Timestamp synchronization method and device for heterogeneous devices in smart operating room

Abstract

The application provides a timestamp synchronization method and device for heterogeneous devices in a smart operating room, and the method comprises the following steps: a UWB master base station and a UWB slave base station of a UWB synchronization network module construct a unified clock reference through air interface synchronization; a UWB timestamp module is used to receive the unified clock signal of the UWB synchronization network module and generate a current UWB timestamp by analysis; a multi-interface timestamp module is used to receive original data output by a third-party device and synchronously acquire the current UWB timestamp output by the UWB timestamp module, and the current UWB timestamp is real-time bound with the original data and then output to an upper computer and / or a data platform for data fusion analysis. The application realizes the fusion analysis and timing alignment of data among heterogeneous devices through the timestamp synchronization method and device for heterogeneous devices in a smart operating room.

Description

Technical Field

[0001] This invention relates to the field of medical equipment technology, and more particularly to a timestamp synchronization method and apparatus for heterogeneous equipment in a smart operating room. Background Technology

[0002] In smart operating rooms, basic imaging equipment such as CT, MRI, and CBCT usually come with accurate timestamp modules. However, third-party medical devices or positioning devices, such as surgical robots, monitors, optical binocular cameras, gait tracking sensors, and other heterogeneous auxiliary devices, generally lack native timestamp output due to differences in hardware design and data transmission protocols. Or, the timestamps cannot be consistent because there is no communication or protocol negotiation mechanism between them.

[0003] The inconsistency in timestamps between devices leads to the need for waveform matching to acquire periodic data during fusion processing. This results in limited accuracy and low acquisition efficiency for the acquired periodic data, and also prevents effective correlation of non-periodic data, rendering such periodic data unusable. Ultimately, this severely impacts multi-device data fusion analysis and postoperative review. Summary of the Invention

[0004] The purpose of this invention is to provide a timestamp synchronization method and device for heterogeneous devices in a smart operating room, enabling data fusion analysis and time sequence alignment between heterogeneous devices.

[0005] The technical solution provided by this invention is as follows: In a first aspect, the present invention provides a timestamp synchronization device for heterogeneous equipment in a smart operating room, comprising: The UWB synchronization network module includes one UWB master base station and at least one UWB slave base station, which are used to build a unified clock reference through air interface synchronization. The UWB timestamp module communicates wirelessly with the UWB synchronization network module to receive and parse a unified clock signal and generate the current UWB timestamp. A multi-interface timestamp module is communicatively connected to the UWB timestamp module and at least one third-party device, respectively. The multi-interface timestamp module integrates various types of data interfaces adapted to different third-party devices. It is used to receive the raw data output by the third-party device and synchronously obtain the current UWB timestamp. After binding the current UWB timestamp with the raw data in real time, it outputs the data to the host computer and / or data platform for data fusion and analysis.

[0006] In some implementations, the multi-interface timestamp module includes: The UWB time module interface is connected to the UWB timestamp module and is used to receive the timestamp signal transmitted by the UWB timestamp module. A third-party device interface, which connects to different third-party devices and is used to receive raw data from the corresponding third-party devices; An embedded processing module is used to, when receiving raw data from the third-party device, obtain the current UWB timestamp transmitted by the UWB timestamp module, and output raw data with target UWB timestamps of different precision to the host computer and / or the data platform according to the type of the third-party device and the current UWB timestamp.

[0007] In some implementations, the embedded processing module is further configured to: Real-time detection of the pin levels of the third-party device interface; When the start bit of the pin level of the third-party device interface is detected, the current UWB timestamp is latched, and the current UWB timestamp is bound to the original data and then output.

[0008] In some implementations, the embedded processing module is further configured to: Real-time detection of USB data packet arrival events at the interface of the third-party device; When a USB data packet arrival event is detected from the third-party device interface, the current UWB timestamp is latched, and the current UWB timestamp is bound to the original data before being output.

[0009] In some implementations, the embedded processing module is further configured to: When the raw data from the surgical robot is received, the current UWB timestamp transmitted by the UWB timestamp module is obtained, a target UWB timestamp with a first preset precision is added to the raw data of the surgical robot, and the data is output to the host computer and / or the data platform. When the raw data from the monitor is received, the current UWB timestamp transmitted by the UWB timestamp module is obtained, a target UWB timestamp with a second preset precision is added to the raw data of the monitor, and the data is output to the host computer and / or the data platform. When the raw data from the positioning sensor is received, the timestamp signal transmitted by the UWB timestamp module is acquired, a target UWB timestamp with a third preset precision is added to the raw data from the positioning sensor, and the data is output to the host computer and / or the data platform.

[0010] Secondly, the present invention also provides a timestamp synchronization method for heterogeneous devices in a smart operating room, comprising: A unified clock reference is constructed by synchronizing the UWB master base station and UWB slave base station through the air interface via the UWB synchronization network module. The UWB timestamp module receives the unified clock signal from the UWB synchronization network module and parses it to generate the current UWB timestamp; The system receives raw data output from third-party devices via a multi-interface timestamp module and synchronously obtains the current UWB timestamp output by the UWB timestamp module. The current UWB timestamp is then bound to the raw data in real time and output to the host computer and / or data platform for data fusion and analysis.

[0011] Some implementations also include: When the multi-interface timestamp module receives the raw data from the third-party device, it obtains the current UWB timestamp transmitted by the UWB timestamp module, and outputs the raw data with target UWB timestamps of different precision to the host computer and / or the data platform according to the type of the third-party device and the current UWB timestamp.

[0012] Some implementations also include: The pin levels of the third-party device interface are detected in real time using the multi-interface timestamp module. When the start bit of the pin level of the third-party device interface is detected, the current UWB timestamp is latched, and the current UWB timestamp is bound to the original data and then output.

[0013] Some implementations also include: The multi-interface timestamp module is used to detect the arrival of USB data packets at the third-party device interface in real time. When a USB data packet arrival event is detected from the third-party device interface, the current UWB timestamp is latched, and the current UWB timestamp is bound to the original data before being output.

[0014] Some implementations also include: When the multi-interface timestamp module receives the raw data from the surgical robot, it obtains the current UWB timestamp transmitted by the UWB timestamp module, adds a target UWB timestamp with a first preset precision to the raw data of the surgical robot, and outputs it to the host computer and / or the data platform. When the multi-interface timestamp module receives the raw data from the monitor, it obtains the current UWB timestamp transmitted by the UWB timestamp module, adds a target UWB timestamp with a second preset precision to the raw data of the monitor, and outputs it to the host computer and / or the data platform. When the multi-interface timestamp module receives the raw data from the positioning sensor, it acquires the timestamp signal transmitted by the UWB timestamp module, adds a target UWB timestamp with a third preset precision to the raw data of the positioning sensor, and outputs it to the host computer and / or the data platform.

[0015] This invention achieves microsecond-level time unification based on a UWB network module and hardware-level capture synchronization based on a UWB multi-interface timestamp module, thereby solving the problems of low timestamp synchronization accuracy and inconsistent timing among heterogeneous devices in a smart operating room. Attached Figure Description

[0016] The preferred embodiments will be described below in a clear and easy-to-understand manner, with reference to the accompanying drawings, to further explain the above-mentioned characteristics, technical features, advantages, and implementation methods of a timestamp synchronization method and device for heterogeneous devices in a smart operating room.

[0017] Figure 1 This is a schematic diagram of an embodiment of a timestamp synchronization device for heterogeneous equipment in a smart operating room according to the present invention; Figure 2 This is a schematic diagram illustrating the basic structural principle of a heterogeneous device timestamp synchronization device for a smart operating room according to the present invention. Figure 3 This is a network structure diagram of a heterogeneous device timestamp synchronization device for a smart operating room according to the present invention; Figure 4 This is a schematic diagram of the structure of the multi-interface UWB timestamp module of the present invention; Figure 5 This is a schematic diagram of the synchronization process of a heterogeneous device timestamp synchronization device for a smart operating room according to the present invention; Figure 6 A schematic diagram of an embodiment of a heterogeneous device timestamp synchronization method for a smart operating room according to the present invention. Detailed Implementation

[0018] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0019] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or sets.

[0020] To keep the drawings concise, only the parts relevant to the invention are shown schematically in each figure, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of components with the same structure or function is shown schematically, or only one is labeled. In this document, "one" can mean not only "only one" but also "more than one".

[0021] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0022] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0024] Unless otherwise defined, all technical and scientific terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the embodiments of this application is for descriptive purposes only and is not intended to limit the application. Before further detailed description of the embodiments of this application, the nouns and terms involved in the embodiments of this application are explained, and the nouns and terms involved in the embodiments of this application are subject to the following interpretations.

[0025] In modern smart operating rooms, there are imaging equipment (such as CT, MRI, CBCT, etc.) and various third-party medical or positioning devices (such as surgical robots, monitors, optical binocular cameras, gait tracking sensors). Collaborative data fusion from multiple medical devices has become a key technological foundation for precise surgical navigation and patient safety monitoring. Third-party devices such as surgical robots, vital sign monitors, and gait sensors typically output acquired or positioning data via RS232, CAN bus, or USB interfaces. To achieve cross-device data time-series alignment and fusion analysis, such as in surgical navigation and multi-sensor collaborative monitoring, it is essential to add unified, high-precision timestamps to the data from each device to ensure data time-series consistency and the accuracy of data fusion and analysis.

[0026] Existing time synchronization technologies have the following drawbacks: 1. Deployment limitations of wired synchronization methods: Wired synchronization solutions based on Ethernet, fiber optics or dedicated synchronization cables require additional cabling in the operating room, which disrupts the sterile environment and is cumbersome to install, failing to meet the needs of flexible deployment and rapid switching in the operating room. 2. Insufficient synchronization accuracy of traditional wireless technologies: The synchronization accuracy of consumer-grade wireless synchronization technologies such as Wi-Fi and Bluetooth is only at the millisecond level, which cannot meet the microsecond-level time synchronization requirements in medical scenarios; moreover, their anti-interference ability is weak, and they are prone to losing synchronization in strong electromagnetic interference environments such as operating room electrosurgical units and high-frequency electrocoagulation devices. 3. Security risks of intrusive synchronization solutions: Some timestamp synchronization solutions require disassembling the device to access the internal bus of a third-party device or modifying the device firmware, which may damage the certification status and warranty terms of the medical device and pose a risk of introducing electromagnetic interference, thus failing to comply with medical device safety standards. 4. Poor interface compatibility: Most existing solutions only support a single interface type (such as RS232 only or USB only), which cannot be compatible with multiple types of interface devices in the operating room; and most existing gateway devices use software-level timestamp processing, which has latency jitter and makes it difficult to achieve hardware-level microsecond-level accuracy. 5. Insufficient adaptability to the electromagnetic environment of the operating room: The existing time synchronization device is not specifically optimized for the strong electromagnetic interference environment of the operating room, and is prone to loss of synchronization signal or timestamp jitter when equipment such as electrosurgical unit and C-arm X-ray machine are working.

[0027] To address the above issues, this invention provides a wireless, multi-interface compatible, microsecond-level precision, non-invasive, and adaptable timestamp synchronization solution for complex electromagnetic environments in operating rooms.

[0028] Operating rooms are typical scenarios characterized by strong interference, multiple reflections, and high EMC requirements: Interference sources are densely concentrated: monitors, anesthesia machines, electrosurgical units, ventilators, imaging equipment, Wi-Fi / Bluetooth, 5G, etc. Multipath propagation is severe: numerous metal instruments, operating tables, and walls cause strong reflections and multipath superposition. Reliability requirements include: zero interruption, low latency, and high-precision positioning (such as surgical navigation and instrument tracking).

[0029] To address this, the present invention solves the problems in complex scenarios within a smart operating room by adding a UWB gateway device (UWB multi-interface timestamp module).

[0030] UWB devices are primarily used for positioning, but they possess extremely strong anti-interference capabilities and very high time consistency between base stations. In a wireless deployment with one primary and multiple secondary UWB base stations, the latency between base stations can reach 1–5 ns. The advantages of UWB include: Multipath and interference resistance: superior to RFID, WiFi, and Bluetooth, maintaining stable communication even in the metal-dense environment of the operating room.

[0031] EMC compliant: Low power spectrum, carrier-free pulse characteristics, does not interfere with medical equipment, and complies with medical electromagnetic safety standards.

[0032] Low latency + high reliability: suitable for critical medical applications such as real-time intraoperative positioning, wireless monitoring, and surgical navigation.

[0033] Flexible deployment: No wiring is required, it can be quickly set up, and it can be adapted to different operating room layouts.

[0034] Therefore, this invention implements the "UWB multi-interface timestamp module" described in the present invention through a UWB module. The necessity of this invention stems from the fact that existing commercially available gateways cannot simultaneously meet all the requirements of an operating room scenario (such as multi-interface compatibility, microsecond-level hardware-level timestamp injection, medical-grade anti-interference and security design, etc.). Through this UWB multi-interface timestamp module based on a UWB module, a method for solving the timestamp synchronization problem among various heterogeneous devices in a smart operating room is formed. Figure 1 As shown, the device specifically includes: The UWB synchronization network module 101 includes a UWB master base station and at least one UWB slave base station, used to construct a unified clock reference through air interface synchronization; the UWB timestamp module 102 is wirelessly connected to the UWB synchronization network module, used to receive and parse the unified clock signal, and generate the current UWB timestamp; the multi-interface timestamp module 103 is communicatively connected to the UWB timestamp module and at least one third-party device respectively; wherein, the multi-interface timestamp module integrates multiple types of data interfaces adapted to different third-party devices, used to receive the raw data output by the third-party device and synchronously obtain the current UWB timestamp, and bind the current UWB timestamp with the raw data in real time before outputting it to the host computer and / or data platform for data fusion analysis.

[0035] The basic structural principle of the heterogeneous device timestamp synchronization device for smart operating rooms of the present invention is as follows: Figure 2 As shown: UWB base station (master clock) → wireless synchronization → external UWB slave module (UWB multi-interface timestamp module) for each device → unified timestamp output → time alignment of all data.

[0036] The network structure diagram of the heterogeneous device timestamp synchronization device used in the smart operating room is as follows: Figure 3 As shown: The UWB master base station includes a synchronization reference generation unit, a high-stability clock source, a UWB radio frequency transceiver unit, and an antenna array; the UWB slave base stations include a wireless receiving unit, a clock calibration unit, a phase-locked loop, and a local clock synchronization unit. The UWB master base station and each UWB slave base station achieve air interface synchronization via UWB wireless signals, constructing a unified microsecond-level clock reference for the entire network, and synchronizing it to the UWB timestamp module, with a synchronization accuracy ≤1ns.

[0037] For example, the technical parameters of this embodiment include: operating frequency band: 6.5-8.5 GHz (avoiding Wi-Fi / Bluetooth bands); signal bandwidth: 500 MHz; synchronization mechanism: TWR (Two-Way Ranging) bidirectional ranging; clock source: high-stability OCXO / TCXO; synchronization accuracy: ≤1ns (between base stations); radiated power: ≤-41.3dBm / MHz (compliant with medical EMC standards).

[0038] In this embodiment, the UWB pure wireless air interface synchronization timestamp method is adopted, which eliminates the need for wiring between base stations, does not disrupt the sterile environment of the operating room, and is flexible in deployment, adapting to the complex layout of the operating room. At the same time, UWB has strong anti-interference capabilities and can maintain stable synchronization even in the strong electromagnetic environment of the operating room.

[0039] The UWB synchronization network module (UWB base station) adopts a pure wireless air interface synchronization method, including one UWB master base station and at least one UWB slave base station. The UWB master base station and each UWB slave base station achieve air interface synchronization through UWB wireless signals to build a unified microsecond-level clock reference for the entire network.

[0040] The UWB timestamp module adopts an ultra-low power spectral density design, which complies with medical EMC electromagnetic safety standards, avoids interference with medical equipment such as monitors, electrosurgical units, and defibrillators in the operating room, and works in conjunction with the newly developed multi-interface timestamp module to achieve safe synchronization.

[0041] The multi-interface UWB timestamp module communicates wirelessly with the UWB synchronization network module (UWB base station), receives the unified clock signal sent by the UWB synchronization network module (UWB base station) in real time, parses it to obtain the absolute timestamp with microsecond-level precision, and transmits the timestamp signal to the multi-interface UWB timestamp module.

[0042] The multi-interface timestamp module includes: A UWB time module interface, connected to the UWB timestamp module, is used to receive the timestamp signal transmitted by the UWB timestamp module. A third-party device interface, connected to different third-party devices, is used to receive the raw data from the corresponding third-party device. An embedded processing module, upon receiving raw data from the third-party device, obtains the current UWB timestamp transmitted by the UWB timestamp module, and, based on the type of the third-party device and the current UWB timestamp, outputs raw data with target UWB timestamps of varying precision to the host computer and / or the data platform.

[0043] Reference Appendix Figure 4 As shown, the multi-interface UWB timestamp module is the core execution unit of this device. It is specifically designed for the complex electromagnetic environment of the operating room and the requirement for multi-interface compatibility. It integrates RS232 interface, CAN interface, and USB interface to establish data connections with third-party devices of the corresponding interface types. It only collects the raw data output by the third-party devices (without sending control commands to the third-party devices or connecting to the internal circuitry of the device). At the same time, the multi-interface timestamp module receives the timestamp signal transmitted by the UWB timestamp module and uses a self-designed hardware-level capture method to inject the corresponding microsecond-level timestamp in real time when each packet of raw data arrives, thus completing the binding of data and timestamp.

[0044] The binding format between the timestamp and the original data includes: Text format: TS: seconds.microseconds, IF: interface type, ID: device number, DATA: raw data (hexadecimal); JSON structured format: {"timestamp": seconds.microseconds,"interface": interface type,"device_id": device number,"raw_data": raw data (hexadecimal)}.

[0045] The multi-interface timestamp module of this invention supports multiple output formats (text, binary, etc.), can be flexibly adapted to different docking requirements such as host computers and hospital IoT platforms, has strong practicality, and can be directly applied to scenarios such as surgical navigation, multi-sensor collaborative monitoring, and medical equipment data fusion.

[0046] The third-party device is a medical device used in the operating room or a third-party positioning device, equipped with at least one interface of RS232, CAN, and USB, used to output raw acquired data or positioning data. The interfaces of the third-party device include RS232, CAN, and USB interfaces.

[0047] This embodiment achieves microsecond-level time synchronization with a UWB base station synchronization accuracy of ≤1-5ns. Through the hardware-level processing mechanism of the multi-interface timestamp module, the timestamp addition accuracy is ≤1-3μs (RS232 / CAN interface), meeting the high-precision requirements of multi-device data fusion and time sequence alignment in medical scenarios.

[0048] The parameters of each interface of the multi-interface timestamp module of this invention have been optimized to meet the requirements of operating room equipment, as detailed below: 1. RS232 interface: Used to receive TX output data from third-party devices, with timestamp addition accuracy of 1-3μs, and is compatible with RS232 interface medical devices such as surgical robots.

[0049] 2. CAN interface: Compatible with standard frames and extended frames, with timestamp addition accuracy of 1-3μs, suitable for CAN interface medical devices such as monitors.

[0050] 3. USB interface: It adopts a USB Host port, supports third-party devices such as USB to serial ports, and the timestamp addition accuracy is 10-20μs (limited by the latency of the USB protocol itself), and is compatible with various USB interface positioning devices.

[0051] 4. UWB Time Module Interface: Supports UART or I2C protocols to receive timestamp signals transmitted by the UWB timestamp module, ensuring stable time signal transmission.

[0052] In this invention, the multi-interface timestamp module integrates three mainstream interfaces: RS232, CAN, and USB. It can be adapted to various third-party devices with different interface types in the operating room, has strong versatility, and does not require separate synchronization schemes for different devices, thus solving the problem of the single interface of existing gateways.

[0053] In addition, the multi-interface timestamp module of the present invention also integrates an output interface (Ethernet RJ45) that supports TCP client, MQTT and UDP protocols, for outputting data with bound timestamps to a host computer or hospital IoT platform for subsequent data fusion and analysis; the gateway also adopts an anti-electromagnetic interference design to adapt to the strong interference environment of the operating room, and adopts an independent power supply design to avoid interfering with medical equipment.

[0054] This invention adopts an "external" design, combined with the unidirectional data acquisition design of the multi-interface timestamp module. It does not intrude into the internal parts of third-party devices, does not require disassembly, wiring, or firmware modification, and does not damage the certification and warranty of medical devices. Furthermore, the UWB module adopts a low power spectrum design, which does not interfere with medical devices in the operating room and complies with medical electromagnetic safety standards.

[0055] To avoid the uncertainty of operating system scheduling caused by software-level processing, the multi-interface timestamp module of this invention adopts a self-designed hardware-level data capture and timestamp injection mechanism, which is different from the existing software-level processing method. This avoids the latency fluctuations caused by software processing, ensures the time sequence consistency between the timestamp and the original data, and controls the error to the microsecond level.

[0056] The embedded processing module is further configured to: detect the pin level of the third-party device interface in real time; latch the current UWB timestamp when the start bit of the pin level of the third-party device interface is detected, and output the current UWB timestamp after binding it with the original data.

[0057] Specifically, the above hardware device timestamp capture mechanism process includes: 1. The FPGA continuously monitors the RS232 RX pin level; 2. Immediately latch the current UWB timestamp upon detecting a falling edge (start bit); 3. Latch delay <100ns, ensuring microsecond-level accuracy; 4. Output the timestamp after binding it to the original data frame.

[0058] In addition, the embedded processing module is also used to: detect the arrival event of USB data packets of the third-party device interface in real time; when the arrival event of USB data packets of the third-party device interface is detected, latch the current UWB timestamp, and bind the current UWB timestamp with the original data before outputting it.

[0059] The hardware-level processing of this invention has the following advantages over software-level processing: due to the uncertainty of operating system scheduling, software-level processing has a latency of 1-10ms, but hardware-level processing has the advantage of deterministic timing, so the time is shorter, and the latency is generally <1μs.

[0060] Specifically, the embedded processing module is also used for: When raw data from the surgical robot is received, the current UWB timestamp transmitted by the UWB timestamp module is acquired, a target UWB timestamp with a first preset precision is added to the raw data of the surgical robot, and the result is output to the host computer and / or the data platform. When raw data from the monitor is received, the current UWB timestamp transmitted by the UWB timestamp module is acquired, a target UWB timestamp with a second preset precision is added to the raw data of the monitor, and the result is output to the host computer and / or the data platform. When raw data from the positioning sensor is received, the timestamp signal transmitted by the UWB timestamp module is acquired, a target UWB timestamp with a third preset precision is added to the raw data of the positioning sensor, and the result is output to the host computer and / or the data platform.

[0061] In summary, the multi-interface timestamp module of this invention adopts a self-designed hardware-level timestamp injection mechanism to avoid latency fluctuations caused by software processing, ensure the consistency of the timestamp with the original data, controllable error, and only collect data without controlling the device, further improving the safety of use in medical scenarios; at the same time, the gateway is optimized for the strong electromagnetic environment of the operating room, and has stronger anti-interference capabilities.

[0062] For example, such as Figure 5 As shown, this embodiment of the invention provides a multi-interface device UWB microsecond-level timestamp synchronization device, as detailed below: In this embodiment, the UWB synchronization network module includes one UWB master base station and two UWB slave base stations, all of which are medical-grade low-power UWB devices conforming to the IEEE 802.15.4-2020 standard. The operating frequency band is 6.5-8.5GHz (avoiding Wi-Fi 2.4GHz / 5GHz, Bluetooth and commonly used frequency bands of medical devices), with a signal bandwidth of 500MHz. The UWB master base station and slave base stations achieve air interface synchronization through a two-way ranging (TWR) mechanism, with a synchronization accuracy of 0.8ns.

[0063] Meanwhile, the UWB timestamp module adopts the Decawave DW1000 / DW3000 series chip architecture, supports UART interface output of timestamp signal, achieves timing accuracy of 2μs, and has a radiated power of -42dBm / MHz, which complies with the YY 0505-2012 electromagnetic compatibility standard for medical electrical equipment.

[0064] The multi-interface timestamp gateway adopts an embedded ARM+FPGA architecture, where the FPGA implements hardware-level data capture and timestamp injection logic. Its gateway integration includes: RS232 interface: MAX3232 level conversion chip, only the RXD / GND pins are brought out, and the baud rate supports 9600-115200bps; CAN interface: TJA1050 isolated transceiver, supports 125Kbps-1Mbps speed, electrical isolation withstand voltage 2500Vrms; USB interface: USB 2.0 Host controller, supporting CDC-ACM class devices; Ethernet interface: 10 / 100M auto-sensing RJ45, supporting TCP client and MQTT v3.1.1 protocol; UWB time module interface: 3.3V UART, baud rate 115200bps.

[0065] In this embodiment, the multi-interface timestamp gateway is independently powered by a 24V medical isolation power adapter, and the casing adopts an aluminum alloy shielding design to meet the electromagnetic compatibility requirements of the operating room.

[0066] Third-party devices include: 1. RS232 interface surgical robot: outputs surgical instrument pose data at a baud rate of 115200bps; 2. CAN interface multi-parameter monitor: outputs ECG, blood pressure, and blood oxygen data, CAN rate 250Kbps; 3. USB interface gait sensor: outputs gait position coordinates, connected via USB to serial port.

[0067] The UWB base station deployment method in this embodiment includes: the UWB base station is installed on the ceiling of the operating room (2.5m high), the main base station is located at the geometric center, and two slave base stations are symmetrically distributed, both far away from the electrosurgical unit (horizontal distance 1.8m) and the C-arm X-ray machine (horizontal distance 2.0m); the UWB timestamp module is fixed on the top of the multi-interface timestamp gateway with the antenna facing upward; the gateway is deployed on the operating room equipment tower, powered by an independent power supply, and connected to the operating room local area network via Ethernet.

[0068] Secondly, such as Figure 6 As shown, the present invention also provides a timestamp synchronization method for heterogeneous devices in a smart operating room, comprising: S101 A unified clock reference is constructed through air interface synchronization between the UWB master base station and the UWB slave base station of the UWB synchronization network module; S102 The unified clock signal of the UWB synchronization network module is received by the UWB timestamp module and parsed to generate the current UWB timestamp; S103 The raw data output by the third-party device is received by the multi-interface timestamp module and the current UWB timestamp output by the UWB timestamp module is obtained synchronously. The current UWB timestamp is then bound to the raw data in real time and output to the host computer and / or data platform for data fusion analysis.

[0069] When the multi-interface timestamp module receives the raw data from the third-party device, it obtains the current UWB timestamp transmitted by the UWB timestamp module, and outputs the raw data with target UWB timestamps of different precision to the host computer and / or the data platform according to the type of the third-party device and the current UWB timestamp.

[0070] For example, when the multi-interface timestamp module receives raw data from the surgical robot, it acquires the current UWB timestamp transmitted by the UWB timestamp module, adds a target UWB timestamp with a first preset precision to the raw data of the surgical robot, and outputs it to the host computer and / or the data platform; when the multi-interface timestamp module receives raw data from the monitor, it acquires the current UWB timestamp transmitted by the UWB timestamp module, adds a target UWB timestamp with a second preset precision to the raw data of the monitor, and outputs it to the host computer and / or the data platform; when the multi-interface timestamp module receives raw data from the positioning sensor, it acquires the timestamp signal transmitted by the UWB timestamp module, adds a target UWB timestamp with a third preset precision to the raw data of the positioning sensor, and outputs it to the host computer and / or the data platform.

[0071] Specifically, an example of binding timestamps to original data: Surgical robot data: TS:1735678923.123456,IF:RS232,ID:01,DATA:AA BB CC DD (First preset precision is 2μs); Monitor data: TS:1735678923.123459,IF:CAN,ID:02,DATA:11 22 33 44 (Second preset accuracy is 2.5μs); Positioning sensor data: TS:1735678923.123470,IF:USB,ID:03,DATA:55 66 77 88 (Third preset accuracy is 15μs).

[0072] In this embodiment, the physical layer of each interface is also monitored in real time by the FPGA of the multi-interface timestamp gateway, specifically including: 1. The multi-interface timestamp module detects the pin level of the third-party device interface in real time; when the start bit of the pin level of the third-party device interface is detected, the current UWB timestamp is latched, and the current UWB timestamp is bound to the original data and then output.

[0073] For example, the third-party device interface is an RS232 / CAN interface: it monitors the falling edge of the RX pin level (start bit) and latches the current UWB timestamp the instant the start bit is detected; 2. The multi-interface timestamp module detects the arrival of USB data packets from the third-party device interface in real time; when the arrival of USB data packets from the third-party device interface is detected, the current UWB timestamp is latched, and the current UWB timestamp is bound to the original data before being output.

[0074] For example, the third-party device interface is a USB interface: it monitors USB data packet arrival events and records the timestamp of the packet arrival time.

[0075] Based on the above embodiments, the specific synchronization method of this embodiment includes: Step 1: Start the UWB master base station and slave base station. The master base station periodically sends synchronization beacon frames. After receiving them, the slave base station calibrates its local clock. After the network-wide synchronization is completed, each base station periodically broadcasts a clock signal to establish a unified clock reference.

[0076] Step 2: After powering on, the UWB timestamp module automatically scans the UWB network, joins the synchronization network, parses the received clock signal, generates an absolute timestamp (format: "1735678923.123456", second-level precision + microsecond-level decimal), and transmits it to the multi-interface timestamp gateway via UART at a frequency of 100Hz.

[0077] Step 3: Connect third-party devices: Connect the RS232 TX pin of the surgical robot to the RS232 RX pin of the gateway, and connect them to a common ground; connect the CAN_H / CAN_L of the monitor to the CAN interface of the gateway; connect the USB of the positioning sensor to the USB host port of the gateway; all connections are unidirectional data transmission.

[0078] Step 4: Real-time monitoring of the physical layer of each interface by the FPGA of the multi-interface timestamp gateway: RS232 / CAN interface: Monitors the falling edge of the RX pin (start bit) and latches the current UWB timestamp the moment the start bit is detected; USB interface: Monitors USB data packet arrival events and records the timestamp of the packet arrival time.

[0079] Step 5: The multi-interface timestamp gateway connects to the hospital's IoT platform via TCP client mode and uploads data with bound timestamps in real time in JSON format. The platform then performs time-series alignment and fusion analysis of the data from the three devices based on the timestamps.

[0080] This embodiment also underwent detailed testing and verification: Under strong electromagnetic interference environment with the electrosurgical unit turned on (power 300W, frequency 400kHz), the UWB synchronization network did not lose synchronization, the multi-interface timestamp gateway operated stably, the timestamp accuracy of each interface fluctuated by <0.5μs, and did not cause electromagnetic interference to equipment such as monitors and surgical robots, meeting the requirements for use in the operating room.

[0081] This invention provides a UWB microsecond-level timestamp synchronization device and method for heterogeneous devices in a smart operating room, which achieves pure wireless synchronization, multi-interface compatibility, microsecond-level timestamp addition, and does not intrude on third-party devices or interfere with medical equipment, thus meeting the high-precision time synchronization requirements of the complex electromagnetic environment of the operating room.

[0082] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of program modules is merely an example. In practical applications, the above functions can be assigned to different program modules as needed, that is, the internal structure of the device can be divided into different program units or modules to complete all or part of the functions described above. The program modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software program unit. Furthermore, the specific names of the program modules are only for easy differentiation and are not intended to limit the scope of protection of this application.

[0083] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0084] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0085] In the embodiments provided in this application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings or direct couplings or communication connections may be through some interfaces, and the indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0086] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0087] Furthermore, the functional units in the various embodiments of this application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The integrated unit described above can be implemented in hardware or as a software functional unit.

[0088] It should be noted that the above embodiments can be freely combined as needed. The above description is only a preferred embodiment of the present invention. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A timestamp synchronization device for heterogeneous equipment in a smart operating room, characterized in that, include: The UWB synchronization network module includes one UWB master base station and at least one UWB slave base station, which are used to build a unified clock reference through air interface synchronization. The UWB timestamp module communicates wirelessly with the UWB synchronization network module to receive and parse a unified clock signal and generate the current UWB timestamp. A multi-interface timestamp module is communicatively connected to the UWB timestamp module and at least one third-party device, respectively. The multi-interface timestamp module integrates various types of data interfaces adapted to different third-party devices. It is used to receive the raw data output by the third-party device and synchronously obtain the current UWB timestamp. After binding the current UWB timestamp with the raw data in real time, it outputs the data to the host computer and / or data platform for data fusion and analysis.

2. The timestamp synchronization device for heterogeneous equipment in a smart operating room according to claim 1, characterized in that, The multi-interface timestamp module includes: The UWB time module interface is connected to the UWB timestamp module and is used to receive the timestamp signal transmitted by the UWB timestamp module. A third-party device interface, which connects to different third-party devices and is used to receive raw data from the corresponding third-party devices; An embedded processing module is used to, when receiving raw data from the third-party device, obtain the current UWB timestamp transmitted by the UWB timestamp module, and output raw data with target UWB timestamps of different precision to the host computer and / or the data platform according to the type of the third-party device and the current UWB timestamp.

3. The timestamp synchronization device for heterogeneous equipment in a smart operating room according to claim 2, characterized in that, The embedded processing module is also used for: Real-time detection of the pin levels of the third-party device interface; When the start bit of the pin level of the third-party device interface is detected, the current UWB timestamp is latched, and the current UWB timestamp is bound to the original data and then output.

4. The timestamp synchronization device for heterogeneous equipment in a smart operating room according to claim 2, characterized in that, The embedded processing module is also used for: Real-time detection of USB data packet arrival events at the interface of the third-party device; When a USB data packet arrival event is detected from the third-party device interface, the current UWB timestamp is latched, and the current UWB timestamp is bound to the original data before being output.

5. The timestamp synchronization device for heterogeneous equipment in a smart operating room according to any one of claims 2 to 4, characterized in that, The embedded processing module is also used for: When the raw data from the surgical robot is received, the current UWB timestamp transmitted by the UWB timestamp module is obtained, a target UWB timestamp with a first preset precision is added to the raw data of the surgical robot, and the data is output to the host computer and / or the data platform. When the raw data from the monitor is received, the current UWB timestamp transmitted by the UWB timestamp module is obtained, a target UWB timestamp with a second preset precision is added to the raw data of the monitor, and the data is output to the host computer and / or the data platform. When the raw data from the positioning sensor is received, the timestamp signal transmitted by the UWB timestamp module is acquired, a target UWB timestamp with a third preset precision is added to the raw data from the positioning sensor, and the data is output to the host computer and / or the data platform.

6. A timestamp synchronization method for heterogeneous equipment in a smart operating room, characterized in that, include: A unified clock reference is constructed by synchronizing the UWB master base station and UWB slave base station through the air interface via the UWB synchronization network module. The UWB timestamp module receives the unified clock signal from the UWB synchronization network module and parses it to generate the current UWB timestamp; The system receives raw data output from third-party devices via a multi-interface timestamp module and synchronously obtains the current UWB timestamp output by the UWB timestamp module. The current UWB timestamp is then bound to the raw data in real time and output to the host computer and / or data platform for data fusion and analysis.

7. The timestamp synchronization method for heterogeneous equipment in a smart operating room according to claim 6, characterized in that, Also includes: When the multi-interface timestamp module receives the raw data from the third-party device, it obtains the current UWB timestamp transmitted by the UWB timestamp module, and outputs the raw data with target UWB timestamps of different precision to the host computer and / or the data platform according to the type of the third-party device and the current UWB timestamp.

8. The timestamp synchronization method for heterogeneous equipment in a smart operating room according to claim 7, characterized in that, Also includes: The pin levels of the third-party device interface are detected in real time using the multi-interface timestamp module. When the start bit of the pin level of the third-party device interface is detected, the current UWB timestamp is latched, and the current UWB timestamp is bound to the original data and then output.

9. The timestamp synchronization method for heterogeneous equipment in a smart operating room according to claim 7, characterized in that, Also includes: The multi-interface timestamp module is used to detect the arrival of USB data packets at the third-party device interface in real time. When a USB data packet arrival event is detected from the third-party device interface, the current UWB timestamp is latched, and the current UWB timestamp is bound to the original data before being output.

10. The timestamp synchronization method for heterogeneous equipment in a smart operating room according to any one of claims 7 to 9, characterized in that, Also includes: When the multi-interface timestamp module receives the raw data from the surgical robot, it obtains the current UWB timestamp transmitted by the UWB timestamp module, adds a target UWB timestamp with a first preset precision to the raw data of the surgical robot, and outputs it to the host computer and / or the data platform. When the multi-interface timestamp module receives the raw data from the monitor, it obtains the current UWB timestamp transmitted by the UWB timestamp module, adds a target UWB timestamp with a second preset precision to the raw data of the monitor, and outputs it to the host computer and / or the data platform. When the multi-interface timestamp module receives the raw data from the positioning sensor, it acquires the timestamp signal transmitted by the UWB timestamp module, adds a target UWB timestamp with a third preset precision to the raw data of the positioning sensor, and outputs it to the host computer and / or the data platform.

Images