Remote communication system and surgical robot system

Abstract

The utility model relates to the field of medical instruments, and discloses a remote communication system and a surgical robot system. The remote communication system comprises a master-end communication device connected with master-end equipment and a slave-end communication device connected with slave-end equipment, the main end communication device is used for receiving an uplink main end signal from the main end equipment, converting the uplink main end signal into a wireless main end signal and transmitting the wireless main end signal to the mobile communication network; the slave end communication device is used for receiving a wireless master end signal from a mobile communication network, converting the wireless master end signal into a downlink slave end signal and transmitting the downlink slave end signal to the slave end equipment; the slave end communication device is also used for receiving an uplink slave end signal from the slave end equipment, converting the uplink slave end signal into a wireless slave end signal and transmitting the wireless slave end signal to the mobile communication network; and the main end communication device is also used for receiving the wireless slave end signal from the mobile communication network, converting the wireless slave end signal into a downlink main end signal and transmitting the downlink main end signal to the main end equipment. The master-end communication device and the slave-end communication device of the remote communication system can carry out remote communication, and a basis is provided for realizing remote surgery.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a remote communication system and a surgical robot system. Background Art

[0002] Laparoscopic surgery is a surgical method that has gradually developed and been widely used in recent years. It has the advantages of small incisions, greatly reducing the patient's recovery time, discomfort experience and post-healing side effects. Laparoscopic surgery, especially single-port laparoscopic surgery, can be performed through a surgical robot system, which can optimize the surgical method through computer remote control technology.

[0003] However, there is still an uneven distribution of superior medical resources in the country. Patients in remote areas often need to go to large medical centers for treatment, and the cost of treatment is significantly higher than local treatment. Utility Model Content

[0004] In some embodiments, the present disclosure provides a telecommunication system, comprising:

[0005] A master-end communication device and a slave-end communication device, the master-end communication device is connected to the master-end device, and the slave-end communication device is connected to the slave-end device;

[0006] The master-end communication device is used to receive an uplink master-end signal from a master-end device, convert the uplink master-end signal into a wireless master-end signal and transmit it to a mobile communication network; the slave-end communication device is used to receive a wireless master-end signal from a mobile communication network, convert the wireless master-end signal into a downlink slave-end signal and transmit it to a slave-end device; and

[0007] The slave communication device is also used to receive an uplink slave signal from the slave device, convert the uplink slave signal into a wireless slave signal and transmit it to the mobile communication network; the master communication device is also used to receive a wireless slave signal from the mobile communication network, convert the wireless slave signal into a downlink master signal and transmit it to the master device.

[0008] In some embodiments, the uplink slave signal includes an original image, the wireless slave signal includes a wireless image signal, and the slave communication device is further used to receive the original image from the slave device, convert the original image into a wireless image signal, and transmit the wireless image signal to the mobile communication network;

[0009] The master-end communication device is also used to receive a wireless image signal from a mobile communication network, convert the wireless image signal into a target image, and transmit the target image to the master-end device.

[0010] In some embodiments, the slave communication device includes:

[0011] The front-end image processor has an input end connected to the slave device to receive the original image, and the front-end image processor is configured to perform front-end processing on the original image to obtain an uplink image signal.

[0012] In some embodiments, the slave communication device includes a second terminal unit, an input end of the second terminal unit is connected to the front-end image processor to receive an uplink image signal, and the second terminal unit is used to convert the uplink image signal into a wireless image signal and transmit it to a mobile communication network.

[0013] In some embodiments, the master communication device includes:

[0014] A first terminal unit, the first terminal unit is used to receive a wireless image signal from a mobile communication network and convert the wireless image signal into a downlink image signal; and

[0015] The back-end image processor has an input end connected to the first terminal unit to receive a downlink image signal, and an output end connected to the main-end device. The back-end image processor is configured to perform back-end processing on the downlink image signal to obtain a target image and transmit it to the main-end device.

[0016] In some embodiments, the original image includes multiple frames of left camera continuous images from a left camera of a binocular camera of a slave device and multiple frames of right camera continuous images from a right camera of the binocular camera.

[0017] The front-end image processor includes:

[0018] A synthesis circuit, which synthesizes a plurality of frames of left camera continuous images and a plurality of frames of right camera continuous images into a mixed image sequence; and

[0019] An encoding circuit, whose input end is connected to the synthesis circuit to receive a mixed image sequence, and the encoding circuit encodes the mixed image sequence to obtain an uplink image signal;

[0020] The back-end image processor includes:

[0021] The decoding circuit decodes the downlink image signal into a target image.

[0022] In some embodiments, the encoding circuit groups the mixed image sequence to form a plurality of image groups, and performs intra-frame encoding on the first frame image in each image group, and performs inter-frame encoding on the other frame images in each image group.

[0023] In some embodiments, the synthesis circuit performs interlaced synthesis on multiple frames of left camera continuous images and multiple frames of right camera continuous images, and the mixed image sequence includes interlaced left camera images and right camera images.

[0024] In some embodiments, the encoding circuit groups adjacent left camera images and right camera images in the mixed image sequence into one group.

[0025] In some embodiments, the backend image processor further includes:

[0026] The splitting circuit has an input end connected to the decoding circuit, and the splitting circuit splits the target image from the decoding circuit into multiple frames of left camera continuous images and multiple frames of right camera continuous images.

[0027] In some embodiments, the wireless slave signal includes a wireless operation signal, the downlink master signal includes a downlink operation signal, and the first terminal unit is further configured to receive the wireless operation signal from the mobile communication network and convert the wireless operation signal into a local downlink operation signal;

[0028] The master-end communication device also includes a first IO module, which is used to receive a local downlink operation signal from the first terminal unit, convert the local downlink operation signal into a downlink operation signal, and transmit the downlink operation signal to the master-end device.

[0029] In some embodiments, the uplink master-end signal includes an uplink control signal, the wireless master-end signal includes a wireless control signal, and the first IO module is further used to receive the uplink control signal from the master-end device and convert the uplink control signal into a local uplink control signal;

[0030] The first terminal unit is also used to receive a local uplink control signal from the first IO module, convert the local uplink control signal into a wireless control signal, and transmit the wireless control signal to the mobile communication network.

[0031] In some embodiments, the second terminal unit is further used to receive a wireless control signal from a mobile communication network and convert the wireless control signal into a local downlink control signal, the downlink slave signal comprising the downlink control signal;

[0032] The slave communication device also includes a second IO module, which is used to receive a local downlink control signal from the second terminal unit, convert the local downlink control signal into a downlink control signal, and transmit it to the slave device.

[0033] In some embodiments, the uplink slave signal includes an uplink operation signal, and the second IO module is further used to receive the uplink operation signal from the slave device and convert the uplink operation signal into a local uplink operation signal;

[0034] The second terminal unit is also used to receive a local uplink operation signal from the second IO module, convert the local uplink operation signal into a wireless operation signal, and transmit the wireless operation signal to the mobile communication network.

[0035] In some embodiments, the downlink control signal includes an energy control signal, and the slave communication device further includes:

[0036] The relay, the input end is connected to the second IO module to receive the energy control signal, the relay is used to convert the energy control signal into a switch control signal and transmit it to the slave device, the switch control signal is used to control the energy of the energy surgical tool of the slave device to be turned on or off.

[0037] In some embodiments, the master-end communication device further includes a first switch,

[0038] The first terminal unit and the first IO module are connected via a first switch, and the first switch is used to forward a local uplink control signal from the first IO module to the first terminal unit, and is also used to forward a local downlink operation signal from the first terminal unit to the first IO module;

[0039] The first terminal unit and the back-end image processor are connected via a first switch, and the first switch is also used to forward the downlink image signal from the first terminal unit to the back-end image processor.

[0040] In some embodiments, the slave communication device includes a second switch,

[0041] The second terminal unit and the second IO module are connected via a second switch, and the second switch is used to forward the local uplink operation signal from the second IO module to the second terminal unit, and is also used to forward the local downlink control signal from the second terminal unit to the second IO module;

[0042] The second terminal unit and the front-end image processor are connected via a second switch, and the second switch is also used to forward the uplink image signal from the front-end image processor to the second terminal unit.

[0043] In some embodiments, the present disclosure further provides a surgical robot system, comprising:

[0044] A telecommunication system as in any one of the embodiments of the present disclosure;

[0045] A master-end device, comprising at least one master operator, wherein the at least one master operator is used to receive user operations, and a master-end communication device of the remote communication system is arranged on the master-end device; and

[0046] The slave device includes at least one mechanical arm, and the slave communication device of the remote communication system is arranged on the slave device.

[0047] In some embodiments, the master-end communication device is detachably connected to the master-end device, and / or the slave-end communication device is detachably connected to the slave-end device.

[0048] Some embodiments of the present disclosure have one or more of the following technical effects: the master-end communication device and the slave-end communication device in the remote communication system can communicate remotely, so the master-end device and the slave-end device can realize remote communication, which provides a basis for realizing remote surgery; it can realize the remote transmission of control signals, operation signals, image signals and other signals; it can save the encoding circuit and decoding circuit required for processing the images of the binocular camera; it is convenient to reduce the redundant information between the left camera image and the right camera image, thereby helping to reduce the data volume of the wireless image signal remotely transmitted between the master-end communication device and the slave-end communication device; it is beneficial to shorten the network transmission delay and save bandwidth, thereby helping to improve the stability of the remote transmission signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. For ordinary technicians in this field, other embodiments can be obtained based on the contents of the embodiments of the present disclosure and these drawings without creative work.

[0050] Figure 1 A schematic block diagram showing a connection relationship between a remote communication system and a master device, a slave device, and a mobile communication network according to some embodiments of the present disclosure;

[0051] Figure 2 A schematic block diagram showing a portion of a signal transmission link in a telecommunication system according to some other embodiments of the present disclosure;

[0052] Figure 3 A schematic block diagram showing the structure of a telecommunication system according to some embodiments of the present disclosure is shown;

[0053] Figure 4A A schematic block diagram showing a transmission link of an image signal in a telecommunication system according to some embodiments of the present disclosure;

[0054] Figure 4B A schematic block diagram showing a transmission link of an image signal in a telecommunication system according to some other embodiments of the present disclosure;

[0055] Figure 5 A schematic block diagram showing the structure of a telecommunication system according to some other embodiments of the present disclosure;

[0056] Figure 6 A schematic diagram of a surgical robot system according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0057] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the embodiments of the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0058] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0059] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "coupled" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0060] In the present disclosure, the end close to the operator (e.g., doctor) is defined as the proximal end, near part, rear end, or rear part, and the end opposite to the proximal end, near part, rear end, or rear part is defined as the distal end, far end, front end, or front part. Alternatively, the end close to the operator (e.g., surgical patient) is defined as the distal end, far end, front end, or front part, and the end opposite to the distal end, far end, front end, or front part is defined as the proximal end, near part, rear end, or rear part. Those skilled in the art will appreciate that the embodiments of the present disclosure may be used for medical instruments or surgical robots, and may also be used for other non-medical devices.

[0061] Some embodiments of the present disclosure provide a remote communication system 10. The remote communication system 10 may be used in a surgical robot system. The surgical robot system may be any suitable surgical robot system including a laparoscopic surgical robot system. Figure 1 A schematic block diagram showing the connection relationship between the remote communication system 10 and the master device 21, the slave device 22 and the mobile communication network 100 according to some embodiments of the present disclosure. Figure 1As shown, the remote communication system 10 may include a master communication device 11 and a slave communication device 12. The master communication device 11 may be connected to a master device 21, and the slave communication device 12 may be connected to a slave device 22. In some embodiments, the master device 21 may be a main control trolley of a surgical robot system, which may be arranged at the user side to facilitate receiving user operations, and the main control trolley may include at least one main operator for receiving user operations. The slave device 22 may be an operating trolley of a surgical robot system, which may be arranged at the patient side to facilitate performing surgical operations on the patient, and the operating trolley may carry at least one surgical tool to perform surgical operations.

[0062] like Figure 1 As shown, the master-end communication device 11 can be used to receive an uplink master-end signal Mup from the master-end device 21. The uplink master-end signal Mup may include an uplink control signal Cup, etc., such as a control signal for controlling the movement of surgical instruments (e.g., clamps, bending scissors, endoscopes, etc.), a control signal for controlling surgical tools to perform surgical operations such as opening and closing, and an energy control signal for controlling the energy on and off of energy surgical tools.

[0063] like Figure 1 As shown, the master-end communication device 11 can also be used to convert the uplink master-end signal Mup into a wireless master-end signal Mws and transmit it to the mobile communication network 100. In some embodiments, the master-end communication device 11 can perform appropriate operations such as format conversion and filtering on the uplink master-end signal Mup to obtain the wireless master-end signal Mws that can be wirelessly transmitted. The wireless master-end signal Mws can be transmitted to the mobile communication network 100. The mobile communication network 100 involved here can be a fourth generation (4G), fifth generation (5G) mobile communication network, etc.

[0064] Figure 2 FIG. 1 is a schematic block diagram showing a portion of a signal transmission link in a telecommunication system 10 according to some other embodiments of the present disclosure. Figure 2 As shown, in some embodiments, the master-end communication device 11 may include a first IO module 111, and the first IO module 111 may be connected to the master-end device 21 to implement at least some signal interaction between the master-end device 21 and the master-end communication device 11. In some embodiments, the uplink master-end signal Mup may include an uplink control signal Cup. Figure 2 As shown, the first IO module 111 can be used to receive the uplink control signal Cup from the master device 21. In some embodiments, as Figure 2 As shown, the first IO module 111 can also be used to convert the uplink control signal Cup received from the master-end device 21 into a local uplink control signal Cup_1 that can be transmitted between modules inside the master-end communication device 11.

[0065] In some embodiments, Figure 2 As shown, the master-end communication device 11 may include a first terminal module 112, and the first terminal module 112 can perform signal interaction with the mobile communication network 100, so that the master-end communication device 11 can realize signal interaction with the mobile communication network 100 through the first terminal module 112. For example, the first terminal module 112 can be used to transmit the wireless master-end signal Mws to the mobile communication network 100. In some embodiments, the first terminal module 112 can be any suitable device such as CPE (Customer Premises Equipment) and a router.

[0066] In some embodiments, Figure 2 As shown, the first terminal unit 112 may also be used to receive a local uplink control signal Cup_1 from the first IO module 111, and convert the local uplink control signal Cup_1 into a wireless control signal Cws and transmit it to the mobile communication network 100.

[0067] like Figure 1 As shown, the slave communication device 12 can be used to receive the wireless master signal Mws from the mobile communication network 100. Those skilled in the art will appreciate that the mobile communication network may include an access network (for example, a base station disposed near the master communication device 11 and the slave communication device 12), a bearer network, and a core network. The master communication device 11 can wirelessly transmit the wireless master signal Mws to a nearby base station (for example, Figure 1 The wireless master signal Mws may be wirelessly transmitted to a base station (eg, Figure 1 The second base station 102 is shown, and the second base station 102 can transmit the wireless master signal Mws to the slave communication device 12. Based on this, the master communication device 11 and the slave communication device 12 can achieve remote communication, and the master device 21 and the slave device 22 connected to the two can also achieve remote communication.

[0068] In some embodiments, Figure 2 As shown, the slave communication device 12 may include a second terminal module 122, and the second terminal module 122 can perform signal interaction with the mobile communication network 100. The slave communication device 12 can thus implement signal interaction with the mobile communication network 100 through the second terminal module 122. For example, the second terminal module 122 can be used to receive a wireless control signal Cws from the mobile communication network 100. In some embodiments, the second terminal module 122 can be any suitable device such as CPE (Customer Premises Equipment), a router, etc.

[0069] like Figure 1 As shown, the slave communication device 12 can also be used to convert the wireless master signal Mws into a downlink slave signal Sdn and transmit it to the slave device 22. Based on this, the signal sent by the master device 21 can be transmitted to the slave device 22. In some embodiments, the slave communication device 12 can perform format conversion and other processing on the wireless master signal Mws to obtain the downlink slave signal Sdn.

[0070] In some embodiments, the downlink slave signal Sdn may include a downlink control signal Cdn. Figure 2 As shown, the second terminal module 122 can also be used to convert the wireless control signal Cws received from the mobile communication network 100 into a local downlink control signal Cdn_1 that can be transmitted inside the slave communication device 12.

[0071] In some embodiments, Figure 2 As shown, the slave communication device 12 may further include a second IO module 121. The second IO module 121 may be used to convert the local downlink control signal Cdn_1 from a network signal to a digital signal to obtain a downlink control signal Cdn. Figure 2 As shown, the second IO module 121 can be connected to the slave device 22 to implement at least some signal interaction between the slave device 22 and the slave communication apparatus 12. For example, the second IO module 121 can be used to transmit the downlink control signal Cdn to the slave device 22.

[0072] In some embodiments, the slave device 22 can also perform operations under the control of the downlink control signal Cdn, for example, the surgical instrument carried by the slave device 22 can perform corresponding movements under the control of the downlink slave signal Sdn, or perform surgical operations such as shearing, clamping, and suturing. Based on this, the user can input operations at the master device 21 to remotely control the slave device 22 (for example, the surgical instrument carried by the slave device 22), so that remote surgery can be performed through the master device 21 and the slave device 22.

[0073] like Figure 1 As shown, the slave communication device 12 can also be used to receive an uplink slave signal Sup from the slave device 22. The uplink slave signal Sup may include an image signal (for example, an image reflecting the state of the slave device 22, an image reflecting the operating room environment, an image of the surgical field, and other images), an uplink operation signal Oup (for example, a signal reflecting the posture of the surgical tool carried by the slave device 22, the surgical operation being performed, and other information), and the like.

[0074] like Figure 1As shown, the slave communication device 12 can also be used to convert the uplink slave signal Sup into a wireless slave signal Sws and transmit it to the mobile communication network 100. In some embodiments, the slave communication device 12 can perform format conversion, filtering, encoding and other operations on the uplink slave signal Sup to obtain the wireless slave signal Sws that can be wirelessly transmitted, and the wireless slave signal Sws can be transmitted to the mobile communication network 100.

[0075] like Figure 1 As shown, the master communication device 11 can also be used to receive a wireless slave signal Sws from the mobile communication network 100. Those skilled in the art can understand that the slave communication device 12 can transmit the wireless slave signal Sws to the second base station 102, and the wireless slave signal Sws can be further transmitted to the first base station 101 via the bearer network and the core network, and the first base station 101 can transmit the wireless slave signal Sws to the master communication device 11.

[0076] like Figure 1 As shown, the master-end communication device 11 can also be used to convert the wireless slave-end signal Sws into a downlink master-end signal Mdn and transmit it to the master-end device 21. The signal sent by the slave-end device 22 can be transmitted to the master-end device 21. Based on this, the user can obtain the information collected by the slave-end device 22 through the master-end device 21 (for example, view the image collected by the slave-end device 22, etc.), and the master-end device 21 can also perform operations based on the downlink master-end signal Mdn (for example, align the main operator of the master-end device 21), etc. In some embodiments, the master-end communication device 11 can perform format conversion, filtering, decoding and other operations on the wireless slave-end signal Sws to obtain the downlink master-end signal Mdn.

[0077] In some embodiments, the uplink slave signal Sup may include an uplink operation signal Oup, such as a signal reflecting information such as the position of a surgical tool carried by the slave device 22, the surgical operation being performed, etc. The wireless slave signal Sws may include a wireless operation signal Ows. Figure 2 As shown, the second IO module 121 can also be used to receive an uplink operation signal Oup from the slave device 22 and convert the uplink operation signal Oup into a local uplink operation signal Oup_1. Figure 2 As shown, the second terminal unit 122 can also be used to receive a local uplink operation signal Oup_1 from the second IO module 121, and convert the local uplink operation signal Oup_1 into a wireless operation signal Ows and transmit it to the mobile communication network 100.

[0078] In some embodiments, the downlink master signal Mdn may include a downlink operation signal Odn. Figure 2As shown, the first terminal unit 112 can also be used to receive a wireless operation signal Ows from the mobile communication network 100, and convert the wireless operation signal Ows into a local downlink operation signal Odn_l. The first IO module 111 of the master-end communication device 11 can also be used to receive a local downlink operation signal Odn_l from the first terminal unit 112, convert the local downlink operation signal Odn_l into a downlink operation signal Odn and transmit it to the master-end device 21. Based on this, the master-end device 21 can receive the operation signal remotely transmitted from the slave-end device 22. In some embodiments, the master-end device 21 can also perform corresponding operations based on the downlink operation signal Odn, such as aligning the posture of the main operator of the master-end device 21. This is conducive to performing remote surgery through the master-end device 21 and the slave-end device 22.

[0079] In some embodiments, the uplink slave signal Sup may also include an original image Iys, for example, an original image reflecting the position of the slave device, the operating room environment, and the patient's status collected by the image acquisition device of the slave device 22, an original surgical field image collected by the endoscope carried by the slave device 22, etc. The wireless slave signal Sws may include a wireless image signal Iws.

[0080] Figure 3 FIG. 1 is a block diagram showing a structure of a remote communication system according to some embodiments of the present disclosure. Figure 3 As shown, the slave communication device 12 can also be used to receive the original image Iys from the slave device 22, for example, the original image Iys is received through the HDMI interface of the slave device 22. The slave communication device 12 can also process the original image Iys, for example, filter, encode, format convert the original image, and convert it into a wireless image signal Iws. The slave communication device 12 can also transmit the wireless image signal Iws to the mobile communication network 100. The master communication device 11 can also be used to receive the wireless image signal Iws from the mobile communication network 100, and convert the wireless image signal Iws into a target image Imb, for example, format convert, decode the wireless image signal Iws to obtain the target image Imb. The master communication device 11 can also transmit the target image Imb to the master device 21, for example, transmit it to the master device 21 through the HDMI interface of the master device 21. Based on this, the images captured by the slave device 22 can be displayed on the master device 21 (for example, the display of the master device 21). The doctor who performs the operation remotely can view the images captured by the slave device 22 at the master device 21, such as images reflecting the situation in the operating room, the posture of the slave device 21 and other information, and can also perform surgical operations based on the surgical field image transmitted from the slave device 22.

[0081] In some embodiments, Figure 3As shown, the slave communication device 12 may include a front-end image processor 123. Figure 3 As shown, the input end of the front-end image processor 123 can be connected to the slave device 22 to receive the original image Iys, for example, connected to the slave device 22 through an HDMI interface, etc. The front-end image processor 123 can be configured to perform front-end processing on the original image Iys to obtain an uplink image signal Iup.

[0082] like Figure 3 As shown, in some embodiments, the slave communication device 12 may further include a second terminal unit 122. Figure 3 As shown, the input end of the second terminal unit 122 is connected to the front-end image processor 123 to receive the uplink image signal Iup. The second terminal unit can be used to convert the uplink image signal Iup into a wireless image signal Iws and transmit it to the mobile communication network 100.

[0083] like Figure 3 As shown, in some embodiments, the master-end communication device 11 may include a first terminal unit 112. Figure 3 As shown, the first terminal unit 112 can be used to receive the wireless image signal Iws from the mobile communication network 100 and convert the wireless image signal into a downlink image signal Idn. In some embodiments, the master end communication device 11 may also include a back-end image processor 113. Figure 3 As shown, the input end of the back-end image processor 113 can be connected to the first terminal unit 112 to receive the downlink image signal Idn, and the output end of the back-end image processor 113 can be connected to the main end device 21. The back-end image processor 113 can be configured to perform back-end processing on the downlink image signal Idn to obtain the target image Imb and transmit it to the main end device 21.

[0084] Figure 4A FIG. 1 is a schematic block diagram showing a transmission link of an image signal in a remote communication system 10 according to some embodiments of the present disclosure. Figure 4A As shown, the original image Iys may include a plurality of left camera continuous images Iysl from a left camera LC of a binocular camera of the slave terminal device 22 and a plurality of right camera continuous images Iysr from a right camera RC of the binocular camera. In some embodiments, the binocular camera of the slave terminal device 22 may be a binocular camera mounted on an endoscope. The plurality of left camera continuous images Iysl may be a plurality of continuous images captured by the left camera LC, and the plurality of right camera continuous images Iysr may be a plurality of continuous images captured by the right camera RC, such as an image of a surgical field.

[0085] like Figure 4AAs shown, the front-end image processor 123 may include a synthesis circuit 1231 and an encoding circuit 1232. The synthesis circuit 1231 may synthesize multiple frames of left camera continuous images Iysl and multiple frames of right camera continuous images Iysr into a mixed image sequence Imix. In some embodiments, the synthesis circuit 1231 may interleave and synthesize multiple frames of left camera continuous images Iysl and multiple frames of right camera continuous images Iysr, and the mixed image sequence Imix may include interleaved left camera images and right camera images. For ease of description, multiple frames of left camera continuous images Iysl are represented by "L1, L2, L3, L4, ..." and multiple frames of right camera continuous images Iysr are represented by "R1, R2, R3, R4, ..." The synthesis circuit 1231 may perform interlaced synthesis of “L1, L2, L3, L4, …” and “R1, R2, R3, R4, …” to form a mixed image sequence Imix in the form of “L1, R1, L2, R2, L3, R3, L4, R4, …” or “R1, L1, R2, L2, R3, L3, R4, L4, …”. In some embodiments, the synthesis circuit 1231 may synthesize the mixed image sequence in the time sequence in which each image is acquired by the binocular camera.

[0086] like Figure 4A As shown, the input end of the encoding circuit 1232 is connected to the synthesis circuit 1231 to receive the mixed image sequence Imix, and the encoding circuit 1232 can encode the mixed image sequence Imix to obtain the uplink image signal Iup. In some embodiments, the encoding circuit 1232 can encode the mixed image sequence Imix based on a preset encoding method. The preset encoding method involved here may include various suitable encoding methods, such as encoding methods specified by encoding standards such as JPEG (Joint Photographic Experts Group) and MPEG (Moving Picture Experts Group). The data volume of the uplink image signal Iup can be reduced to a certain extent compared with the mixed image sequence Imix, thereby saving bandwidth.

[0087] In some embodiments, the encoding circuit 1232 can group the mixed image sequence Imix to form a plurality of image groups, and perform intra-frame encoding on the first frame image in each image group, and perform inter-frame encoding on the other frame images in each image group. The first frame image that is intra-frame encoded in each image group (GOP, Group of Pictures) is also called "I frame" or "intra-coded frame", and the image that is inter-frame encoded in the image group is also called "P frame" or "forward reference frame". The principle of intra-frame encoding (also called "intra-frame compression") of the image is that there are similar or related areas in a frame image, and such similar or related areas in the frame are redundant information that can be saved during intra-frame encoding. The principle of inter-frame encoding (also called "inter-frame compression") of the image is that there are similar or related areas between the image of the non-first frame in the image group and the image before it, and such similar or related areas in the current frame image can be used as redundant information that can be saved during encoding. Those skilled in the art can understand that encoding P frames can often save more redundant information than encoding I frames.

[0088] Since the encoding circuit 1232 only considers the redundant information in the I frame and does not consider the correlation between the two frames before and after when encoding the I frame, the decoding circuit 1131 can decode the I frame based on the code stream corresponding to the I frame. When the decoding circuit 1131 decodes the code stream corresponding to the P frame, it needs to refer to the image before the P frame to decode and obtain the P frame image. Therefore, intra-frame encoding of the first frame image in the image group can ensure that when the decoding circuit 1131 decodes the code stream corresponding to an image group, decoding can be achieved without referring to other image groups.

[0089] Those skilled in the art will appreciate that the encoding circuit 1232 may group images based on a set GOP value (e.g., the number of images included in the group of images) to form a group of images. In some embodiments, the number of images included in the group of images is predetermined. In some embodiments, the encoding circuit 1232 always groups images based on the predetermined value to form a group of images. In some embodiments, the number of images included in the group of images may be set to an empirical value.

[0090] In some embodiments, the number of images included in the group of images can be determined according to the compression rate requirement or the transmission delay requirement, bandwidth, etc. Since inter-frame coding of P frames can often save more redundant information than intra-frame coding of I frames, a larger GOP value can be set when a higher compression rate is required, more bandwidth needs to be saved, or the transmission delay needs to be controlled to a smaller value. In this way, the number of images in the image sequence that are inter-coded can be increased, thereby obtaining a code stream with a smaller data volume and improving the data compression rate.

[0091] In some embodiments, the number of images included in the group of images can be set according to the required image encoding quality. For example, when the required image encoding quality is high, avoid setting a large GOP value to avoid distortion of the P frames at the end of the group of images affecting the image quality.

[0092] In some embodiments, the encoding circuit 1232 may group adjacent left camera images and right camera images in the mixed image sequence Imix. For example, the adjacent left camera images and right camera images or right camera images and left camera images are encoded with the previous frame as an I frame and the next frame as a P frame. The left camera images and right camera images or the right camera images and left camera images grouped together may be images captured at the same time. The encoding circuit 1232 can encode one of the two adjacent frames of left camera images and right camera images with reference to the other frame, thereby saving redundant information in the right camera image that is similar or related to the left camera image or redundant information in the left camera image that is similar or related to the right camera image, and reducing the amount of data in the code stream. Those skilled in the art will appreciate that the number of images included in the image group in this embodiment is set to 2, so that while the embodiment compresses the amount of code stream data to a certain extent, due to the small number of images included in the image group, it can ensure better video quality and lower code stream decoding difficulty.

[0093] In some embodiments, the encoding circuit 1232 can encode the mixed image sequence based on the H.264 encoding standard or the H.265 encoding standard. Among them, the H.264 encoding standard is a video coding and decoding technology standard and digital video compression format jointly proposed by the International Organization for Standardization (ISO) and the International Telecommunication Union (ITU). The H.265 encoding standard is also called "H.265-HEVC (H.265 High Efficiency Video Coding)", which is a new video coding standard formulated by the International Telecommunication Organization after H.264. Compared with most encoding standards introduced before it, the H.264 encoding standard has the advantages of lower bit rate, high image quality, strong fault tolerance, and strong network adaptability under the same image quality. The H.265 encoding standard can further reduce the bit rate compared to the H.264 encoding standard introduced before it. Those skilled in the art can understand that the encoding circuit 1232 included in the image processing system 100 can also encode the mixed image sequence based on other applicable encoding standards.

[0094] In some embodiments, the encoding circuit 1232 may encode the mixed image sequence according to a preset quantization parameter QP value to form a code stream for transmission. Setting the QP value of the encoding circuit 1232 may be used to control the compression degree of the spatial details of the image by the encoding circuit 1232, etc. For example, when a smaller QP value is set, the encoding circuit 1232 retains most of the details of the image; and when the QP value increases, the encoding circuit 1232 compresses more details of the image, and the distortion degree of the resulting image is enhanced and the image quality is reduced. By configuring the quantization parameter QP value of the encoding circuit 1232, it is possible to control the image encoding quality. The image encoding quality can be quantized by the peak signal-to-noise ratio (PSNR) of the image. It can be understood by those skilled in the art that the encoding circuit 1232 of the image processing system 100 may also encode the mixed image sequence according to other applicable parameters to control the image encoding quality of the encoding circuit, and the applicable parameters mentioned here are not limited to the quantization parameter QP value.

[0095] The back-end image processor 113 may include a decoding circuit 1131, such as Figure 4A As shown, the decoding circuit 1131 can decode the downlink image signal Idn into the target image Imb, and then transmit the target image Imb to the master device 21. In some embodiments, the target image Imb decoded by the decoding circuit 1131 can be displayed as a whole on a display of the master device 21, such as a 3D display.

[0096] Figure 4B FIG. 1 is a schematic block diagram showing a transmission link of an image signal in a remote communication system 10 according to some other embodiments of the present disclosure. Figure 4B As shown, the back-end image processor 113 may further include a splitting circuit 1132. The input end of the splitting circuit 1132 may be connected to the decoding circuit 1131, and the splitting circuit 1132 may split the target image Imb from the decoding circuit 1131 into multiple frames of left camera continuous images Imbl and multiple frames of right camera continuous images Imbr. In some embodiments, the multiple frames of left camera continuous images Imbl and multiple frames of right camera continuous images Imbr split by the splitting circuit 1132 may be displayed on the left display and the right display of the host device, respectively, to present a 3D visual effect. In some embodiments, one of the multiple frames of left camera continuous images Imbl and the multiple frames of right camera continuous images Imbr is displayed on a display (e.g., a 2D display) for viewing.

[0097] In some embodiments, the front-end image processor 123 may further include a left camera front-end decoding circuit, a left camera front-end image processing circuit, a right camera front-end decoding circuit, and a right camera front-end image processing circuit (not shown in the figure) arranged in the front stage of the synthesis circuit 1231. The left camera front-end decoding circuit can decode the data received from the left camera LC of the binocular camera to obtain the left eye original image, and the left camera front-end image processing circuit can process the left eye original image to obtain multiple frames of left camera continuous images Iysl. The right camera front-end decoding circuit can decode the data received from the right camera RC of the binocular camera to obtain the right eye original image, and the right camera front-end image processing circuit can process the right eye original image to obtain multiple frames of right camera continuous images Iysr.

[0098] In some embodiments, the left camera front-end image processing circuit can perform any suitable processing such as image enhancement processing on the left eye original image, and the right camera front-end image processing circuit can perform any suitable processing such as image enhancement processing on the right eye original image. The image enhancement processing involved here can include image denoising, contrast adjustment, gamma calibration, etc.

[0099] In some embodiments, the back-end image processor 113 may further include a left camera back-end image processing circuit and a right camera back-end image processing circuit disposed at a later stage of the splitting circuit 1132. The left camera back-end image processing circuit may perform any suitable processing such as ghost elimination on the multiple frames of left camera continuous images Imbl split by the splitting circuit 1132, and the right camera back-end image processing circuit may perform any suitable processing such as ghost elimination on the multiple frames of right camera continuous images Imbr split by the splitting circuit 1132.

[0100] Those skilled in the art can understand that the various circuits involved in the present disclosure, such as synthesis circuit, encoding circuit, decoding circuit, splitting circuit, left camera front-end decoding circuit, right camera front-end decoding circuit, left camera front-end image processing circuit, right camera front-end image processing circuit, left camera back-end image processing circuit, right camera image processing circuit, etc., can be implemented by means of general hardware, and of course can also be implemented by dedicated hardware including dedicated integrated circuits, dedicated CPUs, dedicated memories, dedicated components, etc. The specific hardware structure used to realize the functions that can be realized by the synthesis circuit, encoding circuit, decoding circuit, splitting circuit, left camera front-end decoding circuit, right camera front-end decoding circuit, left camera front-end image processing circuit, right camera front-end image processing circuit, left camera back-end image processing circuit, right camera image processing circuit, etc. can be realized by various technologies, such as analog circuits, digital circuits, configurable circuits or dedicated circuits, etc.

[0101] Figure 5A structural schematic block diagram of a remote communication system 10 according to other embodiments of the present disclosure is shown. The downlink control signal Cdn may include an energy control signal Edn. The slave communication device 12 may also include a relay 125, the input end of the relay 125 is connected to the second IO module 121 to receive the energy control signal Edn, and the relay 125 may be used to convert the energy control signal Edn into a switch control signal Es and transmit it to the slave device 22. The switch control signal Es can be used to control the energy of the energy surgical tool of the slave device to be turned on or off. Those skilled in the art will appreciate that energy surgical tools may include bipolar electrosurgical tools such as tissue clamps, monopolar electrosurgical tools such as electric hooks, and the like. The relay 125 can convert the energy control signal Edn into a simpler switch control signal Es, thereby directly and quickly controlling the on and off of the energy of the energy surgical tool. Those skilled in the art will appreciate that the relay 125 may be a relay module for signal conversion.

[0102] like Figure 5 As shown, in some embodiments, the master-end communication device 11 may further include a first switch 114. The first switch 114 may be used to implement signal exchange between modules in the master-end communication device 11. Figure 5 As shown, the first terminal unit 112 and the first IO module 111 may be connected via a first switch 114. The first switch 114 may be used to forward the local uplink control signal Cup_1 from the first IO module 111 to the first terminal unit 112, and also to forward the local downlink operation signal Odn_1 from the first terminal unit 112 to the first IO module 111. Figure 5 As shown, the first terminal unit 112 and the back-end image processor 113 may be connected via a first switch 114 , and the first switch 114 may also be used to forward the downlink image signal Idn from the first terminal unit 112 to the back-end image processor 113 .

[0103] like Figure 5 As shown, in some embodiments, the slave communication device 12 may further include a second switch 124. The second switch 124 may be used to implement signal exchange between modules in the slave communication device 12. Figure 5As shown, the second terminal unit 122 and the second IO module 121 can be connected through the second switch 124, and the second switch 124 can be used to forward the local uplink operation signal Oup_1 from the second IO module 121 to the second terminal unit 122, and also to forward the local downlink control signal Cdn_1 from the second terminal unit 122 to the second IO module 121. The second terminal unit 122 and the front-end image processor 123 can be connected through the second switch 124, and the second switch 124 can also be used to forward the uplink image signal Iup from the front-end image processor 123 to the second terminal unit 122.

[0104] In some embodiments, the master communication device 11 may further include a first power module (not shown in the figure). The first power module may be used to power each module in the master communication device 11. The first power module may include multiple power modules with different rated voltages to power different modules in the master communication device 11. In some embodiments, the slave communication device 12 may further include a second power module (not shown in the figure), the second power module may be used to power each module in the slave communication device 12, and the second power module may include multiple power modules with different rated voltages.

[0105] In some embodiments, the mobile communication network 100 involved in some embodiments of the present disclosure may be a dedicated communication network for signal interaction between the master-end communication device 11 and the slave-end communication device 12 of the remote communication system 10 to enhance the security of information during remote communication (for example, remote communication during remote surgery).

[0106] A surgical robot is also provided in some embodiments of the present disclosure. Figure 6 Schematic diagram of a surgical robot system 200 according to some embodiments of the present disclosure is shown. The surgical robot system 200 may include a remote communication system (e.g., remote communication system 10) as in any one of the embodiments of the present disclosure, a master device 210, and a slave device 220. Figure 6 As shown, the master device 210 may include at least one master operator 211, and the at least one master operator 211 may be used to receive user operations. Figure 6 As shown, at least one main operator 211 can be set on the main body 212 of the main terminal device 210. The main terminal communication device 11 of the remote communication system 10 (see Figures 1 to 5 ) can be set on the master device 210, for example, on the main body 212 of the master device 210. In some embodiments, the master communication device 11 can be detachably connected to the master device 210.

[0107] like Figure 6As shown, the slave device 220 may include at least one mechanical arm 221. In some embodiments, Figure 6 As shown, the distal end of at least one robotic arm 221 can carry at least one surgical instrument 222, and the at least one surgical instrument 222 can be any suitable surgical instrument such as clamps, bending scissors, electric hooks, endoscopes, etc. Figure 6 As shown, at least one mechanical arm 221 may be disposed on the body 223 of the slave device 220. The slave communication device 12 of the remote communication system 10 may be disposed on the slave device 220, for example, on the body 223 of the slave device 220. In some embodiments, the slave communication device 12 may be detachably connected to the slave device 220.

[0108] Through the remote communication system 10, the master device 210 and the slave device 220 can communicate remotely, so that the surgical robot system 200 can perform remote surgery. The master device 210 can be set on the user side to receive user operations, and the slave device 220 can be set on the patient side to perform surgical operations on the patient. Based on this, the user can input operations at the master device 210 (for example, input operations through the main operator 211) to remotely control the slave device 220. The slave device 220 can respond to the control instructions transmitted remotely from the master device 210 and perform surgical operations on the patient. The operation information, images and other signals collected by the slave device 220 on the patient side can be remotely transmitted to the master device 210 for the user to view through the master device 210.

[0109] In some embodiments, the surgical robot system provided by the present disclosure can perform remote surgery, and the user can perform surgery on a patient at a distant place through the surgical robot system, which is conducive to enabling patients in remote areas to enjoy better medical resources.

[0110] In some embodiments, the front-end image processor synthesizes multiple frames of left camera continuous images and multiple frames of right camera continuous images from the binocular camera, and then encodes the synthesized mixed image sequence. On the one hand, the method of synthesizing the left camera image and the right camera image first and then processing it can save the encoding circuit and decoding circuit required in the process of processing the binocular camera image. On the other hand, encoding the mixed image sequence synthesized by the left camera image and the right camera image can save similar or related redundant information between the left and right camera images, and realize compression of the data volume of the wireless image signal used for remote transmission, which is conducive to shortening the network transmission delay, saving bandwidth, improving the real-time performance of remote signal transmission, and improving the stability of remote communication.

[0111] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A telecommunication system, characterized in that: include: A master-end communication device and a slave-end communication device, wherein the master-end communication device is connected to a master-end device, and the slave-end communication device is connected to a slave-end device; The master-end communication device is used to receive an uplink master-end signal from the master-end device, convert the uplink master-end signal into a wireless master-end signal and transmit it to a mobile communication network; the slave-end communication device is used to receive the wireless master-end signal from the mobile communication network, convert the wireless master-end signal into a downlink slave-end signal and transmit it to the slave-end device; and The slave communication device is also used to receive an uplink slave signal from the slave device, convert the uplink slave signal into a wireless slave signal and transmit it to a mobile communication network; the master communication device is also used to receive the wireless slave signal from the mobile communication network, convert the wireless slave signal into a downlink master signal and transmit it to the master device.

2. The telecommunication system according to claim 1, characterized in that: The uplink slave signal includes an original image, the wireless slave signal includes a wireless image signal, and the slave communication device is further used to receive the original image from the slave device, convert the original image into a wireless image signal, and transmit the wireless image signal to a mobile communication network; The master-end communication device is also used to receive a wireless image signal from a mobile communication network, convert the wireless image signal into a target image, and transmit the target image to the master-end device.

3. The telecommunication system according to claim 2, characterized in that: The slave communication device comprises: A front-end image processor, whose input end is connected to the slave device to receive the original image, is configured to perform front-end processing on the original image to obtain an uplink image signal.

4. The telecommunication system according to claim 3, characterized in that: The slave communication device includes a second terminal unit, an input end of the second terminal unit is connected to the front-end image processor to receive the uplink image signal, and the second terminal unit is used to convert the uplink image signal into a wireless image signal and transmit it to a mobile communication network.

5. The telecommunication system according to claim 4, characterized in that: The master-end communication device comprises: a first terminal unit, the first terminal unit being configured to receive the wireless image signal from a mobile communication network and convert the wireless image signal into a downlink image signal; and A back-end image processor, whose input end is connected to the first terminal unit to receive the downlink image signal, and whose output end is connected to the main-end device, is configured to perform back-end processing on the downlink image signal to obtain the target image and transmit it to the main-end device.

6. The telecommunication system according to claim 5, characterized in that: The original image includes a plurality of left camera continuous images from a left camera of a binocular camera of the slave device and a plurality of right camera continuous images from a right camera of the binocular camera. The front-end image processor comprises: a synthesis circuit, which synthesizes the multiple frames of left camera continuous images and the multiple frames of right camera continuous images into a mixed image sequence; and an encoding circuit, whose input end is connected to the synthesis circuit to receive the mixed image sequence, and the encoding circuit encodes the mixed image sequence to obtain the uplink image signal; The back-end image processor comprises: A decoding circuit is used to decode the downlink image signal into the target image.

7. The telecommunication system according to claim 6, characterized in that: The encoding circuit groups the mixed image sequence to form a plurality of image groups, performs intra-frame encoding on the first frame image in each image group, and performs inter-frame encoding on other frame images in each image group.

8. The telecommunication system according to claim 6, characterized in that: The synthesis circuit performs interlaced synthesis on the multiple frames of left camera continuous images and the multiple frames of right camera continuous images, and the mixed image sequence includes interlaced left camera images and right camera images.

9. The telecommunication system according to claim 8, characterized in that: The encoding circuit groups adjacent left camera images and right camera images in the mixed image sequence into one group.

10. The telecommunication system according to claim 6, characterized in that: The back-end image processor also includes: A splitting circuit, whose input end is connected to the decoding circuit, splits the target image from the decoding circuit into multiple frames of left camera continuous images and multiple frames of right camera continuous images.

11. The telecommunication system according to claim 5, characterized in that: The wireless slave end signal includes a wireless operation signal, the downlink master end signal includes a downlink operation signal, and the first terminal unit is further used to receive the wireless operation signal from the mobile communication network and convert the wireless operation signal into a local downlink operation signal; The master-end communication device further includes a first IO module, which is used to receive the local downlink operation signal from the first terminal unit, convert the local downlink operation signal into the downlink operation signal, and transmit the downlink operation signal to the master-end device.

12. The telecommunication system according to claim 11, characterized in that: The uplink master end signal includes an uplink control signal, and the wireless master end signal includes a wireless control signal. The first IO module is further used to receive the uplink control signal from the master device and convert the uplink control signal into a local uplink control signal; The first terminal unit is further used to receive the local uplink control signal from the first IO module, convert the local uplink control signal into the wireless control signal, and transmit it to the mobile communication network.

13. The telecommunication system according to claim 12, characterized in that: The downlink slave end signal includes a downlink control signal, The second terminal unit is also used to receive the wireless control signal from the mobile communication network and convert the wireless control signal into a local downlink control signal; The slave communication device further includes a second IO module, which is used to receive the local downlink control signal from the second terminal unit, convert the local downlink control signal into the downlink control signal, and transmit the downlink control signal to the slave device.

14. The telecommunication system according to claim 13, characterized in that: The uplink slave end signal includes an uplink operation signal, and the second IO module is further used to receive the uplink operation signal from the slave end device and convert the uplink operation signal into a local uplink operation signal; The second terminal unit is further used to receive the local uplink operation signal from the second IO module, convert the local uplink operation signal into the wireless operation signal, and transmit it to the mobile communication network.

15. The telecommunication system according to claim 13, characterized in that: The downlink control signal includes an energy control signal, and the slave communication device further includes: A relay, whose input end is connected to the second IO module to receive the energy control signal, and the relay is used to convert the energy control signal into a switch control signal and transmit it to the slave device, and the switch control signal is used to control the energy of the energy surgical tool of the slave device to be turned on or off.

16. The telecommunication system according to claim 12, characterized in that: The master-end communication device further includes a first switch, The first terminal unit and the first IO module are connected via the first switch, and the first switch is used to forward a local uplink control signal from the first IO module to the first terminal unit, and is also used to forward a local downlink operation signal from the first terminal unit to the first IO module; The first terminal unit and the back-end image processor are connected via the first switch, and the first switch is also used to forward the downlink image signal from the first terminal unit to the back-end image processor.

17. The telecommunication system according to claim 14, characterized in that: The slave communication device comprises a second switch, The second terminal unit and the second IO module are connected via the second switch, and the second switch is used to forward the local uplink operation signal from the second IO module to the second terminal unit, and is also used to forward the local downlink control signal from the second terminal unit to the second IO module; The second terminal unit and the front-end image processor are connected via the second switch, and the second switch is further used to forward the uplink image signal from the front-end image processor to the second terminal unit.

18. A surgical robot system, characterized in that: include: A telecommunication system as claimed in any one of claims 1 to 17; A master-end device, comprising at least one master operator, the at least one master operator being used to receive user operations, and the master-end communication device of the remote communication system being arranged on the master-end device; as well as The slave device comprises at least one mechanical arm, and the slave communication device of the remote communication system is arranged on the slave device.

19. The surgical robot system according to claim 18, characterized in that: The master-end communication device is detachably connected to the master-end device, and / or the slave-end communication device is detachably connected to the slave-end device.

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