customer Premises Equipment) 51 and a remote 5G base station 52. The remote 5G communication device 51 is respectively connected to the remote 5G base station 52 and the remote device 10, and is configured to transmit the first signal from the remote device 10 to the remote 5G base station 52, and transmit the second signal from the remote 5G base station 52 to the remote device 10. The remote 5G base station 52 is connected to the remote core network 41, and is configured to transmit the first signal from the remote 5G communication device 51 to the remote core network 41, and transmit the second signal from the remote core network 41 to the remote 5G communication device 51. Among them, the remote 5G communication device 51 is set in an OTA (Over-The-Air) anechoic chamber or an electromagnetic shielding chamber.

[0043] In this embodiment, the remote transmission network 50 realizes bidirectional signal transmission through the remote 5G communication device 51 and the remote 5G base station 52. The remote 5G communication device 51 is responsible for the wireless access of the last section of the distance between the remote device 10 and the remote 5G base station 52, and can optimize the local signal quality. The remote 5G base station 52 can realize the conversion between the wireless signal and the optical cable signal of the remote core network 41, and ensure the wide-area transmission efficiency. The remote 5G communication device 51 is set in an OTA anechoic chamber or an electromagnetic shielding chamber. Among them, the OTA anechoic chamber can simulate a pure wireless environment and test the ultimate performance of the 5G communication device in a non-interference scenario; the electromagnetic shielding chamber can shield external signal interference and test the anti-interference ability of the 5G communication device in a strong electromagnetic interference scenario. In this way, the reliability of the transmission signal in a complex electromagnetic environment can be ensured, and the loss of control commands or video stuttering caused by wireless interference can be reduced.

[0044] Optionally, the 5G communication device includes: 5G CPE or 5G communication backpack.

[0045] Optionally, in combination with Figure 2 As shown in the figure, the local transmission network 60 includes a local 5G communication device 61 and a local 5G base station 62. The local 5G communication device 61 is respectively connected to the local 5G base station 62 and the local device 20, and is configured to transmit the second signal from the local device 20 to the local 5G base station 62, and transmit the first signal from the local 5G base station 62 to the local device 20. The local 5G base station 62 is connected to the local core network 42, and is configured to transmit the second signal from the local 5G communication device 61 to the local core network 42, and transmit the first signal from the local core network 42 to the local 5G communication device 61. Among them, the local 5G communication device 61 is set in an OTA anechoic chamber or an electromagnetic shielding chamber.

[0046] In this embodiment, the local transmission network 60 and the remote transmission network 50 are set up in the same way. Therefore, the local transmission network 60 can achieve the same effects as the remote transmission network 50, which will not be elaborated here.

[0047] Optionally, the test system further includes: a switch. The switch is configured to implement connections between the network performance adjustment device 30 and the core transmission network 40, between the core transmission network 40 and the remote transmission network 50, between the core transmission network 40 and the local transmission network 60, between the remote transmission network 50 and the remote terminal device 10, and between the local transmission network 60 and the local terminal device 20.

[0048] In this embodiment, as a network hub, the switch connects the network performance adjustment device 30, the core transmission network 40, the remote transmission network 50, the local transmission network 60 and the terminal devices to achieve flexible networking.

[0049] The test system further includes: a network monitoring device. The network monitoring device is configured to detect the network performance of the test system.

[0050] In this embodiment, the network monitoring device can detect network performance parameters in real time, provide quantitative test data, and can also be linked with the network performance adjustment device 30 to achieve a dynamic test closed loop.

[0051] Combined with Figure 3 As shown, the embodiment of the present disclosure provides a test system for a remote thoracoscopic and laparoscopic surgery system. The remote thoracoscopic and laparoscopic surgery system includes a remote terminal device and a local terminal device; the test system includes a network performance adjustment device, a core transmission network, a remote transmission network and a local transmission network. The remote terminal device, the remote transmission network, the core transmission network, the network performance adjustment device, the local transmission network and the local terminal device are connected through a switch.

[0052] Optionally, the remote terminal device includes: a remote doctor console, an endoscopic image platform, a conference system and a remote signal processing unit. The remote signal processing unit includes: a control signal processing module, an endoscopic image transmission processing module and a conference audio / video transmission processing module.

[0053] Optionally, the remote transmission network includes: a 5G CPE and a 5G base station set in an OTA darkroom.

[0054] Optionally, the core transmission network includes: a core network.

[0055] Optionally, the network performance adjustment device includes: a network impairment emulator.

[0056] Optionally, the local transmission network includes: a 5G CPE and a 5G base station set in a shielded room.

[0057] Optionally, the local device includes: a local doctor console, a patient surgical platform (surgical instruments and endoscope), a conferencing system, and a local signal processing unit. The local signal processing unit includes: a control signal processing module, an endoscope image transmission processing module, and a conferencing audio / video transmission processing module.

[0058] In this embodiment, through the above-mentioned test system for a remote thoracoscopic and laparoscopic surgery system, the networking architecture of a 5G end-to-end remote thoracoscopic and laparoscopic surgery test system is realized, and a remote data communication network with complete functions and adjustable parameters based on 5G cellular access is built, fully demonstrating the end-to-end network characteristics in the application of 5G cellular networks, and can shield external electromagnetic interference, unexpected wireless signals, and random event interference. In addition, by adjusting network performance parameters such as bandwidth, latency, jitter, packet loss, and bit error, testing under different network parameter configurations can be achieved, fully covering the network conditions that the surgical system may encounter at remote distances and in different environments, such as external interference situations, network performance degradation, and network performance limitations; test scenarios such as cross-operator and cross-region scenarios are also considered to achieve comprehensive and detailed verification and quantitative evaluation.

[0059] Combined with Figure 4 As shown, based on the aforementioned test system for a remote surgical system, an embodiment of the present disclosure provides a test method for a remote surgical system. The execution subject of the test method can be a processor, and the test method includes: S401, the processor adjusts network performance parameters based on a network performance adjustment device to determine the limit network performance parameters that the remote surgical system can withstand.

[0060] S402, the processor configures a test network environment according to the limit network performance parameters, forms a communication network through a core transmission network, a remote transmission network, and a local transmission network, and connects the remote device and the local device.

[0061] S403, the processor transmits the first signal generated by the remote device to the local device through the communication network, and transmits the second signal generated by the local device to the remote device through the communication network.

[0062] S404, the processor performs one or more of functional testing, performance testing, and security testing on the remote surgical system according to the transmission process and transmission results of the first signal and the second signal.

[0063] In the embodiments of the present disclosure, by simulating extreme conditions in a real network environment through a network performance adjustment device, the critical value at which the remote surgical system can work properly is determined, and the limit network performance parameters are determined, which can reduce the surgical risks caused by network degradation in actual deployment and ensure the robustness of the system. The test system can fully reproduce the full-link environment from the doctor's console to the patient's surgical platform, and the test results are more practically valuable for reference.

[0064] Optionally, determining the limit network performance parameters that the remote surgical system can withstand includes: measuring the original performance parameters of the remote surgical system without adding impairments; gradually increasing the additional impairment performance parameters added to the remote surgical system until the test system can establish a connection normally; and determining the limit network performance parameters based on the original performance parameters and the additional impairment performance parameters.

[0065] In this embodiment, by measuring the original performance parameters without impairments, the interference of the performance fluctuations of the device itself on the test can be excluded. Gradually increasing the additional impairment performance parameters added to the remote surgical system, such as one or more network performance parameters including bandwidth, delay, jitter, packet loss, and bit error rate, can simulate complex scenarios with multiple impairments occurring concurrently in a real network and accurately quantify the system's ability to resist network degradation. Finally, adding the original performance parameters and the additional impairment performance parameters to determine the limit network performance parameters.

[0066] In a specific embodiment, the original performance parameters monitored without additionally adding network impairments through a network monitoring device are: bandwidth 0, delay 10 ms, jitter 5 ms, packet loss rate 0, and bit error rate 0. Then, additional impairments are added to the network performance through a network impairment instrument. A set of additional impairment performance parameters when the remote surgical system can establish a connection normally are: bandwidth 100M, delay 90 ms, jitter 15 ms, packet loss rate 0.1%, and bit error rate 10 -5 . Finally, adding the original performance parameters and the additional impairment performance parameters, the obtained limit network performance parameters are: bandwidth 100 M, delay 100 ms, jitter 20 ms, packet loss rate 0.1%, and bit error rate 10 -5 . These limit network performance parameters are the most adverse network conditions for the remote surgical system under the premise of meeting the specified network configuration requirements. Therefore, under these network conditions, the remote surgical system is tested.

[0067] Optionally, determining the limit network performance parameters that the remote surgical system can withstand includes: obtaining the preset performance parameters provided by the device manufacturer; measuring the original performance parameters of the remote surgical system without adding impairments; and determining the limit network performance parameters based on the preset performance parameters and the original performance parameters.

[0068] In this embodiment, the original performance parameters are removed from the preset performance parameters provided by the equipment manufacturer, and the extreme network performance parameters can be determined. In this way, the clinical risks caused by simply relying on the manufacturer's data can be reduced, and the dynamic adjustment of the extreme network performance parameters according to the original performance is supported, so as to obtain more scientific and flexible extreme network performance parameters.

[0069] Optionally, taking the remote thoracoscopic and laparoscopic surgery system as an example, the function tests include one or more of the following: network requirements, connection function, exception handling function, remote control and transmission function, and audio and video function.

[0070] Optionally, the network requirements include: 5G cellular communication test and / or network environment monitoring.

[0071] Optionally, the connection function includes one or more of the following: remote network connection, remote network management, remote network disconnection, and backup connection.

[0072] Optionally, the exception handling function includes one or more of the following: exception prompt, emergency stop, and exception recovery.

[0073] Optionally, the remote control and transmission function includes one or more of the following: remote control parameters, master-slave hand control, endoscope imaging function, audio and video function of the conference system, and local takeover function.

[0074] Optionally, the performance tests include one or more of the following: device control performance, endoscope imaging performance, audio and video performance of the conference system, and 5G communication network metrics.

[0075] Optionally, the device control performance includes one or more of the following: accuracy of the master-slave operation distance, repeatability of the master-slave operation distance, accuracy of the master-slave operation posture, repeatability of the master-slave operation posture, effective operating force of the robotic arm, end translation clamping force, master-slave control delay, positioning accuracy, mapping frequency, and effective working space.

[0076] Optionally, the endoscope imaging performance includes one or more of the following: video freezing rate, proportion of video damage, video frame rate, and video MOS.

[0077] Optionally, the audio and video performance of the conference system includes one or more of the following: video freezing rate, proportion of video damage, video frame rate, video MOS, audio MOS, and audio-video synchronization deviation.

[0078] Optionally, the 5G communication network metrics include one or more of the following: minimum signal strength, minimum signal quality, and cross-operator operation ability.

[0079] Optionally, the security tests include one or more of the following: data security, network security, and security guarantee.

[0080] Optionally, data security includes one or more of data de-identification, data storage security, data transmission security, data transmission integrity, data transmission accuracy, data transmission timeliness, and data backup and disaster recovery.

[0081] Optionally, network security includes one or more of access permission management, communication access control, and user identity legitimacy verification.

[0082] Optionally, security assurance includes one or more of network security reinforcement, network security upgrade, and network security audit.

[0083] By using the test method for a remote surgery system provided by the embodiments of the present disclosure, a specific set of test contents can be designed in combination with the characteristics of the remote thoracoscopic and laparoscopic surgery system, covering aspects such as functions, performance, and security, providing safe and effective guidance for the test of the remote thoracoscopic and laparoscopic surgery system.

[0084] Optionally, the test method further includes: comparing the test results according to technical requirements and nominal values; confirming that the test passes when the actual test value is not lower than the nominal value or the test result meets the technical requirements.

[0085] Optionally, the test method further includes: determining abnormal network performance parameters under which the remote surgery system cannot work properly; performing an abnormal environment test on the remote surgery system in a test network environment configured according to the abnormal network performance parameters.

[0086] Combined with Figure 5 As shown in S501, the processor adjusts the network performance parameters based on the network performance adjustment device to determine the abnormal network performance parameters under which the remote surgery system cannot work properly.

[0087] S502, the processor configures a test network environment according to the abnormal network performance parameters, forms a communication network through the core transmission network, the remote transmission network, and the local transmission network, and connects the remote device and the local device.

[0088] S503, the processor transmits the first signal generated by the remote device to the local device through the communication network, and transmits the second signal generated by the local device to the remote device through the communication network.

[0089] S504, the processor performs an abnormal environment test on the remote surgery system according to the transmission process and transmission results of the first signal and the second signal.

[0090] In this embodiment, through abnormal environment testing, medical accidents caused by extreme network failures can be prevented. For example, when the network is interrupted, whether the robotic arm locks immediately; when there is an abnormal disconnection, whether the untransmitted instructions are automatically cleared; and whether "network unavailable" is prompted in real time. In this way, the warning signs before system failure can be clearly known, and the design defects of the device can also be exposed, promoting product iteration.

[0091] Combined with Figure 6 As shown, an embodiment of the present disclosure provides a test device 600 for a remote surgery system, including a processor 601 and a memory 602. Optionally, the device may further include a communication interface 603 and a bus 604. Among them, the processor 601, the communication interface 603, and the memory 602 can complete mutual communication through the bus 604. The communication interface 603 can be used for information transmission. The processor 601 can call the logical instructions in the memory 602 to execute the test method for the remote surgery system in the above embodiment.

[0092] In addition, when the logical instructions in the above-mentioned memory 602 are implemented in the form of software functional units and sold or used as an independent product, they can be stored in a computer-readable storage medium.

[0093] The memory 602, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as the program instructions / modules corresponding to the method in the embodiment of the present disclosure. The processor 601 executes functional applications and data processing by running the program instructions / modules stored in the memory 602, that is, implements the test method for the remote surgery system in the above embodiment.

[0094] The memory 602 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the terminal device. In addition, the memory 602 may include a high-speed random access memory and may also include a non-volatile memory.

[0095] An embodiment of the present disclosure provides a remote surgery system, including: a local device, including a local doctor console, a local patient surgery platform, a local conference system, and a local signal processing unit; a remote device, including a remote doctor console, a remote imaging feedback platform, a remote conference system, and a remote signal processing unit; and a test system for a remote surgery system as described above, which is respectively connected to the remote device and the local device.

[0096] An embodiment of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, and the computer-executable instructions are configured to execute the above-mentioned test method for a remote surgery system.

[0097] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiment of the present disclosure. The foregoing storage medium may be a non-transitory storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disc, etc., which are various media that can store program codes.

[0098] The above description and the drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process, and other changes. Embodiments only represent possible variations. Unless explicitly required, individual components and functions are optional, and the order of operations can vary. Parts and features of some embodiments may be included in or substituted for parts and features of other embodiments. Moreover, the terms used in this application are only for describing embodiments and do not limit the technical solutions described in this application. As used in the technical solutions described in this application, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to also include the plural forms. Similarly, as used in this application, the term "and / or" refers to any and all possible combinations including one or more of the associated listed items. Additionally, when used in this application, the term "comprise" and its variants "comprises" and / or "comprising" etc. mean the presence of the stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or groups thereof. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, or device including the element. In this document, what each embodiment focuses on may be the differences from other embodiments, and the same or similar parts among the various embodiments may be referred to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, the relevant parts may refer to the description of the method part.

[0099] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner may depend on the specific application and design constraints of the technical solution. The skilled person can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the embodiments of the present disclosure. The skilled person can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0100] In the embodiments disclosed herein, the disclosed methods, products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units can be merely a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Additionally, the couplings or direct couplings or communication connections shown or discussed among each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to implement this embodiment. Additionally, in the embodiments of the present disclosure, the functional units can be integrated in one processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0101] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a portion of code that contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions noted in the blocks may occur in a different order than noted in the accompanying drawings. For example, two consecutive blocks may in fact be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functionality involved. In the description corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may in fact be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functionality involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A test system for a remote surgery system, characterized in that: The telesurgery system includes a remote device and a local device, and the test system includes: a network performance adjustment device configured to adjust a network performance parameter of the test system; A core transmission network, connected to the network performance adjustment device, configured to implement basic signal transmission of the test system; A remote transmission network connected to the core transmission network and the remote terminal device, configured to transmit a first signal from the remote terminal device to the core transmission network, and to transmit a second signal from the core transmission network to the remote terminal device; A local transmission network connected to the core transmission network and the local end device, configured to transmit the second signal from the local end device to the core transmission network, and to transmit the first signal from the core transmission network to the local end device; The first signal includes a surgical control signal and a remote conference audio and video signal; the second signal includes a feedback signal of the surgical control signal and a local conference audio and video signal.

2. The test system according to claim 1, characterized in that: The core transmission network includes the remote core network and the local core network; The remote core network is connected to the network performance adjustment device and the remote transmission network respectively, and is configured to transmit the first signal from the remote transmission network to the local core network, and transmit the second signal from the local core network to the remote transmission network; The local core network is connected to the network performance adjustment device and the local transmission network respectively, and is configured to transmit the second signal from the local transmission network to the remote core network, and to transmit the first signal from the remote core network to the local transmission network.

3. The test system according to claim 2, characterized in that: The remote transmission network includes remote-end 5G communication equipment and remote-end 5G base stations; The remote 5G communication device is connected to the remote 5G base station and the remote device respectively, and is configured to transmit a first signal from the remote device to the remote 5G base station, and transmit a second signal from the remote 5G base station to the remote device; The remote 5G base station is connected to the remote core network and is configured to transmit a first signal from the remote 5G communication device to the remote core network and to transmit a second signal from the remote core network to the remote 5G communication device; Among them, the remote 5G communication equipment is set up in an OTA darkroom or an electromagnetic shielding room.

4. The test system according to claim 2, characterized in that: The local transmission network includes local 5G communication equipment and local 5G base stations; The local 5G communication device is connected to the local 5G base station and the local device respectively, and is configured to transmit the second signal from the local device to the local 5G base station, and transmit the first signal from the local 5G base station to the local device; The local 5G base station is connected to the local core network and is configured to transmit the second signal from the local 5G communication device to the local core network, and transmit the first signal from the local core network to the local 5G communication device; Among them, the local 5G communication equipment is set up in an OTA darkroom or an electromagnetic shielding room.

5. The test system according to claim 1, characterized in that: Also includes: A switch configured to realize connection between the network performance adjustment device and the core transmission network, the core transmission network and the remote transmission network, the core transmission network and the local transmission network, the remote transmission network and the remote end device, and the local transmission network and the local end device; and / or, The network monitoring device is configured to detect the network performance of the test system.

6. A testing method for a remote surgery system based on the testing system according to any one of claims 1 to 5, characterized in that: include: Based on the network performance adjustment device, the network performance parameters are adjusted to determine the extreme network performance parameters that the remote surgery system can withstand; Configure the test network environment according to the extreme network performance parameters, form a communication network through the core transmission network, remote transmission network and local transmission network, and connect the remote end device with the local end device; Transmitting a first signal generated by a remote device to a local device via a communication network, and transmitting a second signal generated by a local device to a remote device via a communication network; According to the transmission process and transmission result of the first signal and the second signal, one or more of functional test, performance test and safety test are performed on the remote surgery system.

7. The testing method according to claim 6, characterized in that: Determine the extreme network performance parameters that the telesurgery system can withstand, including: Measuring the original performance parameters of the telesurgery system without adding damage; Gradually increase the additional damage performance parameters added to the telesurgery system until the telesurgery system can establish a connection normally; The limit network performance parameters are determined based on the original performance parameters and the additional damage performance parameters.

8. The testing method according to claim 6, characterized in that: Also includes: Identify abnormal network performance parameters that prevent the telesurgery system from functioning properly; In a test network environment configured according to abnormal network performance parameters, an abnormal environment test is performed on the remote surgery system.

9. A testing device for a remote surgery system, comprising a processor and a memory storing program instructions, characterized in that: The processor is configured to execute the testing method for a remote surgery system according to any one of claims 6 to 8 when running the program instructions.

10. A remote surgery system, characterized in that: include: Local equipment, including a local doctor console, a local patient surgery platform, a local conference system and a local signal processing unit; Remote equipment, including a remote doctor console, a remote image feedback platform, a remote conference system, and a remote signal processing unit; The test system for a remote surgery system as described in any one of claims 1 to 5 is connected to a remote terminal device and a local terminal device respectively.

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