Surgical robot and audio processing method thereof

Abstract

The embodiment of the invention provides a surgical robot and an audio processing method thereof, the surgical robot comprises a doctor end control system and a patient end surgical system, and each device in the doctor end control system and each device in the patient end surgical system are respectively configured with at least one audio system. According to the surgical robot and the audio processing method thereof, opposite-end site information of an opposite-end audio system is obtained, and a local audio signal obtained by an audio system of a local end is sent to the opposite-end audio system based on the opposite-end site information, so that when the local audio signal is sent to an opposite end, the local audio signal is sent to the opposite end; the local audio signal is received and played by all opposite-end audio systems, and each key device can be covered, so that each key device can clearly acquire instructions or information transmitted by the local audio signal, and potential safety hazards caused by influence on instruction or information transmission are reduced.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular to a surgical robot and an audio processing method thereof. Background Art

[0002] With the innovation and development of science and technology and medical technology, surgical robotics has gradually matured. For doctors, surgical robots offer advantages such as ease of operation and high precision. For patients, surgical operations performed with surgical robots offer advantages such as minimal trauma, minimal pain, and rapid recovery, and are widely accepted by both doctors and patients.

[0003] Existing surgical robots typically consist of a main control console and a patient operating platform. The main control console controls the patient operating platform to perform surgery. With the increasing maturity of high-speed communication network technologies with low latency and high bandwidth, such as 5G and the internet, remote surgical robotics, which combines the advantages of both surgical robotics and high-speed communication networks, has emerged. Remote surgical robotics allows doctors to perform ultra-remote surgery on patients in remote locations, for example, in different countries or provinces, thereby maximizing the benefits of spatial constraints on surgical implementation and effectively alleviating the uneven distribution of medical resources.

[0004] The main control console and patient operation platform in a remote surgical robot system are usually deployed in different countries, different provinces and cities, or different jurisdictions of the same city. Before implementing ultra-remote surgery, communication between the main control console and the patient operation platform needs to be established. At the same time, during remote surgery, effective communication can improve the quality and efficiency of surgery. For example, the doctor operating the main control console may communicate with the medical staff around the patient to convey specific instructions or information. However, when there are multiple devices on the patient side or the doctor side, the audio signal sent to the other side may not be able to cover every key device after it is played, such as the device that needs to know the relevant information in the audio signal to perform the corresponding operation, resulting in some key devices or operators of some key devices being unable to clearly obtain the instructions or information conveyed by the audio signal, posing a safety hazard to surgery. Summary of the Invention

[0005] Based on this, it is necessary to provide a surgical robot and an audio processing method thereof that can enable the audio signal sent to the other end to be clearly received by each key device.

[0006] In a first aspect, the present application provides a surgical robot, comprising: Doctor-side control system; Patient-side surgical system; Each device in the doctor-side control system and each device in the patient-side surgical system are respectively configured with at least one audio system, and the doctor-side control system or the patient-side surgical system is configured as follows: Obtaining peer site information of a peer audio system, where the peer audio system and the local audio system are located at different ends; The local audio signal acquired by the local audio system is sent to the opposite-end audio system based on the opposite-end site information.

[0007] Furthermore, the sending the local audio signal acquired by the local audio system to the opposite-end audio system based on the opposite-end site information includes: A connection is established with each of the opposite-end audio systems based on the opposite-end site information, and the local audio signal is sent to each of the opposite-end audio systems.

[0008] Furthermore, the peer site information includes physical location information; The doctor-side control system or the patient-side surgical system is further configured to: Calculating a first distance between each two of the opposite-end audio systems based on the physical location information; The two opposite-end audio systems whose first distance is smaller than a preset distance threshold are cascaded.

[0009] Furthermore, the sending the local audio signal acquired by the local audio system to the opposite-end audio system based on the opposite-end site information includes: cascading a second target peer-end audio system to a first target peer-end audio system based on the peer-end site information, wherein the first target peer-end audio system is any audio system among the peer-end audio systems, the second target peer-end audio system is an audio system among the peer-end audio systems other than the first target peer-end audio system, the first target peer-end audio system is a master audio system of the second target peer-end audio system, and the second target peer-end audio system is a slave audio system of the first target peer-end audio system; A connection is established with the first target peer audio system based on the target peer site information of the first target peer audio system in the peer site information, and the local audio signal is sent to the first target peer audio system.

[0010] Furthermore, the doctor-side control system or the patient-side surgical system is further configured to: If at least one of the opposite-end audio systems has established a connection with the local-end audio system, then one of the opposite-end audio systems that has established a connection with the local-end audio system is selected as the first target opposite-end audio system.

[0011] Furthermore, the sending the local audio signal acquired by the local audio system to the opposite-end audio system based on the opposite-end site information includes: In response to receiving target site information of a target audio system determined based on the peer site information, the local audio signal is sent to the target audio system based on the target site information.

[0012] Furthermore, the doctor-side control system or the patient-side surgical system is further configured to: An audio configuration interface is generated based on the peer site information, wherein peer audio controls are displayed in the audio configuration interface, and each peer audio control is associated with one piece of peer site information.

[0013] Furthermore, the peer site information includes physical location information; The generating of the audio configuration interface based on the peer site information further includes: The simulated position of each of the peer-end audio controls in the audio configuration interface is determined based on the peer-end site information, and the corresponding peer-end audio control is displayed at each of the simulated positions.

[0014] Furthermore, determining the target site information of the target audio system based on the peer site information includes: In response to a target audio control in the peer audio control receiving a first preset operation, the peer site information associated with the target audio control is determined as the target site information, and the peer audio system corresponding to the target site information is the target audio system.

[0015] Furthermore, determining the target site information of the target audio system based on the peer site information includes: In response to the audio configuration interface receiving a second preset operation of inputting a target graphic, the opposite-end site information associated with the opposite-end audio control within the target graphic is determined as the target site information, and the opposite-end audio system corresponding to the target site information is the target audio system.

[0016] Furthermore, the sending the local audio signal to the target audio system based on the target site information includes: A connection is established with each of the target audio systems based on the target site information, and the local audio signal is sent to each of the target audio systems.

[0017] Furthermore, the peer site information includes physical location information; The doctor-side control system or the patient-side surgical system is further configured to: Calculating a second distance between each two target audio systems based on the physical location information; The two target audio systems whose second distance is smaller than a preset distance threshold are cascaded.

[0018] Furthermore, the sending the local audio signal to the target audio system based on the target site information includes: cascading a second target audio system to a first target audio system based on the target site information, wherein the first target audio system is any audio system among the target audio systems, the second target audio system is an audio system among the target audio systems other than the first target audio system, the first target audio system is a master audio system of the second target audio system, and the second target audio system is a slave audio system of the first target audio system; A connection is established with the first target audio system based on the first target site information of the first target audio system in the target site information, and the local audio signal is sent to the first target audio system.

[0019] Furthermore, the doctor-side control system or the patient-side surgical system is further configured to: If at least one of the target audio systems has established a connection with the local audio system, then the target audio system that has established a connection with the local audio system is selected as the first target audio system.

[0020] Furthermore, the doctor-side control system or the patient-side surgical system is further configured to: Perform echo cancellation and noise reduction processing on the local audio signal.

[0021] Furthermore, the performing echo cancellation on the local audio signal includes: Adaptive filtering is used to dynamically estimate a transfer function of the echo path, and an echo signal is estimated based on the transfer function, and the echo signal is subtracted from the local audio signal.

[0022] Furthermore, performing echo cancellation on the local audio signal further includes: In response to receiving a peer audio signal from the peer audio system, the peer audio signal is used as a reference signal to filter out an echo audio signal from the local audio signal, where the echo audio signal is an audio signal obtained by the peer audio signal being played outwardly by the local audio system into the audio environment of the local audio system and then re-entering the local audio system.

[0023] Furthermore, the performing noise reduction processing on the local audio signal includes: Active noise cancellation is performed on the local audio signal.

[0024] In a second aspect, the present application further provides an audio processing method, wherein the surgical robot includes a doctor-side control system and a patient-side surgical system, each device in the doctor-side control system and each device in the patient-side surgical system are respectively configured with at least one audio system, and the method is applied to the doctor-side control system or the patient-side surgical system, and the method includes: Obtaining peer site information of a peer audio system, where the peer audio system and the local audio system are located at different ends; The local audio signal acquired by the local audio system is sent to the opposite-end audio system based on the opposite-end site information.

[0025] In a third aspect, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, and when the instructions are executed on at least one processor, the method described in the second aspect is implemented.

[0026] The surgical robot and audio processing method thereof of the present application have the following beneficial effects: By obtaining the peer site information of the peer audio system and sending the local audio signal obtained by the local audio system to the peer audio system based on the peer site information, when the local audio signal is sent to the peer, the local audio signal is received and played via all peer audio systems, which can cover every key device, thereby enabling each key device to clearly obtain the instructions or information transmitted by the local audio signal, thereby reducing the surgical safety risks caused by the impact of instruction or information transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic structural diagram of a remote surgical robot according to an embodiment of the present application; Figure 2 This is a schematic structural diagram of a surgical instrument according to one embodiment of the present application; Figure 3 This is a schematic structural diagram of a slave robot of a remote surgical robot according to an embodiment of the present application; Figure 4 This is a schematic structural diagram of an interventional surgical robot according to one embodiment of the present application; Figure 5 A network topology diagram of a remote surgical robot according to an embodiment of the present application; Figure 6 This is a module diagram of an audio system according to an embodiment of the present application; Figure 7This is a flowchart of an audio processing method for a surgical robot according to one embodiment of the present application; Figure 8 A schematic diagram of a custom protocol according to an embodiment of the present application; Figure 9 A schematic diagram of an audio configuration interface of an audio processing method according to an embodiment of the present application; Figure 10 A schematic diagram of an audio configuration interface of an audio processing method according to an embodiment of the present application; Figure 11 This is one of the audio system network topologies of a specific embodiment of the present application; Figure 12 This is one of the audio system network topologies of a specific embodiment of the present application; Figure 13 This is one of the audio system network topologies of a specific embodiment of the present application; Figure 14 This is one of the audio system network topologies of a specific embodiment of the present application; Figure 15 This is one of the audio system network topologies of a specific embodiment of the present application; Figure 16 This is one of the audio system network topologies of a specific embodiment of the present application; Figure 17 This is one of the audio system network topologies of a specific embodiment of the present application; Figure 18 This is one of the audio system network topologies of a specific embodiment of the present application; Figure 19 This is one of the audio system network topologies of a specific embodiment of the present application; Figure 20 This is one of the audio system network topologies of a specific embodiment of the present application; Figure 21 This is one of the audio system network topologies of a specific embodiment of the present application; Figure 22 This is one of the audio system network topologies of a specific embodiment of the present application; Figure 23 This is one of the audio system network topologies of a specific embodiment of the present application; Figure 24 This is one of the audio system network topologies of a specific embodiment of the present application; Figure 25 This is one of the audio system network topologies of a specific embodiment of the present application. DETAILED DESCRIPTION

[0028] To facilitate understanding of the present application, a more comprehensive description of the present application will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present application.

[0029] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centered element at the same time. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be a centered element at the same time. The terms "vertical", "horizontal", "left", "right", "above", "below" and similar expressions used herein are for illustrative purposes only and are not intended to be the only embodiment. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or in operation in addition to the orientations depicted in the drawings. For example, if the device is flipped in the drawings, elements or features described as being "below" or "beneath" other elements or features will be oriented "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0030] The terms "distal end" and "proximal end" as used herein are directional terms commonly used in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery. "Coupled" as used herein can be broadly understood as any event in which two or more objects are connected in a manner that allows the absolutely coupled objects to operate together, such that there is no relative movement between the objects in at least one direction, such as a coupling of a protrusion and a groove, which can move relative to each other in the radial direction but not in the axial direction.

[0031] The term "tool" is used herein to describe a medical device that is inserted into a patient's body and used to perform a surgical or diagnostic procedure, the tool comprising an end effector, which may be a surgical tool for performing a surgical procedure, such as an electrocautery device, a clamp, a stapler, a shear, an imaging device (such as an endoscope or ultrasound probe), and the like. Some tools used in embodiments of the present application further include providing an articulated component (such as a joint assembly) for the end effector so that the position and orientation of the end effector can be manipulated and moved with one or more mechanical degrees of freedom relative to the instrument axis. Furthermore, the end effector includes functional mechanical degrees of freedom, such as opening and closing the clamp. The tool may also include stored information that can be updated by the surgical system, whereby the storage system can provide one-way or two-way communication between the tool and one or more system components. Some tools used in some embodiments may also not include providing an articulated component for the end effector.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "and / or" and "and / or" as used herein include any and all combinations of one or more of the associated listed items.

[0033] The remote surgical robot of the embodiment of the present application includes a master-slave surgical robot suitable for performing ultra-remote surgery. The master-slave surgical robot includes a remote doctor's main console and a patient surgical platform. The patient surgical platform can include different types of slave robots, including but not limited to single-port laparoscopic slave robots, multi-port laparoscopic slave robots, bronchial interventional slave robots, vascular interventional slave robots, and orthopedic slave robots. Different types of slave robots have different structural characteristics and may be suitable for the same or different types of surgeries.

[0034] For example, in Figure 1 The master-slave surgical robot shown includes a remote doctor's main console 100 and a patient surgical platform 200, which includes a single-port laparoscopic slave robot. The remote doctor's main console 100 can send control commands to the patient surgical platform 200 based on the doctor's operations to control the patient surgical platform 200. The remote doctor's main console 100 is also used to display images captured by the patient surgical platform 200. The patient surgical platform 200 is used to respond to control commands sent by the remote doctor's main console 100, perform corresponding operations, and capture images of the patient's body, such as images of the surgical environment within the patient's body.

[0035] The patient surgical platform 200 includes a robotic arm 210 and a drive assembly disposed on the robotic arm 210. The drive assembly includes a driver 220 disposed on the robotic arm 210 and a driver 220 disposed on the driver 220. Figure 2 The surgical tool 230 is shown. The patient surgical platform 200 also includes a puncture device 240 mounted on the long axis 231 of the surgical tool 230. When the patient surgical platform 200 responds to control commands from the remote doctor's main console 100, the robotic arm 210 is used to adjust the position of the surgical tool 230, the driver 220 is used to drive the surgical tool 230 to perform corresponding operations, and the end effector 232 of the surgical tool 230 is used to extend into the patient's body and perform surgical operations and / or obtain images of the patient's body through its distal end instrument.

[0036] Figure 3 Another patient surgical platform 200' is shown, which includes a multi-port laparoscope slave robot. The patient surgical platform 200' includes a robotic arm and multiple manipulator assemblies 230' disposed on the robotic arm. The robotic arm includes a main arm 210' and multiple adjustment arms 220' disposed on an orientation platform 215' in the main arm 210'. Different manipulator assemblies 230' are disposed on different adjustment arms 220'. The main arm 210' can adjust the position of the adjustment arm 220' and the manipulator assembly 230', and the adjustment arm 220' can adjust the position of the manipulator assembly 230'. The manipulator assembly 230' includes a holding arm 240' and a medical device 250' detachably mounted on the manipulator 240'. The manipulator assembly 230' includes a parallelogram mechanism. Using the parallelogram principle, the holding arm 240' can be limited to rotational motion around a remote center (RC). Multiple medical devices 250' can be inserted into the patient's body through different puncture devices 500'. It is understandable that Figure 1 The remote doctor main console 100 shown can also be used to operate Figure 3 The movement of manipulator assembly 230' is shown in patient surgical platform 200'.

[0037] Figure 4An interventional surgical robot 300 is shown. The interventional surgical robot 300 is a natural cavity surgical robot, comprising a remote doctor main console and a patient surgical platform 320. The remote doctor main console comprises a handle 310' and an imaging cart 330 that are interconnected. The patient surgical platform 320 may also comprise an imaging cart 330. The patient surgical platform 320 is connected to a catheter instrument 340, a sensor system 350, and a control system 360 for achieving control between the catheter instrument 340, the sensor system 350, and the imaging cart 330. When the doctor performs various procedures on a patient next to the patient surgical platform 320, he can trigger control instructions by operating the handle 310' and transmit them to the patient surgical platform 320 for driving, thereby controlling the catheter instrument 340 to advance, retract, bend, and turn, etc.

[0038] It is understood that the patient surgical platform 320 can generally be moved to the side of the operating table to engage the catheter instrument 340 and, under control instructions, control the catheter instrument 340 to move vertically, horizontally, or in non-vertical and non-horizontal directions, thereby providing a better preoperative preparation angle for the operation of the catheter instrument 340. The control instructions can be triggered by the doctor operating the patient surgical platform 320, or by the doctor directly clicking or pressing a button on the patient surgical platform 320. Of course, in other embodiments, the control instructions can also be voice control or instructions triggered by a force feedback mechanism.

[0039] like Figure 4 As shown, the patient surgical platform 320 may further include a base 321, a sliding base 322 that can be raised and lowered along the base 321, and two robotic arms 323 fixedly connected to the sliding base 322. The robotic arms 323 may include multiple arm segments connected at joints. The multiple arm segments provide the robotic arms 323 with multiple degrees of freedom, for example, seven degrees of freedom corresponding to the seven arm segments. A manipulator ( Figure 4 (Not shown) The manipulator of robotic arm 323 is used to engage catheter instrument 340 and, driven by the manipulator, control the distal end of catheter instrument 340 to bend and turn accordingly. The two robotic arms 323 can be identical in structure or partially identical in structure, with one robotic arm 323 engaging the inner catheter instrument 341 and the other engaging the outer catheter instrument 342. During installation, the outer catheter instrument 342 can be installed first. After the outer catheter instrument 342 is installed, the catheter of the inner catheter instrument 341 is inserted into the catheter of the outer catheter instrument 342.

[0040] The sensor system 350 has one or more subsystems for receiving information about the catheter device 340. The subsystems may include: a position sensor system; a shape sensor system for determining the position, orientation, speed, velocity, pose, and / or shape of the tip of the catheter device 340 and / or one or more segments along the catheter that may comprise the catheter device 340; and / or a visualization system for capturing images from the tip of the catheter device 340.

[0041] The imaging vehicle 330 can be provided with a display system 331 and a washing system ( Figure 4 Display system 331 is used to display images or representations of the surgical site and catheter device 340 generated by the subsystems of sensor system 350. It can also display real-time images of the surgical site and catheter device 340 captured by the visualization system. It can also use image data from imaging technologies to present images of the surgical site recorded before or during surgery. Imaging technologies include computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound.

[0042] The preoperative or intraoperative image data can be presented as a two-dimensional, three-dimensional, or four-dimensional image (e.g., time-based or rate-based information) and / or as an image from a model created based on the preoperative or intraoperative image dataset, or as a virtual navigation image. In the virtual navigation image, the actual position of the catheter device 340 is registered with the preoperative image to present a virtual image of the catheter device 340 within the surgical site to the operator from the outside.

[0043] Control system 360 includes at least one memory and at least one processor. It will be appreciated that control system 360 can be integrated into patient surgical platform 320 or imaging cart 330, or can be independently configured. Control system 360 can support wireless communication protocols such as IEEE 802.11, IrDA, Bluetooth, HomeRF, DECT, and wireless telemetry. Control system 360 can transmit one or more signals instructing the manipulator to move catheter device 340. Catheter device 340 can be extended to a surgical site within the body through a natural orifice or surgical incision in the patient.

[0044] Furthermore, the control system 360 may include a mechanical control system ( Figure 4 not shown) and an image processing system ( Figure 4 (not shown). The mechanical control system is used to control the movement of the catheter instrument 340 and can therefore be integrated into the patient surgical platform 320. The image processing system is used to plan the virtual navigation path and can therefore be integrated into the imaging cart 330. Of course, the various subsystems of the control system 360 are not limited to the specific ones listed above and can be reasonably configured according to actual circumstances.

[0045] Among them, the image processing system can use the above-mentioned imaging technology to image the surgical site based on the image of the surgical site recorded before or during the operation, and can also use software combined with manual input to convert the recorded image into a two-dimensional or three-dimensional synthetic image of part or the entire anatomical organ or segment. During virtual navigation, the sensor system 350 can be used to calculate the position of the catheter instrument 340 relative to the patient's anatomical structure, which can be used to generate an external tracking image and an internal virtual image of the patient's anatomical structure, so as to achieve the actual position of the catheter instrument 340 and the preoperative image. The virtual image of the catheter instrument 340 in the surgical site can be presented to the operator from the outside.

[0046] The internal catheter device 341 and the external catheter device 342 have substantially the same structural composition, and each comprises a slender and flexible inner catheter 41 and an outer catheter 42, wherein the diameter of the outer catheter 42 is slightly larger than that of the inner catheter 41, so that the inner catheter 41 can pass through the outer catheter 42 and provide a certain degree of support for the inner catheter 41, thereby enabling the inner catheter 41 to reach the target location in the patient's body, so as to facilitate operations such as tissue or cell sampling from the target location.

[0047] Certain movements of handle 310 can cause corresponding movements of catheter device 340. For example, when a doctor operates handle 310 to move the directional lever upward or downward, the movement of the directional lever can be mapped to a corresponding pitch movement of the distal end of catheter device 340. When a doctor operates handle 310 to move the directional lever left or right, the movement of the directional lever can be mapped to a corresponding yaw movement of the distal end of catheter device 340. In this embodiment, handle 310 can control the movement of the distal end of catheter device 340 within a 360-degree spatial range.

[0048] The remote surgical robot of this application also includes a server. Figure 5 As shown, remote doctor master consoles A1-A3 and patient surgical platforms B1-B3 of the same or different master-slave surgical robots are each connected to a server S for communication. Server S can be used to manage information sent by remote doctor master consoles A1-A3 and patient surgical platforms B1-B3 and can be used to relay information transmitted between remote doctor master consoles A1-A3 and patient surgical platforms B1-B3. Server S can also be used to achieve device interconnection, i.e., pairing, between remote doctor master consoles A1-A3 and patient surgical platforms B1-B3. Pairing involves connecting two devices to enable communication.

[0049] In ultra-teleoperative surgery, the remote doctor's main console and the patient's surgical platform are deployed in different locations. For example, they can be deployed in different countries, different provinces or cities, or different jurisdictions in the same city.

[0050] The server may also be deployed at a different location than either the remote physician console or the patient surgical platform. For example, the server, the remote physician console, and the patient surgical platform may be deployed in different cities. The server may also be deployed at the same location as either the remote physician console or the patient surgical platform. For example, the server may be deployed independently of the remote physician console or the patient surgical platform located at the same location; or, in another example, the server may be integrated with the remote physician console or the patient surgical platform located at the same location. It is understood that the server may also be deployed in the cloud.

[0051] In the remote surgical robot of the present application, at least one remote doctor main console, patient surgical platform and server are deployed respectively.

[0052] There may be at least one remote doctor main console, at least one patient surgical platform, and at least one server.

[0053] When there is a single server, each remote physician main console and each patient surgical platform are connected to the single server. When there are multiple servers, the servers are connected via a network topology, and different remote physician main consoles and different patient surgical platforms can be connected to the same or different servers. The network topology between the multiple servers includes at least one of a star topology, a ring topology, a bus topology, a tree topology, a mesh topology, a virtual local area network, and a wireless topology.

[0054] The remote doctor's main console and the server, the patient's surgical platform and the server, and the servers themselves can be connected via the same or different types of high-speed communication networks. For example, these types of high-speed communication networks may include at least one of the following: broadband Internet, dedicated Internet networks, 5G networks, and dedicated 5G networks.

[0055] It's understandable that audio transmission via the audio system is a crucial means of conveying information between the patient's surgical platform and the remote surgeon's main console during telesurgery. Using the audio system, the telesurgery robot can detect audio signals from the patient's surgical platform and its vicinity, or from the remote surgeon's main console and its vicinity, in real time and reproduce them for those near the device at the other end. For example, communication might occur between the surgeon operating the main console and medical staff surrounding the patient to convey specific instructions or information.

[0056] In a telesurgery robot, both the remote doctor's console and the patient's surgical platform will deploy at least one audio system. The audio system can be deployed independently of the remote doctor's console or the patient's surgical platform located at the same location, or it can be integrated with the remote doctor's console or the patient's surgical platform located at the same location. An audio system generally includes a sound acquisition module, a sound processing module, a sound playback module, or may also include a human-computer interaction module, such as Figure 6 shown.

[0057] The sound collection module is used to collect the sound in the audio environment where the near-end device is currently located, and transmit the collected sound to the sound processing module.

[0058] The sound processing module receives sound from the sound collection module and sends it to the remote device after processing. Furthermore, the sound processing module receives and processes sound collected, processed, and emitted by the audio system deployed on the remote device and transmitted via the server. The sound playback module then plays the sound so that people operating the near-end device or those nearby can hear it.

[0059] It should be understood that the proximal device refers to the device where the audio system is deployed, which can be either the main control console or the patient operating table. The remote device refers to the device that connects and communicates with the proximal device, which can be either the main control console or the patient operating table. The main control console and the patient operating table can be deployed in different countries, provinces, or different jurisdictions of the same city, or they can be deployed in the same space.

[0060] It is understandable that the interconnection between the near-end device and the far-end device includes the interconnection between the audio system deployed in the near-end device and the audio system deployed in the far-end system, so as to realize the audio signal transmission between the near-end device and the far-end device.

[0061] However, when there are multiple devices on the patient or doctor side, the audio signal sent to the other end may not be able to cover every key device after it is played, such as the device that needs to know the relevant information in the audio signal to perform the corresponding operation, resulting in some key devices or operators of some key devices being unable to clearly obtain the instructions or information conveyed by the audio signal, posing a safety hazard to surgery.

[0062] Based on this, the present application proposes a surgical robot and an audio processing method thereof. The surgical robot includes a doctor-side control system and a patient-side surgical system, wherein the doctor-side control system and the patient-side surgical system are respectively configured with several audio systems, and each device in the doctor-side control system and each device in the patient-side surgical system are respectively configured with at least one audio system. The audio processing method is applied to the doctor-side control system or the patient-side surgical system of the surgical robot. In an embodiment of the present application, the surgical robot may include a remote surgical robot.

[0063] In addition, the doctor-side control system of the embodiment of the present application may include at least one first main console, and the patient-side surgical system may include at least one second main console and a patient surgical platform, which may be controlled by the first main console and / or the second main console.

[0064] It can be understood that the doctor-side control system is configured with several audio systems: each first main console in the doctor-side control system is configured with at least one audio system, and when the at least one audio system plays an audio signal, the first main console and people near the first main console can clearly obtain the sound of the audio signal.

[0065] The patient-side surgical system is configured with several audio systems, which can be: each second main console and patient surgical platform in the patient-side surgical system is respectively configured with at least one audio system, and when the at least one audio system plays an audio signal, the second main console or patient surgical platform and people near the second main console or patient surgical platform can clearly obtain the sound of the audio signal.

[0066] In some embodiments, reference Figure 7 , an audio processing method provided by this application includes: S110: Obtain peer site information of the peer audio system.

[0067] S120: Send the local audio signal acquired by the local audio system to the peer audio system based on the peer site information.

[0068] In step S110, as mentioned above, the audio system at the local end refers to the audio system configured by the device located locally. It is understandable that when the audio processing method of the embodiment of the present application is applied to the doctor-end control system of the surgical robot, the local device is the device in the doctor-end control system, such as the first main console; when the audio processing method of the embodiment of the present application is applied to the patient-end surgical system of the surgical robot, the local device is the device in the patient-end surgical system, such as the second main console and the patient surgical platform. The audio system at the opposite end and the audio system at the local end are set at different ends, which refers to an audio system configured by the device that is not located locally. It is understandable that when the audio processing method of the embodiment of the present application is applied to the doctor-end control system of the surgical robot, the non-local device is the device in the patient-end surgical system, such as the second main console and the patient surgical platform; when the audio processing method of the embodiment of the present application is applied to the patient-end surgical system of the surgical robot, the non-local device is the device in the doctor-end control system, such as the first main console.

[0069] In some embodiments, the peer audio system may be any audio system that is located at a different end from the local audio system.

[0070] Alternatively, in other embodiments, the peer audio system is an audio system at the peer end that can be paired with the local audio system, and can be an audio system at the peer end that is registered with the server and has agreed on a matching custom protocol with the local audio system.

[0071] Custom protocol matching means that different audio systems support the same custom protocol for pairing, primarily including the same format specified by the custom protocol. For example, if the local audio system and the remote audio system have agreed on matching custom protocols, this means that the custom protocol supported by the local audio system for pairing is the same as the custom protocol supported by the remote audio system. A custom protocol generally refers to a communication protocol. Pairing between a local audio system and a remote audio system that are not registered with the server or that support different custom protocols (i.e., lack matching custom protocols) is prohibited.

[0072] For example, a custom protocol includes a protocol header and a protocol body. The protocol header is the message header, and the protocol body is the message data portion. Different custom protocols typically have the same format for the protocol header, but different formats for the protocol body. Differences in the protocol body can be reflected in at least one of the number of fields, field types, field order, and data exchange format. Figure 8 It illustrates a custom protocol based on TCP protocol.

[0073] It should be noted that, in the embodiments of the present application, the interconnection / connection between audio systems is equivalent to the pairing between audio systems, both of which refer to the establishment of a connection between the audio systems (such as the establishment of a network channel) and the ability to transmit audio signals to each other.

[0074] It is understandable that a custom protocol is also agreed upon between the audio system and the server, so that the audio system can register with the server and communicate with the server.

[0075] It is understandable that the matching custom protocol agreed upon between the audio systems is used for communication between the audio systems, which is different from the custom protocol agreed upon between the audio systems and the server.

[0076] In an embodiment of the present application, the peer site information of the peer audio system includes at least one of a plurality of audio system information of the peer audio system, and the at least one audio system information can uniquely represent the peer audio system.

[0077] For security and simplicity, in some embodiments, the peer site information may only include the unique identifier of the peer audio system, without providing the audio system network information. This unique identifier can be named in conjunction with the location information, for example, "XX Hospital, Patient XX, Surgical Platform Audio System." This provides more useful information without compromising communication security.

[0078] To ensure pairing convenience and efficiency, in some embodiments, the peer site information may also include audio system network information associated with the peer audio system's network channel. This network channel is a network channel established between audio systems for transmitting corresponding network information (e.g., audio signals). It will be understood that the establishment of a network channel between the local audio system and the peer audio system indicates a connection between the local audio system and the peer audio system.

[0079] Exemplarily, the audio system network information may include at least one of an IP address, a port number, and a custom protocol of the audio system.

[0080] From this, it can be seen that the network channel is established based on the audio system network information or site information (the case where the site information includes the audio system network information), that is, the connection between audio systems can be established based on the audio system network information or site information (the case where the site information includes the audio system network information).

[0081] The peer site information of the peer audio system may be stored in the server when the peer audio system or the device deployed by the peer audio system is registered with the server. The method for obtaining the peer site information in the embodiment of the present application may be to send an acquisition request to the server and obtain it from the server; or, the peer site information of the peer audio system may be stored in the peer audio system. The method for obtaining the peer site information in the embodiment of the present application may be to send an acquisition request, and forward it through the server or send the acquisition request to the peer audio system through the network channel between the local audio system and the peer audio system, and obtain it from the peer audio system; or, when the local audio system has established a connection with the peer audio system, the peer site information of the peer audio system can be directly obtained based on the information of the currently interconnected audio system.

[0082] It is understood that any of the peer audio systems may or may not have been connected to the local audio system. When a connection needs to be established between the local audio system and the peer audio system, the server will forward the corresponding pairing request and audio system network information to establish the connection between the local audio system and the peer audio system.

[0083] Therefore, the embodiment of the present application first obtains the peer site information of the peer audio system, and can subsequently send the local audio signal obtained by the local audio system to the peer audio system based on the peer site information, or can also send the local audio signal to a specific peer audio system as needed, providing a basis for subsequent operations, while also providing convenience and flexibility.

[0084] In step S120, the embodiment of the present application sends the local audio signal obtained by the local audio system to the opposite audio system based on the opposite site information, so that the local audio signal can be received and played by each opposite audio system, so that the local audio signal can cover each device located at the opposite end, and then the various devices located at the opposite end and the people nearby can clearly obtain the instructions or information transmitted by the local audio signal.

[0085] As can be seen from the foregoing, any audio system in the peer audio system may or may not be connected to the local audio system. For an audio system in the peer audio system that has established a connection with the local audio system, the local audio signal can be directly sent to the audio system via the network channel connected to the audio system. For an audio system in the peer audio system that has not established a connection with the local audio system, the local audio signal can be sent to the server, which will then forward it to the audio system.

[0086] In some embodiments, when the peer audio system is an audio system at the peer end that can be paired with the local audio system, step S120 may specifically include: A connection is established with each peer audio system based on the peer site information, and a local audio signal is sent to each peer audio system.

[0087] The specific steps and principles for establishing a connection with each peer audio system based on the peer site information, i.e., establishing a connection between the local audio system and each peer audio system based on the peer site information, can be found in step S110 and are not described in detail here. It should be understood that for peer audio systems that have already established a connection with the local audio system, this embodiment of the present application does not require a repeated connection.

[0088] After establishing a connection with each peer audio system, the embodiment of the present application can send the local audio signal to each peer audio system through the network channel between the local audio system and each peer audio system, so that the local audio signal is received and played by each peer audio system. Compared with the method of forwarding the local audio signal to the peer audio system by the server, the transmission of the local audio signal in this embodiment is more stable and efficient.

[0089] Furthermore, in some embodiments, the peer site information includes physical location information. The physical location information is the physical location information of the peer audio system, which refers to the location where the peer audio system is placed in the actual physical space. In this embodiment, the audio processing method may further include: A first distance between each two opposite-end audio systems is calculated based on the physical location information; and two opposite-end audio systems whose first distance is smaller than a preset distance threshold are cascaded.

[0090] The preset distance threshold is pre-set and is used to determine whether the two opposite-end audio systems need to be cascaded. When the first distance between the two opposite-end audio systems is less than the preset distance threshold, the two opposite-end audio systems act as independent audio systems. After the specific sound collected by any audio system is sent to the other audio system and played by the other audio system, the sound played by the other audio system may be transmitted to the sound collection module of the either audio system, such as a microphone, and collected by the sound collection module of the either audio system and sent back to the other audio system and played again by the other audio system, thereby generating an acoustic feedback loop. If the sound played by the other audio system collected by the microphone of the either audio system is louder than the specific sound collected by the either audio system, it means that the specific sound is amplified after passing through the acoustic feedback loop once, and after passing through multiple acoustic feedback loops, it will cause the other audio system to howl. To address this issue, an embodiment of the present application cascades two opposite-end audio systems whose first distance is less than a preset distance threshold, such that the two opposite-end audio systems whose first distance is less than the preset distance threshold have a master-slave relationship, wherein a master audio system and its cascaded slave audio system play sound synchronously, and the audio signals obtained by the master audio system and the slave audio system are mixed by the master audio system and then sent to the other interconnected master audio system. That is, the master audio system and its cascaded slave audio system are equivalent to one audio system. As a result, after the sound played by any of the two opposite-end audio systems whose first distance is less than the preset distance threshold is transmitted to the sound collection module of the other audio system, it will not be played by the other audio system. Instead, it will be mixed by the master audio system of the two opposite-end audio systems and then sent to the audio system interconnected with the master audio system. The distance between the audio system interconnected with the master audio system and any of the two audio systems is greater than the preset distance threshold, thereby eliminating the acoustic feedback loop and solving the above-mentioned howling problem.

[0091] In other embodiments, when the peer audio system is any audio system that is located at a different end from the local audio system, or when the peer audio system is an audio system that is located at the peer end and can be paired with the local audio system, step S120 may further include: The second target peer audio system is cascaded to the first target peer audio system based on the peer site information; a connection is established with the first target peer audio system based on the target peer site information of the first target peer audio system in the peer site information, and a local audio signal is sent to the first target peer audio system.

[0092] The first target peer-end audio system is any audio system in the peer-end audio system, and the second target peer-end audio system is an audio system in the peer-end audio system other than the first target peer-end audio system. After the second target peer-end audio system is cascaded to the first target peer-end audio system, the first target peer-end audio system becomes the master audio system of the second target peer-end audio system, and the second target peer-end audio system becomes the slave audio system of the first target peer-end audio system.

[0093] According to the above, in cascade mode, the main audio system and its cascaded slave audio system play sounds synchronously, and the audio signals obtained by the main audio system and the slave audio system are mixed by the main audio system and sent to other interconnected main audio systems. The main audio system and its cascaded slave audio system are equivalent to one audio system. Therefore, in the embodiment of the present application, after the second target peer audio system is cascaded to the first target peer audio system, the second target peer audio system can synchronously play the audio signal received by the first target peer audio system, and then by establishing a connection between the local audio system and the first target peer audio system, and sending the local audio signal to the first target peer audio system, it is possible to achieve the effect of synchronously playing the local audio signal in the first target peer audio system and the second target peer audio system.

[0094] Therefore, this embodiment only needs to send the local audio signal to the first target opposite-end audio system, which is synchronized by the first target opposite-end audio system to its slave audio system, i.e., the second target opposite-end audio system, so that the first target opposite-end audio system and the second target opposite-end audio system synchronously play the local audio signal. Compared with the embodiment of establishing a connection with each opposite-end audio system based on the opposite-end site information and sending the local audio signal to all opposite-end audio systems, while being able to achieve the same effect, it also reduces the amount of data transmission between the local audio system and the opposite-end audio system, can reduce the impact of network delay, and can also avoid the audio playback synchronization phenomenon caused by different network delays between each network channel, thereby improving the effect of the local audio signal heard by the opposite-end audio system and improving the user experience.

[0095] It is understandable that if the first target peer audio system has already established a connection with the local audio system, then the embodiment of the present application does not need to perform a repeated connection.

[0096] Furthermore, in some embodiments, if at least one audio system in the peer audio system has established a connection with the local audio system, then a peer audio system that has established a connection with the local audio system can be selected as the first target peer audio system, and the second target peer audio system can be cascaded to the first target peer audio system, thereby eliminating the need to establish a connection between the local audio system and the first target peer audio system. The local audio signal can be directly sent to the first target peer audio system, so that the local audio signal is played synchronously in the first target peer audio system and the second target peer audio system. Compared to the previous embodiment, this embodiment reduces the operation of establishing a connection between the local audio system and the first target peer audio system. Instead, when selecting the first target peer audio system, an audio system that has established a connection with the local audio system is selected from the peer audio system as the first target peer audio system, which has the advantages of less data interaction and higher efficiency.

[0097] Regarding step S120, sending the local audio signal to all peer audio systems allows the local audio signal to be received and played by each peer audio system. Although this allows the local audio signal to be played to cover every key device (e.g., a device that needs to receive relevant information in the audio signal to perform a corresponding operation), it may result in a waste of resources. For example, not all devices located at the peer end (i.e., not locally) are key devices, or not all peer audio systems need to receive and play the local audio signal to ensure that the played sound covers every key device. Based on this, in some embodiments, step S120 may include: In response to receiving target site information of a target audio system determined based on the peer site information, the local audio signal is sent to the target audio system based on the target site information.

[0098] Among them, the target audio system is the target object to which the user (such as a doctor or other personnel) in the opposite audio system wishes to send the local audio signal. When the target audio system receives and plays the local audio signal, the local audio signal can cover the various key devices located at the opposite end, thereby enabling the various key devices located at the opposite end and the personnel nearby to clearly obtain the instructions or information conveyed by the local audio signal.

[0099] It is understandable that if the key devices of the opposite end are all the devices of the opposite end, it is only necessary to select the opposite end audio system that can cover all the devices of the opposite end after playing the local audio signal as the target audio system.

[0100] Therefore, the embodiment of the present application can reduce the calculation and operation amount of subsequent operations by screening the audio system of the other end, improve the audio processing efficiency, and also reduce unnecessary waste of resources.

[0101] In some embodiments, an audio configuration interface is generated based on the peer site information of the peer audio system obtained in step S110, and peer audio controls are displayed in the audio configuration interface, where each peer audio control is associated with a piece of peer site information.

[0102] The embodiment of the present application does not limit the display style of the audio configuration interface and the peer audio control therein. In some embodiments, such as Figure 9 As shown, the audio configuration interface 900 is circular in shape, and the peer audio controls 901 , 902 , and 903 are displayed in the audio configuration interface 900 in the form of circular buttons.

[0103] Therefore, the embodiment of the present application can clearly and intuitively display the peer site information of the peer audio system to the user, so that the user can perform operations on the peer audio control and its associated peer site information based on the audio configuration interface.

[0104] Furthermore, in some embodiments, the peer site information includes the aforementioned physical location information, and generating the audio configuration interface based on the peer site information may further include: The simulated position of each peer audio control in the audio configuration interface is determined based on the peer site information, and the corresponding peer audio control is displayed at each simulated position.

[0105] Each simulated location is associated with the physical location of the corresponding peer audio system. Thus, embodiments of the present application can more intuitively display information about the peer audio system, facilitating user operations on the peer audio controls and their associated peer site information based on the audio configuration interface and the simulated locations displayed therein.

[0106] In some embodiments, determining the target site information of the target audio system based on the peer site information may include: In response to the target audio control in the peer audio control receiving the first preset operation, the peer site information associated with the target audio control is determined as the target site information, and the peer audio system corresponding to the target site information is the target audio system.

[0107] The embodiment of the present application does not limit the display style of the peer audio control in the audio configuration interface. Optionally, the peer audio control is a button, and when the target audio control in the peer audio control receives a first preset operation (such as a single-click or double-click operation on the target audio control), it can trigger the peer site information associated with the target audio control to be determined as the target site information. Alternatively, the peer audio control is a slider, and when the target audio control in the peer audio control receives a first preset operation (such as a move or drag operation on the target audio control), it can trigger the peer site information associated with the target audio control to be determined as the target site information. Alternatively, the peer audio control is a text box, and when the target audio control in the peer audio control receives a first preset operation (such as an operation of entering preset content in the target audio control), it can trigger the peer site information associated with the target audio control to be determined as the target site information.

[0108] In order to intuitively display the peer site information associated with each peer audio control in the audio configuration interface, in some embodiments, the audio configuration interface also displays a virtual module associated with each peer site information, and the virtual module displays at least one audio system information in the associated peer site information that can uniquely represent the peer audio system.

[0109] It is understandable that in the audio configuration interface, each peer audio control is associated with a virtual module.

[0110] The peer audio control and the associated virtual module of the embodiment of the present application can be displayed as a whole or separately (the peer audio control can be displayed at any position close to the display area of ​​its associated virtual module).

[0111] Therefore, the embodiment of the present application can intuitively determine the target site information of the target audio system based on the peer site information by operating the peer audio control in the audio configuration interface. At the same time, this process is simple and easy to understand, reduces learning costs, and improves user experience.

[0112] Alternatively, in some other embodiments, determining the target site information of the target audio system based on the peer site information may include: In response to the audio configuration interface receiving the second preset operation of inputting the target graphic, the opposite site information associated with the opposite audio control within the target graphic is determined as the target site information, and the opposite audio system corresponding to the target site information is the target audio system.

[0113] The second preset operation may be an operation of drawing a target graphic by touching the audio configuration interface. For example, the target graphic input by the second preset operation in the audio configuration interface is as follows: Figure 10 As shown. Figure 10In the audio configuration interface 1000, the peer site information associated with the peer audio controls 1001 and 1002 inside the target graphic 1010 will be determined as the target site information, while the peer site information associated with the peer audio control 1003 outside the target graphic 1010 will not be determined as the target site information.

[0114] It is understood that the target graphic for the second preset operation input may be one or more. When there are multiple target graphics for the second preset operation input, the peer site information associated with the peer audio control within each target graphic is determined as the target site information, and the peer audio system corresponding to the target site information is determined as the target audio system.

[0115] Furthermore, in some embodiments, if the target graphic input by the second preset operation does not meet the preset conditions, a prompt is provided to re-enter the target graphic. For example, if the target graphic is not a closed graphic, or if there is no peer audio control in the closed area of ​​the target graphic, then the target graphic is considered to not meet the preset conditions.

[0116] It can be understood that this embodiment determines the target site information by directly drawing the target graphic, which has the effect of being simpler, faster and more intuitive to operate.

[0117] In some embodiments, when the peer audio system or the target audio system in the peer audio system is an audio system at the peer end that can be paired with the local audio system, sending the local audio signal to the target audio system based on the target site information may include: A connection is established with each target audio system based on the target site information, and a local audio signal is sent to each target audio system.

[0118] The specific steps and principles for establishing a connection with each target audio system based on the target site information, i.e., establishing a connection between the local audio system and each target audio system based on the target site information, can be found in step S110 and are not described in detail here. It is understood that for target audio systems that have already established a connection with the local audio system, this embodiment of the present application does not require a repeated connection.

[0119] After establishing a connection with each target audio system, the embodiment of the present application can send the local audio signal to each target audio system through the network channel between the local audio system and each target audio system, so that the local audio signal is received and played by each target audio system. Compared with the method of forwarding the local audio signal to the target audio system by the server, the transmission of the local audio signal in this embodiment is more stable and efficient.

[0120] Furthermore, in some embodiments, the peer site information includes the aforementioned physical location information. In this embodiment, the audio processing method may further include: A second distance between each two target audio systems is calculated based on the physical location information; and two target audio systems whose second distances are smaller than a preset distance threshold are cascaded.

[0121] As mentioned above, the preset distance threshold is pre-set and is used to determine whether the two target audio systems need to be cascaded. When the second distance between the two target audio systems is less than the preset distance threshold, the two target audio systems act as independent audio systems. After the specific sound collected by any audio system is sent to the other audio system and played by the other audio system, the sound played by the other audio system may be transmitted to the sound collection module of any audio system, such as a microphone, and collected by the sound collection module of any audio system and sent back to the other audio system and played again by the other audio system, thereby generating an acoustic feedback loop. If the sound played by the other audio system collected by the microphone of any audio system is louder than the specific sound collected by any audio system, it means that the specific sound is amplified after passing through the acoustic feedback loop once, and after passing through multiple acoustic feedback loops, it will cause the other audio system to howl. To solve this problem, the embodiment of the present application cascades two target audio systems whose second distance is less than a preset distance threshold, so that the two target audio systems whose second distance is less than the preset distance threshold have a master-slave relationship, wherein the master audio system and its cascaded slave audio system play sounds synchronously, and the audio signals obtained by the master audio system and the slave audio system are mixed by the master audio system and then sent to the other interconnected master audio system, that is, the master audio system and its cascaded slave audio system are equivalent to one audio system. Therefore, after the sound played by any of the two target audio systems whose second distance is less than the preset distance threshold is transmitted to the sound collection module of the other audio system, it will not be played by the other audio system, but will be mixed by the master audio system of the two target audio systems and then sent to the audio system interconnected with the master audio system, and the distance between the audio system interconnected with the master audio system and any of the two audio systems is greater than the preset distance threshold, thereby eliminating the acoustic feedback loop and solving the above-mentioned howling problem.

[0122] In other embodiments, when the peer audio system is any audio system that is located at a different end from the local audio system, or when the peer audio system is an audio system located at the peer end that can be paired with the local audio system, sending the local audio signal to the target audio system based on the target site information may further include: The second target audio system is cascaded to the first target audio system based on the target site information; a connection is established with the first target audio system based on the first target site information of the first target audio system in the target site information, and a local audio signal is sent to the first target audio system.

[0123] The first target audio system is any audio system in the target audio system, and the second target audio system is an audio system in the target audio system other than the first target audio system. After the second target audio system is cascaded to the first target audio system, the first target audio system becomes the master audio system of the second target audio system, and the second target audio system becomes the slave audio system of the first target audio system.

[0124] As can be seen from the above, in cascade mode, the main audio system and its cascaded slave audio system play sounds synchronously, and the audio signals obtained by the main audio system and the slave audio system are mixed by the main audio system and sent to other interconnected main audio systems. The main audio system and its cascaded slave audio system are equivalent to one audio system. Therefore, in the embodiment of the present application, after the second target audio system is cascaded to the first target audio system, the second target audio system can synchronously play the audio signal received by the first target audio system, and then by establishing a connection between the local audio system and the first target audio system, and sending the local audio signal to the first target audio system, it is possible to achieve the effect of synchronously playing the local audio signal in the first target audio system and the second target audio system.

[0125] Therefore, this embodiment only needs to send the local audio signal to the first target audio system, which is synchronized by the first target audio system to its slave audio system, i.e., the second target audio system, so that the first target audio system and the second target audio system synchronously play the local audio signal. Compared with the embodiment of establishing a connection with each target audio system based on the target site information and sending the local audio signal to all target audio systems, while being able to achieve the same effect, it also reduces the amount of data transmission between the local audio system and the target audio system, can reduce the impact of network delay, and can also avoid the audio playback synchronization phenomenon caused by different network delays between each network channel, thereby improving the effect of the local audio signal heard by the target audio system and improving the user experience.

[0126] It is understandable that if the first target audio system has already established a connection with the local audio system, then the embodiment of the present application does not need to perform a repeated connection.

[0127] Furthermore, in some embodiments, if at least one audio system in the target audio system has established a connection with the audio system at the local end, then a target audio system that has established a connection with the audio system at the local end can be selected as the first target audio system, and the second target audio system can be cascaded to the first target audio system, thereby eliminating the need to establish a connection between the audio system at the local end and the first target audio system. The local audio signal can be directly sent to the first target audio system, so that the local audio signal is played synchronously in the first target audio system and the second target audio system. Compared with the previous embodiment, this embodiment reduces the operation of establishing a connection between the audio system at the local end and the first target audio system. Instead, when selecting the first target audio system, an audio system that has established a connection with the audio system at the local end is selected from the target audio system as the first target audio system, which has the advantages of less data interaction and higher efficiency.

[0128] In some embodiments, the audio configuration interface also displays the network topology structure of each peer audio control (e.g., a cascade relationship), which is associated with the actual network topology structure of the peer audio system. That is, the network topology structure of the peer audio system can be learned through the network topology structure of the peer audio control, and the network topology structure of the peer audio system can also be configured by configuring the network topology structure of the peer audio control.

[0129] In some embodiments, the audio processing method may further include configuring the network topology of the peer audio system by configuring the network topology of the peer audio control, which may specifically include: In response to the first target control in the opposite-end audio control receiving the third preset operation, the first target control is set as a slave control of the second target control, and a cascade control between the first target control and the second target control is generated and displayed.

[0130] It can be understood that when the first target control is set as a slave control of the second target control, the second target control is the master control of the first target control.

[0131] The third preset operation at least includes an operation of associating the first target control with the second target control. Optionally, the third preset operation includes dragging the first target control to a preset area associated with the second target control; or the third preset operation includes entering preset content in the first target control that has a unique correspondence with the second target control.

[0132] When the first target control receives the third preset operation, it can trigger the first target control to be set as a slave control of the second target control, the second target control to be the master control of the first target control, and generate and display the cascade control between the first target control and the second target control, so that the opposite-end audio system corresponding to the opposite-end site information associated with the first target control is configured as a slave audio system cascaded with the opposite-end audio system corresponding to the opposite-end site information associated with the second target control, and the opposite-end audio system corresponding to the opposite-end site information associated with the second target control is a master audio system cascaded with the opposite-end audio system corresponding to the opposite-end site information associated with the first target control.

[0133] The embodiments of the present application do not limit the display style of cascade controls between peer audio controls. For example, a cascade control between peer audio controls can be a line connecting two peer audio controls associated with the cascade control; or a cascade control between peer audio controls can be an arrow pointing from a slave control to a master control, or vice versa, between two peer audio controls associated with the cascade control.

[0134] Therefore, the embodiment of the present application can intuitively configure the network topology structure of the peer audio system by configuring the network topology structure of the peer audio control. At the same time, this process is simple and easy to understand, which reduces the learning cost and improves the user experience.

[0135] It can be understood that, in some embodiments, the network topology of the aforementioned peer audio systems is equivalent to the network topology of the devices on which these peer audio systems are deployed.

[0136] According to the above, the doctor-side control system and the patient-side surgical system can be deployed in different countries, different provinces and cities, or different jurisdictions of the same city, or they can be deployed in the same space. A specific embodiment of the present application is based on the deployment location of the doctor-side control system and the patient-side surgical system, as well as the network topology of each device in the doctor-side control system and the patient-side surgical system, and can divide the surgical robot into local mode and remote access mode. Among them, the local mode includes four sub-modes, and the remote access mode includes eleven sub-modes. These fifteen modes have different network topologies to meet different surgical scenarios.

[0137] In local mode, the doctor-side control system includes a first main console, which is equipped with a first master-hand audio system; the patient-side surgical system includes a second main console and a patient surgical platform, the second main console is equipped with a second master-hand audio system, and the patient surgical platform is equipped with a slave-hand audio system.

[0138] In the remote access mode, the doctor-side control system includes a first main console, which is equipped with a first master-hand audio system. In addition, the doctor-side control system also includes a remote host RX audio system; the patient-side surgical system includes a second main console and a patient surgical platform. The second main console is equipped with a second master-hand audio system, and the patient surgical platform is equipped with a slave-hand audio system. In addition, the patient-side surgical system also includes a remote host TX audio system.

[0139] Specifically: Local mode - submode 1: like Figure 11 As shown, this mode consists of a first master audio system, a second master audio system, and a slave audio system. The three audio systems are independent of each other and can intercom with each other. The advantage of this mode is that the audio system connection is simple and does not require software configuration (such as software cascading) or additional wiring (such as hardware cascading). The disadvantage is that the distance between the first master audio system, the second master audio system, and the slave audio system is too close (for example, it cannot be less than the preset distance threshold as mentioned above), which can easily cause howling, resulting in limited placement of the first master audio system, the second master audio system, and the slave audio system in the same space. This mode is suitable for local surgical scenarios that require three-way intercom and where the spaces of each party are relatively independent, such as surgical teaching scenarios or surgical collaborative operation scenarios.

[0140] Local mode - submode 2: like Figure 12 As shown, this mode consists of a first master audio system, a second master audio system, and a slave audio system. The first master audio system is the master audio system, and the second master audio system is the slave audio system, cascaded to the first master audio system. As can be seen from the foregoing, in this mode, since the first and second master audio systems are cascaded, howling will not occur between the first and second master audio systems. However, software configuration (such as software cascading) and / or additional wiring (such as hardware cascading) are required. This mode is suitable for two-way intercoms and local surgical scenarios where the first and second master audio systems need to be relatively close (for example, less than the preset distance threshold as described above).

[0141] Local mode - submode 3: like Figure 13As shown, this mode consists of a first master audio system, a second master audio system, and a slave audio system. The second master audio system is the master audio system, and the slave audio system is the slave audio system, cascaded to the second master audio system. As can be seen from the above, in this mode, since the second master audio system and the slave audio system are cascaded, howling will not be generated between the second master audio system and the slave audio system. However, software configuration (such as software cascading) and / or additional wiring (such as hardware cascading) are required. This mode is suitable for two-way intercom and local surgical scenarios where the second master audio system and the slave audio system need to be close to each other (for example, less than the preset distance threshold as described above).

[0142] Local mode - submode 4: like Figure 14 As shown, this mode consists of a first master audio system, a second master audio system, and a slave audio system. The first master audio system is the master audio system, and the slave audio system is the slave audio system, which is cascaded to the first master audio system. As can be seen from the above, in this mode, since the first master audio system and the slave audio system are cascaded, howling will not be generated between the first master audio system and the slave audio system. However, software configuration (such as software cascading) and / or additional wiring (such as hardware cascading) are required. This mode is suitable for two-way intercom and local surgical scenarios where the first master audio system and the slave audio system need to be close to each other (for example, less than the preset distance threshold as mentioned above).

[0143] Remote access mode - submode 5: like Figure 15 As shown, this mode consists of the first master audio system, the remote host RX audio system, the second master audio system, the slave audio system, and the remote host TX audio system. These five audio systems are independent of each other, enabling five-way intercom. The remote host RX audio system and the remote host TX audio system can be connected to external microphones. The advantage of this mode is that the audio system connection is simple, and no software configuration (such as software cascading) or additional wiring (such as hardware cascading) is required. However, the disadvantage is that the close distances between the first master audio system and the remote host RX audio system, as well as between the second master audio system, the slave audio system, and the remote host TX audio system (for example, they cannot be less than the preset distance threshold as described above), can easily cause howling, limiting the placement of audio systems in the same space. This mode is suitable for remote surgery scenarios that require five-way intercom and relatively independent spaces for each audio system, such as surgical teaching or collaborative surgery.

[0144] Remote access mode - submode 6: like Figure 16As shown, this mode consists of a first master audio system, a remote host RX audio system, a second master audio system, a slave audio system, and a remote host TX audio system. The remote host TX audio system is the master audio system, and the slave audio system is the slave audio system, which is cascaded to the remote host TX audio system. The remote host RX audio system and the remote host TX audio system can be connected to an external microphone. As can be seen from the above, in this mode, since the remote host TX audio system and the slave audio system are cascaded, howling will not be generated between the remote host TX audio system and the slave audio system, but software configuration (such as software cascading) and / or additional wiring (such as hardware cascading) are required. This mode is suitable for remote surgery scenarios where the remote host TX audio system and the slave audio system are relatively close (for example, less than the preset distance threshold as mentioned above).

[0145] Remote access mode - submode 7: like Figure 17 As shown, this mode consists of a first master-hand audio system, a remote host RX audio system, a second master-hand audio system, a slave-hand audio system, and a remote host TX audio system. The second master-hand audio system is cascaded to the slave-hand audio system, and the slave-hand audio system is cascaded to the remote host TX audio system. The remote host RX audio system and the remote host TX audio system can be connected to an external microphone. As can be seen from the foregoing, in this mode, since the remote host TX audio system, the second master-hand audio system, and the slave-hand audio system are cascaded, howling will not occur between the remote host TX audio system, the second master-hand audio system, and the slave-hand audio system, but software configuration (such as software cascading) and / or additional wiring (such as hardware cascading) are required. This mode is suitable for remote surgery scenarios where the remote host TX audio system, the second master-hand audio system, and the slave-hand audio system are relatively close to each other (for example, less than the preset distance threshold as mentioned above).

[0146] Remote access mode - submode 8: like Figure 18 As shown, this mode consists of a first master audio system, a remote host RX audio system, a second master audio system, a slave audio system, and a remote host TX audio system. The second master audio system is cascaded to the slave audio system. The remote host RX audio system and the remote host TX audio system can be connected to an external microphone. As can be seen from the above, in this mode, since the second master audio system and the slave audio system are cascaded, howling will not occur between the second master audio system and the slave audio system, but software configuration (such as software cascading) and / or additional wiring (such as hardware cascading) are required. This mode is suitable for remote surgery scenarios where the second master audio system and the slave audio system are close to each other (for example, less than the preset distance threshold as mentioned above).

[0147] Remote access mode - submode 9: like Figure 19 As shown, this mode consists of a first master audio system, a remote host RX audio system, a second master audio system, a slave audio system, and a remote host TX audio system. The second master audio system is cascaded to the remote host TX audio system. The remote host RX audio system and the remote host TX audio system can be connected to external microphones. As can be seen from the foregoing, in this mode, since the second master audio system and the remote host TX audio system are cascaded, howling will not be generated between the second master audio system and the remote host TX audio system. However, software configuration (such as software cascading) and / or additional wiring (such as hardware cascading) are required. This mode is suitable for remote surgery scenarios where the second master audio system and the remote host TX audio system are relatively close (for example, less than the preset distance threshold as described above).

[0148] Remote access mode-submode 10: like Figure 20 As shown, this mode consists of a first master-hand audio system, a remote host RX audio system, a second master-hand audio system, a slave-hand audio system, and a remote host TX audio system. The first master-hand audio system is cascaded to the remote host RX audio system. The remote host RX audio system and the remote host TX audio system can be connected to external microphones. As can be seen from the foregoing, in this mode, since the first master-hand audio system and the remote host RX audio system are cascaded, howling will not occur between the first master-hand audio system and the remote host RX audio system. However, software configuration (such as software cascading) and / or additional wiring (such as hardware cascading) are required. This mode is suitable for remote surgery scenarios where the first master-hand audio system and the remote host RX audio system are relatively close (for example, less than the preset distance threshold as described above).

[0149] Remote access mode-submode 11: like Figure 21As shown, this mode consists of a first master audio system, a remote host RX audio system, a second master audio system, a slave audio system, and a remote host TX audio system. The first master audio system is cascaded to the remote host RX audio system, and the slave audio system is cascaded to the remote host TX audio system. The remote host RX audio system and the remote host TX audio system can be connected to external microphones. As can be seen from the foregoing, in this mode, since the first master audio system and the remote host RX audio system are cascaded, and the slave audio system and the remote host TX audio system are cascaded, howling will not be generated between the first master audio system and the remote host RX audio system, and between the slave audio system and the remote host TX audio system. However, software configuration (such as software cascading) and / or additional wiring (such as hardware cascading) are required. This mode is suitable for remote surgery scenarios where the first master audio system and the remote host RX audio system are relatively close (for example, less than the preset distance threshold as described above), and the slave audio system and the remote host TX audio system are relatively close (for example, less than the preset distance threshold as described above).

[0150] Remote access mode-submode 12: like Figure 22 As shown, this mode consists of a first master audio system, a remote host RX audio system, a second master audio system, a slave audio system, and a remote host TX audio system. The first master audio system is cascaded to the remote host RX audio system, the second master audio system is cascaded to the slave audio system, and the slave audio system is cascaded to the remote host TX audio system. The remote host RX audio system and the remote host TX audio system can be connected to an external microphone. As can be seen from the foregoing, in this mode, since the first master audio system and the remote host RX audio system are cascaded, and the remote host TX audio system, the second master audio system, and the slave audio system are cascaded, no howling will occur between the first master audio system and the remote host RX audio system, as well as between the remote host TX audio system, the second master audio system, and the slave audio system, but software configuration (such as software cascading) and / or additional wiring (such as hardware cascading) are required. This mode is suitable for remote surgery scenarios where the distance between the first master hand audio system and the remote host RX audio system is relatively close (for example, less than the preset distance threshold as described above), and the distance between the remote host TX audio system, the second master hand audio system, and the slave hand audio system is relatively close (for example, less than the preset distance threshold as described above).

[0151] Remote access mode - submode 13: like Figure 23As shown, this mode consists of a first master audio system, a remote host RX audio system, a second master audio system, a slave audio system, and a remote host TX audio system. The first master audio system is cascaded to the remote host RX audio system, and the second master audio system is cascaded to the slave audio system. The remote host RX audio system and the remote host TX audio system can be connected to external microphones. As can be seen from the foregoing, in this mode, since the first master audio system and the remote host RX audio system are cascaded, and the second master audio system and the slave audio system are cascaded, howling will not occur between the first master audio system and the remote host RX audio system, and between the second master audio system and the slave audio system. However, software configuration (such as software cascading) and / or additional wiring (such as hardware cascading) are required. This mode is suitable for remote surgery scenarios where the first master audio system and the remote host RX audio system are relatively close (e.g., less than the preset distance threshold as described above), and the second master audio system and the slave audio system are relatively close (e.g., less than the preset distance threshold as described above).

[0152] Remote access mode-submode 14: like Figure 24 As shown, this mode consists of a first master audio system, a remote host RX audio system, a second master audio system, a slave audio system, and a remote host TX audio system. The first master audio system is cascaded to the remote host RX audio system, and the second master audio system is cascaded to the remote host TX audio system. The remote host RX audio system and the remote host TX audio system can be connected to external microphones. As can be seen from the foregoing, in this mode, since the first master audio system and the remote host RX audio system are cascaded, and the second master audio system and the remote host TX audio system are cascaded, howling will not occur between the first master audio system and the remote host RX audio system, and between the second master audio system and the remote host TX audio system. However, software configuration (such as software cascading) and / or additional wiring (such as hardware cascading) are required. This mode is suitable for remote surgery scenarios where the first master audio system and the remote host RX audio system are relatively close (e.g., less than the preset distance threshold as described above), and the second master audio system and the remote host TX audio system are relatively close (e.g., less than the preset distance threshold as described above).

[0153] Remote access mode-submode 15: like Figure 25As shown in the figure, this mode consists of the first master audio system, the remote host RX audio system, the second master audio system, the slave audio system, the remote host TX audio system, and two additional audio systems (such as the BM51). The first master audio system is cascaded to the remote host RX audio system, the second master audio system and the slave audio system are cascaded to the remote host TX audio system, and the first additional audio system is cascaded to the remote host RX audio system, and the second additional audio system is cascaded to the remote host TX audio system. The remote host RX audio system and the remote host TX audio system can be connected to an external microphone. Compared to sub-mode 12, this mode achieves the same effect while also utilizing two additional audio systems to expand the range of sound acquisition.

[0154] It should be noted that in this specific embodiment, the cascading between audio systems can be hardware cascading or software cascading, wherein hardware cascading is via USB connection. It is understandable that hardware cascading results in additional wiring between the audio systems, which limits the placement of the cascaded audio systems. Software cascading, on the other hand, requires software configuration and is more complex than hardware cascading, but does not require additional wiring, thus avoiding placement restrictions on the cascaded audio systems.

[0155] The audio environment in which each device (or audio system) in the doctor-side control system or each device (or audio system) in the patient-side surgical system resides is described. For example, the audio environment of the patient surgical platform refers to an environment within which the patient surgical platform resides and has at least one sound source. Sound sources in this audio environment generally include various personnel, instruments, monitoring equipment, and the audio environment itself. These personnel include doctors, nurses, and patients, and conversations between these personnel generate audio signals, as do the patient's physiological activities (such as heartbeat and breathing). Instruments inserted into the patient's body and used to perform surgical or diagnostic procedures also generate audio signals during this process. Monitoring equipment (such as a monitor) monitors the patient's condition in real time and issues alarms when abnormalities occur. The audio environment itself refers to the ambient noise generated by the audio environment, which may originate from the reflection of sound waves by the audio environment. It is understood that each device (or audio system) in the doctor-side control system and each device (or audio system) in the patient-side surgical system reside in the same audio environment. When the doctor-side control system and the patient-side surgical system are deployed in the same space, each device (or audio system) in the doctor-side control system and each device (or audio system) in the patient-side surgical system are in the same audio environment.

[0156] It is understandable that the audio environment in which the local audio system is located usually has smooth rigid surfaces, such as tile floors and stainless steel countertops. These surfaces will reflect sound waves in the audio environment, causing the local audio signal obtained by the local audio system to be mixed with background noise such as echo and reverberation. This background noise may distract the attention of relevant personnel (such as remote doctors) listening to the local audio signal and may mask other sounds or make other sounds unclear. Based on this, in some embodiments, the audio processing method may also include: Performs acoustic echo cancellation (AEC) and noise reduction on local audio signals.

[0157] As mentioned above, the local audio signal is a mixed signal, which can be simply expressed as: , in, The embodiments of this application require the collection and transmission of sounds from specific sound sources, such as human voices, instrument sounds, alarm sounds, etc. is the echo signal, It is environmental noise.

[0158] By performing echo cancellation and noise reduction on the local audio signal, that is, Filter out echo signals and ambient noise , get the pure sound of a specific sound source , the embodiment of the present application can make the sound of a specific sound source The local audio signal sent to the peer audio system is clearer and purer, so that the instructions or information in the local audio signal are also conveyed more clearly.

[0159] In some embodiments, performing echo cancellation on the local audio signal includes: Adaptive filtering is used to dynamically estimate the transfer function of the echo path, and the echo signal is estimated based on the transfer function and subtracted from the local audio signal.

[0160] Specifically, adaptive filtering: Adaptive filter parameters are calculated using the normalized least mean square algorithm , and estimate the transfer function of the echo path based on the adaptive filter parameters : , in, , is the error signal. is the first audio signal. is the step size factor, ; is a small constant to avoid the denominator being 0.

[0161] The calculated echo signal: , Subtract the echo signal from the local audio signal to obtain the local audio signal after echo removal : , It is understandable that when the local audio system receives the peer audio signal from the peer audio system and plays it out loud, the direct sound of the played target audio signal directly re-enters the local audio system (e.g., is collected by the microphone array) and the reverberation after being reflected by the audio environment and entering the local audio system (e.g., is collected by the microphone array) also constitutes the main background noise in the local audio signal. This background noise may form an acoustic feedback closed loop, causing the audio system to howl, which seriously interferes with the operation of the audio system and the execution of remote surgery. Based on this, further, in some embodiments, echo cancellation of the local audio signal also includes: In response to receiving a peer audio signal from a peer audio system, the peer audio signal is used as a reference signal to filter out an echo audio signal from the local audio signal. The echo audio signal is an audio signal obtained by the peer audio signal being played outwardly by the local audio system to the audio environment of the local audio system and then re-entering the local audio system.

[0162] The peer audio signal is the far-end signal, and the echo audio signal is the audio signal obtained by the local audio system outputting the peer audio signal to the audio environment and then re-entering the local audio system (for example, by being collected by a microphone array). This includes the direct sound of the peer audio signal directly re-entering the local audio system and the reverberation of the peer audio signal entering the local audio system after being reflected by the audio environment.

[0163] Specifically, this embodiment uses the peer audio signal as a reference signal and employs adaptive filtering to dynamically estimate the transfer function of the echo path. The echo signal is estimated based on the transfer function and then subtracted from the local audio signal. The detailed echo estimation and cancellation process is the same as previously described and will not be further elaborated here.

[0164] In some embodiments, performing noise reduction processing on the local audio signal includes: Performs active noise cancellation (ANC) on local audio signals.

[0165] Specifically, the embodiment of the present application uses fast Fourier transform to decompose the noise in the local audio signal into frequency domain components, identify the main noise frequency, and dynamically track the noise changes based on adaptive filtering, and then delay the noise signal and invert it (180° phase difference) to form an anti-phase sound wave, which is used to destructively interfere with the noise in the local audio signal.

[0166] Furthermore, the embodiment of the present application can adjust the amplitude of the anti-phase sound wave so that the amplitude of the anti-phase sound wave is consistent with the amplitude of the noise, thereby maximizing the cancellation effect.

[0167] To sum up, the surgical robot and audio processing method thereof proposed in the embodiment of the present application obtain the peer site information of the peer audio system, and based on the peer site information, send the local audio signal obtained by the local audio system to the peer audio system or the target audio system therein, so that when the local audio signal is sent to the peer, the local audio signal is received and played via all peer audio systems or the target audio system in the peer audio system, and can cover each key device, so that each key device can clearly obtain the instructions or information transmitted by the local audio signal, thereby reducing the safety risks of surgery caused by the impact of instruction or information transmission.

[0168] An embodiment of the present application further provides a computer-readable storage medium having instructions stored therein. When the instructions are executed on at least one processor, Figure 7The method shown. The storage medium can be volatile memory or non-volatile memory, or can include both volatile and non-volatile memory. Among them, the non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic random access memory (FRAM), flash memory, magnetic surface storage, optical disk, or compact disc read-only memory (CD-ROM); magnetic surface storage can be magnetic disk storage or magnetic tape storage. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM). The storage media described in the embodiments of the present invention are intended to include, but are not limited to, these and any other suitable types of memory.

[0169] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0170] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A surgical robot, characterized in that: include: Doctor-side control system; Patient-side surgical system; Each device in the doctor-side control system and each device in the patient-side surgical system are respectively configured with at least one audio system, and the doctor-side control system or the patient-side surgical system is configured as follows: Obtaining peer site information of a peer audio system, where the peer audio system and the local audio system are located at different ends; The local audio signal acquired by the local audio system is sent to the opposite-end audio system based on the opposite-end site information.

2. The surgical robot according to claim 1, wherein: The sending of the local audio signal acquired by the local audio system to the opposite-end audio system based on the opposite-end site information includes: A connection is established with each of the opposite-end audio systems based on the opposite-end site information, and the local audio signal is sent to each of the opposite-end audio systems.

3. The surgical robot according to claim 2, wherein: The peer site information includes physical location information; The doctor-side control system or the patient-side surgical system is further configured to: Calculating a first distance between each two of the opposite-end audio systems based on the physical location information; The two opposite-end audio systems whose first distance is smaller than a preset distance threshold are cascaded.

4. The surgical robot according to claim 1, wherein: The sending of the local audio signal acquired by the local audio system to the opposite-end audio system based on the opposite-end site information includes: cascading a second target peer-end audio system to a first target peer-end audio system based on the peer-end site information, wherein the first target peer-end audio system is any audio system among the peer-end audio systems, the second target peer-end audio system is an audio system among the peer-end audio systems other than the first target peer-end audio system, the first target peer-end audio system is a master audio system of the second target peer-end audio system, and the second target peer-end audio system is a slave audio system of the first target peer-end audio system; A connection is established with the first target peer audio system based on the target peer site information of the first target peer audio system in the peer site information, and the local audio signal is sent to the first target peer audio system.

5. The surgical robot according to claim 4, wherein: The doctor-side control system or the patient-side surgical system is further configured to: If at least one of the opposite-end audio systems has established a connection with the local-end audio system, then one of the opposite-end audio systems that has established a connection with the local-end audio system is selected as the first target opposite-end audio system.

6. The surgical robot according to claim 1, wherein: The sending of the local audio signal acquired by the local audio system to the opposite-end audio system based on the opposite-end site information includes: In response to receiving target site information of a target audio system determined based on the peer site information, the local audio signal is sent to the target audio system based on the target site information.

7. The surgical robot according to claim 6, wherein: The doctor-side control system or the patient-side surgical system is further configured to: An audio configuration interface is generated based on the peer site information, wherein peer audio controls are displayed in the audio configuration interface, and each peer audio control is associated with one piece of peer site information.

8. The surgical robot according to claim 7, wherein: The peer site information includes physical location information; The generating of the audio configuration interface based on the peer site information further includes: The simulated position of each of the peer-end audio controls in the audio configuration interface is determined based on the peer-end site information, and the corresponding peer-end audio control is displayed at each of the simulated positions.

9. The surgical robot according to claim 7 or 8, wherein: Determining the target site information of the target audio system based on the peer site information includes: In response to a target audio control in the peer audio control receiving a first preset operation, the peer site information associated with the target audio control is determined as the target site information, and the peer audio system corresponding to the target site information is the target audio system.

10. The surgical robot according to claim 7 or 8, wherein: Determining the target site information of the target audio system based on the peer site information includes: In response to the audio configuration interface receiving a second preset operation of inputting a target graphic, the opposite-end site information associated with the opposite-end audio control within the target graphic is determined as the target site information, and the opposite-end audio system corresponding to the target site information is the target audio system.

11. The surgical robot according to claim 6, wherein: The sending the local audio signal to the target audio system based on the target site information includes: A connection is established with each of the target audio systems based on the target site information, and the local audio signal is sent to each of the target audio systems.

12. The surgical robot according to claim 11, wherein: The peer site information includes physical location information; The doctor-side control system or the patient-side surgical system is further configured to: Calculating a second distance between each two target audio systems based on the physical location information; The two target audio systems whose second distance is smaller than a preset distance threshold are cascaded.

13. The surgical robot according to claim 6, wherein: The sending the local audio signal to the target audio system based on the target site information includes: cascading a second target audio system to a first target audio system based on the target site information, wherein the first target audio system is any audio system among the target audio systems, the second target audio system is an audio system among the target audio systems other than the first target audio system, the first target audio system is a master audio system of the second target audio system, and the second target audio system is a slave audio system of the first target audio system; A connection is established with the first target audio system based on the first target site information of the first target audio system in the target site information, and the local audio signal is sent to the first target audio system.

14. The surgical robot according to claim 13, wherein: The doctor-side control system or the patient-side surgical system is further configured to: If at least one of the target audio systems has established a connection with the local audio system, then the target audio system that has established a connection with the local audio system is selected as the first target audio system.

15. The surgical robot according to claim 1, wherein: The doctor-side control system or the patient-side surgical system is further configured to: Perform echo cancellation and noise reduction processing on the local audio signal.

16. The surgical robot according to claim 15, wherein: The performing echo cancellation on the local audio signal comprises: Adaptive filtering is used to dynamically estimate a transfer function of the echo path, and an echo signal is estimated based on the transfer function, and the echo signal is subtracted from the local audio signal.

17. The surgical robot according to claim 16, wherein: The performing echo cancellation on the local audio signal further comprises: In response to receiving a peer audio signal from the peer audio system, the peer audio signal is used as a reference signal to filter out an echo audio signal from the local audio signal, where the echo audio signal is an audio signal obtained by the peer audio signal being played outwardly by the local audio system into the audio environment of the local audio system and then re-entering the local audio system.

18. The surgical robot according to claim 15, wherein: The performing noise reduction processing on the local audio signal includes: Active noise cancellation is performed on the local audio signal.

19. An audio processing method for a surgical robot, characterized in that: The surgical robot includes a doctor-side control system and a patient-side surgical system. Each device in the doctor-side control system and each device in the patient-side surgical system are respectively configured with at least one audio system. The method is applied to the doctor-side control system or the patient-side surgical system, and the method includes: Obtaining peer site information of a peer audio system, where the peer audio system and the local audio system are located at different ends; The local audio signal acquired by the local audio system is sent to the opposite-end audio system based on the opposite-end site information.

20. A computer-readable storage medium, characterized in that The computer-readable storage medium stores instructions, and when the instructions are executed on at least one processor, the method according to claim 19 is implemented.

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