Data communication method, device, surgical robot and data communication system

Abstract

The application relates to a data communication method, device, surgical robot and data communication system. The method comprises: based on the running state data of the surgical robot, analyzing at least one reported event of the surgical robot at the current time; matching the at least one reported event with an event of interest of at least one external system, and determining a target external system corresponding to the reported event according to the matching result; and sending the at least one reported event to the target external system. The method can improve the real-time performance of data communication.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a data communication method, apparatus, surgical robot, and data communication system. Background Technology

[0002] In the clinical application of surgical robots, the robot needs to communicate with external systems (such as AI (Artificial Intelligence) agents, monitoring terminals, and log systems) to ensure the smooth progress of the surgery.

[0003] In related technologies, external systems need to obtain the operating status data of the surgical robot through periodic polling. However, these methods suffer from poor real-time data communication between the external system and the surgical robot. Summary of the Invention

[0004] Therefore, it is necessary to provide a data communication method, device, surgical robot, and data communication system that can improve the real-time performance of data communication in response to the above-mentioned technical problems.

[0005] In a first aspect, this application provides a data communication method applied to a surgical robot, wherein the surgical robot communicates with at least one external system, including:

[0006] Based on the operating status data of the surgical robot, analyze at least one reported event of the surgical robot at the current moment;

[0007] Match at least one reported event with at least one event of interest from an external system, and determine the target external system corresponding to the reported event based on the matching results;

[0008] Send at least one reporting event to the target external system.

[0009] In one embodiment, based on the surgical robot's operational status data, at least one reported event of the surgical robot at the current moment is analyzed, including:

[0010] Based on the operational status data of the surgical robot, identify the scene information of the surgical robot at the current moment;

[0011] Based on the scene information, determine at least one reported event of the surgical robot at the current moment.

[0012] In one embodiment, the operational status data includes robot body status data, robot motion status data, and alarm status information;

[0013] Based on the surgical robot's operational status data, identify the surgical robot's scene information at the current moment, including:

[0014] Based on the robot's body state data, analyze the surgical robot's pattern information; based on the robot's motion state data, determine the surgical robot's current motion stage; and based on alarm status information, obtain the alarm information triggered by the surgical robot at the current moment.

[0015] The pattern information, motion phase, and alarm information are used as the scene information of the surgical robot at the current moment.

[0016] In one embodiment, the reported events include at least scene events, motion-triggered events, alarm events, and consumable events;

[0017] Based on the scenario information, determine at least one reported event of the surgical robot at the current moment, including:

[0018] If the pattern information differs from the historical pattern information of the previous moment, it is determined that a scene event exists in the surgical robot; if the movement phase is completed, it is determined that a movement trigger event exists in the surgical robot; if an alarm message exists, it is determined that an alarm event exists in the surgical robot; and if the consumable status changes, it is determined that a consumable event exists in the surgical robot.

[0019] Scene events, motion-triggered events, alarm events, and consumable events are used as reporting events for the surgical robot at the current moment.

[0020] In one embodiment, sending at least one reporting event to a target external system includes:

[0021] At least one reported event is prioritized according to a preset event type priority, and the ranking result is obtained.

[0022] According to the sorting results, at least one reporting event is sent to the target external system in sequence.

[0023] In one embodiment, sending at least one reporting event to a target external system includes:

[0024] If, based on the event generation rate of the surgical robot and the network status between the surgical robot and the target external system, it is determined that at least one reporting event needs to be packaged, at least one reporting event is packaged and the packaged reporting event is sent to the target external system.

[0025] In one embodiment, the method further includes:

[0026] After the surgical robot establishes a communication connection with any external system, it receives a list of events of interest sent by the external system.

[0027] Secondly, this application also provides a data communication device, comprising:

[0028] The analysis module is used to analyze at least one reported event of the surgical robot at the current moment based on the operating status data of the surgical robot;

[0029] The filtering module is used to match at least one reported event with at least one event of interest from an external system, and to determine the target external system corresponding to the reported event based on the matching results.

[0030] The sending module is used to send at least one reported event to the target external system.

[0031] Thirdly, this application also provides a surgical robot, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the content of any of the data communication methods in the first aspect above.

[0032] Fourthly, this application also provides a data communication system, which includes a surgical robot and at least one external system, wherein the surgical robot is used to execute the content of the data communication method of any one of the first aspects described above.

[0033] Fifthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the content of any one of the data communication methods in the first aspect described above.

[0034] Sixthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the content of any one of the data communication methods in the first aspect described above.

[0035] The aforementioned data communication method, apparatus, surgical robot, and data communication system analyze at least one reported event from the surgical robot at the current moment based on the robot's operational status data; match the at least one reported event with events of interest from at least one external system, and determine the target external system corresponding to the reported event based on the matching results; and send the at least one reported event to the target external system. This method, based on the events of interest of each external system, can accurately filter out redundant events that are not of interest to each external system, reducing the number of interactions between the external system and the surgical robot, and improving the data communication efficiency between the external system and the surgical robot. Simultaneously, the surgical robot can proactively and intelligently identify key changes in its own state and the surgical scenario at each moment, and only push necessary information to external systems that are interested in such events. In this way, the external system can promptly perceive changes in the surgical robot's state, improving the real-time performance of data communication between the external system and the surgical robot. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a diagram illustrating the application environment of a data communication method in one embodiment.

[0038] Figure 2 This is a schematic diagram of the first process of a data communication method in one embodiment;

[0039] Figure 3 This is a schematic diagram of the second process of a data communication method in one embodiment;

[0040] Figure 4 This is a schematic diagram of the third process of a data communication method in one embodiment;

[0041] Figure 5 This is a schematic diagram of the fourth process of a data communication method in one embodiment;

[0042] Figure 6 This is a schematic diagram of the fifth step of a data communication method in one embodiment;

[0043] Figure 7 This is a schematic diagram of the sixth process of a data communication method in one embodiment;

[0044] Figure 8 This is a structural block diagram of a data communication device in one embodiment. Detailed Implementation

[0045] 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.

[0046] Before providing a detailed description of the embodiments of this application, a brief introduction to the background technology of this application will be given first.

[0047] External systems obtain the operating status data of the surgical robot through timed polling. However, timed polling has the following drawbacks: (1) Poor real-time performance: The fixed interval of polling makes it impossible to detect changes in the status in a timely manner, resulting in a delay in the response of the external system and the possibility of missing critical windows during high-speed surgical operations; (2) Waste of resources: The robot status is not updated when most polling requests occur, resulting in a large number of meaningless network requests and data processing overhead; (3) Uncontrollable network load: The fixed polling frequency may not be sufficient to obtain all changes during periods of high event occurrence, and may cause idle operation during idle periods, making it unable to adapt. This "pull" mode is difficult to meet the requirements of AI collaborative surgery scenarios with extremely high real-time requirements.

[0048] To address the aforementioned problems, this application provides a data communication method that improves the real-time performance of data communication between external systems and surgical robots while reducing resource waste and ensuring controllable network load. The technical solution of this application will now be described in detail.

[0049] The data communication method provided in this application embodiment can be applied to, for example... Figure 1 The application environment shown includes a surgical robot 101 and multiple external systems 102. After generating operational status data, the surgical robot 101 can analyze at least one reported event at the current moment and report the reported event to each external system.

[0050] The surgical robot 101 can be a laparoscopic surgical robot, an orthopedic navigation surgical robot, or a mitral valve surgery robot, etc. The external system 102 can be an electronic medical record system, a remote consultation platform, an operating room central control and scheduling platform, a programmable logic controller (PLC) motor control system, and an alarm center, etc. The surgical robot 101 can connect to multiple external systems 102 through the operating room's local intranet, or it can connect to multiple external systems 102 wirelessly, or it can connect through an edge integrated gateway.

[0051] In one exemplary embodiment, such as Figure 2 As shown, a data communication method is provided, which is applied to... Figure 1 Taking a surgical robot as an example, the surgical robot communicates with at least one external system, including the following steps S101 to S103. Wherein:

[0052] S101, Based on the operating status data of the surgical robot, analyze at least one reported event of the surgical robot at the current moment.

[0053] The operational status data refers to the relevant status data of the surgical robot in the surgical operation scenario, including at least the robot's robotic arm motion data, equipment alarm and fault data, and overall system operating mode data. For example, robotic arm motion data may include real-time joint positions, movement speeds, output torque, joint temperatures, motor loads, motion limit status, and robotic arm collision detection signals. Equipment alarm and fault data may include abnormal records such as overload, communication anomalies, calibration failures, and motor errors. The overall system operating mode may include standby mode, preoperative calibration mode, intraoperative operation mode, and pause mode. Reported events include at least scene events, motion trigger events, alarm events, and consumable events.

[0054] In this embodiment, after acquiring the operating status data of the surgical robot, the surgical robot can compare different categories of data in the operating status data with corresponding preset thresholds. If it is determined that the operating status data of a certain category exceeds the corresponding preset threshold, a corresponding reporting event is generated. For example, if the operating status data is the remaining amount of consumables, and the preset threshold is 20%, if the remaining amount of consumables is less than 20%, a consumables event is generated.

[0055] Optionally, the surgical robot can pre-extract time-series operational status data within multiple time windows to construct an event-triggered database. When the surgical robot's operational status data is obtained, it can match the operational status data with events in the event-triggered database. If a match is successful, the corresponding reporting event is output.

[0056] S102, match at least one reported event with at least one event of interest from an external system, and determine the target external system corresponding to the reported event based on the matching result.

[0057] Different external systems play different roles in the operation of surgical robots. For example, electronic medical record systems are used to automatically synchronize surgical sequences, instrument usage, and equipment malfunction records; remote consultation platforms synchronously transmit real-time robot operating parameters and surgical videos, supporting intraoperative guidance from remote experts; and operating room central control and scheduling platforms collect real-time robot occupancy status to achieve overall management of operating room resources and surgical scheduling. Based on this, the events of interest for different external systems can be the same or different. For example, the events of interest for an alarm center are likely alarm events, while the events of interest for a remote consultation platform are likely scene events and motion-triggered events.

[0058] In this embodiment, after the surgical robot establishes communication with each external system, the external system sends its events of interest to the surgical robot. Once the surgical robot detects a reported event, it matches this reported event with the events of interest of each external system. If a match is found, the reported event is determined to be an event of interest to that external system, and that external system is designated as the target external system for subsequent reporting. If no match is found, the reported event is determined not to be an event of interest to that external system and is ignored.

[0059] S103, send at least one reporting event to the target external system.

[0060] In this embodiment, after identifying the target external system, the surgical robot can simultaneously send at least one reporting event to the target external system via the operating room's local intranet, wireless network, or edge integration gateway. Alternatively, when there are many reporting events, the surgical robot can prioritize the events by importance, sending the more important events to the target external system first, followed by the less important ones. Or, the surgical robot can prioritize the events according to their importance and send them to each target external system sequentially. This embodiment does not limit the specific sending process.

[0061] In the aforementioned data communication method, based on the surgical robot's operational status data, at least one reported event from the surgical robot at the current moment is analyzed; this reported event is matched with at least one event of interest from an external system, and the target external system corresponding to the reported event is determined based on the matching results; finally, the at least one reported event is sent to the target external system. This method, by focusing on the events of interest of each external system, can accurately filter out redundant events that are not of interest to each external system, reducing the number of interactions between the external system and the surgical robot and improving the data communication efficiency between them. Simultaneously, the surgical robot can proactively and intelligently identify key changes in its own state and the surgical scenario at any given moment, and only push necessary information to external systems that are interested in such events. In this way, the external system can promptly perceive changes in the surgical robot's state, improving the real-time performance of data communication between the external system and the surgical robot.

[0062] In one embodiment, such as Figure 3 As shown, the above-mentioned analysis of the surgical robot's operational status data includes at least one reported event from the surgical robot at the current moment, which includes:

[0063] S201 identifies the scene information of the surgical robot at the current moment based on the operating status data of the surgical robot.

[0064] In this embodiment, the surgical robot can input its operational status data into a preset scene recognition model. The scene recognition model analyzes the features of the operational status data to identify the scene information corresponding to the surgical robot. It should be noted that the scene recognition model is trained using the surgical robot's operational status data and corresponding scene information from its historical work processes.

[0065] Optionally, the surgical robot can also classify the operational status data, analyze the scene information under each category, and merge the scene information corresponding to all categories to obtain the scene information of the surgical robot at the current moment.

[0066] S202, Based on the scene information, determine at least one reported event of the surgical robot at the current moment.

[0067] In this embodiment, there is a correspondence between scene information and reported events. For example, the scene information is the valve clamping process, and the reported event is a scene event. The surgical robot can map the scene information according to the mapping rules between scene information and reported events to determine the reported event at the current moment.

[0068] In the aforementioned data communication method, the scene information of the surgical robot at the current moment is identified based on the operating status data of the surgical robot; according to the scene information, at least one reporting event of the surgical robot at the current moment is determined. This method analyzes the operating status data of the surgical robot, first identifies the scene information in which the surgical robot is located, and then, based on the scene information, can more accurately obtain the reporting event at the current moment.

[0069] Assuming the operational status data includes robot body status data, robot motion status data, and alarm status information, the following example will detail the process of identifying the surgical robot's scene information at the current moment based on its operational status data. Figure 4 As shown, it includes:

[0070] S301: Based on the robot's body state data, analyze the surgical robot's mode information; based on the robot's motion state data, determine the current motion stage of the surgical robot; and based on the alarm status information, obtain the alarm information triggered by the surgical robot at the current moment.

[0071] Robot body state data refers to the data generated by the surgical robot during its operation. Mode information refers to the mode the surgical robot is in during operation, such as valve clamping, suturing, and idle. Robot motion state data can include the motion state data of each axis of the surgical robot and the overall motion state data of the surgical robot. Alarm status information can include alarm codes, levels (warning, critical, fatal), and possible causes.

[0072] In this embodiment, the surgical robot can match its current robot body state data with historical robot body state data for each mode, and use the successfully matched mode information as the surgical robot's mode information. The surgical robot can also match its current robot motion state data with historical motion state data for each motion stage, and use the successfully matched motion stage as the current motion stage of the surgical robot. For example, a motion stage could be a stage where the surgical robot maintains stable motion, rapidly approaches, or makes fine adjustments along each axis. When an alarm status is detected, the surgical robot can obtain the alarm code, level, and possible cause from the alarm status information, and use this information as the alarm information triggered by the surgical robot at the current moment.

[0073] S302 uses pattern information, motion phase, and alarm information as scene information for the surgical robot at the current moment.

[0074] In this embodiment, after determining the surgical robot's mode information, movement stage, and alarm information based on its operational status data, these information can be directly used as the surgical robot's current scene information. Alternatively, the surgical robot can also analyze the scene it is in based on the mode information, movement stage, and alarm information to determine its current scene information. For example, scene information could include precise positioning, encountering tissue resistance, or preparing to release instruments.

[0075] In the aforementioned data communication method, the surgical robot's mode information is analyzed based on its body state data; its motion stage is determined based on its motion state data; and alarm information triggered by the surgical robot at the current moment is obtained based on alarm status information. The mode information, motion stage, and alarm information are then used as the surgical robot's scene information at the current moment. This method, through multi-dimensional data analysis of the surgical robot, can comprehensively and accurately describe the surgical robot's scene information at the current moment. Furthermore, by classifying the data and identifying different types of scene information, external systems can subscribe to the corresponding scene information as needed, reducing the interaction of invalid data.

[0076] Assuming that the reported events include at least scene events, motion-triggered events, alarm events, and consumable events, then in one embodiment, such as Figure 5 As shown, the detailed content of at least one reported event of the surgical robot at the current moment, determined based on the scene information, includes:

[0077] S401, if the mode information is different from the historical mode information of the previous moment, determine that there is a scene event in the surgical robot; if the movement phase is completed, determine that there is a movement trigger event in the surgical robot; if there is an alarm message, determine that there is an alarm event in the surgical robot; and if the consumable status changes, determine that there is a consumable event in the surgical robot.

[0078] In this embodiment of the application, the scene event can be an event triggered when entering or exiting a key scene (such as "valve clamping completed"). If the surgical robot detects that the current mode information is clamping completed mode and the previous mode information is clamping mode, then it can be determined that a scene event exists.

[0079] When the surgical robot detects that its robotic arm joints have reached a predetermined position or completed a sequence of continuous movements, it can determine that a motion-triggered event has occurred. When the surgical robot detects an alarm message, it can determine that an alarm event has occurred; this alarm message includes the alarm code, level, and possible cause.

[0080] During the operation of the surgical robot, when the surgical robot detects a change in the status of a critical consumable (such as a mitral valve repair device) (a decrease in the consumable usage count, a replacement reminder), it determines that a consumable event has occurred.

[0081] S402 will treat scene events, motion trigger events, alarm events, and consumable events as reporting events for the surgical robot at the current moment.

[0082] In the embodiments of this application, when one or more of the scene event, motion trigger event, alarm event and consumable event are triggered, the surgical robot can use the triggered reporting event as the reporting event of the surgical robot at the current moment.

[0083] In the aforementioned data communication method, a scene event is determined to exist in the surgical robot when the pattern information differs from the historical pattern information of the previous moment; a motion trigger event is determined to exist when the motion phase is completed; an alarm event is determined to exist when an alarm message is present; and a consumable event is determined to exist when the consumable status changes. Scene events, motion trigger events, alarm events, and consumable events are then used as reporting events for the surgical robot at the current moment. This method, by analyzing different state data of the surgical robot, can achieve full coverage identification of the entire workflow and accurately identify different categories of reporting events.

[0084] In one embodiment, such as Figure 6 As shown, the details of sending at least one reporting event to the target external system include:

[0085] S501, sort at least one reported event according to the preset event type priority to obtain the sorting result.

[0086] In this embodiment, different reported events have different priorities, with higher priority events being more important and urgent. The surgical robot can formulate priority rules based on the urgency and importance of the event type, and then classify the event types according to these rules to obtain a preset event type priority. Reported events often consist of one or more event types. If there is only one reported event, no sorting is required. If there are multiple reported events, for each reported event, the surgical robot can find the event type that matches it, and then use the priority of that event type as the priority of the reported event. After all reported events are arranged in priority order, a sorting result is obtained.

[0087] S502, according to the sorting result, send at least one reporting event to the target external system in sequence.

[0088] In this embodiment, after prioritizing multiple types of reported events, the surgical robot can schedule the transmission queue according to the order of the sorting results, prioritizing the reading and sending of high-priority critical alarm events, and then sequentially pushing low-priority events such as scene events, motion-triggered events, and consumable events. During event transmission, the link connectivity status is continuously monitored, and the next level of reported events is scheduled only after a single reported event is sent, thus avoiding out-of-order transmission of high- and low-priority reported events.

[0089] In the aforementioned data communication method, at least one reported event is prioritized according to a preset event type priority to obtain a ranking result. Based on the ranking result, at least one reported event is sequentially sent to the target external system. This method, by distinguishing the urgency of different reported events, can prioritize and send reported events accordingly. This avoids a large number of low-priority reported events consuming network transmission resources, ensuring that the external system can receive high-priority reported events in a timely manner. This facilitates timely intervention by the external system in the surgical process and reduces surgical safety risks.

[0090] When reported events occur frequently (e.g., continuous position updates), the surgical robot needs to package the reported events. The process is described in detail below, including sending at least one reported event to the target external system:

[0091] If, based on the event generation rate of the surgical robot and the network status between the surgical robot and the target external system, it is determined that at least one reporting event needs to be packaged, at least one reporting event is packaged and the packaged reporting event is sent to the target external system.

[0092] The network status between the surgical robot and the target external system can include the current network latency, link bandwidth, and packet loss status.

[0093] In this embodiment, the surgical robot can determine the network congestion situation between the surgical robot and the target external system based on network latency, link bandwidth, and packet loss status, thus obtaining a network congestion detection result. Simultaneously, the event generation rate reported by the surgical robot is compared with a preset rate threshold to determine if the event generation rate is too high. If the network congestion detection result indicates severe network congestion and a high event generation rate, then packetization is required. If the network congestion detection result indicates mild network congestion, or a low event generation rate, then packetization is not required.

[0094] When it's determined that packaging is necessary, the surgical robot can use its built-in event packaging module to batch encapsulate multiple reported events cached by the system. After packaging, the packaged reported events are sent to the target external system. It's understandable that there can be multiple target external systems, and reported events corresponding to the same target external system can be packaged together. For example, the reported events for a remote consultation platform include scene events and motion-triggered events; the packaging process would require packaging both of these events.

[0095] In one embodiment, the surgical robot can also analyze the importance of reported events. If a reported event is not important, the reporting frequency of that type of event can be reduced to avoid network congestion. For example, if the reported event is important, the reporting frequency can be 10 seconds per event; if the reported event is not important, the reporting frequency can be 30 seconds per event.

[0096] In the aforementioned data communication method, if it is determined that at least one reporting event needs to be packaged based on the reporting event generation rate of the surgical robot and the network status between the surgical robot and the target external system, then at least one reporting event is packaged and the packaged reporting event is sent to the target external system. This method, through analysis of network status and the reporting event generation rate, can accurately determine whether reporting events need to be packaged. Packaged events effectively reduce link overhead during data transmission and avoid network congestion.

[0097] The following section describes the sources of the events of interest stored in the surgical robot. The aforementioned data communication methods also include:

[0098] After the surgical robot establishes a communication connection with any external system, it receives a list of events of interest sent by the external system.

[0099] In this embodiment, once the surgical robot successfully establishes a stable bidirectional communication connection with any external system after completing network handshake, protocol adaptation, and security authentication, the surgical robot can receive a list of events of interest actively sent by that external system in real time. Different external systems will subscribe to and push exclusive target events based on their own business functions, data needs, and application scenarios. For example, a clinical business system can send business-related events of interest such as surgery start / stop, medical record archiving, and image registration synchronization; an equipment maintenance system can customize maintenance-related events of interest such as fault alarms, consumable wear, and abnormal equipment load; and a remote consultation system can push collaborative events of interest such as real-time data synchronization, intraoperative status sharing, and remote operation linkage.

[0100] In the aforementioned data communication method, after the surgical robot establishes a communication connection with any external system, it receives a list of events of interest sent by the external system. When the surgical robot has events to report, this method can accurately send the reporting events to the relevant external system based on the list of events of interest sent by the external system. This significantly reduces network transmission overhead between the surgical robot and the external system and avoids network congestion caused by redundant data.

[0101] In a specific embodiment, such as Figure 7 As shown, the above data communication method includes:

[0102] S601, based on the robot's body state data, analyzes the surgical robot's mode information; based on the robot's motion state data, determines the surgical robot's current motion stage; and based on alarm state information, obtains the alarm information triggered by the surgical robot at the current moment.

[0103] S602 uses pattern information, motion phase, and alarm information as scene information for the surgical robot at the current moment;

[0104] S603, if the mode information is different from the historical mode information of the previous moment, determine that there is a scene event in the surgical robot; if the movement phase is completed, determine that there is a movement trigger event in the surgical robot; if there is an alarm message, determine that there is an alarm event in the surgical robot; and if the consumable status changes, determine that there is a consumable event in the surgical robot.

[0105] S604 will treat scene events, motion-triggered events, alarm events, and consumable events as the reporting events of the surgical robot at the current moment;

[0106] S605, match at least one reported event with at least one event of interest from an external system, and determine the target external system corresponding to the reported event based on the matching result;

[0107] S606, if it is determined that at least one reporting event needs to be packaged based on the reporting event generation rate of the surgical robot and the network status between the surgical robot and the target external system, the at least one reporting event is packaged and the packaged reporting event is sent to the target external system.

[0108] 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.

[0109] Based on the same inventive concept, this application also provides a data communication apparatus for implementing the data communication method described above. The solution provided by this apparatus is similar to the implementation scheme described in the above method; therefore, the specific limitations in one or more data communication apparatus embodiments provided below can be found in the limitations of the data communication method described above, and will not be repeated here.

[0110] In one exemplary embodiment, such as Figure 8 As shown, a data communication device is provided, including: an analysis module 11, a filtering module 12, and a transmission module 13, wherein:

[0111] Analysis module 11 is used to analyze at least one reported event of the surgical robot at the current moment based on the operating status data of the surgical robot;

[0112] The filtering module 12 is used to match at least one reported event with at least one event of interest from an external system, and to determine the target external system corresponding to the reported event based on the matching result.

[0113] Sending module 13 is used to send at least one reporting event to the target external system.

[0114] In an exemplary embodiment, the analysis module described above includes: an identification unit and a determination unit, wherein:

[0115] The identification unit is used to identify the scene information of the surgical robot at the current moment based on the operating status data of the surgical robot;

[0116] The determination unit is used to determine at least one reported event of the surgical robot at the current moment based on the scene information.

[0117] In an exemplary embodiment, the identification unit is further configured to analyze the pattern information of the surgical robot based on the robot body state data; determine the movement stage of the surgical robot based on the robot motion state data; and obtain the alarm information triggered by the surgical robot at the current moment based on the alarm status information; and use the pattern information, movement stage and alarm information as the scene information of the surgical robot at the current moment.

[0118] In an exemplary embodiment, the determining unit is further configured to determine that a scene event exists in the surgical robot when the mode information is different from the historical mode information of the previous moment; determine that a motion trigger event exists in the surgical robot when the motion phase is completed; determine that an alarm event exists in the surgical robot when alarm information exists; and determine that a consumable event exists in the surgical robot when the consumable status changes; and use the scene event, motion trigger event, alarm event, and consumable event as the reporting events of the surgical robot at the current moment.

[0119] In an exemplary embodiment, the above-described sending module includes: a sorting unit and a first sending unit, wherein:

[0120] The sorting unit is used to sort at least one reported event according to a preset event type priority to obtain a sorting result;

[0121] The first sending unit is used to send at least one reporting event to the target external system in sequence according to the sorting result.

[0122] In an exemplary embodiment, the above-described transmitting module further includes: a second transmitting unit, wherein:

[0123] The second sending unit is used to package at least one reporting event and send the packaged reporting event to the target external system when it is determined that at least one reporting event needs to be packaged based on the reporting event generation rate of the surgical robot and the network status between the surgical robot and the target external system.

[0124] In an exemplary embodiment, the data communication device further includes a receiving module, wherein:

[0125] The receiving module is used to receive a list of events of interest sent by any external system after the surgical robot establishes a communication connection with it.

[0126] Each module in the aforementioned data communication 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.

[0127] In one embodiment, a computer-readable storage medium is provided that stores a computer program thereon, which, when executed by a processor, implements the content of any embodiment of the data communication method described above.

[0128] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the content of any embodiment of the data communication method described above.

[0129] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0130] 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. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, database, 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.

[0131] 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.

[0132] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this 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 communication method, characterized in that, Applied to a surgical robot that communicates with at least one external system, the method includes: Based on the operating status data of the surgical robot, analyze at least one reported event of the surgical robot at the current moment; The at least one reported event is matched with the events of interest of the at least one external system, and the target external system corresponding to the reported event is determined based on the matching result; Send the at least one reported event to the target external system.

2. The method according to claim 1, characterized in that, The analysis of at least one reported event of the surgical robot at the current moment based on the operating status data of the surgical robot includes: Based on the operating status data of the surgical robot, the scene information of the surgical robot at the current moment is identified; Based on the scenario information, determine at least one reported event of the surgical robot at the current moment.

3. The method according to claim 2, characterized in that, The operational status data includes robot body status data, robot motion status data, and alarm status information; The process of identifying the scene information of the surgical robot at the current moment based on the operating status data of the surgical robot includes: Based on the robot's body state data, the mode information of the surgical robot is analyzed; based on the robot's motion state data, the motion stage of the surgical robot is determined; and based on the alarm state information, the alarm information triggered by the surgical robot at the current moment is obtained. The mode information, the motion stage, and the alarm information are used as the scene information of the surgical robot at the current moment.

4. The method according to claim 3, characterized in that, The reported events include at least scene events, motion-triggered events, alarm events, and consumable events; The step of determining at least one reported event of the surgical robot at the current moment based on the scenario information includes: If the mode information differs from the historical mode information of the previous moment, it is determined that the surgical robot has a scene event; if the movement phase is completed, it is determined that the surgical robot has a movement trigger event; if the alarm information exists, it is determined that the surgical robot has an alarm event; and if the consumable status changes, it is determined that the surgical robot has a consumable event. The scene event, the motion trigger event, the alarm event, and the consumable event are used as the reporting events of the surgical robot at the current moment.

5. The method according to any one of claims 1-4, characterized in that, Sending the at least one reported event to the target external system includes: The at least one reported event is prioritized according to a preset event type priority to obtain a sorting result; According to the sorting result, at least one reported event is sent to the target external system in sequence.

6. The method according to any one of claims 1-4, characterized in that, Sending the at least one reported event to the target external system includes: If it is determined that at least one reported event needs to be packaged based on the event generation rate of the surgical robot and the network status between the surgical robot and the target external system, the at least one reported event is packaged and the packaged reported event is sent to the target external system.

7. The method according to any one of claims 1-4, characterized in that, The method further includes: After the surgical robot establishes a communication connection with any external system, it receives a list of events of interest sent by the external system.

8. A data communication device, characterized in that, The device includes: The analysis module is used to analyze at least one reported event of the surgical robot at the current moment based on the operating status data of the surgical robot; A filtering module is used to match the at least one reported event with the events of interest of the at least one external system, and determine the target external system corresponding to the reported event based on the matching result; A sending module is used to send the at least one reported event to the target external system.

9. A surgical robot, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A data communication system, characterized in that, The data communication system includes a surgical robot and at least one external system, the surgical robot being used to perform the data communication method as described in any one of claims 1-7.

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