Data transmission method and device, computer device, medium and product

Abstract

The application relates to a data transmission method and device, computer equipment, medium and product. The method comprises the following steps: in response to the end of a historical transmission period corresponding to a previous data transmission state, controlling a master control device to switch to a transmission sleep state; in the transmission sleep state, determining the data transmission state of the master control device in a current transmission period according to at least one to-be-processed instruction in the master control device; in response to the completion of the determination of the data transmission state of the current transmission period, controlling the master control device to switch to the data transmission state of the current transmission period; and in the data transmission state of the current transmission period, controlling the data transmission between the master control device and a surgical platform. The method can avoid the occurrence of errors in the switching process of the data transmission state caused by the back-and-forth switching of the master control device between the data sending state and the data receiving state.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a data transmission method, apparatus, computer equipment, medium, and product. Background Technology

[0002] In the medical field, surgical robots are being used more and more widely. Surgical robots are advanced medical devices that integrate multiple disciplines such as medicine, ergonomics, computer science, and mechanics. They can assist or autonomously perform high-precision surgeries, pushing the limits of human operation and improving surgical accuracy and safety.

[0003] During surgery, when a doctor controls a surgical robot through a control platform, a significant amount of data needs to be transmitted between the platform and the robot. For example, the doctor sends control commands to the robot via the control platform, and the robot transmits surgical images back to the platform. However, this process is prone to errors due to the frequent switching of data transmission states, leading to data transmission failures.

[0004] Therefore, how to avoid errors during the data transmission state switching process is an urgent problem to be solved. Summary of the Invention

[0005] Therefore, it is necessary to provide a data transmission method, apparatus, computer equipment, medium, and product to address the aforementioned technical problems and avoid errors occurring during the data transmission state switching process.

[0006] In a first aspect, this application provides a data transmission method applied to the main control device of a surgical robot, the method comprising:

[0007] In response to the end of the historical transmission cycle corresponding to the previous data transmission state, the control master device switches to the transmission sleep state; the data transmission state is either the data sending state or the data receiving state.

[0008] In the transmission sleep state, the data transmission status of the master control device in the current transmission cycle is determined according to at least one pending instruction in the master control device; the at least one pending instruction includes an operation instruction to be sent and / or a data feedback instruction to be processed corresponding to a historical operation instruction;

[0009] Once the data transmission status of the current transmission cycle is determined to be complete, the control master device switches to the data transmission status of the current transmission cycle.

[0010] Data transmission between the control and surgical platforms during the current data transmission cycle.

[0011] In one embodiment, determining the data transmission status of the master control device in the current transmission cycle based on at least one instruction to be processed in the master control device includes: acquiring attribute data of each instruction to be processed; determining transmission evaluation data of the corresponding instruction to be processed based on the attribute data of each instruction to be processed; and determining the data transmission status of the master control device in the current transmission cycle based on the transmission evaluation data of each instruction to be processed.

[0012] In one embodiment, the attribute data includes instruction type, and the transmission evaluation data includes type evaluation data; and / or, the attribute data includes instruction delay, and the transmission evaluation data includes delay evaluation data.

[0013] In one embodiment, the transmission evaluation data of the corresponding instruction to be processed is determined based on the attribute data of each instruction to be processed, including: for each instruction to be processed, if the instruction to be processed is an operation instruction, determining the type evaluation data of the instruction to be processed as a first evaluation score; if the instruction to be processed is a data feedback instruction, determining the type evaluation data of the instruction to be processed as a second evaluation score; wherein the second evaluation score is less than the first evaluation score.

[0014] In one embodiment, determining the transmission evaluation data of the corresponding instruction to be processed based on the attribute data of each instruction to be processed includes: determining the delay evaluation data of each instruction to be processed based on the relationship between the instruction delays of each instruction to be processed; wherein, the delay evaluation data of the instruction to be processed corresponding to the smaller instruction delay is smaller than the delay evaluation data of the instruction to be processed corresponding to the larger instruction delay.

[0015] In one embodiment, determining the data transmission status of the master control device in the current transmission cycle based on the transmission evaluation data of each instruction to be processed includes: determining the transmission priority of each instruction to be processed based on the transmission evaluation data of each instruction to be processed; and determining the data transmission status of the master control device in the current transmission cycle based on the instruction to be processed with the highest transmission priority.

[0016] In one embodiment, the data transmission status of the master control device in the current transmission cycle is determined according to the instruction to be processed with the highest transmission priority, including: if the instruction to be processed with the highest transmission priority is an operation instruction, the data transmission status of the master control device in the current transmission cycle is determined to be a data sending status; if the instruction to be processed with the highest transmission priority is a data feedback instruction, the data transmission status of the master control device in the current transmission cycle is determined to be a data receiving status.

[0017] In one embodiment, controlling the data transmission between the surgical platform and the data transmission state during the current transmission cycle includes: sending an operation command to the surgical platform to control the operation of the surgical platform when the data transmission state is a data sending state; and receiving feedback data sent by the surgical platform in response to the data feedback command when the data transmission state is a data receiving state.

[0018] Secondly, this application provides a data transmission method applied to the surgical platform of a surgical robot, the method comprising:

[0019] In response to the end of the historical transmission cycle corresponding to the previous data transmission state, the surgical platform is controlled to switch to a transmission sleep state; the data transmission state is either a data sending state or a data receiving state.

[0020] In the transmission sleep state, the data transmission status of the surgical platform in the current transmission cycle is determined according to at least one pending instruction in the surgical platform; the at least one pending instruction includes an operation instruction to be sent and / or a data feedback instruction to be processed corresponding to a historical operation instruction;

[0021] In response to the completion of the data transmission status determination for the current transmission cycle, the surgical platform is controlled to switch to the data transmission status of the current transmission cycle;

[0022] During the data transmission state of the current transmission cycle, control the data transmission between the controller and the master control device.

[0023] Thirdly, this application provides a data transmission device configured in the main control device of a surgical robot, the device comprising:

[0024] The first control module is used to control the main control device to switch to the transmission sleep state in response to the end of the historical transmission cycle corresponding to the previous data transmission state; the data transmission state is either the data sending state or the data receiving state.

[0025] The determination module is used to determine the data transmission status of the master control device in the current transmission cycle based on at least one pending instruction in the master control device during the transmission sleep state; the at least one pending instruction includes an operation instruction to be sent and / or a data feedback instruction to be processed corresponding to a historical operation instruction.

[0026] The second control module is used to control the main control device to switch to the data transmission state of the current transmission cycle in response to the completion of the data transmission state determination of the current transmission cycle.

[0027] The third control module is used to control the data transmission between the device and the surgical platform during the data transmission state of the current transmission cycle.

[0028] Fourthly, this application provides a data transmission device configured on the surgical platform of a surgical robot, the device comprising:

[0029] The first control module is used to control the surgical platform to switch to a transmission sleep state in response to the end of the historical transmission cycle corresponding to the previous data transmission state; the data transmission state is either a data sending state or a data receiving state.

[0030] The determination module is used to determine the data transmission status of the surgical platform in the current transmission cycle based on at least one pending instruction in the surgical platform during the transmission sleep state; the at least one pending instruction includes an operation instruction to be sent and / or a data feedback instruction to be processed corresponding to a historical operation instruction.

[0031] The second control module is used to control the surgical platform to switch to the data transmission state of the current transmission cycle in response to the completion of the data transmission state determination of the current transmission cycle.

[0032] The third control module is used to control the data transmission with the master control device during the data transmission state of the current transmission cycle.

[0033] Fifthly, this application also provides a computer device, which includes a memory, a transceiver, and a processor. The memory stores a computer program, the transceiver is used to receive or send data under the control of the processor, and the processor executes the computer program to perform the following steps:

[0034] In response to the end of the historical transmission cycle corresponding to the previous data transmission state, the control master device switches to the transmission sleep state; the data transmission state is either the data sending state or the data receiving state.

[0035] In the transmission sleep state, the data transmission status of the master control device in the current transmission cycle is determined according to at least one pending instruction in the master control device; the at least one pending instruction includes an operation instruction to be sent and / or a data feedback instruction to be processed corresponding to a historical operation instruction;

[0036] Once the data transmission status of the current transmission cycle is determined to be complete, the control master device switches to the data transmission status of the current transmission cycle.

[0037] Data transmission between the control and surgical platforms during the current data transmission cycle.

[0038] Sixthly, this application also provides a computer device, which includes a memory, a transceiver, and a processor. The memory stores a computer program, the transceiver is used to receive or send data under the control of the processor, and the processor executes the computer program to perform the following steps:

[0039] In response to the end of the historical transmission cycle corresponding to the previous data transmission state, the surgical platform is controlled to switch to a transmission sleep state; the data transmission state is either a data sending state or a data receiving state.

[0040] In the transmission sleep state, the data transmission status of the surgical platform in the current transmission cycle is determined according to at least one pending instruction in the surgical platform; the at least one pending instruction includes an operation instruction to be sent and / or a data feedback instruction to be processed corresponding to a historical operation instruction;

[0041] In response to the completion of the data transmission status determination for the current transmission cycle, the surgical platform is controlled to switch to the data transmission status of the current transmission cycle;

[0042] During the data transmission state of the current transmission cycle, control the data transmission between the controller and the master control device.

[0043] In a seventh aspect, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0044] In response to the end of the historical transmission cycle corresponding to the previous data transmission state, the control master device switches to the transmission sleep state; the data transmission state is either the data sending state or the data receiving state.

[0045] In the transmission sleep state, the data transmission status of the master control device in the current transmission cycle is determined according to at least one pending instruction in the master control device; the at least one pending instruction includes an operation instruction to be sent and / or a data feedback instruction to be processed corresponding to a historical operation instruction;

[0046] Once the data transmission status of the current transmission cycle is determined to be complete, the control master device switches to the data transmission status of the current transmission cycle.

[0047] Data transmission between the control and surgical platforms during the current data transmission cycle.

[0048] Eighthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0049] In response to the end of the historical transmission cycle corresponding to the previous data transmission state, the surgical platform is controlled to switch to a transmission sleep state; the data transmission state is either a data sending state or a data receiving state.

[0050] In the transmission sleep state, the data transmission status of the surgical platform in the current transmission cycle is determined according to at least one pending instruction in the surgical platform; the at least one pending instruction includes an operation instruction to be sent and / or a data feedback instruction to be processed corresponding to a historical operation instruction;

[0051] In response to the completion of the data transmission status determination for the current transmission cycle, the surgical platform is controlled to switch to the data transmission status of the current transmission cycle;

[0052] During the data transmission state of the current transmission cycle, control the data transmission between the controller and the master control device.

[0053] Ninthly, this application also provides a computer program product, comprising a computer program that, when executed by a processor, performs the following steps:

[0054] In response to the end of the historical transmission cycle corresponding to the previous data transmission state, the control master device switches to the transmission sleep state; the data transmission state is either the data sending state or the data receiving state.

[0055] In the transmission sleep state, the data transmission status of the master control device in the current transmission cycle is determined according to at least one pending instruction in the master control device; the at least one pending instruction includes an operation instruction to be sent and / or a data feedback instruction to be processed corresponding to a historical operation instruction;

[0056] Once the data transmission status of the current transmission cycle is determined to be complete, the control master device switches to the data transmission status of the current transmission cycle.

[0057] Data transmission between the control and surgical platforms during the current data transmission cycle.

[0058] In a tenth aspect, this application also provides a computer program product, comprising a computer program that, when executed by a processor, performs the following steps:

[0059] In response to the end of the historical transmission cycle corresponding to the previous data transmission state, the surgical platform is controlled to switch to a transmission sleep state; the data transmission state is either a data sending state or a data receiving state.

[0060] In the transmission sleep state, the data transmission status of the surgical platform in the current transmission cycle is determined according to at least one pending instruction in the surgical platform; the at least one pending instruction includes an operation instruction to be sent and / or a data feedback instruction to be processed corresponding to a historical operation instruction;

[0061] In response to the completion of the data transmission status determination for the current transmission cycle, the surgical platform is controlled to switch to the data transmission status of the current transmission cycle;

[0062] During the data transmission state of the current transmission cycle, control the data transmission between the controller and the master control device.

[0063] In the aforementioned data transmission methods, devices, computer equipment, media, and products, when the historical transmission cycle corresponding to the previous data transmission state ends, the main control device does not immediately switch to the next data transmission state. For example, it does not immediately switch to the data receiving state when the data sending state ends. Instead, it switches to a transmission sleep state and determines the data transmission state of the main control device in the current transmission cycle while in the transmission sleep state. In this way, errors in the data transmission state switching process caused by the main control device switching back and forth between the data sending state and the data receiving state can be avoided.

[0064] In addition, the above data transmission method can determine the most needed data transmission status based on at least one pending instruction in the master control device, thereby enabling priority transmission of critical data. Attached Figure Description

[0065] Figure 1 This is a schematic diagram illustrating an application scenario of the data transmission method in one embodiment;

[0066] Figure 2 This is a schematic diagram illustrating an application scenario of another embodiment of the data transmission method;

[0067] Figure 3 This is a flowchart illustrating a data transmission method in one embodiment;

[0068] Figure 4 This is a flowchart illustrating the steps for determining the data transmission status in one embodiment.

[0069] Figure 5 This is a flowchart illustrating the steps for determining the transmission of evaluation data in one embodiment;

[0070] Figure 6 This is a flowchart illustrating the steps for determining the transmission of evaluation data in another embodiment;

[0071] Figure 7This is a flowchart illustrating the steps for determining the data transmission status in another embodiment;

[0072] Figure 8 This is a flowchart illustrating the steps of controlling data transmission between the control and the surgical platform in one embodiment;

[0073] Figure 9 This is a flowchart illustrating the data transmission method in another embodiment;

[0074] Figure 10 This is a flowchart illustrating the data transmission method in yet another embodiment;

[0075] Figure 11 This is a flowchart illustrating the data transmission method in yet another embodiment;

[0076] Figure 12 This is a flowchart illustrating the data transmission method in yet another embodiment;

[0077] Figure 13 This is a structural block diagram of a data transmission device in one embodiment;

[0078] Figure 14 This is a structural block diagram of a data transmission device in one embodiment. Detailed Implementation

[0079] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0080] In one exemplary embodiment, a data transmission method is provided, which can be applied to the master control device of a surgical robot. In an exemplary scenario, such as... Figure 1 As shown, a surgical robot can be deployed in surgical environment a, and a main control device can be deployed in control environment b. The surgeon controls the main control device from control environment b to control the surgical robot in surgical environment a to perform surgical operations. In an exemplary scenario, the surgical robot can correspond to at least one main control device. For example, as... Figure 2As shown, a surgical robot can be deployed in surgical environment a, main control device A can be deployed in control environment b, and main control device B can be deployed in control environment c. Surgeon A and surgeon B can collaboratively control the surgical robot in surgical environment a to perform surgical operations. Specifically, when surgeon A controls main control device A in control environment b to control the surgical robot in surgical environment a to perform surgical operations, surgeon B may not control main control device B; in this case, surgeon B can observe. Alternatively, when surgeon B controls main control device B in control environment c to control the surgical robot in surgical environment a to perform surgical operations, surgeon A may not control main control device B; in this case, surgeon A can observe. Surgeon A and / or surgeon B can choose whether or not to control the surgical robot in surgical environment a to perform surgical operations.

[0081] In an exemplary embodiment, the data transmission method provided in this application can be applied to the main control device of a surgical robot. The main control device can be one of at least one main control devices corresponding to the surgical robot, controlled by a surgeon to control the surgical robot to perform surgical operations. In this embodiment, as... Figure 3 As shown, the method may include the following steps:

[0082] S310, in response to the end of the historical transmission cycle corresponding to the previous data transmission state, controls the main control device to switch to the transmission sleep state; the data transmission state is either the data sending state or the data receiving state.

[0083] In this context, the transmission sleep state can be understood as the state in which the master control device suspends data transmission; that is, the master control device pauses data sending or stops data receiving during the transmission sleep state. The master control device can determine its data transmission status in the current transmission cycle while in the transmission sleep state.

[0084] It is understood that the previous data transmission state can be either a data sending state or a data receiving state. Each data transmission state corresponds to its own transmission period. In some embodiments, the transmission period corresponding to each data transmission state can be the same, that is, the transmission period corresponding to the data sending state is the same as the transmission period corresponding to the data receiving state. In some embodiments, the transmission period corresponding to the data sending state and the transmission period corresponding to the data receiving state can be different.

[0085] S320, in the transmission sleep state, the data transmission status of the master control device in the current transmission cycle is determined according to at least one pending instruction in the master control device; the at least one pending instruction includes an operation instruction to be sent and / or a data feedback instruction to be processed corresponding to a historical operation instruction.

[0086] At least one instruction to be processed may be obtained by the master device when it is in the historical data transmission state. The instruction to be processed can be understood as an instruction to be processed.

[0087] In this context, the operating instructions can be understood as the instructions used to control the surgical robot to perform the target surgical action. The target surgical action can be understood as the surgical action determined by the surgeon and to be performed by the surgical robot. For example, the target surgical action can be a surgical action performed by the surgeon on the main control device, or it can be a surgical action selected by the surgeon on the main control device.

[0088] In some embodiments, the operation instructions may be generated by the main control device after the surgeon performs surgical actions on the main control device, which then captures images of the surgeon's actions and generates operation instructions based on the captured images. The operation instructions may include the surgeon's surgical actions.

[0089] The data feedback instruction can be understood as an instruction used to control the surgical platform to provide feedback data obtained from executing historical operation instructions. The feedback data can include at least one of the process data and result data obtained by the surgical robot from executing historical operation instructions. For example, the process data can include at least one of the following obtained during the execution of historical operation instructions: visual data (such as image data of the surgical area), force data (such as the resistance encountered when the scalpel at the end of the surgical robot's robotic arm interacts with the tissue), and tactile data (such as the softness, hardness, and roughness of the tissue perceived by the surgical robot); the result data can be image data obtained after executing historical operation instructions.

[0090] In some embodiments, the data feedback instruction can be a data feedback request sent by the surgical platform to the main control device after the surgical robot executes historical operation instructions. If the main control device is in a transmission sleep state or data transmission state when the data feedback request is sent to the main control device, it will not process the request. If the main control device is in a data receiving state when the data feedback request is sent to the main control device, it will process the request. Specifically, the main control device can send a confirmation instruction (such as a confirmation data packet) to the surgical platform based on the data feedback request. The confirmation instruction instructs the surgical platform to send feedback data to the main control device. The main control device can then receive the feedback data sent by the surgical platform in response to the confirmation instruction.

[0091] In some embodiments, the data feedback instruction can also be a feedback data acquisition request to be sent by the master control device to the surgical platform. It is understood that the feedback data acquisition request can be generated by the master control device after determining that the surgical robot has executed historical operation instructions and obtained feedback data. For example, the master control device can generate the feedback data acquisition request after a preset duration of sending historical operation instructions to the surgical platform. It should be understood that the preset duration can be understood as the duration during which the surgical robot can execute historical operation instructions and obtain feedback data. For example, the preset duration can be set or adjusted by the surgeon according to needs or experience, or determined repeatedly through numerous experiments; this application does not impose any limitations on this.

[0092] S330, in response to the completion of the data transmission status determination for the current transmission cycle, controls the master control device to switch to the data transmission status for the current transmission cycle.

[0093] It is understood that the step of determining the data transmission status of the current transmission cycle is completed by the master control device while it is in a transmission sleep state. In some embodiments, the transmission sleep state may end after the master control device completes the step of determining the data transmission status of the current transmission cycle. In other embodiments, the transmission sleep state may end after the master control device completes the step of determining the data transmission status of the current transmission cycle and the corresponding time period of the transmission sleep state ends. When the transmission sleep state ends, the master control device switches from the transmission sleep state to the data transmission status of the current transmission cycle.

[0094] S340 controls the data transmission between the control and the surgical platform during the current data transmission cycle.

[0095] In some embodiments, when the historical transmission cycle corresponding to the previous data transmission state has ended, the master control device can send a first state switching instruction to the surgical platform; the first state switching instruction is used to control the surgical platform to switch to a transmission sleep state.

[0096] Once the data transmission status of the current transmission cycle is determined to be complete, the master control device can send a second state switching command to the surgical platform. This second state switching command controls the surgical platform to switch to the reverse data transmission status corresponding to the data transmission status of the current transmission cycle. In other words, if the data transmission status of the current transmission cycle is in the data sending state, the reverse data transmission status is in the data receiving state; conversely, if the data transmission status of the current transmission cycle is in the data receiving state, the reverse data transmission status is in the data sending state. After receiving the state switching completion command from the surgical platform, the master control device controls the data transmission between itself and the surgical platform within the current data transmission status of the transmission cycle.

[0097] In the aforementioned data transmission method, when the historical transmission cycle corresponding to the previous data transmission state ends, the master control device does not immediately switch to the next data transmission state. For example, it does not immediately switch to the data receiving state after the data sending state ends. Instead, it switches to a transmission sleep state. In the transmission sleep state, the data transmission state of the master control device in the current transmission cycle is determined. In this way, the master control device can avoid errors in the data transmission state switching process caused by switching back and forth between the data sending and data receiving states. In addition, through the above data transmission method, the more needed data transmission state can be determined based on at least one pending instruction in the master control device, thereby achieving priority transmission of critical data.

[0098] Based on the technical solutions of the above embodiments, this application also provides another optional embodiment, in which the step of determining the data transmission status of S310 is refined.

[0099] See Figure 4 The steps for determining the data transmission status shown include:

[0100] S410: Obtain the attribute data of each instruction to be processed.

[0101] In this context, attribute data can be understood as data used to describe the attributes of the instruction to be processed.

[0102] In some embodiments, attribute data may include at least one of instruction type and instruction delay.

[0103] Instruction type can be understood as the instruction type of operation instructions or the instruction type of data feedback instructions.

[0104] In this context, instruction delay can be understood as the duration between the time the instruction to be processed is acquired and the current time. Specifically, when the instruction to be processed is an operation instruction, the time when the instruction is acquired can be the time when the operation instruction is generated. When the instruction to be processed is a data feedback instruction, the time when the instruction is acquired can be the time when the data feedback instruction is sent from the surgical platform to the main control device.

[0105] S420: Determine the transmission evaluation data of the corresponding instruction based on the attribute data of each instruction to be processed.

[0106] Among them, transmission evaluation data can be understood as data used to evaluate the transmission priority of instructions to be processed.

[0107] In some embodiments, where the attribute data includes instruction type and instruction delay, for each instruction to be processed, the transmission evaluation data of the instruction to be processed can be determined based on the first sub-evaluation data corresponding to the instruction type and the second sub-evaluation data corresponding to the instruction delay.

[0108] In some embodiments, the transmission evaluation data may be a transmission evaluation score.

[0109] S430 determines the data transmission status of the master control device in the current transmission cycle based on the transmission evaluation data of each instruction to be processed.

[0110] In some embodiments, the first instruction to be transmitted is determined based on the transmission evaluation data of each instruction to be processed; and the data transmission status of the master control device in the current transmission cycle is determined based on the first instruction to be transmitted.

[0111] In this embodiment, attribute data can be understood as index data used to evaluate the transmission priority of instructions to be processed. Based on the attribute data of each instruction to be processed, the transmission evaluation data of the corresponding instruction to be processed is determined, and the transmission priority of the corresponding instruction to be processed can be obtained more accurately, thereby accurately determining the data transmission status of the master control device in the current transmission cycle.

[0112] Based on the technical solutions of the above embodiments, this application also provides another optional embodiment. In this optional embodiment, the attribute data is refined into instruction types, and correspondingly, the transmission evaluation data is refined into type evaluation data; and / or, the attribute data is refined into instruction delays, and correspondingly, the transmission evaluation data is refined into delay evaluation data. It is understood that by refining the attribute data and transmission evaluation data accordingly, more accurate transmission evaluation data can be obtained.

[0113] Based on the technical solutions of the above embodiments, this application also provides another optional embodiment. In this optional embodiment, the attribute data is refined into instruction types, and the transmission evaluation data is refined into type evaluation data. Accordingly, the step of determining the transmission evaluation data in S420 is refined.

[0114] See Figure 5 The steps for determining the transmission evaluation data shown include:

[0115] S510: For each instruction to be processed, if the instruction to be processed is an operation instruction, determine the type evaluation data of the instruction to be processed as the first evaluation score.

[0116] S520, when the instruction to be processed is a data feedback instruction, the type evaluation data of the instruction to be processed is determined as the second evaluation score; wherein, the second evaluation score is less than the first evaluation score.

[0117] In some embodiments, the first evaluation score and the second evaluation score can be preset.

[0118] It is understandable that by setting the second evaluation score to be lower than the first evaluation score, it is possible to ensure that, under the same instruction delay, the evaluation score of the data feedback instruction is lower than the evaluation score of the operation instruction. This controls the transmission priority of the data feedback instruction to be lower than the transmission priority of the operation instruction, and then determines the data transmission status based on the operation instruction, thereby enabling the operation instruction to be processed first.

[0119] Based on the technical solutions of the above embodiments, this application also provides another optional embodiment. In this optional embodiment, the attribute data is refined into instruction delay, and the transmission evaluation data is refined into delay evaluation data. Accordingly, the step of determining the transmission evaluation data in S420 is refined.

[0120] See Figure 6 The steps for determining the transmission evaluation data shown include:

[0121] S610, determine the delay evaluation data of each instruction to be processed based on the relationship between the instruction delays of each instruction to be processed; wherein, the delay evaluation data of the instruction to be processed corresponding to the smaller instruction delay is less than the delay evaluation data of the instruction to be processed corresponding to the larger instruction delay.

[0122] It is understandable that the smaller the instruction delay of the instruction to be processed, the lower the delay evaluation data of the instruction to be processed; the larger the instruction delay of the instruction to be processed, the higher the delay evaluation data of the instruction to be processed. In this way, under the same instruction type, the instruction to be processed with a larger instruction delay has a more urgent transmission priority, thereby realizing the priority processing of the instruction to be processed with a larger instruction delay.

[0123] Based on the technical solutions of the above embodiments, this application also provides another optional embodiment. In this optional embodiment, the attribute data is refined into instruction type and instruction delay. Correspondingly, the steps for determining the transmission evaluation data of S420 are refined.

[0124] Based on the relationship between the instruction delays of each pending instruction, a delay evaluation score is determined for each pending instruction. For each operation instruction, the type evaluation data of that operation instruction is determined as the first evaluation score; based on the first evaluation score and the delay evaluation score of that operation instruction, the transmission evaluation data of that operation instruction is determined. For each data feedback instruction, the type evaluation data of that data feedback instruction is determined as the second evaluation score; based on the second evaluation score and the delay evaluation score of that data feedback instruction, the transmission evaluation data of that data feedback instruction is determined.

[0125] Specifically, the delay evaluation score for the instruction with a smaller instruction delay is lower than the delay evaluation score for the instruction with a larger instruction delay. The second evaluation score is lower than the first evaluation score.

[0126] Understandably, for each instruction to be processed, the comprehensive transmission evaluation data of the instruction can be obtained by evaluating the type of the instruction and the delay evaluation score. This allows for a more accurate determination of the transmission priority of each instruction and, consequently, a more accurate determination of the data transmission status of the master control device in the current transmission cycle in subsequent steps.

[0127] Based on the technical solutions of the above embodiments, this application also provides another optional embodiment, in which the step of determining the data transmission status of S430 is refined.

[0128] See Figure 7 The steps for determining the data transmission status shown include:

[0129] S710 determines the transmission priority of each instruction to be processed based on the transmission evaluation data of each instruction to be processed.

[0130] In some embodiments, when the transmission evaluation data is a transmission evaluation score, the transmission priority of each instruction to be processed can be determined based on the magnitude of its transmission evaluation score. For example, the higher the transmission evaluation score, the higher the transmission priority of the corresponding instruction to be processed.

[0131] S720 determines the data transmission status of the master control device in the current transmission cycle based on the pending instruction with the highest transmission priority.

[0132] In some embodiments, when the instruction to be processed with the highest transmission priority is an operation instruction, the data transmission state of the master control device in the current transmission cycle is determined to be a data sending state; when the instruction to be processed with the highest transmission priority is a data feedback instruction, the data transmission state of the master control device in the current transmission cycle is determined to be a data receiving state.

[0133] In this embodiment of the application, by determining the transmission priority of each instruction to be processed, the instruction to be processed for determining the data transmission status can be quickly selected; in addition, by determining the data transmission status that is more needed at present based on the instruction to be processed with the highest transmission priority, the instruction to be processed with the highest transmission priority can be prioritized for transmission.

[0134] Based on the technical solutions of the above embodiments, this application also provides another optional embodiment, in which the steps of data transmission between the control and the surgical platform in S340 are refined.

[0135] See Figure 8 The steps for data transmission between the control and surgical platform, as shown, include:

[0136] When the data transmission state is in the data sending state, S810 sends operation commands to the surgical platform to control the surgical robot.

[0137] Understandably, the operating instructions can carry the surgeon's surgical actions. By sending the operating instructions to the surgical platform, the surgical platform can control the surgical robot to perform surgical actions according to the operating instructions.

[0138] S820, when the data transmission status is in the data receiving status, receives the data to be fed back sent by the surgical platform in response to the data feedback command.

[0139] In some embodiments, when the data feedback instruction is a data feedback request sent by the surgical platform to the main control device after executing historical operation instructions, the main control device can send a confirmation instruction (such as a confirmation data packet) to the surgical platform via the data feedback request, and then the main control device can receive the feedback data returned by the surgical platform in response to the confirmation instruction.

[0140] In some embodiments, the data feedback command is a feedback data acquisition request to be sent by the master control device to the surgical platform. The master control device can receive the feedback data to be sent by the surgical platform in response to the feedback data acquisition request. The data acquisition request may carry historical operation instructions, and the master control device can receive the feedback data to be sent by the surgical platform in response to these historical operation instructions.

[0141] In this embodiment of the application, accurate data transmission can be achieved by controlling the surgical platform in different data transmission states.

[0142] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment in which the data transmission method is described in detail.

[0143] See Figure 9 The data transmission method shown includes:

[0144] S910, in response to the end of the historical transmission cycle corresponding to the previous data transmission state, controls the master control device to switch to transmission sleep state.

[0145] The data transmission status is either data sending status or data receiving status.

[0146] S920, in the transmission sleep state, acquires attribute data of at least one instruction to be processed.

[0147] Among them, at least one instruction to be processed includes an operation instruction to be sent and / or a data feedback instruction to be processed corresponding to a historical operation instruction.

[0148] S930, for each instruction to be processed, if the instruction to be processed is an operation instruction, the type evaluation data of the instruction to be processed is determined as the first evaluation score; if the instruction to be processed is a data feedback instruction, the type evaluation data of the instruction to be processed is determined as the second evaluation score.

[0149] The second evaluation score is lower than the first evaluation score.

[0150] S940, based on the relationship between the instruction delays of each instruction to be processed, determines the delay evaluation data for each instruction to be processed.

[0151] Among them, the delay evaluation data of the instruction to be processed corresponding to the smaller instruction delay is smaller than the delay evaluation data of the instruction to be processed corresponding to the larger instruction delay.

[0152] S950, when the instruction to be processed is an operation instruction, the transmission evaluation data of the operation instruction is determined based on the first evaluation score and the delay evaluation data corresponding to the operation instruction; when the instruction to be processed is a data feedback instruction, the transmission evaluation data of the data feedback instruction is determined based on the first evaluation score and the delay evaluation data corresponding to the data feedback instruction.

[0153] S960 determines the transmission priority of each instruction to be processed based on the transmission evaluation data of each instruction to be processed.

[0154] S970: When the highest priority pending instruction is an operation instruction, the data transmission status of the master control device in the current transmission cycle is determined to be a data sending state; when the highest priority pending instruction is a data feedback instruction, the data transmission status of the master control device in the current transmission cycle is determined to be a data receiving state.

[0155] S980, in response to the completion of the data transmission status determination for the current transmission cycle, controls the master control device to switch to the data transmission status for the current transmission cycle.

[0156] S990, when the data transmission state is in the data sending state, sends operation instructions to the surgical platform to control the surgical robot; when the data transmission state is in the data receiving state, it receives the feedback data sent by the surgical platform in response to the data feedback instructions.

[0157] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment, in which the data transmission method is described in detail from the perspective of interaction between the two parties.

[0158] See Figure 10 The data transmission method shown includes:

[0159] The master control device can switch to a transmission sleep state in response to the end of the historical transmission cycle corresponding to the previous data transmission state; then, based on at least one pending instruction in the master control device, it determines the data transmission state of the master control device in the current cycle. Pending instructions include operation instructions to be sent and / or data feedback instructions to be processed corresponding to historical operation instructions. The process by which the master control device determines the data transmission state of the master control device in the current cycle is described above and will not be repeated here.

[0160] Once the master control device determines that its data transmission status for the current cycle is "data sending," it sends an operation command to the surgical platform. The surgical platform then controls the surgical robot to execute the operation command and caches the feedback data obtained from executing the command.

[0161] Once the master control device determines that its data transmission status for the current cycle is in data receiving mode, it sends a confirmation command to the surgical platform regarding the data feedback request sent by the surgical platform. The data feedback request carries historical operation instructions. The surgical platform responds to the confirmation command by sending feedback data for the historical operation instructions to the master control device.

[0162] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment, in which the data transmission method is described in detail from the perspective of interaction between the two parties.

[0163] See Figure 11 The data transmission method shown includes:

[0164] The master control device can switch to a transmission sleep state in response to the end of the historical transmission cycle corresponding to the previous data transmission state. Then, based on at least one pending instruction in the master control device, the master control device determines the data transmission state of the master control device in the current cycle. The pending instructions include operation instructions to be sent and / or data feedback instructions to be processed corresponding to historical operation instructions. The process by which the master control device determines the data transmission state of the master control device in the current cycle is described above and will not be repeated here.

[0165] Once the master control device determines that its data transmission status for the current cycle is "data sending," it sends an operation command to the surgical platform. The surgical platform then controls the surgical robot to execute the operation command and caches the feedback data obtained from executing the command.

[0166] Once the master control device determines that its data transmission status for the current cycle is in data receiving mode, it sends a feedback data retrieval request to the surgical platform. This request carries historical operation instructions. The surgical platform responds to the feedback data retrieval request by sending feedback data related to the historical operation instructions back to the master control device.

[0167] In an exemplary embodiment, the data transmission method provided in this application can be applied to the surgical platform of a surgical robot, wherein the surgical platform can be a device controlled by a surgeon to control the surgical robot to perform surgical operations. In this embodiment, as... Figure 12 As shown, the method may include the following steps:

[0168] S1210, in response to the end of the historical transmission cycle corresponding to the previous data transmission state, controls the surgical platform to switch to the transmission sleep state; the data transmission state is either the data sending state or the data receiving state;

[0169] S1220, in the transmission sleep state, the data transmission status of the surgical platform in the current transmission cycle is determined according to at least one pending instruction in the surgical platform; the at least one pending instruction includes an operation instruction to be sent and / or a data feedback instruction to be processed corresponding to a historical operation instruction;

[0170] S1230, in response to the completion of the data transmission status determination for the current transmission cycle, the control platform switches to the data transmission status for the current transmission cycle;

[0171] S1240, under the current data transmission state of the transmission cycle, controls the data transmission between the main control device and the control device.

[0172] The process of data transmission performed by the surgical platform is similar to that of the main control device, and will not be described in detail here.

[0173] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0174] Based on the same inventive concept, this application also provides a data transmission apparatus for implementing the data transmission method described above. The solution provided by this apparatus is similar to the implementation described in the above method; therefore, specific limitations in one or more data transmission apparatus embodiments provided below can be found in the limitations of the data transmission method described above, and will not be repeated here.

[0175] In one embodiment, such as Figure 13 As shown, a data transmission device is provided, including: a first control module 1310, a determining module 1320, a second control module 1330, and a third control module 1340. Among them,

[0176] The first control module 1310 is used to control the main control device to switch to a transmission sleep state in response to the end of the historical transmission cycle corresponding to the previous data transmission state; the data transmission state is either a data sending state or a data receiving state.

[0177] The determination module 1320 is used to determine the data transmission status of the master control device in the current transmission cycle based on at least one pending instruction in the master control device during the transmission sleep state; the at least one pending instruction includes an operation instruction to be sent and / or a data feedback instruction to be processed corresponding to a historical operation instruction;

[0178] The second control module 1330 is used to control the main control device to switch to the data transmission state of the current transmission cycle in response to the completion of the data transmission state determination of the current transmission cycle.

[0179] The third control module 1340 is used to control the data transmission between the surgical platform and the current transmission cycle during the data transmission state.

[0180] In one embodiment, the determining module 1320 is specifically used to: acquire attribute data of each instruction to be processed; determine the transmission evaluation data of the corresponding instruction to be processed based on the attribute data of each instruction to be processed; and determine the data transmission status of the master control device in the current transmission cycle based on the transmission evaluation data of each instruction to be processed.

[0181] In one embodiment, the attribute data includes instruction type, and the transmission evaluation data includes type evaluation data; and / or, the attribute data includes instruction delay, and the transmission evaluation data includes delay evaluation data.

[0182] In one embodiment, the determining module 1320 is specifically configured to: for each instruction to be processed, if the instruction to be processed is an operation instruction, determine the type evaluation data of the instruction to be processed as a first evaluation score; if the instruction to be processed is a data feedback instruction, determine the type evaluation data of the instruction to be processed as a second evaluation score; wherein the second evaluation score is less than the first evaluation score.

[0183] In one embodiment, the determining module 1320 is specifically used to: determine the delay evaluation data of each instruction to be processed based on the relationship between the instruction delays of each instruction to be processed; wherein, the delay evaluation data of the instruction to be processed corresponding to the smaller instruction delay is less than the delay evaluation data of the instruction to be processed corresponding to the larger instruction delay.

[0184] In one embodiment, the determining module 1320 is specifically used to: determine the transmission priority of each instruction to be processed based on the transmission evaluation data of each instruction to be processed; and determine the data transmission status of the master control device in the current transmission cycle based on the instruction to be processed with the highest transmission priority.

[0185] In one embodiment, the determining module 1320 is specifically used to: determine the data transmission state of the master control device in the current transmission cycle as a data sending state when the highest priority pending instruction is an operation instruction; and determine the data transmission state of the master control device in the current transmission cycle as a data receiving state when the highest priority pending instruction is a data feedback instruction.

[0186] In one embodiment, the third control module 1340 is specifically configured to: send operation instructions to the surgical platform to control the surgical robot when the data transmission state is in the data sending state; and receive feedback data sent by the surgical platform in response to the data feedback instructions when the data transmission state is in the data receiving state.

[0187] In one embodiment, such as Figure 14 As shown, a data transmission device is provided, including: a first control module 1410, a determining module 1420, a second control module 1430, and a third control module 1440. Among them,

[0188] The first control module 1410 is used to control the surgical platform to switch to a transmission sleep state in response to the end of the historical transmission cycle corresponding to the previous data transmission state; the data transmission state is either a data sending state or a data receiving state.

[0189] The determining module 1420 is used to determine the data transmission status of the surgical platform in the current transmission cycle based on at least one pending instruction in the surgical platform during the transmission sleep state; the at least one pending instruction includes an operation instruction to be sent and / or a data feedback instruction to be processed corresponding to a historical operation instruction.

[0190] The second control module 1430 is used to control the surgical platform to switch to the data transmission state of the current transmission cycle in response to the completion of the data transmission state determination of the current transmission cycle.

[0191] The third control module 1440 is used to control the data transmission between the main control device and the data transmission state during the current transmission cycle.

[0192] Each module in the aforementioned data transmission device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0193] In one exemplary embodiment, a computer device is provided, which may be part of a master control device or a surgical platform.

[0194] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the data transmission method provided in any of the above embodiments.

[0195] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the data transmission method provided in any of the above embodiments.

[0196] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0197] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0198] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A data transmission method, characterized in that, The method, applied to the main control device of a surgical robot, includes: In response to the end of the historical transmission cycle corresponding to the previous data transmission state, the main control device is controlled to switch to a transmission sleep state; the data transmission state is either a data sending state or a data receiving state. In the transmission sleep state, the data transmission status of the master control device in the current transmission cycle is determined according to at least one pending instruction in the master control device; the at least one pending instruction includes an operation instruction to be sent and / or a data feedback instruction to be processed corresponding to a historical operation instruction; In response to the completion of the data transmission status determination for the current transmission cycle, the master control device is controlled to switch to the data transmission status for the current transmission cycle; During the data transmission state of the current transmission cycle, control the data transmission between the device and the surgical platform.

2. The method according to claim 1, characterized in that, Determining the data transmission status of the master control device in the current transmission cycle based on at least one pending instruction from the master control device includes: Obtain the attribute data of each of the instructions to be processed; Based on the attribute data of each instruction to be processed, determine the transmission evaluation data of the corresponding instruction to be processed; Based on the transmission evaluation data of each instruction to be processed, the data transmission status of the master control device in the current transmission cycle is determined.

3. The method according to claim 2, characterized in that, The attribute data includes instruction type, and the transmission evaluation data includes type evaluation data; and / or, The attribute data includes instruction delay, and the transmission evaluation data includes delay evaluation data.

4. The method according to claim 3, characterized in that, The step of determining the transmission evaluation data of the corresponding instruction based on the attribute data of each instruction to be processed includes: For each instruction to be processed, if the instruction to be processed is an operation instruction, the type evaluation data of the instruction to be processed is determined as the first evaluation score; When the instruction to be processed is a data feedback instruction, the type evaluation data of the instruction to be processed is determined as the second evaluation score; The second evaluation score is less than the first evaluation score.

5. The method according to claim 3, characterized in that, The step of determining the transmission evaluation data of the corresponding instruction based on the attribute data of each instruction to be processed includes: Based on the relationship between the instruction delays of each instruction to be processed, the delay evaluation data of each instruction to be processed is determined. Among them, the delay evaluation data of the instruction to be processed corresponding to the smaller instruction delay is smaller than the delay evaluation data of the instruction to be processed corresponding to the larger instruction delay.

6. The method according to claim 2, characterized in that, Determining the data transmission status of the master control device in the current transmission cycle based on the transmission evaluation data of each of the instructions to be processed includes: Based on the transmission evaluation data of each instruction to be processed, the transmission priority of each instruction to be processed is determined; Based on the pending instruction with the highest transmission priority, the data transmission status of the master control device in the current transmission cycle is determined.

7. The method according to claim 6, characterized in that, The step of determining the data transmission status of the master control device in the current transmission cycle based on the pending instruction with the highest transmission priority includes: When the highest priority instruction to be processed is an operation instruction, the data transmission status of the master control device in the current transmission cycle is determined to be a data sending status; When the highest priority pending instruction is a data feedback instruction, the data transmission status of the master control device in the current transmission cycle is determined to be a data receiving status.

8. The method according to any one of claims 1-7, characterized in that, The control of data transmission with the surgical platform during the data transmission state of the current transmission cycle includes: When the data transmission state is in the data sending state, the operation command is sent to the surgical platform to control the operation of the surgical platform; When the data transmission state is in the data receiving state, the system receives the feedback data sent by the surgical platform in response to the data feedback instruction.

9. A data transmission method, characterized in that, A surgical platform applied to a surgical robot, the method comprising: In response to the end of the historical transmission cycle corresponding to the previous data transmission state, the surgical platform is controlled to switch to a transmission sleep state; the data transmission state is either a data sending state or a data receiving state. In the transmission sleep state, the data transmission status of the surgical platform in the current transmission cycle is determined according to at least one pending instruction in the surgical platform; the at least one pending instruction includes an operation instruction to be sent and / or a data feedback instruction to be processed corresponding to a historical operation instruction; In response to the completion of the data transmission status determination for the current transmission cycle, the surgical platform is controlled to switch to the data transmission status of the current transmission cycle; During the data transmission state of the current transmission cycle, control the data transmission between the controller and the master control device.

10. A data transmission device, characterized in that, The main control device configured in the surgical robot includes: The first control module is used to control the main control device to switch to a transmission sleep state in response to the end of the historical transmission cycle corresponding to the previous data transmission state; the data transmission state is either a data sending state or a data receiving state. The determination module is used to determine the data transmission status of the master control device in the current transmission cycle based on at least one pending instruction in the master control device during the transmission sleep state; the at least one pending instruction includes an operation instruction to be sent and / or a data feedback instruction to be processed corresponding to a historical operation instruction. The second control module is used to control the main control device to switch to the data transmission state of the current transmission cycle in response to the completion of the data transmission state determination of the current transmission cycle. The third control module is used to control the data transmission with the surgical platform during the data transmission state of the current transmission cycle.

11. A data transmission device, characterized in that, A surgical platform configured on a surgical robot, the device comprising: The first control module is used to control the surgical platform to switch to a transmission sleep state in response to the end of the historical transmission cycle corresponding to the previous data transmission state; the data transmission state is either a data sending state or a data receiving state. The determination module is used to determine the data transmission status of the surgical platform in the current transmission cycle based on at least one pending instruction in the surgical platform during the transmission sleep state; the at least one pending instruction includes an operation instruction to be sent and / or a data feedback instruction to be processed corresponding to a historical operation instruction. The second control module is used to control the surgical platform to switch to the data transmission state of the current transmission cycle in response to the completion of the data transmission state determination of the current transmission cycle. The third control module is used to control the data transmission with the master control device during the data transmission state of the current transmission cycle.

12. A computer device comprising a memory, a transceiver, and a processor, wherein the memory stores a computer program, characterized in that, The transceiver is used to receive or send data under the control of the processor, wherein the processor executes the computer program to implement the steps of the method according to any one of claims 1-8 or the steps of the method according to claim 9.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-8 or the steps of the method according to claim 9.

14. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1-8 or the steps of the method according to claim 9.

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