CAN bridging device, optical communication system, surgical robot equipment and system

Abstract

The invention provides a CAN bridging device, an optical communication system, surgical robot equipment and a system. The CAN bridging device comprises a CAN bridging circuit and a photoelectric conversion circuit, wherein the CAN bridging circuit is electrically connected with the photoelectric conversion circuit; the CAN bridge circuit is used for realizing interconnection of different CAN networks; and the photoelectric conversion circuit is used for converting the electric signal of the CAN bus into an optical fiber signal. According to the device, the electric signal of the CAN bus is converted into the optical fiber signal for transmission, so that equipment configuration of a surgical robot system in different application scenes is facilitated, and the application requirements of different scenes are met.

Description

Technical Field

[0001] This application relates to the field of surgical robot technology, and more specifically to a CAN bridging device, an optical communication system, a surgical robot device and system. Background Technology

[0002] Surgical robots, primarily used in minimally invasive laparoscopic and orthopedic surgeries, typically consist of a surgeon's console, a patient-side robot, and a vision cart. During system operation, real-time control commands must be exchanged between the surgeon's console, patient-side robot, and vision cart. This is usually achieved through a Controller Area Network (CAN) bus for interconnecting the internal components. According to ISO 11898-2, a 120Ω terminating resistor must be connected at each end of the bus. In practical applications, surgical robot systems employ different device configurations depending on the application scenario. However, due to the limitations of the CAN bus terminating resistor requirements, flexible switching between different device configurations for different application scenarios is not possible. Summary of the Invention

[0003] This application is made in consideration of the above-mentioned problems. This application provides a CAN bridging device, an optical communication system, a surgical robot device and system, which facilitates the device configuration of the surgical robot system in different application scenarios and meets the application needs of different scenarios.

[0004] According to a first aspect of this application, a CAN bridging device is provided, the CAN bridging device including a CAN bridging circuit and a photoelectric conversion circuit, the CAN bridging circuit and the photoelectric conversion circuit being electrically connected;

[0005] The CAN bridge circuit is used to interconnect different CAN networks;

[0006] The photoelectric conversion circuit is used to convert the electrical signals of the CAN bus into optical fiber signals.

[0007] In one embodiment of this application, the CAN bridging device further includes an optical switching circuit, which is communicatively connected to the photoelectric conversion circuit;

[0008] The optical switching circuit is used to exchange data between the different CAN networks based on the optical fiber signal.

[0009] In one embodiment of this application, the CAN bridging circuit includes at least one of a processor, a field-programmable gate array, and a system-on-a-chip.

[0010] According to a second aspect of this application, a surgical robot device is provided, the surgical robot device including robot-related devices and the aforementioned CAN bridging device, the robot-related devices and the CAN bridging device being communicatively connected via a CAN bus.

[0011] In one embodiment of this application, terminating resistors are respectively provided at both ends of the CAN bus between the high-order data line and the low-order data line of the CAN bus.

[0012] In one embodiment of this application, the robot-related device is any one of a master operating device, a slave operating device, and an imaging device.

[0013] In one embodiment of this application, the robot-related device includes multiple functional units, which belong to the same CAN network and are connected to each other via the CAN bus.

[0014] In one embodiment of this application, the CAN network is a star network structure.

[0015] According to a third aspect of this application, an optical communication system is provided, the optical communication system including a plurality of CAN bridging devices as described in the first aspect, the plurality of CAN bridging devices being interconnected via optical fibers.

[0016] According to a fourth aspect of this application, a surgical robot system is provided, including at least one master operating device, at least one slave operating device, at least one imaging device, and the optical communication system described in the third aspect above, wherein the master operating device, the slave operating device, and the imaging device are respectively connected to the optical communication system via a CAN bus.

[0017] According to a fifth aspect of this application, a surgical robot system is provided, the surgical robot system including the surgical robot devices described in the second aspect above, wherein a plurality of the surgical robot devices are interconnected via optical fibers.

[0018] The CAN bridging device of this application converts the electrical signals of the CAN bus into optical fiber signals for transmission, thereby facilitating the equipment configuration of the surgical robot system in different application scenarios, meeting the application requirements of different scenarios, and improving the reliability and bandwidth of communication. Attached Figure Description

[0019] The above and other objects, features, and advantages of the present invention will become more apparent from the more detailed description of the embodiments of the invention in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts or steps.

[0020] Figure 1 This is a schematic diagram of the structure of a surgical robot system according to an embodiment of this application;

[0021] Figure 2 This is a schematic diagram of the structure of a patient-side robot according to an embodiment of this application;

[0022] Figure 3a This is a schematic structural block diagram of the existing surgical robot system in Scenario 1;

[0023] Figure 3b This is a schematic structural block diagram of the existing surgical robot system in Scenario 2;

[0024] Figure 4 This is a schematic structural block diagram of a CAN bridging device according to an embodiment of this application;

[0025] Figure 5 This is a schematic structural block diagram of a CAN bridging device according to another embodiment of this application;

[0026] Figure 6 This is a schematic structural block diagram of a surgical robot device according to an embodiment of this application;

[0027] Figure 7 This is a schematic structural block diagram of an optical communication system according to an embodiment of this application;

[0028] Figure 8 This is a schematic structural block diagram of an optical communication system according to another embodiment of this application;

[0029] Figure 9 This is a schematic structural block diagram of a surgical robot system according to an embodiment of this application. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely a part of the embodiments of the present invention, and not all of the embodiments of the present invention. It should be understood that the present invention is not limited to the exemplary embodiments described herein. Based on the embodiments of the present invention described herein, all other embodiments obtained by those skilled in the art without inventive effort should fall within the protection scope of the present invention.

[0031] See Figure 1 The surgical robot system 10 shown in this embodiment of the invention includes a doctor's operating table 101, a patient-side robot 102, and a vision cart 103.

[0032] The doctor's operating console 101 includes a display unit for showing the surgical instruments and environment, a doctor's operating control mechanism, and armrests. The display unit has an observation window for the doctor to observe, the operating control mechanism is designed so that its movements correspond to the movements of the surgical instruments, and the armrests are for supporting the doctor's arms. In addition, the doctor's operating console 101 also has other control switches that are easily accessible by hand or foot for various functional operations and human-computer interaction.

[0033] The vision trolley 103 includes a display screen, endoscope controller, system electronics, image processor, etc.

[0034] See Figure 2 The patient-side robot 102 may include at least one robotic arm 1021, which has several connecting arms. Adjacent connecting arms move relative to each other with specific degrees of freedom, allowing the end effector of the robotic arm to achieve multiple degrees of freedom (e.g., 7 degrees of freedom, depending on the surgical instrument). The end effector of the robotic arm 1021 is provided with a holding arm 1022, on which surgical instruments 30 are detachably mounted. The surgical instruments 30 may be instruments used to perform surgical procedures, such as electrocautery devices, clamps, or vascular occluders; they may also be cameras used to acquire images of the surgical area, such as endoscopes; or other surgical instruments.

[0035] The surgical instrument 30, from proximal to distal, includes a rear-end drive 301, a shaft 302, and an end effector 303. The rear-end drive 301 is connected to a drive unit located within the surgical arm 1022. The rear-end drive 301 can be connected to the end effector 303 via a transmission component, which can also brake the end effector 303. The transmission component may include a push-pull rod, a line, a rope, or a belt. The shaft 302 connects the rear-end drive 301 and the end effector 303, serving to separate them and support the end effector 303. The end effector 303 may include tools for surgical operations such as tissue cutting, such as hooks, spatulas, clamps, or scissors, or it may be an endoscope for image acquisition.

[0036] Surgical robot systems employ different device configurations depending on the application scenario. However, due to limitations imposed by the CAN bus termination resistor requirements, flexible switching between different device configurations for different scenarios is not possible. For example, in scenario 1, such as... Figure 3aAs shown, the 120Ω terminating resistor is located at the doctor's operating table and the patient-side robot 1; when switching to scene 2, as... Figure 3b As shown, the position of the 120Ω terminating resistor needs to be adjusted to the doctor's operating table and the patient-side robot 2. While it's possible to design additional adjustment switches in the structure and hardware for manual hardware adjustment, this adds unnecessary steps and inconveniences to system operation.

[0037] To address the inconvenience of manual configuration and operation required by existing surgical robot systems that utilize controller area networks (CAN) in different application scenarios, this application proposes a CAN bridging device, an optical communication system, a surgical robot device, and a system. This facilitates device configuration for surgical robot systems in various application scenarios, meeting the diverse application requirements. A detailed description follows.

[0038] First, refer to Figure 4 This application describes a CAN bridging device 200 according to an embodiment of the present application.

[0039] like Figure 4 As shown, the CAN bridging device 200 provided in this application includes a CAN bridging circuit 210 and a photoelectric conversion circuit 220, which are electrically connected.

[0040] The CAN bridge circuit 210 is used to interconnect different CAN networks.

[0041] Specifically, the CAN bridge circuit 210 includes a CAN controller and a CAN transceiver. The CAN controller is communicatively connected to the transceiver and the photoelectric conversion circuit 220, respectively. The CAN transceiver is connected to the CAN bus using a twisted pair cable, which includes two signal lines: a high-order data line CAN_High and a low-order data line CAN_Low.

[0042] When a CAN node needs to send data, the CAN controller sends the CAN protocol message to the CAN transceiver in binary encoding. The CAN transceiver then converts the binary encoded logic level signal into a differential signal and outputs it to the CAN bus network through the high-order data line CAN_High and the low-order data line CAN_Low. Conversely, when the CAN transceiver receives data from the CAN bus and sends it to the CAN controller, the process is reversed. The CAN transceiver converts the received CAN_High and CAN_Low differential signals from the CAN bus into ordinary logic level signals and outputs them to the CAN controller.

[0043] The photoelectric conversion circuit 220 is used to convert the electrical signals of the CAN bus into optical fiber signals.

[0044] The photoelectric conversion circuit 220 has a fiber optic interface and is connected to an optical fiber.

[0045] Specifically, the photoelectric conversion circuit 220 converts the logic level signal of the received CAN protocol message into an optical fiber signal and outputs it to the optical fiber line through the optical fiber interface of the photoelectric conversion circuit 220; or, the photoelectric conversion circuit 220 converts the optical fiber signal received from the optical fiber line into a logic level electrical signal and outputs it to the CAN bridge circuit 210, thereby realizing the mutual conversion between optical signals and electrical signals.

[0046] Specifically, the fiber optic signal from the optical fiber is converted into an electrical signal by the photoelectric conversion circuit 220 and then input into the CAN bridge circuit 210; alternatively, the electrical signal from the CAN bridge circuit 210 is converted into a fiber optic signal by the photoelectric conversion circuit 220 and input into the optical fiber. It is easy to understand that the photoelectric conversion circuit 220 is a tool for realizing the mutual conversion of photoelectric signals and does not have the function of processing data. In the photoelectric conversion process described in the above embodiment, the information does not change.

[0047] In one specific implementation, the photoelectric conversion circuit 220 can be directly integrated with the CAN bridge circuit 210 onto a single printed circuit board using surface mount technology. Alternatively, an independent pluggable optical module can be used, with an optical module connector provided on the CAN bridge circuit 210. The connection between the CAN bridge circuit 210 and the optical module is achieved through the optical module connector. For example, the optical module connector can be a gold finger slot. The independent pluggable optical module achieves electrical connection with the CAN bridge circuit 210 through the gold fingers on the circuit board. The electrical connection mainly includes power supply, data signal transmission, and grounding.

[0048] In one specific implementation, the photoelectric conversion circuit 220 has one or two fiber optic transceiver interfaces. When the photoelectric conversion circuit 220 has one fiber optic transceiver interface, the CAN bridging device 200 adopts a point-to-point connection, that is, the two CAN bridging devices 200 communicate with each other, and each CAN bridging device 200 is connected via optical fiber.

[0049] In one specific implementation, the photoelectric conversion circuit 220 has two fiber optic transceiver interfaces. These two interfaces are interconnected, allowing optical signals received on one interface to be forwarded to the other. When the photoelectric conversion circuit 220 has two fiber optic transceiver interfaces, the CAN bridging devices 200 can be connected in a ring configuration, meaning each CAN bridging device 200 with two fiber optic transceiver interfaces is connected to two other CAN bridging devices 200, with each CAN bridging device 200 connected via optical fiber. Alternatively, at least one CAN bridging device 200 with two fiber optic transceiver interfaces can be connected to two CAN bridging devices 200 with one fiber optic transceiver interface, forming a chain-like network structure.

[0050] It should be noted that the optical fiber here can be single-core or dual-core. When it is dual-core, one optical fiber receives the signal and the other optical fiber transmits the signal. This application does not specifically limit the type of optical fiber.

[0051] The CAN bridging device 200 of this application converts the electrical signals of the CAN bus into optical fiber signals for transmission, enabling fiber optic communication between devices and thus extending the communication distance between them. It also prevents damage to the devices caused by electromagnetic interference, ground loop interference, lightning surges, etc., improving communication reliability. Furthermore, optical fibers are lighter and easier to install and wire than cables. This facilitates the configuration of surgical robot systems in different application scenarios, meeting the application requirements of various situations.

[0052] The following combination Figure 5 To illustrate another embodiment of the CAN bridging device 300 according to this application.

[0053] like Figure 5 As shown, in one embodiment of this application, the CAN bridging device 300 includes a CAN bridging circuit 310 and a photoelectric conversion circuit 320, and also includes an optical switching circuit 330, which is communicatively connected to the photoelectric conversion circuit 320.

[0054] Optical switching circuit 330 is used for data exchange between different CAN networks based on fiber optic signals.

[0055] Specifically, the optical switching circuit 330 and the photoelectric conversion circuit 320 interact via optical signals. In addition, the optical switching circuit 330 has three or more fiber optic transceiver interfaces, enabling it to forward signals received from any optical port to other optical ports and the photoelectric conversion circuit 320. Since the optical switching circuit 330 has three or more fiber optic transceiver interfaces, the CAN bridging device 200 can be connected in a star configuration to multiple CAN bridging devices with one or two fiber optic transceiver interfaces. That is, each CAN bridging device with one fiber optic transceiver interface is connected to the CAN bridging device 300 with multiple fiber optic transceiver interfaces via optical fiber.

[0056] Of course, different CAN bridging devices can be combined to form different network structures, which will not be listed here.

[0057] The CAN bridging device in this embodiment can realize various networking structures, thereby meeting the actual needs of various user sites.

[0058] According to one embodiment of this application, the CAN bridging circuit includes at least one of a processor, a field-programmable gate array (FPGA), and a system-on-chip (SOC) chip.

[0059] Specifically, when a processor is used in the CAN bridging circuit, the CAN signals obtained after photoelectric conversion can be exchanged through software to achieve interconnection of different CAN networks.

[0060] This application also provides a surgical robot device, see reference. Figure 6 This application describes a surgical robot device according to embodiments thereof.

[0061] like Figure 6 As shown, the surgical robot device 400 provided in this application embodiment includes a robot-related device 410 and the aforementioned CAN bridging device 420. The robot-related device 410 and the CAN bridging device 420 are connected for communication via a CAN bus 450.

[0062] Specifically, the CAN bus includes two signal lines: the high-order data line CAN_High and the low-order data line CAN_Low. The signals of the two data lines are differential, which can effectively suppress electromagnetic interference.

[0063] In a specific implementation, the robot-related device is any one of the master manipulator, slave manipulator, and imaging device.

[0064] For example, the main operating device can be a doctor's operating table, the secondary operating device can be a patient-side robot, and the imaging device can be a vision cart.

[0065] In one specific implementation, the two ends of the CAN bus 450 are respectively provided with terminating resistors 430 and 440, which are connected between the high-order data line and the low-order data line of the CAN bus 450.

[0066] Specifically, the terminating resistor has a resistance of 120 ohms.

[0067] By setting a terminating resistor, signal reflections on the CAN bus can be effectively reduced.

[0068] In one specific implementation, the robot-related device includes multiple functional units 411, which belong to the same CAN network and are connected to each other via a CAN bus.

[0069] Specifically, the multiple functional units 411 can be networked using a bus network structure, a star network structure, or a tree network structure.

[0070] Preferably, the CAN network composed of multiple functional units 411 is a star network structure.

[0071] When using a star network structure, the CAN network topology is simpler and the transmission rate is faster.

[0072] The surgical robot device in this application embodiment transforms the CAN network into an internal device network, with the internal CAN connection topology remaining fixed. This allows the 120Ω termination resistor position to be set according to the topology, unaffected by the device deployment scenario. Furthermore, after the CAN network becomes an internal device network, the entire CAN communication distance is shortened, improving the reliability and bandwidth of CAN communication.

[0073] This application also provides an optical communication system, referring to... Figure 7 This application describes an optical communication system according to embodiments thereof.

[0074] like Figure 7 As shown, the optical communication system 500 provided in this application embodiment includes a plurality of the above-mentioned CAN bridging devices 510, and the plurality of CAN bridging devices 510 are interconnected through optical fibers.

[0075] Specifically, the CAN bridging device 510 may include a CAN bridging circuit 511 and a photoelectric conversion circuit 512, and multiple CAN bridging devices 510 may be networked in a ring or chain structure. Figure 7 The multiple CAN bridging devices 510 shown in the diagram adopt a chain-like networking structure.

[0076] The optical communication system described in this application can simplify the network topology of existing robot systems and extend the data transmission distance.

[0077] Next, refer to Figure 8 To describe another embodiment of the optical communication system according to this application.

[0078] like Figure 8 As shown, the optical communication system 600 provided in this application embodiment includes multiple CAN bridging devices 610 and one CAN bridging device 620, with each CAN bridging device 610 connected to the CAN bridging device 620 via an optical fiber.

[0079] Specifically, the CAN bridging device 610 includes a CAN bridging circuit 611 and a photoelectric conversion circuit 612, and the CAN bridging device 620 includes a CAN bridging circuit 611 and a photoelectric conversion circuit 612, as well as an optical switching circuit 613. The CAN bridging device 620 and multiple CAN bridging devices 610 adopt a star topology network.

[0080] This application also provides a surgical robot system, including at least one master operating device, at least one slave operating device, at least one imaging device, and the aforementioned optical communication system. The master operating device, slave operating device, and imaging device are respectively connected to the optical communication system via a CAN bus.

[0081] Next, refer to Figure 9 This application describes a surgical robot system according to one embodiment.

[0082] like Figure 9 As shown, in this embodiment, the optical communication system includes multiple CAN bridging devices 720, each of which includes a bridging microcontroller unit (MCU) 721 and a photoelectric conversion circuit 722. The optical communication system is used to transmit interactive data between devices in the surgical robot system, such as control commands and real-time data from the surgical site.

[0083] A CAN bridging device 720 is installed in each surgical robot device. Each surgical robot device includes component one 710, CAN bridging device 720, and component two 730. CAN bridging device 720 is located between component two 730 and component one 710. Component one 710 can be the control panel of the surgical robot device, providing input and output interfaces and connecting various cables. Component two 730 can be the main control unit. Component one 710 is connected to each other and to CAN bridging device 720 via optical fiber. CAN bridging device 720 and component two 730 are connected via a CAN bus.

[0084] In addition, each surgical robot device may include other functional units, such as component three 741, component four 742, etc. Other functional units and the CAN bridging device 720 in each surgical robot device are connected to the main control board 710 via a CAN bus. The photoelectric conversion circuit 722 of the CAN bridging device 720 is connected to component one 710 via optical fiber. Optical fiber connections are used between surgical robot devices. The CAN link signal is transmitted from the main control board 710 to the bridging MCU 721. The differential signal of the CAN link is converted into a logic signal, then photoelectric conversion is performed by the photoelectric conversion circuit 722, and transmitted via optical fiber to component one 710. Component one 710 then transmits the signal to component one 710 of another machine.

[0085] After the fiber optic signal reaches the panel 710 of another machine, it enters the device and undergoes photoelectric conversion, converting the optical signal into an electrical signal and sending it to the bridging MCU 721. The bridging MCU 721 converts the electrical signal into a differential signal for CAN bus transmission, enabling communication with various CAN nodes, i.e., functional units, inside the device.

[0086] Within the CAN network of the surgical robot, a 120Ω terminating resistor can be configured according to the specific topology. Figure 9 The illustrated device structure example, for a robot device including component four 742, component three 741, component two 730, and bridging device 720, can each have a 120Ω terminating resistor set on component four 742 and the bridging MCU 721. Since the CAN network is an internal network of the device, the internal structure of the device will not change under different application scenarios; therefore, the positions of these two resistors do not need to be adjusted according to different application scenarios.

[0087] When switching between different scenarios, only the external fiber optic connection needs to be adjusted. For example, if the interconnection scenario of devices 1, 2, and 3 changes to the interconnection scenario of devices 1, 2, 3, and 4, simply add device 4 to the system and connect it to device 3 via fiber optic cable. Therefore, the device configuration of the system in different scenarios can be greatly simplified.

[0088] This application also provides a surgical robot system, which includes the surgical robot devices described above, with multiple surgical robot devices interconnected via optical fibers.

[0089] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of the invention. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of the invention. All such changes and modifications are intended to be included within the scope of the invention as claimed in the appended claims.

[0090] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0091] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed.

[0092] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0093] Similarly, it should be understood that, in order to streamline the invention and aid in understanding one or more of the various aspects of the invention, features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of the invention. However, this method of the invention should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the corresponding claims, its inventive point lies in solving the corresponding technical problem with fewer features than all of those in a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0094] Those skilled in the art will understand that, apart from the mutual exclusion of features, all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or apparatus so disclosed can be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0095] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0096] The various component embodiments of the present invention can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some modules in the article analysis device according to embodiments of the present invention. The present invention can also be implemented as an apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such programs implementing the present invention can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0097] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0098] The above description is merely a specific embodiment of the present invention or an explanation of that embodiment. The scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A CAN bridging device, characterized in that, The CAN bridging device includes a CAN bridging circuit and a photoelectric conversion circuit, and the CAN bridging circuit and the photoelectric conversion circuit are electrically connected. The CAN bridge circuit is used to interconnect different CAN networks; The photoelectric conversion circuit is used to convert the electrical signals of the CAN bus into optical fiber signals.

2. The CAN bridging device as described in claim 1, characterized in that, The CAN bridging device also includes an optical switching circuit, which is communicatively connected to the photoelectric conversion circuit. The optical switching circuit is used to exchange data between the different CAN networks based on the optical fiber signal.

3. The CAN bridging device as described in claim 1, characterized in that, The CAN bridging circuit includes at least one of a processor, a field-programmable gate array, and a system-on-a-chip.

4. A surgical robot device, characterized in that, The surgical robot device includes robot-related devices and a CAN bridging device according to any one of claims 1 to 3, wherein the robot-related devices and the CAN bridging device are connected via a CAN bus.

5. The surgical robot device as described in claim 4, characterized in that, The two ends of the CAN bus are respectively provided with terminating resistors connected between the high-order data line and the low-order data line of the CAN bus.

6. The surgical robot device as described in claim 4, characterized in that, The robot-related device is any one of the main operating device, the slave operating device, and the imaging device.

7. The surgical robot device as described in claim 4, characterized in that, The robot-related device includes multiple functional units, which belong to the same CAN network and are connected to each other via the CAN bus.

8. The surgical robot device as described in claim 7, characterized in that, The CAN network is a star network structure.

9. An optical communication system, characterized in that, The optical communication system includes a plurality of CAN bridging devices as described in any one of claims 1 to 3, wherein the plurality of CAN bridging devices are interconnected via optical fibers.

10. A surgical robot system, characterized in that, It includes at least one master operating device, at least one slave operating device, at least one imaging device, and the optical communication system of claim 9, wherein the master operating device, the slave operating device, and the imaging device are respectively connected to the optical communication system via a CAN bus.

11. A surgical robot system, characterized in that, The surgical robot system includes a plurality of surgical robot devices as described in any one of claims 4-8, the plurality of surgical robot devices being interconnected via optical fibers.

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