Control instruction response method, medium and surgical robot

Abstract

The invention discloses a control instruction response method, a medium and a surgical robot. The method comprises the following steps: receiving a control instruction, wherein the control instruction is triggered by an operating mechanism of an operating part; the operation authority of the operation mechanism is determined, and the operation authority is determined according to the operation part and the system state of the interventional surgical robot; responding to the control instruction according to the operation authority, determining the operation authority corresponding to the control instruction according to the operation component corresponding to the control instruction and the system state of the interventional surgical robot, and responding to the control instruction according to the operation authority corresponding to the control instruction. The influence of execution of control instructions from different sources on operation of the surgical robot is avoided, and the stability of stable operation of the interventional surgical robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a control instruction response method, a medium and a surgical robot. Background Art

[0002] Interventional surgery requires doctors to manually operate passive medical devices, while interventional surgical robots can remotely operate actuators to drive passive medical devices, thereby freeing doctors from complicated and physically demanding manual operations and allowing them to focus their energy on diagnosis and decision-making. It can also lower the surgical threshold and allow doctors to avoid radiation exposure. It is a very advanced surgical operation method.

[0003] The interventional surgical robot is a very complex system, facing various stages, various working conditions, various control sources, and various system states. Therefore, how to achieve reliable and stable operation of the interventional surgical robot is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present invention provides a control instruction response method, a medium and a surgical robot to improve the stability of the stable operation of an interventional surgical robot.

[0005] According to one aspect of the present invention, a control instruction response method for an interventional surgical robot is provided, comprising:

[0006] receiving a control instruction, wherein the control instruction is triggered by an operating mechanism of an operating component;

[0007] Determining an operation authority of the operating mechanism, wherein the operation authority is determined according to the operating component and the system status of the interventional surgical robot;

[0008] The control instruction is responded to according to the operation authority.

[0009] Optionally, based on the above scheme, the system status includes at least one of system bedside operation, system idle, system remote operation, system debugging and system failure.

[0010] Optionally, based on the above solution, the operating component is an operating component of the interventional surgical robot, and the operating component of the interventional surgical robot includes a console, an operating trolley, a robotic arm, a bedside operating component and / or a debugging device, and the operating authority of the operating mechanism of the operating component is determined by the following method:

[0011] The interventional surgical robot is controlled by a control host. When the system status is bedside operation of the system, the operation authority of the operating mechanism of the bedside operation component is allowed operation. When the system status is other system statuses except the bedside operation of the system, the operation authority of the operating mechanism of the bedside operation component is prohibited operation; and / or

[0012] When the interventional surgical robot is not controlled by a control host and the system status is any status, the operation authority of the operating mechanism of the robotic arm is allowed operation; and / or

[0013] The interventional surgical robot is controlled by a control host. When the system status is system idle, system remote operation, and system debugging, the operation authority of the operating mechanism of the surgical trolley is allowed operation. When the system status is other system statuses except system idle, system remote operation, and system debugging, the operation authority of the operating mechanism of the surgical trolley is prohibited operation; and / or

[0014] The interventional surgical robot is controlled by a control host. When the system status is system remote operation, the operation authority of the operating mechanism of the console is allowed operation. When the system status is other system statuses except system remote operation, the operation authority of the operating mechanism of the console is prohibited operation;

[0015] The interventional surgical robot is controlled by a control host. When the system status is system debugging and system failure, the operation authority of the operating mechanism of the debugging device is allowed operation. When the system status is other system statuses except debugging and system failure, the operation authority of the operating mechanism of the debugging device is prohibited operation.

[0016] Optionally, on the basis of the above solution, the responding to the control instruction according to the operation authority includes:

[0017] When the operation authority is allowed operation, execute the control instruction;

[0018] When the operation authority is prohibited operation, do not execute the control execution.

[0019] Optionally, on the basis of the above solution, the determining the operation authority of the operating mechanism includes:

[0020] Read the stored operation authority identifier to determine the operation authority;

[0021] Or, send an operation authority acquisition request to the processor to acquire the operation authority returned by the processor.

[0022] According to another aspect of the present invention, an interventional surgical robot is further provided, which includes a console, a surgical trolley, a robotic arm, a surgical execution component, and a processor. The console is communicatively connected to the surgical trolley, the surgical trolley is communicatively connected to the robotic arm, and the robotic arm is communicatively connected to the execution component. The processor is configured to:

[0023] Receive a control instruction, which is triggered by an operating mechanism of an operating component;

[0024] Determine the operating authority of the operating mechanism, wherein the operating authority is determined according to the system states of the operating component and the interventional surgical robot;

[0025] Respond to the control instruction according to the operating authority.

[0026] Optionally, on the basis of the above solution, it includes a fixed structure and a movable structure. The robotic arm is fixed on the operating bed through the fixed structure, and at least one robotic arm operating mechanism is arranged on the robotic arm. The robotic arm operating mechanism is used to adjust the locking state of the movable structure.

[0027] Optionally, on the basis of the above solution, at least one trolley operating mechanism is arranged on the surgical trolley. The trolley operating mechanism is used to control the movement of the surgical trolley.

[0028] Optionally, on the basis of the above solution, at least one bedside operating mechanism is arranged on the robotic arm. The bedside operating mechanism is used to adjust the positions of the robotic arm and / or the surgical execution component.

[0029] Optionally, on the basis of the above solution, a display component and a console operating mechanism are arranged on the console. The display component is used to display the surgical image, and the console operating mechanism is used to control the surgical execution component to perform surgical operations.

[0030] Optionally, on the basis of the above solution, the interventional surgical robot further includes a debugging device, and at least one debugging operating mechanism is arranged on the debugging device. The debugging operating mechanism is used to debug the interventional surgical robot.

[0031] According to another aspect of the present invention, a control instruction response device for an interventional surgical robot is further provided, including:

[0032] A control instruction receiving module, configured to receive a control instruction, which is triggered by an operating mechanism of an operating component;

[0033] An operation permission determination module, configured to determine the operation permission of the operation mechanism, where the operation permission is determined according to the operation component and the system state of the interventional surgical robot;

[0034] A control instruction response module, configured to respond to the control instruction according to the operation permission.

[0035] According to another aspect of the present invention, there is also provided an electronic device, including:

[0036] At least one processor; and

[0037] A memory communicatively connected to the at least one processor; where

[0038] The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the control instruction response method of the interventional surgical robot according to any one of claims 1-6.

[0039] According to another aspect of the present invention, there is also provided a computer-readable storage medium storing computer instructions for causing a processor to implement the control instruction response method of the interventional surgical robot according to any one of claims 1-6 when executed.

[0040] The technical solution of the embodiment of the present invention, by receiving a control instruction, the control instruction is triggered by an operation mechanism of an operation component; determining the operation permission of the operation mechanism, where the operation permission is determined according to the operation component and the system state of the interventional surgical robot; responding to the control instruction according to the operation permission, by determining the operation permission corresponding to the control instruction according to the operation component corresponding to the control instruction and the system state of the interventional surgical robot, and responding to the control instruction according to the operation permission corresponding to the control instruction, avoids the influence on the operation of the surgical robot caused by executing control instructions from different sources, and improves the stability of the stable operation of the interventional surgical robot.

[0041] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Description of the Drawings

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0043] Figure 1a It is a flowchart of a method for responding to control instructions of an interventional surgical robot provided in Embodiment 1 of the present invention;

[0044] Figure 1b It is a relationship diagram of a system state provided in Embodiment 1 of the present invention;

[0045] Figure 2a It is a schematic structural diagram of an interventional surgical robot provided in Embodiment 2 of the present invention;

[0046] Figure 2b It is a schematic structural diagram of a robotic arm provided in Embodiment 2 of the present invention;

[0047] Figure 2c It is a schematic structural diagram of a robotic arm provided in Embodiment 2 of the present invention;

[0048] Figure 2d It is a schematic structural diagram of a console provided in Embodiment 2 of the present invention;

[0049] Figure 2e It is a schematic diagram of the corresponding relationship between a system state, a control source, and a surgical operation stage provided in Embodiment 2 of the present invention;

[0050] Figure 3 It is a schematic structural diagram of a control instruction response device of an interventional surgical robot provided in Embodiment 3 of the present invention;

[0051] Figure 4 It is a schematic structural diagram of an electronic device provided in Embodiment 4 of the present invention. Detailed implementation manners

[0052] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0053] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present invention 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 that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0054] Embodiment 1

[0055] Figure 1a FIG. 1 is a flowchart of a method for responding to a control instruction of an interventional surgical robot provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation of responding to a control instruction of an interventional surgical robot during its operation. This method can be executed by a control instruction response device of the interventional surgical robot. The control instruction response device of the interventional surgical robot can be implemented in the form of hardware and / or software, and the control instruction response device of the interventional surgical robot can be configured in an electronic device, such as in the surgical trolley of the interventional surgical robot or in the operating component of the interventional surgical robot. As shown in FIG. 1, the method includes:

[0056] S110. Receive a control instruction, where the control instruction is triggered by an operating mechanism of an operating component.

[0057] In this embodiment, the control instruction can be triggered by a user operating the operating mechanism of the operating component in the interventional surgical robot. Herein, the operating mechanism of the operating component can be understood as a mechanism for controlling the position / movement of the operating component, such as a knob, button, key, operating panel, rocker, switch, etc. In one example, the operating component of the interventional surgical robot can include a robotic arm, and operating mechanisms such as a knob / button / key can be provided on the robotic arm to control the position of the robotic arm. When the user operates the operating mechanism on the robotic arm, the corresponding control instruction is determined based on the user's operation of the operating mechanism.

[0058] The interventional surgical robot provided in this embodiment may include a console, a surgical trolley, a robotic arm, and a surgical execution component. Among them, the console is for user operation, and the surgical trolley is used to receive the control signal of the console, generate corresponding control information, and control the surgical execution component to perform corresponding operations via the robotic arm. Optionally, the control instruction response method of the interventional surgical robot provided in the embodiments of the present invention may be executed by the processor of the interventional surgical robot or by the operating component of the interventional surgical robot. That is to say, after the user triggers the operating mechanism, the operating component may send the information of the user-triggered operating mechanism to the processor, and the processor determines the received control instruction based on the received information; or the operating component itself may determine the received control instruction according to the user-triggered operating mechanism, which is not limited herein. Optionally, the processor of the interventional surgical robot may be disposed in the surgical trolley.

[0059] S120. Determine the operation authority of the operating mechanism, where the operation authority is determined according to the operating component and the system state of the interventional surgical robot.

[0060] In this embodiment, in order to avoid the unstable operation of the surgical robot caused by control instructions from different control sources during the operation of the surgical robot, by determining the operation authority of the operating mechanism of the operating component of the control instruction source, the control instructions from different sources are scheduled to achieve the stable operation of the interventional surgical robot.

[0061] It can be understood that the interventional surgical robot has different system states during the operation of the system, and different system states correspond to different operations. For example, when the system is powered on for initialization, the system is in the initialization state. To avoid the failure of system initialization, no operation is performed, that is, the control instructions from all control sources cannot be executed at this stage; when the system is powered on, the system is in the idle state. At this time, the position of the robotic arm can be adjusted. Through the above logic, the operation authority of the operating mechanism of each operating component in different system states can be determined, so that the interventional surgical robot can reliably switch and operate among multiple control sources and multiple system states.

[0062] Figure 1b This is a relationship diagram of a system state provided in Embodiment 1 of the present invention. As Figure 1b shown, Figure 1bThe figure schematically shows a hierarchical diagram of the system states of the interventional surgical robot system. After the interventional surgical robot is powered on, it enters the system idle state. After system initialization, if the initialization is normal, it enters the system configuration state to configure parameters. After the configuration is completed, it enters the system stop state. After the system stop state, it can enter any one of the system bedside operation state, the system remote operation state, the system debugging / tuning state, and the system fault state. Among them, the system bedside operation state can be understood as the state where the system is ready for surgery, located beside the operating table, waiting to perform surgery. The system remote operation state can be understood as the state of remote operation. The system debugging / tuning state means that the system is in the process of debugging / tuning, and the system fault state indicates a system fault. It should be noted that the system bedside operation state, the system remote operation state, the system debugging / tuning state, and the system fault state can be switched to each other, and it is possible to switch from one state to another and back at any time.

[0063] The control instruction response method of the interventional surgical robot provided by the embodiment of the present invention can be executed or operated by the processor of the interventional surgical robot. When executed by the processor, the operation authority corresponding to the control instruction can be directly determined according to the operation component and the system state corresponding to the control instruction. When executed by the operation component, the operation authority corresponding to the control instruction can be read locally or obtained from the processor. Accordingly, determining the operation authority of the operating mechanism includes:

[0064] Reading the stored operation authority identifier to determine the operation authority;

[0065] Or, sending an operation authority acquisition request to the processor to obtain the operation authority returned by the processor.

[0066] In one implementation, when the system state changes, the processor can determine the operation authority of the operating mechanism of each operation component according to the changed system state, generate the corresponding operation authority identifier and send it to the corresponding operation component. The operation component stores the operation authority identifier sent by the processor and directly reads the stored operation authority identifier to determine when the operation authority needs to be determined. It can also directly obtain the operation authority of the operating mechanism of the operation component from the processor based on the operation component identifier.

[0067] In one implementation of the present invention, the system state includes at least one of system idle, system bedside operation, system remote operation, system debugging, and system fault. The system can be divided into the above system states according to the operating conditions and surgical states of the interventional surgical robot.

[0068] The system state can be determined based on the operating states of various components in the interventional surgical robot, the surgical stage, and / or the state switching instruction indicated by the user. For example, after the initialization of various components in the interventional surgical robot is completed, it can be determined that the system enters the system configuration state. Another example is that after the user instructs the system to enter the next state, the system determines to enter the next state, etc.

[0069] In an embodiment of the present invention, the operating component is the operating component of the interventional surgical robot. The operating components of the interventional surgical robot include a console, a surgical trolley, a robotic arm, a bedside operating component, and / or debugging equipment. The operating authority of the operating mechanism of the operating component is determined in the following manner:

[0070] When the interventional surgical robot is controlled by the control host and the system state is the system bedside operation, the operating authority of the operating mechanism of the bedside operating component is allowed to operate. When the system state is other system states other than the system bedside operation, the operating authority of the operating mechanism of the bedside operating component is prohibited from operating; and / or

[0071] When the interventional surgical robot is not controlled by the control host and the system state is any state, the operating authority of the operating mechanism of the robotic arm is allowed to operate; and / or

[0072] When the interventional surgical robot is controlled by the control host and the system state is the system idle, the system teleoperation, and the system debugging, the operating authority of the operating mechanism of the surgical trolley is allowed to operate. When the system state is other system states other than the system idle, the system teleoperation, and the system debugging, the operating authority of the operating mechanism of the surgical trolley is prohibited from operating; and / or

[0073] When the interventional surgical robot is controlled by the control host and the system state is the system teleoperation, the operating authority of the operating mechanism of the console is allowed to operate. When the system state is other system states other than the system teleoperation, the operating authority of the operating mechanism of the console is prohibited from operating;

[0074] When the interventional surgical robot is controlled by the control host and the system state is the system debugging and the system failure, the operating authority of the operating mechanism of the debugging equipment is allowed to operate. When the system state is other system states other than the debugging and the system failure, the operating authority of the operating mechanism of the debugging equipment is prohibited from operating.

[0075] The operating authority of the operating mechanism of each operating component can be set through one or more of the above.

[0076] Generally speaking, the interventional surgical robot can be divided into two cases: being controlled by the control host and not being controlled by the control host. When the interventional surgical robot is controlled by the control host, the operating mechanisms of the bedside operation component, the surgical trolley, the console, and the debugging device are allowed to operate under some system states; when the interventional surgical robot is not controlled by the control host, the operating mechanism of the robotic arm is allowed to operate under all system states. The control host can be a host configured in the surgical trolley for controlling the interventional surgical robot.

[0077] In this embodiment, the operating mechanism of the bedside operation component can be an institution set on the surgical trolley or the robotic arm in the interventional surgical robot for manually adjusting the positions of the robotic arm and / or the surgical execution component. That is to say, the operating authority of the operating mechanism of the bedside operation component is the position adjustment (upward movement, downward movement, leftward movement, rightward movement, etc.) authority of the robotic arm and / or the surgical execution component. Considering that when the system is in the bedside operation state, there is a need to adjust the positions of the robotic arm and / or the surgical execution component (such as adjusting the position of the surgical execution component to the surgical position during preoperative preparation), and the position adjustment of the robotic arm and / or the surgical execution component will not affect the normal operation of the interventional surgical robot. However, when the system is in other states, there is basically no need to adjust the positions of the robotic arm and / or the surgical execution component, and the position adjustment of the robotic arm and / or the surgical execution component may affect the normal operation of the interventional surgical robot. Based on this, the bedside operating mechanism can only operate when the system is in the bedside operation state and cannot operate when the system state is other states. That is, when the system is in the bedside operation state, the operating authority of the operating mechanism of the bedside operation component is set to allow operation, and when the system state is other states other than the bedside operation of the system, the operating authority of the operating mechanism of the bedside operation component is set to prohibit operation.

[0078] The operating mechanism of the robotic arm can be an institution set on the surgical trolley or the robotic arm in the interventional surgical robot for controlling whether the position of the robotic arm is adjustable. That is to say, the operating authority of the operating mechanism of the robotic arm is the position adjustment authority of the robotic arm. Considering that the position adjustment of the robotic arm will not affect the normal operation of the interventional surgical robot when the interventional surgical robot is not controlled by the control host, but the position adjustment of the robotic arm may affect the normal operation of the interventional surgical robot when the interventional surgical robot is controlled by the control host. Based on this, when the interventional surgical robot is not controlled by the control host, the operating authority of the operating mechanism of the robotic arm can be set to allow operation.

[0079] The operating mechanism of the operating table can be the mechanism in the operating table of the interventional surgical robot for manually adjusting the position of the operating table. That is to say, the operating authority of the operating table is the authority for adjusting the position of the operating table. Considering that there is a need to adjust the position of the operating table during system idle, system teleoperation, and system debugging (such as adjusting the position of the operating table to the surgical position during preoperative preparation and adjusting the position of the operating table to the default position after surgery), and the adjustment of the position of the operating table will not affect the normal operation of the interventional surgical robot. However, when the system is in other states, there is basically no need to adjust the position of the operating table, and the adjustment of the position of the operating table may affect the normal operation of the interventional surgical robot. Based on this, the operating mechanism of the operating table can be operated during system idle, system teleoperation, and system debugging, for adjusting the position or height of the operating table in the operating room to facilitate surgical operations or not affect the activities of doctors. That is, during system idle, system teleoperation, and system debugging, the operating authority of the operating mechanism of the operating table is set to allow operation, and when the system state is other states other than system idle, system teleoperation, and system debugging, the operating authority of the operating mechanism of the operating table is set to prohibit operation.

[0080] The console is the console operated by the doctor for controlling the surgical execution components during teleoperation. The operating authority of the console is the execution authority of the control instructions of the console. Considering that there is a need to execute the instructions of the console during system teleoperation (such as the execution of intraoperative control instructions), and the execution of the instructions of the console during system teleoperation can ensure the normal execution of the surgery of the interventional surgical robot. However, when the system is in other states, there is no need to execute the instructions of the console. Based on this, the operating mechanism of the console can only be processed when the system state is teleoperation. That is, during system teleoperation, the operating authority of the operating mechanism of the console is set to allow operation, and when the system state is other states other than system failure, the operating authority of the operating mechanism of the console is set to prohibit operation. And it is interlocked with other bedside operation units, robotic arm operation units, and debugging operation units and cannot be operated simultaneously.

[0081] The debugging device is used to debug the system. Considering that there is a need for debugging when the system needs to be debugged or fails, the operating authority of the debugging device is set to allow operation when the system is in the system debugging and system failure states, and the operating authority of the debugging device is set to prohibit operation when the system state is other system states other than the system debugging and system failure states.

[0082] After determining the operating authorities of each operating component in each system state through the above logic, a corresponding relationship table can be constructed based on the determined operating authorities. When it is necessary to determine the operating authority of the operating mechanism of an operating component, the operating authority of the operating mechanism of the operating component in the system state can be queried based on the pre-constructed corresponding relationship table.

[0083] S130. Respond to the control instruction according to the operation authority.

[0084] After determining the operation authority of the operating mechanism from which the control instruction originates, respond to the control instruction based on the operation authority. When the operation authority is permission to operate, execute the control instruction; when the operation authority is prohibition of operation, do not execute the control instruction.

[0085] When the operation authority is permission to operate, it indicates that the execution of the control instruction will not affect the normal operation of the interventional surgical robot, so execute the control instruction; when the operation authority is prohibition of operation, it indicates that the execution of the control instruction may affect the normal operation of the interventional surgical robot, so do not execute the control instruction.

[0086] Optionally, on the basis above, it further includes: when the operation authority is prohibition of operation, generate a prompt message and display it.

[0087] When the operation authority is prohibition of operation, a prompt message can also be generated to prompt the physician that the current operating component cannot perform the operation. Exemplarily, the prompt message can be displayed in forms such as sound, picture, etc. For example, a prompt message picture of "Prohibition of operation" can be displayed, or an alarm sound can be emitted, a warning light can flash, etc. as the prompt message for display. Combining the prompt message picture, the alarm sound and the flashing warning light can more obviously prompt the physician that the operating component cannot be operated.

[0088] The technical solution of the embodiment of the present invention, by receiving a control instruction, the control instruction is triggered by the operating mechanism of the operating component; determining the operation authority of the operating mechanism, wherein the operation authority is determined according to the operating component and the system state of the interventional surgical robot; responding to the control instruction according to the operation authority, by determining the operation authority corresponding to the control instruction according to the operating component corresponding to the control instruction and the system state of the interventional surgical robot, and responding to the control instruction according to the operation authority corresponding to the control instruction, avoids the influence on the operation of the surgical robot caused by executing control instructions from different sources, and improves the stability of the stable operation of the interventional surgical robot.

[0089] Embodiment Two

[0090] Figure 2a It is a schematic structural diagram of an interventional surgical robot provided by the second embodiment of the present invention. The interventional surgical robot provided in this embodiment can be used for interventional surgery, such as Figure 2a As shown, the interventional surgical robot provided in this embodiment includes:

[0091] A console 110, a surgical trolley 120, a robotic arm 130, a surgical execution component 140, and a processor. The console 110 is communicatively connected to the surgical trolley 120, the surgical trolley 120 is communicatively connected to the robotic arm 130, and the robotic arm 130 is communicatively connected to the execution component 140. The processor is configured to:

[0092] Receive a control instruction, which is triggered by an operating mechanism of an operating component;

[0093] Determine the operating authority of the operating mechanism, where the operating authority is determined according to the operating component and the system state of the interventional surgical robot;

[0094] Respond to the control instruction according to the operating authority.

[0095] In this embodiment, the console and the surgical trolley, the surgical trolley and the robotic arm, and the robotic arm and the surgical execution component can be connected by a wired cable or a wireless network respectively. To ensure the timely transmission of control instructions, the console and the surgical trolley, the surgical trolley and the robotic arm, and the robotic arm and the surgical execution component can be connected by a wired cable.

[0096] Among them, the operating component can be a component that can be operated and controlled by the interventional surgical robot, such as the console of the interventional surgical robot, the surgical trolley, the robotic arm, and the surgical execution component. Each operating component is provided with a corresponding operating mechanism, and the position / movement state of the corresponding operating component is controlled through the operating mechanism.

[0097] In this embodiment, the processor can be arranged in the surgical trolley or can be an independent processing device, which is not limited herein. Considering that a processor is arranged in the surgical trolley to generate control instructions for the control information transmitted by the console, the processor in the surgical trolley can be directly used as the processor for executing the control instructions.

[0098] Generally speaking, after detecting that the operating mechanism is triggered, the operating component can generate a control instruction from the trigger information of the operating mechanism and send it to the processor. The processor determines the operating authority of the control source of the control instruction in the current system state. When the operating authority is permission to operate, the control instruction is executed. When the operating authority is prohibition of operation, the control instruction is not executed. Optionally, an operating unit corresponding to the operating mechanism can be set in the processor, and the operating mechanism corresponding to the control instruction or the operating unit corresponding to the operating mechanism is used as the control source of the control instruction. In one embodiment, the operating mechanism includes the operating mechanism of the bedside operating component, the operating mechanism of the surgical trolley, the operating mechanism of the console, the operating mechanism of the debugging device, and the operating mechanism of the robotic arm. Correspondingly, a bedside operating unit can be set in the processor to respond to the control instruction triggered by the operating mechanism of the bedside operating component, a trolley operating unit to respond to the control instruction triggered by the operating mechanism of the surgical trolley, a doctor operating unit to respond to the control instruction triggered by the operating mechanism of the console, a debugging operating unit to respond to the control instruction triggered by the operating mechanism of the debugging device, and / or a robotic arm operating unit to respond to the control instruction triggered by the operating mechanism of the robotic arm.

[0099] Among them, the setting of the operating authority of the operating component in different system states can refer to the above embodiments and will not be elaborated here.

[0100] Exemplarily, assuming that the interventional surgical robot is controlled by the control host and it is detected that the operating mechanism of the robotic arm is triggered by the user, a corresponding control instruction for locking / unlocking the robotic arm is generated. If the current system state is system teleoperation and the operating authority of the operating mechanism of the robotic arm in the system teleoperation state is prohibition of operation, the control instruction is not executed.

[0101] In one embodiment of the present invention, the robotic arm includes a fixed structure and a movable structure. The robotic arm is fixed to the operating table through the fixed structure. At least one robotic arm operating mechanism is provided on the robotic arm. The robotic arm operating mechanism is used to adjust the locking state of the movable structure to control the position adjustment state of the robotic arm to be adjustable or non-adjustable. When the movable structure is locked, the position of the robotic arm is non-adjustable. When the movable structure is unlocked, the position of the robotic arm is adjustable. In order to achieve a stable connection between the robotic arm and the operating table and adjustable position of the robotic arm, the robotic arm can be set to include a fixed structure and a movable structure. The fixed structure is used for fixed connection with the operating table, and the movable structure is used to adjust the height and / or angle of the robotic arm. Exemplarily, the movable structure can include a telescopic structure and / or a rotating structure. Figure 2b It is a schematic structural diagram of a robotic arm provided in the second embodiment of the present invention. Figure 2b Schematically shows a structure of the robotic arm, such as Figure 2bAs shown in the figure, the robotic arm includes a fixed structure 131, a movable structure 132, and a robotic arm main body 133. The fixed component 131 is fixedly connected to the operating table. One end of the movable structure 132 is fixedly connected to the fixed component 131, and the other end is connected to the robotic arm main body 133. By adjusting the movable structure 132, the height and / or angle of the robotic arm can be adjusted.

[0102] Optionally, a bedside operating mechanism can also be provided in the operating component of the interventional surgical robot for controlling the position adjustment of the robotic arm and / or the surgical execution component. In order to timely obtain the adjustment state when the robotic arm and / or the surgical execution component are adjusted, the bedside operating mechanism can be provided on the robotic arm, so that when the physician operates the bedside operating mechanism on the robotic arm, the position adjustment of the robotic arm and / or the surgical execution component can be timely and accurately understood. Correspondingly, at least one bedside operating mechanism is provided on the robotic arm, and the bedside operating mechanism is used to adjust the position of the robotic arm and / or the surgical execution component.

[0103] Optionally, a trolley operating mechanism can also be provided in the operating component of the interventional surgical robot for controlling the movement of the surgical trolley. In order to facilitate the position adjustment of the surgical trolley, the trolley operating mechanism can be provided on the surgical trolley. Correspondingly, at least one trolley operating mechanism is provided on the surgical trolley, and the trolley operating mechanism is used to adjust the movement of the surgical trolley. Exemplarily, 8 trolley operating mechanisms can be provided, which are respectively used to control the surgical trolley to perform movements of rising, falling, moving left, moving right, moving forward, moving backward, extending the support frame, and retracting the support frame.

[0104] Figure 2c It is a schematic structural diagram of a robotic arm provided in the second embodiment of the present invention. Figure 2c A structure of the robotic arm is schematically shown in the figure, as Figure 2c shown, a bedside operating mechanism 135 is provided on the robotic arm main body. Specifically, the bedside operating mechanism 135 includes an operating mechanism 1351 for controlling the position of the robotic arm, an operating mechanism 1352 for controlling the surgical execution component, and a bedside touch screen 1353. The control of the robotic arm and / or the surgical execution component can be achieved by operating the above-mentioned operating mechanisms.

[0105] In an embodiment of the present invention, a display component and a console operating mechanism are provided on the console. The display component is used to display the surgical image, and the console operating mechanism is used to control the surgical execution component to perform surgical operations. In this embodiment, the console is used by a physician to perform remote control operations. To facilitate the physician's awareness of relevant information such as the surgical image, a display component is provided in the console to display the surgical image and perform operation interactions, etc. To achieve remote operation, a console operating mechanism is provided in the console for the physician to operate. Optionally, the console operating mechanism can be a joystick, buttons, etc. To ensure the safety of the operation, it can be set that the console operating mechanism includes a first console operating mechanism and a second console operating mechanism. Only when the first console operating mechanism and the second console operating mechanism are triggered simultaneously, is it determined that the corresponding control instruction is triggered, avoiding the influence caused by misoperation.

[0106] Figure 2d It is a schematic structural diagram of a console provided in the second embodiment of the present invention. Figure 2d A structure of the console is schematically shown in Figure 2d As shown, the console includes a display device 111, a first console operating mechanism 112, and a second console operating mechanism 113. The first console operating mechanism 112 is a joystick for the physician to operate with the hand, and the second console operating mechanism 113 is a foot switch for the physician to operate with the foot. When the first console operating mechanism 112 and the second console operating mechanism 113 are triggered simultaneously, a corresponding control instruction is generated.

[0107] In an embodiment of the present invention, the interventional surgical robot further includes a debugging device. At least one debugging operating mechanism is provided on the debugging device, and the debugging operating mechanism is used to debug the interventional surgical robot. Optionally, the debugging device can be a computer used by the debugging personnel to perform debugging operations, and the debugging operating mechanism can be an online debugging interface.

[0108] The interventional surgical robot provided in this embodiment includes a console, a surgical trolley, a robotic arm, a surgical execution component, and a processor. The console is communicatively connected to the surgical trolley, the surgical trolley is communicatively connected to the robotic arm, and the robotic arm is communicatively connected to the execution component. The processor is configured to: receive a control instruction, which is triggered by an operating mechanism of an operating component; determine the operating authority of the operating mechanism, where the operating authority is determined according to the operating component and the system state of the interventional surgical robot; and respond to the control instruction according to the operating authority. By determining the operating authority corresponding to the control instruction according to the operating component corresponding to the control instruction and the system state of the interventional surgical robot, and responding to the control instruction according to the operating authority corresponding to the control instruction, the influence on the operation of the surgical robot caused by executing control instructions from different sources is avoided, and the stability of the stable operation of the interventional surgical robot is improved.

[0109] Figure 2e It is a schematic diagram of the correspondence relationship between the system state, the control source, and the surgical operation stage provided in Embodiment 2 of the present invention. Figure 2e Taking the system state including initialization, configuration in progress, bedside operation, idle, stop, teleoperation, fault, debugging / tuning, and the control source including bedside operation unit, trolley operation unit, doctor operation unit, debugging operation unit, and robotic arm operation unit as examples, a specific example of the correspondence relationship between the system state, the control source, and the surgical operation stage is provided.

[0110] Among them, system initialization indicates that the system is in the initialization state; system configuration in progress indicates that the system is in the configuration state; system idle indicates that the system is in the idle state just after startup, and system stop indicates that the system is in the running stop state; system teleoperation indicates that the system is in the remote operation state; system fault indicates that the system is in the fault state; system debugging / tuning indicates that the system is in the debugging / tuning state. During the preoperative preparation stage, the system can be in the bedside operation, idle, or debugging / tuning state; during the postoperative evacuation stage, the system can be in the idle or debugging / tuning state; during the intraoperative operation stage, the system is in the teleoperation state. The preoperative preparation and postoperative evacuation are generally similar, both representing a state where the system has not yet entered a state where the doctor can operate. This state can be further divided into two states: the state where the main control computer has been turned on, communication has been established, and active control can be started, and the state where the main control computer is starting up, communication has not been established, or is shutting down, etc., which is a non-active control state.

[0111] Such as Figure 2eAs shown in the figure, the operating mechanisms corresponding to the bedside operation unit are the touch panel and operation buttons of the operating mechanism of the bedside operation component. The operating mechanisms corresponding to the trolley operation unit are the movement buttons of the operating mechanism of the surgical trolley. The operating mechanisms corresponding to the doctor operation unit are the touch screen, physical buttons / joysticks, and foot switches of the operating mechanism of the console. The operating mechanisms corresponding to the debugging operation unit are the debugging interfaces of the operating mechanisms of the debugging equipment. The operating mechanisms corresponding to the robotic arm operation unit are the unlocking buttons of the operating mechanisms of the robotic arm. Among them, the touch panel and operation buttons corresponding to the bedside operation unit can respectively refer to Figure 2c the bedside touch screen 1353 and the operating mechanism 1352 in Figure 2d ; the movement buttons corresponding to the trolley operation unit can be set on the surgical trolley and can be multiple, and are used to adjust the movement of the surgical trolley. The touch screen, physical buttons / joysticks, and foot switches corresponding to the doctor operation unit can respectively refer to

[0112] the display device 111, the joystick 112, and the foot switch 113 in

[0113] Embodiment 3

[0114] Figure 3 is a schematic structural diagram of a control instruction response device for an interventional surgical robot provided by Embodiment 3 of the present invention. As Figure 3 shown in the figure, the device includes:

[0115] A control instruction receiving module 310, configured to receive a control instruction, where the control instruction is triggered by an operating mechanism of an operating component;

[0116] An operation permission determination module 320, configured to determine the operation permission of the operating mechanism, where the operation permission is determined according to the operating component and the system state of the interventional surgical robot;

[0117] A control instruction response module 330, configured to respond to the control instruction according to the operation permission.

[0118] In the technical solution of the embodiment of the present invention, by receiving a control instruction, the control instruction is triggered by an operating mechanism of an operating component; determining the operating authority of the operating mechanism, wherein the operating authority is determined according to the operating component and the system state of the interventional surgical robot; responding to the control instruction according to the operating authority, by determining the operating authority corresponding to the control instruction according to the operating component corresponding to the control instruction and the system state of the interventional surgical robot, and responding to the control instruction according to the operating authority corresponding to the control instruction, the influence on the operation of the surgical robot caused by executing control instructions from different sources is avoided, and the stability of the stable operation of the interventional surgical robot is improved.

[0119] Optionally, on the basis of the above solution, the system state includes at least one of system idle, system bedside operation, system remote operation, system debugging, and system failure.

[0120] Optionally, on the basis of the above solution, the operating component is an operating component of the interventional surgical robot, and the operating components of the interventional surgical robot include a console, a surgical trolley, a robotic arm, a bedside operating component, and / or debugging equipment. The operating authority of the operating mechanism of the operating component is determined by the following method:

[0121] When the interventional surgical robot is controlled by a control host and the system state is the system bedside operation, the operating authority of the operating mechanism of the bedside operating component is allowed to operate. When the system state is other system states other than the system bedside operation, the operating authority of the operating mechanism of the bedside operating component is prohibited from operating; and / or

[0122] When the interventional surgical robot is not controlled by a control host and the system state is any state, the operating authority of the operating mechanism of the robotic arm is allowed to operate; and / or

[0123] When the interventional surgical robot is controlled by a control host and the system state is the system idle, the system remote operation, and the system debugging, the operating authority of the operating mechanism of the surgical trolley is allowed to operate. When the system state is other system states other than the system idle, the system remote operation, and the system debugging, the operating authority of the operating mechanism of the surgical trolley is prohibited from operating; and / or

[0124] When the interventional surgical robot is controlled by a control host and the system state is the system remote operation, the operating authority of the operating mechanism of the console is allowed to operate. When the system state is other system states other than the system remote operation, the operating authority of the operating mechanism of the console is prohibited from operating;

[0125] The interventional surgical robot is controlled by a control host. When the system state is system debugging or system failure, the operating mechanism of the debugging device has the operating permission to operate. When the system state is other system states except for debugging and system failure, the operating mechanism of the debugging device has the operating permission prohibited.

[0126] Optionally, on the basis of the above solution, the control instruction response module 330 is specifically configured to:

[0127] When the operating permission is the permission to operate, execute the control instruction;

[0128] When the operating permission is the prohibition of operation, do not execute the control execution.

[0129] Optionally, on the basis of the above solution, the operating permission determination module 320 is specifically configured to:

[0130] Read the stored operating permission identifier to determine the operating permission;

[0131] Or, send an operating permission acquisition request to the processor to acquire the operating permission returned by the processor.

[0132] The control instruction response device of the interventional surgical robot provided by the embodiments of the present invention can execute the control instruction response method of the interventional surgical robot provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0133] Embodiment 4

[0134] Figure 4 It is a schematic structural diagram of an electronic device provided by Embodiment 4 of the present invention. Figure 4 The schematic structural diagram of the electronic device 10 that can be used to implement the embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present invention described herein and / or claimed.

[0135] Such as Figure 4As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0136] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0137] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the control instruction response method of an interventional surgical robot.

[0138] In some embodiments, the control instruction response method of an interventional surgical robot can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the control instruction response method of the interventional surgical robot described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the control instruction response method of the interventional surgical robot in any other appropriate way (e.g., by means of firmware).

[0139] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0140] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0141] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0142] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0143] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0144] The computing system can include a client and a server. The client and the server are generally far from each other and usually interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0145] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0146] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A control instruction response method for an interventional surgical robot, characterized in that, Comprising: Receiving a control instruction, which is triggered by an operating mechanism of an operating component; Determining an operating authority of the operating mechanism, wherein the operating authority is determined according to the operating component and a system state of the interventional surgical robot; Responding to the control instruction according to the operating authority.

2. The method according to claim 1, characterized in that, The system state includes at least one of system idle, system bedside operation, system remote operation, system debugging, and system failure.

3. The method according to claim 2, wherein The operating component is an operating component of the interventional surgical robot, and the operating component of the interventional surgical robot includes a console, a surgical trolley, a robotic arm, a bedside operating component, and / or a debugging device. The operating authority of the operating mechanism of the operating component is determined by the following method: When the interventional surgical robot is controlled by a control host and the system state is the system bedside operation, the operating authority of the operating mechanism of the bedside operating component is permission to operate; when the system state is other system states other than the system bedside operation, the operating authority of the operating mechanism of the bedside operating component is prohibited from operating; and / or When the interventional surgical robot is not controlled by a control host and the system state is any state, the operating authority of the operating mechanism of the robotic arm is permission to operate; and / or When the interventional surgical robot is controlled by a control host and the system state is the system idle, the system remote operation, and the system debugging, the operating authority of the operating mechanism of the surgical trolley is permission to operate; when the system state is other system states other than the system idle, the system remote operation, and the system debugging, the operating authority of the operating mechanism of the surgical trolley is prohibited from operating; and / or When the interventional surgical robot is controlled by a control host and the system state is the system remote operation, the operating authority of the operating mechanism of the console is permission to operate; when the system state is other system states other than the system remote operation, the operating authority of the operating mechanism of the console is prohibited from operating; When the interventional surgical robot is controlled by a control host and the system state is the system debugging and the system failure, the operating authority of the operating mechanism of the debugging device is permission to operate; when the system state is other system states other than the debugging and the system failure, the operating authority of the operating mechanism of the debugging device is prohibited from operating.

4. The method according to claim 1, characterized in that The responding to the control instruction according to the operating authority includes: When the operating authority is permission to operate, executing the control instruction; When the operating authority is prohibited from operating, not executing the control instruction.

5. The method according to claim 1, characterized in that, The determining the operating authority of the operating mechanism includes: Reading a stored operating authority identifier to determine the operating authority; Or, sending an operating authority acquisition request to a processor to acquire the operating authority returned by the processor.

6. An interventional surgical robot, characterized in that, Including a console, a surgical trolley, a robotic arm, a surgical execution component, and a processor. There are communication connections between the console and the surgical trolley, between the surgical trolley and the robotic arm, and between the robotic arm and the execution component respectively. The processor is used for: Receive a control instruction, where the control instruction is triggered by an operating mechanism of an operating component; Determine the operating authority of the operating mechanism, where the operating authority is determined according to the operating component and the system state of the interventional surgical robot; Respond to the control instruction according to the operating authority.

7. The interventional surgical robot according to claim 6, wherein, The robotic arm includes a fixed structure and a movable structure. The robotic arm is fixed to the operating table through the fixed structure. At least one robotic arm operating mechanism is provided on the robotic arm, and the robotic arm operating mechanism is used to adjust the locking state of the movable structure.

8. The interventional surgical robot according to claim 6, wherein, At least one trolley operating mechanism is provided on the operating trolley, and the trolley operating mechanism is used to control the movement of the operating trolley.

9. The interventional surgical robot according to claim 6, wherein At least one bedside operating mechanism is provided on the robotic arm, and the bedside operating mechanism is used to adjust the position of the robotic arm and / or the surgical execution component.

10. The interventional surgical robot according to claim 6, wherein A display component and a console operating mechanism are provided on the console. The display component is used to display the surgical image, and the console operating mechanism is used to control the surgical execution component to perform surgical operations.

11. The interventional surgical robot according to claim 6, wherein The interventional surgical robot further includes a debugging device. At least one debugging operating mechanism is provided on the debugging device, and the debugging operating mechanism is used to debug the interventional surgical robot.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the control instruction response method of the interventional surgical robot according to any one of claims 1-5 when executed by a processor.

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