Dynamic topology reconstruction method and device of surgical robot system, medium and product

Abstract

The invention discloses a dynamic topology reconstruction method and device of a surgical robot system, a medium and a product, and relates to the technical field of surgical robots. The method comprises the following steps: acquiring a registration state of each access device in a target surgical robot system, and determining a target working mode of the target surgical robot system according to each registration state; when the registration state of the access equipment changes and the reference working mode determined based on the new registration state is inconsistent with the target working mode, reconstructing the operation configuration of the target surgical robot system; updating the operation authority of each doctor console according to the reference working mode, and displaying a system topological structure and a working mode identifier corresponding to the reference working mode on a human-computer interaction interface of the patient operation platform; wherein the number of the doctor consoles in the activated state does not exceed two. According to the scheme, the topological structure of the surgical robot system can be dynamically reconstructed, and help is provided for guaranteeing surgical safety.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and in particular to a method, device, medium, and product for dynamic topology reconstruction of a surgical robot system. Background Technology

[0002] A surgical robotic system is a medical device that enables surgeons to remotely and precisely control the device through a master-slave teleoperation architecture. It typically consists of a control console (master) at the surgeon's end and a robotic arm execution unit (slave) at the patient's end. The surgeon issues commands on the control console via handgrips, foot pedals, or voice input devices. The system maps these commands in real time and drives multi-degree-of-freedom surgical instruments at the patient's end to perform delicate movements such as tissue cutting, suturing, and traction. Such systems are widely used in urology, gynecology, cardiothoracic surgery, and other fields, significantly improving the stability, minimally invasiveness, and accessibility of surgeries.

[0003] At present, mainstream surgical robot systems typically adopt a preset static topology architecture. When the system starts up, it configures fixed communication links and operating permissions based on the initial connected devices and maintains this configuration during operation. For example, after the system identifies the connected console and robotic arm during the initialization phase, it establishes a one-to-one control mapping relationship and locks the data routing path.

[0004] However, this static topology scheme cannot adapt to scenarios where equipment is dynamically added or removed during surgery or where network status changes abruptly: when a new remote control console is added or a robotic arm is temporarily offline, the system cannot automatically adjust the communication strategy to ensure safety and real-time performance, nor can it reallocate operating permissions to match currently available resources, resulting in limited collaboration capabilities, chaotic human-machine interaction, and even the risk of control conflicts. Summary of the Invention

[0005] This invention provides a method, device, medium, and product for dynamic topology reconstruction of a surgical robot system, which dynamically reconstructs the topology of the surgical robot system when the access devices of the surgical robot system change, thereby helping to ensure the safety and real-time performance of the surgery.

[0006] According to one aspect of the present invention, a dynamic topology reconfiguration method for a surgical robot system is provided, the method comprising:

[0007] The registration status of each access device in the target surgical robot system is obtained, and the target working mode of the target surgical robot system is determined based on the registration status; the access devices include: patient surgical platform, expandable surgical arm, local doctor console or remote doctor console;

[0008] If it is determined that the registration status of any of the access devices has changed and the reference working mode determined based on the new registration status is inconsistent with the target working mode, the operating configuration of the target surgical robot system shall be reconstructed according to the reference working mode.

[0009] After the reconstruction of the operating configuration is completed, the operation permissions of each doctor's console are updated according to the reference working mode, and the system topology and working mode identifier corresponding to the reference working mode are displayed on the human-computer interaction interface of the patient's surgical platform; wherein, the number of doctor's consoles in the active state does not exceed two.

[0010] According to another aspect of the present invention, a dynamic topology reconstruction device for a surgical robot system is provided, the device comprising:

[0011] The working mode determination module is used to obtain the registration status of each access device in the target surgical robot system, and determine the target working mode of the target surgical robot system based on the registration status; the access devices include: patient surgical platform, expandable surgical arm, local doctor console or remote doctor console;

[0012] The reconfiguration module is used to reconfigure the operating configuration of the target surgical robot system according to the reference operating mode when it is determined that the registration status of any of the access devices has changed and the reference operating mode determined based on the new registration status is inconsistent with the target operating mode.

[0013] The permission update module is used to update the operation permissions of each doctor's console according to the reference working mode after the reconstruction of the running configuration is completed, and to display the system topology and working mode identifier corresponding to the reference working mode on the human-computer interaction interface of the patient's surgical platform; wherein, the number of doctor's consoles in the active state does not exceed two.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] At least one processor;

[0016] and a memory communicatively connected to the at least one processor;

[0017] The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the dynamic topology reconstruction method of the surgical robot system according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the dynamic topology reconfiguration method of the surgical robot system according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the dynamic topology reconfiguration method for a surgical robot system according to any embodiment of the present invention.

[0020] The technical solution of this invention involves acquiring the registration status of each access device in a target surgical robot system and determining the target operating mode of the target surgical robot system based on each registration status. If the registration status of any access device changes and the reference operating mode determined based on the new registration status is inconsistent with the target operating mode, the operating configuration of the target surgical robot system is reconstructed according to the reference operating mode. After the reconstructing of the operating configuration is completed, the operating permissions of each doctor's console are updated according to the reference operating mode, and the system topology and operating mode identifier corresponding to the reference operating mode are displayed on the human-computer interaction interface of the patient's surgical platform. The number of doctor's consoles in an active state does not exceed two, allowing for dynamic reconstruction of the topology of the surgical robot system when the access devices of the surgical robot system change, thus helping to ensure the safety and real-time performance of the surgery.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart of a dynamic topology reconfiguration method for a surgical robot system according to Embodiment 1 of the present invention;

[0024] Figure 2 This is a flowchart of a dynamic topology reconstruction method for a surgical robot system according to Embodiment 2 of the present invention;

[0025] Figure 3This is a schematic diagram of the structure of a dynamic topology reconfiguration device for a surgical robot system according to Embodiment 3 of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the dynamic topology reconstruction method of the surgical robot system according to an embodiment of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] Example 1

[0030] Figure 1 This is a flowchart of a dynamic topology reconstruction method for a surgical robot system according to Embodiment 1 of the present invention. This embodiment is applicable to situations where the topology of the surgical robot system is dynamically reconstructed when the access devices of the surgical robot system change. This method can be executed by a dynamic topology reconstruction device for the surgical robot system, which can be implemented in hardware and / or software. This dynamic topology reconstruction device can be configured in electronic devices such as computers, servers, or tablet computers. Figure 1 As shown, the method includes:

[0031] Step 110: Obtain the registration status of each access device in the target surgical robot system, and determine the target working mode of the target surgical robot system based on the registration status.

[0032] The access devices include: patient surgical platform, expandable surgical arm, local doctor console or remote doctor console.

[0033] In this embodiment, the target surgical robot system can be any surgical platform, which may include multiple doctor consoles. Each doctor console can be a remote console or a local console. For example, it may include two local doctor consoles, or one local doctor console and one remote doctor console; this embodiment does not limit the specific configuration. Each doctor console can communicate with the patient surgical platform to control the movements of the surgical arms within the patient surgical platform. The target surgical robot system may also include an expandable surgical arm (i.e., an X-arm). In this embodiment, the doctor consoles, the patient surgical platform, and the expandable surgical arm are referred to as the access devices of the target surgical robot system.

[0034] The registration status of each access device can be the logical state of each access device after completing identity authentication and capability declaration with the main control unit during the startup or operation of the target surgical robot system. It is used to characterize whether the device is currently recognized, authorized and included in the scope of collaborative control by the system. The registration status usually includes registered, valid, unregistered, invalid or offline, etc.

[0035] The target operating mode can be a global operating strategy determined based on the registration status of all currently accessed devices and according to preset rules (e.g., device combination type, quantity, and role configuration). For example, it can include two orthogonal attributes: operating mode (e.g., local mode, remote mode, or stand-alone mode) and function configuration (e.g., standard mode or extended mode).

[0036] In one optional implementation of this embodiment, after the target surgical robot system is powered on or initialized, the main control unit actively scans the bus or listens to the registration interface to receive registration messages from each access device. Each registration message contains a unique device identifier, device type, and capability description information. After the main control unit performs legality verification and deduplication on the messages, it updates the registration status of each device to the device management table. Subsequently, the main control unit traverses the table, extracts the device types and their quantities that are currently in a valid state, and determines the current system's working mode based on predefined mapping rules (e.g., a remote doctor console exists and the patient platform is online - the operation mode is remote mode; an expandable surgical arm is registered - the function is configured as extended mode). In this embodiment, this is named the target working mode.

[0037] For example, during the initialization of the target surgical robot system, the main control unit receives registration messages from the patient surgical platform, the expandable surgical arm, the local doctor's console, and the remote doctor's console. After verification, the registration status of each device is marked as valid. Subsequently, based on the type and number of registered devices, the target operating mode is determined according to preset rules. For example, when both the patient surgical platform and the remote doctor's console are online, the operating mode is determined to be the remote mode. If the expandable surgical arm is also registered, the function configuration is determined to be the extended mode. Finally, the remote extended mode is generated as the target operating mode of the target surgical robot system.

[0038] Optionally, in this embodiment, obtaining the registration status of each access device in the target surgical robot system and determining the target operating mode of the target surgical robot system based on each registration status may include: determining the registration status of each doctor's console in the target surgical robot system, and determining the operating mode of the target surgical robot system based on the registration status of each doctor's console; wherein, when no local doctor's console or remote doctor's console is registered, the operating mode is stand-alone mode; when a local doctor's console is registered but no remote doctor's console is registered, the operating mode is local mode; when a remote doctor's console is registered, the operating mode is remote mode; determining whether an expandable surgical arm is registered in the target surgical robot system, and determining the functional configuration of the target surgical robot system based on the registration result of the expandable surgical arm; wherein, when no expandable surgical arm is registered, the functional configuration is standard mode; when an expandable surgical arm is registered, the functional configuration is expanded mode; and determining the target operating mode based on the combination of the operating mode and the functional configuration.

[0039] In one optional implementation of this embodiment, the main control unit (e.g., a central controller or main control server) reads the registration records of all currently connected devices from the device registration management module of the target surgical robot system. This registration management module continuously maintains a dynamic device registry during system startup or operation, where each record contains information such as a unique device identifier, device type field, registration timestamp, authentication status, and heartbeat keep-alive flag. The main control unit focuses on filtering records where the device type is a local doctor console or a remote doctor console, and counts the number of valid registrations for each: if a console's authentication status is passed and its most recent heartbeat signal is received within a preset timeout threshold (e.g., 3 seconds), its registration status is determined to be valid; otherwise, it is considered invalid or unregistered.

[0040] Furthermore, the main control unit executes the operation mode determination logic based on the registration status of the aforementioned doctor's console:

[0041] If the number of validly registered local doctor consoles is 0 and the number of validly registered remote doctor consoles is also 0, then the operation mode will be set to standby mode, indicating that the system currently has no external operation commands input and can only execute preset actions or enter standby mode.

[0042] If the number of validly registered local doctor consoles is ≥1 and the number of validly registered remote doctor consoles is 0, then the operation mode will be set to local mode, indicating that the surgical operation will be performed independently by the doctor in the operating room.

[0043] If the number of validly registered remote doctor consoles is ≥1 (regardless of whether a local doctor console exists), the operation mode will be set to remote mode, indicating that the system supports remote intervention. At this time, end-to-end encrypted communication, operation command synchronization, and network latency compensation mechanisms will be enabled.

[0044] Furthermore, the main control unit queries the device registry to see if there is a valid registration record for the device type "Extendable Surgical Arm". If the registration status of the Extendable Surgical Arm is valid (i.e., driver initialization has been completed and capability parameters have been reported), the function configuration is set to extended mode; if it does not exist or its registration status is invalid, the function configuration is set to standard mode.

[0045] Finally, the main control unit combines the determined operating mode and function configuration to form a structured mode identifier. For example, if the operating mode is remote mode and the function configuration is extended mode, the generated target operating mode is remote extended mode; if it is a combination of local mode and standard mode, the generated mode is local standard mode. This mode identifier is encapsulated as part of the system runtime context, written to the global configuration cache, and used to trigger subsequent operations such as runtime configuration refactoring, control permission allocation, and human-computer interaction interface updates.

[0046] It should be noted that the above process can be executed during the initialization phase of the target surgical robot system, or it can be re-executed by events when the registration status of any access device changes (e.g., a new console comes online, the surgical arm goes offline, etc.), thereby ensuring that the target working mode is always consistent with the current actual device topology.

[0047] Step 120: If the registration status of any access device changes and the reference working mode determined based on the new registration status is inconsistent with the target working mode, the operating configuration of the target surgical robot system is reconstructed according to the reference working mode.

[0048] It is understood that, in this embodiment, a change in the registration status of an access device means that the status of any registered or newly accessed device (including patient surgical platform, expandable surgical arm, local doctor console or remote doctor console) in the system device registry changes from valid to invalid (e.g., due to communication interruption, message timeout or active deregistration), or from unregistered to valid (e.g., a new device completes authentication and successfully registers).

[0049] The operational configuration of the target surgical robot system can be the current logical topology of the target surgical robot system, including the communication link configuration between each device, data flow routing strategy, control permission binding relationship, and human-computer interaction resource allocation, etc., which are not limited in this embodiment.

[0050] Optionally, in this embodiment, the main control unit continuously monitors the status change events of the device registration management module. When a valid change in the registration status of any access device is detected (e.g., a remote doctor console goes online and registers, or an expandable surgical arm goes offline due to a fault), the main control unit immediately triggers a mode re-evaluation process: First, based on the updated complete registration status list, the operation mode and function configuration can be recalculated, and a corresponding reference working mode can be generated; then, the reference working mode is compared item by item with the currently effective target working mode to determine whether there are differences in the operation mode or function configuration. If there is an inconsistency (e.g., the original was the local standard mode, and the new calculation result is the remote extended mode), the configuration refactoring program is started. For example, based on the configuration refactoring program, the main control unit can dynamically adjust the network communication strategy (e.g., enable an encrypted channel in remote mode, switch to low-latency direct connection in local mode, etc.) according to the dimensional attributes of the reference working mode, reallocate the surgical arm control permissions (e.g., activate the driver interface and operation mapping of the expandable surgical arm in extended mode), limit the number of doctor consoles activated (ensuring no more than two), and synchronously update the policy parameters of the internal task scheduler and security monitoring module. After the reconstruction is completed, the reference operating mode is established as the new target operating mode, and the system enters a stable operating state that matches it. The entire process ensures that the system topology is always consistent with the actual available equipment capabilities, avoiding functional mismatches or control anomalies caused by adding or removing equipment.

[0051] Step 130: After completing the reconstruction of the operating configuration, update the operation permissions of each doctor's console according to the reference working mode, and display the system topology and working mode identifier corresponding to the reference working mode on the human-computer interaction interface of the patient's surgical platform.

[0052] In this embodiment, the number of doctor consoles in an active state shall not exceed two. The operating permissions of the doctor console can represent the doctor's control over each surgical arm in the patient's surgical platform, which may include an active state and an inactive state. It is understood that in the active state, the doctor is allowed to send operating commands to the surgical arms and manipulate them; in the inactive state, sending control commands to the surgical arms is prohibited, and the doctor can only view the surgical screen or initiate permission requests.

[0053] The human-computer interaction interface can be a local display screen deployed on the patient's surgical platform or a graphical user interface integrated into the main control unit, used to provide real-time feedback on the system status to medical staff.

[0054] Optionally, in this embodiment, after the target surgical robot system's operational configuration is successfully reconstructed, the main control unit uses the reference working mode as the configuration benchmark to parse its operating mode and functional configuration. If the operating mode is remote mode, one remote doctor's console is allowed to obtain master control permissions, while the local doctor's console is downgraded to supervisory permissions; if it is local mode, only one local doctor's console is authorized as the master control terminal; if it is standalone mode, all doctor's console control command input is disabled.

[0055] In this embodiment, regardless of the mode, the total number of active doctor consoles is strictly limited to no more than two; any additional consoles can only be accessed in read-only mode. Furthermore, the main control unit determines whether to enable the scalable surgical arm's operating interface based on the functional configuration of the reference working mode, and synchronously updates the available function sets of each console.

[0056] Furthermore, the main control unit constructs a topology model of the currently active connected devices, including the patient's surgical platform, registered expandable surgical arms, and the active doctor's console, and renders this model onto the human-computer interaction interface of the patient's surgical platform: devices are represented by icon nodes, control flow is identified by directed lines, and different roles are distinguished by color or labels. Finally, a working mode identifier corresponding to the reference working mode (e.g., Local-Extended) is overlaid in a prominent area of ​​the interface, allowing medical staff to intuitively confirm the system's current operating strategy.

[0057] The technical solution of this embodiment obtains the registration status of each access device in the target surgical robot system and determines the target operating mode of the target surgical robot system based on each registration status. If the registration status of any access device changes and the reference operating mode determined based on the new registration status is inconsistent with the target operating mode, the operating configuration of the target surgical robot system is reconstructed according to the reference operating mode. After the reconstructing of the operating configuration is completed, the operating permissions of each doctor's console are updated according to the reference operating mode, and the system topology and operating mode identifier corresponding to the reference operating mode are displayed on the human-computer interaction interface of the patient's surgical platform. The number of doctor's consoles in an active state does not exceed two, allowing for dynamic reconstruction of the topology of the surgical robot system when the access devices of the surgical robot system change, thus helping to ensure the safety and real-time performance of the surgery.

[0058] Example 2

[0059] Figure 2 This is a flowchart of a dynamic topology reconfiguration method for a surgical robot system according to Embodiment 2 of the present invention. This embodiment is a further refinement of the above technical solution, and the technical solution in this embodiment can be combined with various optional solutions in one or more of the above embodiments. Figure 2 As shown, the method includes:

[0060] Step 210: Obtain the registration status of each access device in the target surgical robot system, and determine the target working mode of the target surgical robot system based on the registration status.

[0061] Step 220: Receive message signals periodically sent by each registered access device, and receive registration requests from unregistered access devices; if no message signal is received from a target registered access device within a preset time period, or a registration request is received from a target unregistered access device, determine that the connection status of the target surgical robot system access device has changed; determine a reference working mode based on the updated registration status of each access device, and compare the reference working mode with the target working mode; when there are differences between the reference working mode and the target working mode in terms of operation mode or functional configuration, determine that the reference working mode and the target working mode are inconsistent.

[0062] Optionally, in this embodiment, after determining the target operating mode of the target surgical robot system, it can further receive message signals periodically sent by each registered access device and receive registration requests from unregistered access devices; if no message signal sent by a target registered access device is received within a preset time period, or if a registration request from a target unregistered access device is received, it is determined that the connection status of the access devices of the target surgical robot system has changed; a reference operating mode is determined based on the updated registration status of each access device, and the reference operating mode is compared with the target operating mode; when there are differences between the reference operating mode and the target operating mode in terms of operation mode or functional configuration, it is determined that the reference operating mode and the target operating mode are inconsistent.

[0063] In this embodiment, registered access devices can be hardware modules that have completed identity authentication, capability declaration, and have been included in the effective device list by the system's main control unit, including patient surgical platforms, expandable surgical arms, local doctor consoles, or remote doctor consoles. Their periodically sent message signals (also known as heartbeat messages) can contain a unique device identifier, operating status, and a timestamp to maintain their online validity. Unregistered access devices can be new access devices that have not yet completed the registration process or devices that are offline due to communication interruptions. They send registration requests through a specific registration interface to apply to join the target surgical robot system.

[0064] The preset time period can be a pre-set message timeout threshold (e.g., 3 seconds or 5 seconds, which is not limited in this embodiment). If no message signal is received from a registered device within this time period, the device is determined to be abnormally connected.

[0065] In one optional implementation of this embodiment, the main control unit can continuously run a listening task, on the one hand receiving message signals sent by all registered access devices at fixed intervals and recording the reception time of the most recent message of each device; on the other hand, listening to the registration interface and capturing registration requests from unregistered devices.

[0066] In this embodiment, the main control unit determines that the connection status of the access device has changed when it detects any of the following situations: any registered device has not sent a message for several consecutive periods, and the difference between the current time and the time of its last message reception exceeds a preset time period; or, a legitimate registration request from a new device is received and passes security authentication. Further, the main control unit updates its internal device registry: marking the registration status of disconnected devices as invalid, or marking the status of newly registered devices as valid. Based on this updated set of registration statuses, the main control unit re-executes the working mode determination logic; for example, it determines the operating mode based on the type of valid doctor console and the functional configuration based on whether the expandable surgical arm is validly registered, thereby generating a reference working mode. Then, the main control unit compares the reference working mode with the target working mode dimension by dimension: if there are any differences between the two in operating mode (e.g., changing from local mode to remote mode) or functional configuration (e.g., changing from standard mode to extended mode), it determines that the two are inconsistent and triggers the subsequent operational configuration reconfiguration process.

[0067] The advantage of this setup is that it ensures the target surgical robot system can promptly detect dynamic changes in the equipment and initiate reconfiguration only when actually needed, balancing responsiveness and system stability.

[0068] Step 230: Configure the communication link between each doctor's console and the patient's surgical platform according to the operating mode of the reference working mode, and enable or disable the remote data transmission channel; bind or unbind the control permissions of the expandable surgical arm according to the functional configuration of the reference working mode, and update the operating permissions of each doctor's console.

[0069] Optionally, in this embodiment, after determining that the registration status of any access device has changed and the reference working mode determined based on the new registration status is inconsistent with the target working mode, the communication link between each doctor's console and the patient's surgical platform can be further configured according to the operation mode of the reference working mode, and the remote data transmission channel can be enabled or disabled; according to the functional configuration of the reference working mode, the control permissions of the expandable surgical arm can be bound or unbound, and the operation permissions of each doctor's console can be updated.

[0070] The communication link can be a data channel between the doctor's console and the patient's surgical platform for transmitting operation commands, status feedback, and video streams. Its physical / logical implementation can include direct LAN connection, dedicated industrial bus, or WAN encrypted tunnel. The remote data transmission channel can be an encrypted, low-latency, and highly reliable data path that supports communication across networks (such as from the hospital intranet to a remote medical center). It is usually disabled in non-remote mode to reduce resource overhead and improve security.

[0071] In one optional implementation of this embodiment, after confirming that the reference operating mode and the target operating mode are inconsistent and require operational configuration reconfiguration, the main control unit can parse the operating mode of the reference operating mode. If it is a remote mode, the remote data transmission channel is activated: an end-to-end encrypted communication tunnel is established between the patient surgical platform and the remote doctor's console, network proxy and bandwidth reservation policies are configured, and the operating contexts of the local and remote consoles are synchronized; simultaneously, the local doctor's console is downgraded to a supervisory role. If it is a local mode, all remote data transmission channels are closed, and only the low-latency LAN link between the patient surgical platform and the local doctor's console is retained. If it is a standalone mode, all remote data transmission channels are closed, the control link between the local doctor's console and the patient surgical platform is disconnected, and all control command inputs to the doctor's console are disabled.

[0072] Furthermore, the main control unit analyzes the functional configuration of the reference working mode: in extended mode, it loads the driver module of the extended surgical arm, incorporates its kinematic model into the main control algorithm, and binds control permissions to the current master doctor's console; in standard mode, it unbinds the control of the extended surgical arm, stops its servo enable signal, and puts it into a safe shutdown state. Finally, based on the above combined results, the main control unit uniformly updates the operation permission table of each doctor's console; for example, in remote extended mode, one remote console is allowed to have master control, while the local console retains supervisory rights; in local standard mode, only one local console has master control, and other devices have no control permissions. All configuration changes are atomically distributed to each subsystem through the internal message bus to ensure the consistency and real-time effectiveness of communication, control, and permission policies.

[0073] In another optional implementation of this embodiment, reconstructing the operational configuration of the target surgical robot system according to the reference working mode may further include: when the reference working mode is remote mode, establishing an end-to-end encrypted communication channel between the patient surgical platform and the remote doctor's console, and synchronizing the operation status of the local doctor's console to the remote doctor's console; when the reference working mode is extended mode, activating the drive module of the extendable surgical arm, and bringing the extendable surgical arm into the control range of the master doctor's console; after completing the communication link configuration and device permission binding, broadcasting the effective command of the reference working mode to each access device, so that each access device can operate collaboratively according to the reference working mode.

[0074] Optionally, in this embodiment, after completing the initial communication and permission configuration, the main control unit can further perform refined mode-specific operations. If the reference working mode is remote mode, the main control unit calls the secure communication module to negotiate and establish an end-to-end encrypted communication channel between the patient's surgical platform and the registered remote doctor's console; simultaneously, it starts a status synchronization agent to collect the operation status data of the local doctor's console at a fixed high-frequency period (e.g., 1 kHz) and pushes it to the remote end in real time through the encrypted channel, ensuring that the remote doctor obtains the complete collaborative context. If the reference working mode is configured as extended mode, the main control unit sends an activation command to the embedded controller of the extendable surgical arm, loads its dedicated driver module, completes joint zero-point calibration and force sensor initialization, and assigns a real-time control cycle to it in the main control task scheduler. Furthermore, it binds the control handle of the surgical arm to the current main control doctor's console, making it an operable object.

[0075] After the communication link configuration and device permission binding are completed, the main control unit generates a mode activation command containing a complete identifier of the reference working mode, a configuration version number, and an activation timestamp, and broadcasts it to all connected devices via the system's internal high-reliability message bus. Upon receiving the command, each device loads the corresponding set of operating parameters according to its role: the patient surgical platform switches communication strategies, the console updates the interface and input mapping, and the surgical arm enables or disables servo enable. Thus, the entire system completes the switch from the old configuration to the new configuration under a unified timing, ensuring that all components operate collaboratively in strict accordance with the reference working mode, guaranteeing the safety and consistency of the surgical procedure.

[0076] Step 240: After completing the reconstruction of the operating configuration, update the operation permissions of each doctor's console according to the reference working mode, and display the system topology and working mode identifier corresponding to the reference working mode on the human-computer interaction interface of the patient's surgical platform.

[0077] Optionally, in this embodiment, after the reconstruction of the operating configuration is completed, the operation permissions of each doctor's console are updated according to the reference working mode, and the system topology and working mode identifier corresponding to the reference working mode are displayed on the human-computer interaction interface of the patient's surgical platform. This may include: setting the master-slave roles of the local doctor's console and the remote doctor's console according to the operating mode of the reference working mode, and limiting the number of doctor's consoles that are active at the same time to no more than two; enabling or disabling the operation permissions of the expandable surgical arm according to the function configuration of the reference working mode; and displaying the connection relationship between the currently connected devices in a graphical manner in real time on the human-computer interaction interface, and overlaying the operating mode identifier and function configuration identifier of the reference working mode.

[0078] In one optional implementation of this embodiment, after the target surgical robot system's operational configuration is reconstructed, the main control unit parses the two-dimensional attributes of the current reference working mode and executes the upper-layer application configuration. First, the roles of the doctor's console can be set based on the operating mode: in remote mode, a remote doctor's console is set as the master role, and the local doctor's console is set as the subordinate role; in local mode, only one local doctor's console is allowed as the master role, and the remaining consoles (including remote consoles) are disabled; in standalone mode, all doctor's consoles are set to an inactive state. Simultaneously, the main control unit maintains an active console counter to ensure that the number of active consoles is less than or equal to 2 at any given time, and newly requested consoles must wait for quota release or be downgraded to read-only mode. Second, the surgical arm permissions can be extended based on the functional configuration: in extended mode, the complete operation interface for the surgical arm is opened to the master doctor's console; in standard mode, its control channel is disabled, and only status reporting is retained.

[0079] Furthermore, the main control unit constructs a topology model of the currently active connected devices, including device type, unique identifier, role status, and connection direction, and renders it in real time on the human-computer interaction interface using a graphics rendering engine: devices are represented by standardized icons (e.g., operating table icon, robotic arm icon, console icon), the main control link is indicated by a solid arrow, subordinate links are indicated by dashed lines, and offline devices are displayed in gray. Finally, the two dimension identifiers are overlaid at the top of the interface or in the sidebar.

[0080] The advantage of this setup is that it ensures that permission allocation, resource activation, and visual feedback are strictly aligned with the reference working mode, thereby improving the transparency, safety, and operational efficiency of human-machine collaboration during surgery.

[0081] Based on the above technical solutions, the dynamic topology reconstruction method of the surgical robot system may further include: after the reconstruction of the operating configuration is completed, if the reference working mode allows two doctor consoles to be activated simultaneously, the operation instructions of the master doctor console are used as the main path and the operation instructions of the auxiliary doctor console are used as the supervision path, and the consistency of the instructions of the two paths is compared in real time; when the inconsistency continues to exceed a preset time threshold, a safety pause is triggered.

[0082] In one optional implementation of this embodiment, after the configuration refactoring is completed, the main control unit determines whether the current reference working mode supports the simultaneous activation of two doctor consoles. For example, the condition is met when there is one local and / or one remote console and the system policy does not disable multi-controller functionality. If the condition is met, the main control unit selects one console from the device registry as the primary doctor console (priority rules can be based on registration order, user role, or manual specification), and the other valid console is automatically set as the auxiliary doctor console.

[0083] Furthermore, a dual-path command acquisition mechanism is activated: real-time operation data from the master control unit is written to the main path buffer via a high-priority task, while data from the auxiliary unit is synchronously written to the supervisory path buffer; both contain high-precision timestamps. The command comparison module reads command samples within the alignment time window from the two buffers at fixed intervals and calculates the absolute value of the difference in each degree of freedom. If the deviations of all key dimensions are less than the preset tolerance (e.g., position deviation <2mm, angle deviation <3°), they are considered consistent, and the main path command is issued normally. If the deviation of any dimension exceeds the limit, an inconsistency timer is activated. When the inconsistency state continues for more than a preset time threshold (e.g., 200 ms), it is determined that there is a conflict of operation intent or a risk of misoperation, and a safety pause is immediately triggered: an emergency stop command is sent to all servo drives, the robotic arm enters zero-force drag or position holding mode, and at the same time, the alarm message "Dual control command conflict, please confirm operation intent" is highlighted on the human-machine interface of the patient's surgical platform, and further command input is locked until the operator confirms recovery through the master control unit or switches to single control mode.

[0084] This embodiment's solution, in a reference working mode that allows simultaneous activation of two doctor consoles, uses the master control terminal's commands as the primary execution path and the auxiliary terminal's commands as the supervisory path, comparing their consistency in real time. Upon detecting persistent inconsistencies, a safety pause is automatically triggered, effectively preventing unintended robotic arm movements caused by conflicts in multiple operation sources. While ensuring the flexibility of dual-person collaborative operation, it significantly improves the safety and reliability of the surgical procedure, preventing medical risks caused by misoperation or communication misunderstandings, and achieving an organic unity of efficient collaboration and proactive safety protection.

[0085] To better understand the dynamic topology reconstruction method of the surgical robot system involved in this embodiment, an example is used below. In a remote collaborative surgery, the target surgical robot system is initially in local standard mode: only the local doctor's console is registered, and the expandable surgical arm is not connected. During the operation, the remote expert connects to their console through authentication, and at the same time, the nurse connects an expandable surgical arm to the system. After the main control unit detects the change in registration status, it re-determines the reference working mode as remote extended mode, and finds an inconsistency with the original target working mode, so it initiates reconstruction: an end-to-end encrypted communication channel is established between the patient's surgical platform and the remote console, the local console operation status is synchronized, the expandable surgical arm is activated and bound to the main control terminal (remote doctor), and the number of active consoles is limited to two. After reconstruction, permissions are updated based on the reference working mode, and the topology structure including the remote, local console, basic arm, and expandable arm is graphically displayed on the patient platform interface, with "remote-extended" labels superimposed; at the same time, a dual-control safety supervision mechanism is enabled, with remote commands as the main path and local commands as the supervision path, comparing consistency in real time, and triggering a safety pause if there is a continuous conflict.

[0086] The dynamic topology reconfiguration scheme for surgical robot systems provided by this invention monitors the registration status changes of connected devices in real time. When devices are added, removed, or offline, the operating mode is automatically redefined. Precise reconfiguration of the operating configuration is triggered only when the new mode differs substantially from the current operating mode, avoiding unnecessary system disturbances. The reconfiguration process involves multi-dimensional collaborative adjustments, including dynamic configuration of communication links, on-demand binding of control permissions, real-time refreshing of the human-machine interface, and dual-control safety supervision, ensuring that the system always operates with a topology strictly matching the capabilities of the current devices. This scheme significantly improves the adaptability, operational safety, and resource utilization efficiency of surgical robot systems in complex clinical scenarios. It effectively supports seamless switching between single-machine, local, remote, standard, and extended operating modes, providing a reliable technical foundation for advanced applications such as dynamic intraoperative device access, multi-doctor collaborative operation, and telemedicine.

[0087] Example 3

[0088] Figure 3 This is a schematic diagram of the structure of a dynamic topology reconfiguration device for a surgical robot system according to Embodiment 3 of the present invention. Figure 3 As shown, the device includes: a working mode determination module 310, a reconstruction module 320, and a permission update module 330.

[0089] The working mode determination module 310 is used to obtain the registration status of each access device in the target surgical robot system and determine the target working mode of the target surgical robot system according to the registration status; the access devices include: patient surgical platform, expandable surgical arm, local doctor console or remote doctor console.

[0090] The reconstruction module 320 is used to reconstruct the operating configuration of the target surgical robot system according to the reference operating mode when it is determined that the registration status of any of the access devices has changed and the reference operating mode determined based on the new registration status is inconsistent with the target operating mode.

[0091] The permission update module 330 is used to update the operation permissions of each doctor's console according to the reference working mode after the reconstruction of the running configuration is completed, and to display the system topology and working mode identifier corresponding to the reference working mode on the human-computer interaction interface of the patient's surgical platform; wherein, the number of doctor's consoles in the active state does not exceed two.

[0092] In this embodiment, the working mode determination module obtains the registration status of each access device in the target surgical robot system and determines the target working mode of the target surgical robot system based on the registration status. When the registration status of any access device changes and the reference working mode determined based on the new registration status is inconsistent with the target working mode, the reconstruction module reconstructs the operating configuration of the target surgical robot system according to the reference working mode. After the reconstructing of the operating configuration, the permission update module updates the operation permissions of each doctor's console according to the reference working mode and displays the system topology and working mode identifier corresponding to the reference working mode on the human-computer interaction interface of the patient's surgical platform. This allows for dynamic reconstruction of the topology of the surgical robot system when the access devices change, helping to ensure the safety and real-time performance of the surgery.

[0093] In an optional implementation of this embodiment, the working mode determination module 310 is specifically used to determine the registration status of each doctor's console in the target surgical robot system, and to determine the operating mode of the target surgical robot system based on the registration status of each doctor's console; wherein, when no local doctor's console or remote doctor's console is registered, the operating mode is a stand-alone mode; when a local doctor's console is registered and no remote doctor's console is registered, the operating mode is a local mode; when a remote doctor's console is registered, the operating mode is a remote mode.

[0094] Determine whether the target surgical robot system has a registered scalable surgical arm, and determine the functional configuration of the target surgical robot system based on the registration result of the scalable surgical arm; wherein, when the scalable surgical arm is not registered, the functional configuration is in standard mode; when the scalable surgical arm is registered, the functional configuration is in extended mode;

[0095] The target working mode is determined based on the combination of the operating mode and the functional configuration.

[0096] In an optional implementation of this embodiment, the dynamic topology reconstruction device of the surgical robot system further includes: a comparison module, used to receive message signals periodically sent by each registered access device, and to receive registration requests from unregistered access devices;

[0097] If no message signal is received from the target registered access device within a preset time period, or if a registration request is received from the target unregistered access device, it is determined that the connection status of the target surgical robot system access device has changed.

[0098] A reference working mode is determined based on the updated registration status of each access device, and the reference working mode is compared with the target working mode. When there are differences between the reference working mode and the target working mode in terms of operation mode or function configuration, it is determined that the reference working mode and the target working mode are inconsistent.

[0099] In an optional implementation of this embodiment, the reconstruction module 320 is specifically used to configure the communication link between each doctor's console and the patient's surgical platform according to the operation mode of the reference working mode, and to enable or disable the remote data transmission channel.

[0100] Based on the functional configuration of the reference working mode, bind or unbind the control permissions of the expandable surgical arm, and update the operation permissions of each doctor's console.

[0101] In an optional implementation of this embodiment, the reconstruction module 320 is further configured to establish an end-to-end encrypted communication channel between the patient surgical platform and the remote doctor console when the reference working mode is remote mode, and synchronize the operation status of the local doctor console to the remote doctor console.

[0102] When the reference working mode is the extended mode, the drive module of the extendable surgical arm is activated, and the extendable surgical arm is brought into the control range of the master physician's console;

[0103] After completing the communication link configuration and device permission binding, the effective command of the reference working mode is broadcast to each access device so that each access device can operate collaboratively in accordance with the reference working mode.

[0104] In an optional implementation of this embodiment, the permission update module 330 is specifically used to set the master-slave roles of the local doctor console and the remote doctor console according to the operation mode of the reference working mode, and limit the number of doctor consoles that are active at the same time to no more than two.

[0105] Based on the functional configuration of the reference working mode, enable or disable operation permissions for the expandable surgical arm;

[0106] The connection relationships between the currently connected devices are displayed in real time in a graphical manner on the human-computer interaction interface, and the operation mode identifier and function configuration identifier of the reference working mode are overlaid.

[0107] In an optional implementation of this embodiment, the dynamic topology reconstruction device of the surgical robot system further includes: a safety detection module, which, after the reconstruction of the operating configuration is completed, if the reference working mode allows two doctor consoles to be activated simultaneously, uses the operation instructions of the main doctor console as the main path and the operation instructions of the auxiliary doctor console as the supervision path, and compares the consistency of the instructions of the two paths in real time.

[0108] A safety pause is triggered when inconsistencies persist for more than a preset time threshold.

[0109] The dynamic topology reconstruction device for the surgical robot system provided in this embodiment of the invention can execute the dynamic topology reconstruction method for the surgical robot system provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0110] Example 4

[0111] Figure 4 A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0112] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from the storage unit 18. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0113] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0114] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods described above, such as the dynamic topology reconstruction method for a surgical robot system.

[0115] In some embodiments, the dynamic topology reconfiguration method for the surgical robot system can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the dynamic topology reconfiguration method for the surgical robot system described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the dynamic topology reconfiguration method for the surgical robot system by any other suitable means (e.g., by means of firmware).

[0116] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0117] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0118] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, RAM, ROM, erasable programmable read-only memory (EPROM), optical fibers, compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0119] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a cathode ray tube (CRT) or liquid crystal display (LCD) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0120] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0121] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system. It addresses the shortcomings of traditional physical hosts and Virtual Private Servers (VPS) in terms of management difficulty and weak business scalability.

[0122] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0123] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

[0124] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements a database detection method as provided in any embodiment of this application.

[0125] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including LANs or WANs—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0126] It should be noted that in the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, they do not mean that the solution has been or necessarily used.

[0127] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A dynamic topology reconstruction method for a surgical robot system, characterized in that, The method includes: The registration status of each access device in the target surgical robot system is obtained, and the target working mode of the target surgical robot system is determined based on the registration status; the access devices include: patient surgical platform, expandable surgical arm, local doctor console or remote doctor console; If it is determined that the registration status of any of the access devices has changed and the reference working mode determined based on the new registration status is inconsistent with the target working mode, the operating configuration of the target surgical robot system shall be reconstructed according to the reference working mode. After the reconstruction of the operating configuration is completed, the operation permissions of each doctor's console are updated according to the reference working mode, and the system topology and working mode identifier corresponding to the reference working mode are displayed on the human-computer interaction interface of the patient's surgical platform; wherein, the number of doctor's consoles in the active state does not exceed two.

2. The dynamic topology reconstruction method for a surgical robot system according to claim 1, characterized in that, The step of acquiring the registration status of each access device in the target surgical robot system and determining the target operating mode of the target surgical robot system based on each registration status includes: The registration status of each doctor's console in the target surgical robot system is determined, and the operation mode of the target surgical robot system is determined based on the registration status of each doctor's console; wherein, when no local doctor's console or remote doctor's console is registered, the operation mode is stand-alone mode; when a local doctor's console is registered and no remote doctor's console is registered, the operation mode is local mode; when a remote doctor's console is registered, the operation mode is remote mode. Determine whether the target surgical robot system has a registered scalable surgical arm, and determine the functional configuration of the target surgical robot system based on the registration result of the scalable surgical arm; wherein, when the scalable surgical arm is not registered, the functional configuration is in standard mode; when the scalable surgical arm is registered, the functional configuration is in extended mode; The target working mode is determined based on the combination of the operating mode and the functional configuration.

3. The dynamic topology reconstruction method for a surgical robot system according to claim 1, characterized in that, After determining the target operating mode of the target surgical robot system, the method further includes: It receives periodic message signals from each registered access device and receives registration requests from unregistered access devices. If no message signal is received from the target registered access device within a preset time period, or if a registration request is received from the target unregistered access device, it is determined that the connection status of the target surgical robot system access device has changed. A reference working mode is determined based on the updated registration status of each access device, and the reference working mode is compared with the target working mode. When there are differences between the reference working mode and the target working mode in terms of operation mode or function configuration, it is determined that the reference working mode and the target working mode are inconsistent.

4. The dynamic topology reconstruction method for a surgical robot system according to claim 1, characterized in that, The step of reconstructing the operational configuration of the target surgical robot system according to the reference operating mode when it is determined that the registration status of any of the access devices has changed and the reference operating mode determined based on the new registration status is inconsistent with the target operating mode includes: Configure the communication link between each doctor's console and the patient's surgical platform according to the operating mode of the reference working mode, and enable or disable the remote data transmission channel. Based on the functional configuration of the reference working mode, bind or unbind the control permissions of the expandable surgical arm, and update the operation permissions of each doctor's console.

5. The dynamic topology reconstruction method for a surgical robot system according to claim 4, characterized in that, The reconstructing of the operational configuration of the target surgical robot system according to the reference operating mode further includes: When the reference working mode is remote mode, an end-to-end encrypted communication channel is established between the patient surgical platform and the remote doctor console, and the operation status of the local doctor console is synchronized to the remote doctor console. When the reference working mode is the extended mode, the drive module of the extendable surgical arm is activated, and the extendable surgical arm is brought into the control range of the master physician's console; After completing the communication link configuration and device permission binding, the effective command of the reference working mode is broadcast to each access device so that each access device can operate collaboratively in accordance with the reference working mode.

6. The dynamic topology reconstruction method for a surgical robot system according to claim 1, characterized in that, After the reconstruction of the operational configuration is completed, the operation permissions of each doctor's console are updated according to the reference working mode, and the system topology and working mode identifier corresponding to the reference working mode are displayed on the human-computer interaction interface of the patient's surgical platform, including: Based on the operating mode of the reference working mode, set the master and slave roles of the local doctor console and the remote doctor console, and limit the number of doctor consoles that are active at the same time to no more than two. Based on the functional configuration of the reference working mode, enable or disable operation permissions for the expandable surgical arm; The connection relationships between the currently connected devices are displayed in real time in a graphical manner on the human-computer interaction interface, and the operation mode identifier and function configuration identifier of the reference working mode are overlaid.

7. The dynamic topology reconstruction method for a surgical robot system according to claim 1, characterized in that, The method further includes: After the reconstruction of the operating configuration is completed, if the reference working mode allows two doctor consoles to be activated at the same time, the operation instructions of the main doctor console will be used as the main path, the operation instructions of the auxiliary doctor console will be used as the supervision path, and the consistency of the instructions of the two paths will be compared in real time. A safety pause is triggered when inconsistencies persist for more than a preset time threshold.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the dynamic topology reconstruction method for the surgical robot system according to any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the dynamic topology reconfiguration method for the surgical robot system according to any one of claims 1-7.

10. A computer program product comprising a computer program that, when executed by a processor, implements the dynamic topology reconfiguration method for a surgical robot system according to any one of claims 1-7.

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