Telesurgery robot and corresponding energy instrument control method, and medium

Abstract

The present application discloses a telesurgery robot and a corresponding energy instrument control method, and a medium. The method comprises: a patient cart acquiring control instructions continuously transmitted from a remote surgeon console via a network channel, and inputting the control instructions into a preset queue in sequence, wherein the control instructions are triggered by the remote surgeon console in response to an operation on an energy instrument; detecting the arrangement characteristics of the control instructions in the preset queue by means of a preset sliding window, and determining the validity of the control instructions in the preset queue on the basis of the arrangement characteristics; and outputting, from the preset queue, a control instruction corresponding to the validity, to perform start / stop control on the energy instrument. In the present invention, energy output of an energy instrument is suspended when an anomaly occurs in remote transmission of control instructions of a telesurgery robot, thereby improving safety.

Description

Remote surgical robots and corresponding energy device control methods and media

[0001] This application claims priority to Chinese Patent Application No. CN 202411816727.7, filed on December 10, 2024, entitled “Remote Surgical Robot and Corresponding Energy Device Control Method and Medium”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention belongs to the field of medical devices, and in particular relates to a remote surgical robot and a corresponding energy device control method and medium. Background Technology

[0003] When energy devices such as electrosurgical units and ultrasonic scalpels are used in remote surgery, electrosurgical units use high-frequency current to directly cut, stop bleeding, or burn human tissue, while ultrasonic scalpels use a high-frequency power source and ultrasonic vibration system to generate powerful instantaneous impact acceleration, microacoustic flow, and acoustic cavitation to separate human tissue. The safety requirements for energy devices are extremely stringent. Once a safety issue arises, in addition to common high- and low-frequency current burns, subcutaneous tissue damage, nerve damage, and postoperative infection and bleeding, it may also cause some safety problems that are difficult to detect immediately.

[0004] When energy devices are used in remote medical surgery, the remote doctor's control of the devices relies on control commands transmitted over the network. When network jitter, latency, or even disconnection occurs, the control commands cannot effectively control the energy devices, potentially causing harm to the patient. Therefore, how to effectively control energy devices has become a pressing issue that needs to be addressed in remote surgical robots. Summary of the Invention

[0005] To address the problem of effective control of energy devices in remote surgical robots, the present invention proposes the following technical solution:

[0006] A first aspect of the present invention provides a method for controlling an energy device in a remote surgical robot, the remote surgical robot comprising: a remote doctor's console and a patient operating table, wherein the remote doctor's console and the patient operating table are communicatively connected via a network channel, and the patient operating table is equipped with an energy device; a processor, disposed on the patient operating table, and configured to execute the energy device control method as follows: acquiring control instructions continuously transmitted from the remote doctor's console via the network channel, and sequentially inputting the control instructions into a preset queue, wherein the control instructions are triggered based on the remote doctor's console responding to an operation on the energy device; detecting the arrangement characteristics of the control instructions in the preset queue, and determining the validity of the control instructions in the preset queue based on the arrangement characteristics; and outputting a control instruction corresponding to the validity from the preset queue to control the start and stop of the energy device.

[0007] Optionally, detecting the arrangement characteristics of the control instructions in the preset queue includes: pointing to a portion of the control instructions in the preset queue through the preset sliding window, and extracting the sequence number and instruction from each control instruction pointed to by the preset sliding window, wherein the instruction includes a start instruction and a stop instruction; based on each sequence number and the corresponding instruction, detecting at least one of the following arrangement characteristics of each control instruction pointed to by the preset sliding window: error arrangement characteristic, scrambled character arrangement characteristic, and interval arrangement characteristic; wherein the error arrangement characteristic is an arrangement characteristic indicating that the start instruction and stop instruction under each sequence number have a jump, the scrambled character arrangement characteristic is an arrangement characteristic indicating that the sequence number and the corresponding instruction are out of order, and the interval arrangement characteristic is an arrangement characteristic indicating that the sequence number and the corresponding instruction are missing.

[0008] Optionally, based on each sequence number and the corresponding instruction, the error rate arrangement characteristics of each control instruction pointed to by the preset sliding window are detected, including: determining the number of start and stop instructions that have erroneous values ​​in the preset sliding window; if the number of start and stop instructions that have erroneous values ​​is greater than or equal to a preset number threshold, then the control instructions pointed to by the preset sliding window are determined to have a first error rate arrangement characteristic; if the number of start and stop instructions that have erroneous values ​​is less than the preset number threshold, then based on the sequence number, a first distribution is determined among the start and stop instructions that have erroneous values ​​and the start and stop instructions that have not erroneous values ​​in the preset sliding window; if the first distribution is a first cross distribution, then the control instructions pointed to by the preset sliding window are determined to have a second error rate arrangement characteristic; if the first distribution is a first sequential distribution, then the control instructions pointed to by the preset sliding window are determined to have a third error rate arrangement characteristic; wherein, the degree of transition of the start and stop instructions under each sequence number from large to small is represented by the following error rate arrangement characteristics in descending order: the first error rate arrangement characteristic, the second error rate arrangement characteristic, and the third error rate arrangement characteristic.

[0009] Optionally, outputting a control command corresponding to the validity from the preset queue to control the start-stop of the energy device includes: if the validity corresponds to the first error pattern characteristic, switching the start command in the preset sliding window to a stop command; if the validity corresponds to the second error pattern characteristic, switching the start and stop commands that have errors in the preset sliding window to adjacent stop or start commands; if the validity corresponds to the third error pattern characteristic, maintaining the stop and start commands in the preset sliding window; and outputting a control command after the preset sliding window switching command from the preset queue to control the start-stop of the energy device.

[0010] Optionally, based on each of the specified serial numbers and corresponding instructions, the scrambling characteristics of each control instruction pointed to by the preset sliding window are detected, including: determining the arrangement order of each of the specified serial numbers in the preset sliding window, and determining the scrambling interval of each serial number according to the arrangement order; if the scrambling interval exceeds a preset interval, then the control instructions pointed to by the preset sliding window are determined to have a first scrambling characteristic; if the scrambling interval does not exceed the preset interval and is not zero, then the control instructions pointed to by the preset sliding window are determined to have a second scrambling characteristic; if the scrambling interval is zero, then the control instructions pointed to by the preset sliding window are determined to have a third scrambling characteristic; wherein, the degree of scrambling of each serial number and corresponding instruction from largest to smallest is represented by the following scrambling characteristics: the first scrambling characteristic, the second scrambling characteristic, and the third scrambling characteristic.

[0011] Optionally, outputting a control command corresponding to the validity from the preset queue to control the start and stop of the energy device includes: if the validity corresponds to the first randomized arrangement characteristic, switching the start command in the preset sliding window to a stop command; if the validity corresponds to the second randomized arrangement characteristic, rearranging the sequence number and corresponding command in the preset sliding window according to the sequence number increment; if the validity corresponds to the third randomized arrangement characteristic, maintaining the stop command and start command in the preset sliding window; and outputting a control command after the preset sliding window switching command or a rearranged control command from the preset queue to control the start and stop of the energy device.

[0012] Optionally, based on each of the specified serial numbers and corresponding instructions, the interval arrangement characteristics of each control instruction pointed to by the preset sliding window are detected, including: determining the number of each of the specified serial numbers and corresponding instructions in the preset sliding window, wherein the preset sliding window is configured to accommodate a preset first number of control instructions; if the number of each of the specified serial numbers and corresponding instructions is less than the preset first number and greater than or equal to a preset second number, then the control instructions pointed to by the preset sliding window are determined to have a first interval arrangement characteristic, wherein the preset second number is less than the preset first number; if the number of each of the specified serial numbers and corresponding instructions is less than the preset second number, then a second distribution of each of the specified serial numbers and corresponding instructions is determined; if the second distribution is a second cross distribution, then the control instructions pointed to by the preset sliding window are determined to have a second interval arrangement characteristic; if the second distribution is a second sequential distribution, then the control instructions pointed to by the preset sliding window are determined to have a third interval arrangement characteristic; wherein the degree of absence of each of the specified serial numbers and corresponding instructions, from largest to smallest, is represented by the following interval arrangement characteristics: the second interval arrangement characteristic, the first interval arrangement characteristic, and the third interval arrangement characteristic.

[0013] Optionally, outputting a control command corresponding to the validity from the preset queue to control the start and stop of the energy device includes: if the validity corresponds to the first interval arrangement characteristic, interpolating the sequence number and corresponding command in the preset sliding window to obtain a first number of sequence numbers and corresponding commands; if the validity corresponds to the second interval arrangement characteristic, switching the start command in the preset sliding window to a stop command; if the validity corresponds to the third interval arrangement characteristic, maintaining the stop command and start command in the preset sliding window; and outputting a control command after the preset sliding window switching command or an interpolated control command from the preset queue to control the start and stop of the energy device.

[0014] Optionally, determining the validity of control instructions in the preset queue based on the arrangement characteristics includes: determining the validity of any level of validity of control instructions in the preset queue from small to large based on the error arrangement characteristics indicating any jump degree from large to small, the scrambled character arrangement characteristics indicating any disorder degree from large to small, or the interval arrangement characteristics indicating any missing degree from large to small.

[0015] Optionally, the validity includes at least a first validity and a second validity, wherein the validity of the first validity is greater than the validity of the second validity; after determining the validity of the control instructions in the preset queue according to the arrangement characteristics, the method further includes: if the validity is the first validity, sliding the preset sliding window along the preset queue by a preset third number of control instructions; if the validity is the second validity, sliding the preset sliding window along the preset queue by the length of the control instructions within the preset sliding window range; and performing the next round of arrangement characteristic detection and validity determination based on the sliding of the preset sliding window.

[0016] Optionally, the remote surgical robot further includes a proximal doctor's console, wherein the proximal doctor's console is communicatively connected to the patient surgical platform; the energy device control method further includes: in response to the fact that the validity determined by the preset sliding window after sliding a preset number of times is all second validity, performing any of the following operations: stopping the acquisition of control commands from the remote doctor's console and using the proximal doctor's console to operate and control the energy device; or, switching the start command in the preset queue to a stop command; or, performing a rollback operation along the movement path of the energy device.

[0017] A second aspect of the present invention provides a remote surgical robot, comprising: a remote doctor's console and a patient operating table, wherein the remote doctor's console and the patient operating table are communicatively connected via a network channel, and the patient operating table is equipped with an energy device; a processor, disposed on the patient operating table, and configured to execute the energy device control method as follows: acquiring control instructions continuously transmitted from the remote doctor's console via the network channel, and sequentially inputting the control instructions into a preset queue, wherein the control instructions are triggered based on the remote doctor's console responding to an operation on the energy device; detecting the arrangement characteristics of the control instructions in the preset queue, and determining the validity of the control instructions in the preset queue based on the arrangement characteristics; and outputting a control instruction corresponding to the validity from the preset queue to control the start and stop of the energy device.

[0018] A third aspect of the present invention provides a readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described energy device control method applied to a remote surgical robot.

[0019] The beneficial effects of this invention are as follows: The patient surgical platform acquires control commands continuously transmitted from the remote doctor's console via a network channel and sequentially inputs these commands into a preset queue. These control commands are triggered based on the remote doctor's console's response to operations on the energy device. A preset sliding window detects the arrangement characteristics of the control commands in the preset queue, and based on these characteristics, the validity of the control commands in the preset queue is determined. Control commands corresponding to the validity are output from the preset queue to control the start and stop of the energy device. This invention enables the detection of the validity of control commands on the patient surgical platform when abnormalities occur in the remote transmission of control commands from the remote surgical robot, determining whether to continue or pause the energy output of the energy device, thus improving the safety of remotely operating the energy device. Attached Figure Description

[0020] Figure 1 is a schematic diagram of an embodiment of the remote surgical robot of the present invention;

[0021] Figure 2 is a schematic diagram of an embodiment of the surgical instrument structure of the present invention;

[0022] Figure 3 is a schematic diagram of another embodiment of the remote surgical robot of the present invention;

[0023] Figure 4 is a schematic diagram of an embodiment of the remote surgical robot of the present invention used for energy device control;

[0024] Figure 5 is a schematic diagram of the first process of the energy device control method of the present invention;

[0025] Figure 6 is a schematic diagram of the first embodiment of the remote control command transmission of the present invention;

[0026] Figure 7 is a second flowchart of the energy device control method of the present invention;

[0027] Figure 8 is a schematic diagram of the second embodiment of the remote control command transmission of the present invention;

[0028] Figure 9 is a schematic diagram of the third embodiment of the remote control command transmission of the present invention;

[0029] Figure 10 is a schematic diagram of the fourth embodiment of the remote control command transmission of the present invention;

[0030] Figure 11 is a schematic diagram of the third process of the energy device control method of the present invention;

[0031] Figure 12 is a schematic diagram of the fifth embodiment of the remote control command transmission of the present invention;

[0032] Figure 13 is a schematic diagram of the sixth embodiment of the remote control command transmission of the present invention;

[0033] Figure 14 is a schematic diagram of the fourth process of the energy device control method of the present invention;

[0034] Figure 15 is a schematic diagram of the seventh embodiment of the remote control command transmission of the present invention;

[0035] Figure 16 is a schematic diagram of the eighth embodiment of the remote control command transmission of the present invention;

[0036] Figure 17 is a schematic diagram of the ninth embodiment of the remote control command transmission of the present invention; Detailed Implementation

[0037] To facilitate understanding of the present invention, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0038] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. For example, the term "a plurality of" includes two or more.

[0039] Remote robotic surgery technology refers to the use of information network channels as the carrier of medical information. Employing a master-slave approach, it combines robotics, virtual reality, artificial intelligence, and computer technology to extend the application of remote diagnosis, guidance, and operation in medical surgery. This allows remote doctors to control surgical robots via information network channels to perform surgical procedures on remote patients. The remote surgical robot consists of master and slave devices. The master device is the remote doctor's control console, and the slave device is the patient's surgical platform. The doctor executes operations on the remote doctor's control console and sends control commands to the slave device to control the patient's surgical platform to perform surgery on the patient.

[0040] The doctor and the telemedicine console are located in the first geographic location, while the patient and the patient surgery platform are located in the second geographic location. Because the first and second geographic locations are usually far apart, such as in different hospitals, buildings, regions, or countries, the telemedicine console and the patient surgery platform transmit surgical process data through an information network channel, such as master-slave control signals, endoscopic video data, audio data, haptic feedback data, and pairing data, which are interactive data between master and slave devices.

[0041] Specifically, the remote doctor console is equipped with a first remote host, and the patient surgical platform is equipped with a second remote host. The remote doctor console and the patient surgical platform are connected to the information network channel through the first and second remote hosts respectively to realize the transmission of surgical process data.

[0042] Remote surgical robots can specifically include: laparoscopic surgical robots (single-port and multi-port), natural orifice surgical robots, percutaneous puncture surgical robots, orthopedic surgical robots, panvascular surgical robots, dental surgical robots, neurosurgical surgical robots, etc., including the aforementioned remote doctor console and patient surgical platform, enabling remote surgical technology.

[0043] As exemplarily shown in Figures 1 and 2, the laparoscopic surgical robot (single-port) includes a remote doctor console 100 and a patient surgical platform 200. The remote doctor console 100 sends control commands to the patient surgical platform 200 based on the doctor's operations to control the platform, and also displays images acquired by the platform. The patient surgical platform 200 responds to the control commands sent by the remote doctor console 100 and performs corresponding operations; furthermore, it acquires images within the body.

[0044] The patient surgical platform 200 includes a robotic arm 210, a power mechanism 220 mounted on the robotic arm 210, a surgical instrument 230 mounted on the power mechanism 220, and a cannula 240 covering the long axis 231 of the surgical instrument 230. When responding to control commands from the remote physician console 100, the robotic arm 210 adjusts the position of the surgical instrument 230, the power mechanism 220 drives the surgical instrument 230 to perform corresponding operations, and the end effector 232 of the surgical instrument 230 extends into the body to perform surgical operations and / or acquire in vivo images via its distal end effector.

[0045] For example, Figure 3 illustrates a natural orifice surgical robot 300. The natural orifice surgical robot 300 includes a remote physician console and a patient surgical platform 320. The remote physician console includes a handle 310 and an imaging cart 330 connected to each other, and / or the patient surgical platform 320 also includes an imaging cart 330. A catheter device 340 is coupled to the patient surgical platform 320, and a sensor system 350 is connected thereto, as well as a control system 360 for controlling the catheter device 340, the sensor system 350, and the imaging cart 330. When a physician performs various procedures on a patient next to the patient surgical platform 320, they can trigger control commands by operating the handle 310, which are sent to the patient surgical platform 320 for actuation, thereby controlling the catheter device 340 to move forward, retract, bend, and turn.

[0046] The patient surgical platform 320 can typically be moved to the side of the operating table to engage the catheter instrument 340. Under control commands, the catheter instrument 340 can be controlled to move vertically, horizontally, or in non-vertical and non-horizontal directions, thus providing a better preoperative preparation angle for the operation of the catheter instrument 340. These control commands can be triggered by the doctor operating the patient surgical platform 320, or by the doctor directly clicking or pressing buttons on the patient surgical platform 320. In other embodiments, the control commands can also be voice control or commands triggered through a force feedback mechanism.

[0047] As shown in Figure 3, the patient surgical platform 320 may further include a base 321, a sliding seat 322 that can move up and down along the base 321, and two robotic arms 323 fixedly connected to the sliding seat 322. Each robotic arm 323 may include multiple arm segments connected at joints, providing multiple degrees of freedom for the robotic arm 323, for example, seven degrees of freedom corresponding to seven arm segments. A power unit (not shown in the figure) is installed at the end of each robotic arm 323. The power unit of the robotic arm 323 is used to engage the catheter instrument 340 and, under the driving action of the power unit, controls the end of the catheter instrument 340 to bend and turn accordingly. The two robotic arms 323 may have identical or partially identical structures; one robotic arm 323 is used to engage the internal catheter instrument 341, and the other robotic arm 323 is used to engage the external catheter instrument 342. During installation, the external catheter device 342 can be installed first. After the external catheter device 342 is installed, the catheter of the internal catheter device 341 is inserted into the catheter of the external catheter device 342.

[0048] The sensor system 350 has one or more subsystems for receiving information about the catheter device 340. The subsystems may include: a position sensor system; a shape sensor system for determining the position, orientation, velocity, rate, pose, and / or shape of the distal end of the catheter device 340 and / or along one or more segments of the catheter that may constitute the catheter device 340; and / or a visualization system for capturing images from the distal end of the catheter device 340.

[0049] The imaging vehicle 330 may be equipped with a display system 331 and a flushing system (not shown in the figure), etc. The display system 331 is used to display images or representations of the surgical site and catheter instruments 340 generated by the subsystems of the sensor system 350. It can also display real-time images of the surgical site and catheter instruments 340 captured by a visualization system. Image data from imaging technologies such as computed tomography (CT), magnetic resonance imaging (MRI), optical coherence tomography (OCT), and ultrasound can also be used to present images of the surgical site recorded preoperatively or intraoperatively.

[0050] The preoperative or intraoperative image data can be presented as two-dimensional, three-dimensional, or four-dimensional (e.g., time-based or rate-based information) images and / or as images from a model created based on the preoperative or intraoperative image dataset, and can also display virtual navigation images. In the virtual navigation images, the actual position of the catheter instrument 340 is registered with the preoperative images to present a virtual image of the catheter instrument 340 within the surgical site to the operator from the outside.

[0051] The control system 360 includes at least one memory and at least one processor. It is understood that the control system 360 can be integrated into the patient surgical platform 320 or the imaging cart 330, or it can be set up independently. The control system 360 can transmit one or more signals instructing the catheter instrument 340 to move, which is then moved by the power unit. The catheter instrument 340 can extend to a surgical site within the body via an opening in the patient's natural cavity or a surgical incision.

[0052] Furthermore, the control system 360 may include a mechanical control system (not shown in the figure) and an image processing system (not shown in the figure). The mechanical control system is used to control the movement of the catheter instrument 340, and therefore can be integrated into the patient surgical platform 320. The image processing system is used for virtual navigation path planning, and therefore can be integrated into the imaging cart 330. Of course, the various subsystems of the control system 360 are not limited to the specific cases listed above, and can be reasonably configured according to actual conditions.

[0053] The image processing system can image the surgical site using the aforementioned imaging techniques based on images of the surgical site recorded preoperatively or intraoperatively. Software, used in conjunction with manual input, can also convert recorded images into two-dimensional or three-dimensional composite images of parts or entire anatomical organs or segments. During the virtual navigation procedure, the sensor system 350 can be used to calculate the position of the catheter instrument 340 relative to the patient's anatomical structures. This position can be used to generate external tracking images and internal virtual images of the patient's anatomical structures, achieving registration of the actual position of the catheter instrument 340 with the preoperative images. This allows a virtual image of the catheter instrument 340 within the surgical site to be presented to the operator from the outside.

[0054] The internal catheter device 341 and the external catheter device 342 have largely the same structure, each having a slender and flexible internal catheter 41 and an external catheter 42. The diameter of the external catheter 42 is slightly larger than that of the internal catheter 41, so that the internal catheter 41 can pass through the external catheter 42 and provide some support for the internal catheter 41. This allows the internal catheter 41 to reach the target location in the patient's body, so as to facilitate operations such as tissue or cell sampling from the target location.

[0055] Certain movements of the handle 310 can cause corresponding movements of the catheter device 340. For example, when a doctor moves the directional lever of the handle 310 up or down, the movement of the directional lever can be mapped to a corresponding pitch movement of the end of the catheter device 340; when the doctor moves the directional lever of the handle 310 left or right, the movement of the directional lever can be mapped to a corresponding yaw movement of the end of the catheter device 340. In this embodiment, the handle 310 can control the end of the catheter device 340 to move within a 360° spatial range.

[0056] As shown in Figure 4, the remote surgical robot includes a remote doctor's console 410 and a patient operating table 420. The remote doctor's console 410 and the patient operating table 420 are connected via a network channel. The patient operating table 420 is equipped with an energy device 430 and a processor. The remote doctor's console 410 generates a control command 440 in response to the doctor's operation on the energy device. After being transmitted to the patient operating table via the network channel, the command is received as a control command 450. Due to network transmission limitations, the control command 440 generated by the remote doctor's console 410 and the control command 450 received by the patient operating table may differ.

[0057] Please refer to Figure 5. The controller stored in the patient's surgical platform executes the following energy device control methods based on the control commands triggered by the remote doctor's console for the operation of the energy device:

[0058] 501. Obtain control commands continuously transmitted from the remote doctor console through the network channel, and input the control commands sequentially into a preset queue, wherein the control commands are triggered based on the remote doctor console's response to an operation on the energy device;

[0059] In this embodiment, the doctor performs operations on the energy device on a remote doctor's console, such as selecting the control mode to energy control mode, and controlling the energy device to output or stop outputting energy through hardware such as physical buttons, foot pedals, or touch buttons, eye-tracking devices, or EEG devices. Control commands are output on the remote doctor's console in sequence according to the trigger operation duration. After being transmitted through the network channel, they are received by the patient's surgical platform. Due to network transmission delays and packet loss, the control commands received by the patient's surgical platform may contain errors, garbled characters, or be lost. Compared to checking the network channel status, directly detecting the arrangement characteristics of the control commands to determine their validity is more efficient and provides more direct detection results.

[0060] 502. Detect the arrangement characteristics of the control instructions in the preset queue, and determine the validity of the control instructions in the preset queue based on the arrangement characteristics;

[0061] In this embodiment, the patient surgical platform includes one or more preset queues. Each preset queue can temporarily store multiple control commands, which are then stored sequentially in the preset queue according to the order in which they are received. A preset sliding window can define multiple control commands. After a preset queue has stored all the control commands, the preset sliding window slides a preset number of times according to the storage order. After each slide, step 502 is executed to complete the detection of the arrangement characteristics and determination of the validity of all control commands in the preset queue. The number of control commands that the preset sliding window can define is less than the number of control commands temporarily stored in the preset queue.

[0062] Specifically, after a set of control instructions is specified by a preset sliding window, a portion of the control instructions are pointed to in the preset queue through the preset sliding window, and the sequence number and instruction are extracted from each control instruction pointed to by the preset sliding window. The instruction includes a start instruction and a stop instruction. Based on each sequence number and the corresponding instruction, at least one of the following arrangement characteristics of each control instruction pointed to by the preset sliding window is detected: error arrangement characteristic, garbled character arrangement characteristic, and interval arrangement characteristic.

[0063] The error sequence characteristic is an arrangement characteristic that indicates a jump in the start and stop instructions under each sequence number; the scrambled sequence characteristic is an arrangement characteristic that indicates a scrambled order of each sequence number and its corresponding instruction; and the interval sequence characteristic is an arrangement characteristic that indicates a missing sequence number and its corresponding instruction.

[0064] Furthermore, based on the error rate arrangement characteristics indicating any degree of jump from large to small, the random order arrangement characteristics indicating any degree of disorder from large to small, or the interval arrangement characteristics indicating any degree of missing information from large to small, the validity of any level of effectiveness of the control instructions in the preset queue is determined from small to large. That is, for control instructions with error rate arrangement characteristics, random order arrangement characteristics, or interval arrangement characteristics, the greater the degree of jump, disorder, or missing information, the less effective the instructions are, and the smaller the degree of jump, disorder, or missing information, the more effective the instructions are.

[0065] For example, the error sequence characteristics include at least: an abnormal sequence characteristic where start and stop instructions change abruptly, and a normal sequence characteristic where start and stop instructions do not change abruptly; the scrambled sequence characteristics include at least: an abnormal sequence characteristic where sequence numbers and corresponding instructions are out of order, and a normal sequence characteristic where sequence numbers and corresponding instructions are not out of order; the interval sequence characteristics include at least: an abnormal sequence characteristic where sequence numbers and corresponding instructions are missing, and a normal sequence characteristic where sequence numbers and corresponding instructions are not missing. Abnormal sequence characteristics can directly stop the energy output of the energy device, or adjust the control instructions of the preset queue before executing the control of the energy device; normal sequence characteristics can directly control the energy device using control instructions.

[0066] In one implementation, referring to Figure 6, the remote doctor console outputs control instructions 610 for the energy device in chronological order based on the doctor's operation: {a, 0; b, 0; c, 1; d, 1; e, 1; f, 1; g, 1; h, 0; i, 0}. After being transmitted to the patient's surgical platform via the network channel, these instructions are received as control instructions 620: {a, 0; b, 0; c, 0; d, 1; e, 1; g, 1; f, 1; h, 0; i,}. Thus, it can be seen that the instruction with sequence number c is received as instruction 0 from the actual instruction 1 by error. Sequence number f and its corresponding instruction 1, as well as the required instruction g and its corresponding instruction 1, are out of order. At the same time, sequence number i and its corresponding instruction 0 are missing (i.e., one control instruction is missing).

[0067] 503. Output control commands corresponding to the validity from the preset queue to control the start and stop of the energy device.

[0068] In this embodiment, effectiveness refers to the usability of the control commands output by the preset queues. That is, after the control commands are transmitted from the remote doctor's console to the patient's surgical platform via the network channel, they can enable real-time control of the patient without causing accidental harm. After each preset queue's effectiveness is determined by a sliding window, control commands are output in sequence to execute the start and stop control of the energy device.

[0069] For example, when network delays, jitter, packet loss, or network outages occur, the effectiveness of the control commands collected by the patient's surgical platform is detected as low. In this case, some or all control commands need to be adjusted to stop the energy devices from outputting energy to prevent damage to the tissue.

[0070] Specifically, the patient surgical platform also includes an energy platform connected to the energy device. Preset queue output control commands are sent to the energy platform to control the energy platform to output or stop outputting energy to the energy device, so that the energy device can output or stop outputting energy at any time. For example, it can output electrical energy to the electrosurgical unit, which can output corresponding frequency pulses at any time, or output electrical energy to the ultrasonic scalpel, which can convert and output ultrasonic pulses.

[0071] The above provides an overall implementation of an energy device control method. Referring to Figure 7, a second embodiment of the energy device control method is provided below, illustrating the energy device control method under error arrangement characteristics, as detailed below:

[0072] 701. Obtain control commands continuously transmitted from the remote doctor console through the network channel, and input the control commands sequentially into a preset queue, wherein the control commands are triggered based on the remote doctor console's response to an operation on the energy device;

[0073] 702. Determine the number of start and stop commands that have erroneous values ​​in the preset sliding window;

[0074] 703. If the number of start and stop instructions that cause bit errors is greater than or equal to a preset number threshold, then each control instruction pointed to by the preset sliding window is determined to be the first bit error arrangement characteristic.

[0075] In this embodiment, a start command that results in a code error will be changed to a stop command, and a stop command that results in a code error will be changed to a start command. A preset quantity threshold indicates whether controlling the energy output of the energy device will cause tissue damage or whether the remote doctor's console will experience lag in controlling the energy device when some start or stop commands result in code errors. For example, the preset quantity threshold may be 1, 2, or 3.

[0076] In this embodiment, when the number of start and stop commands with erroneous codes is greater than or equal to a preset threshold, directly controlling the energy device according to the erroneous commands may cause damage to the tissue, or the remote doctor console may not produce a sense of lag in controlling the energy device. In this case, the control commands of the preset sliding window form the first error sequence characteristic.

[0077] For example, please refer to Figure 8. The remote doctor console generates control instructions 810 based on the operation of the energy device. After being transmitted to the patient's surgical platform through the network channel, it is temporarily stored as control instructions 820 in a preset queue. The preset quantity threshold is 1, and the preset sliding window 830 specifies 5 control instructions. The preset sliding window 830 slides to the control instructions with specified sequence numbers {b, c, d, e, f}. If the start instruction is represented as 1 and the stop instruction is represented as 0, the instruction with sequence number {c, d} has a bit error. The instruction {0, 0} in the control instruction 810 has a bit error and is converted to the instruction {1, 1} in the control instruction 820. The number of bit errors 2 is greater than the preset quantity threshold 1. At this time, the control instructions with sequence numbers {b, c, d, e, f} specified by the sliding window 830 are the first bit error arrangement characteristics.

[0078] 704. If the validity is the validity corresponding to the first error pattern characteristic, then the start command in the preset sliding window is switched to the stop command;

[0079] In this embodiment, when the validity of the control command pointed to by the preset sliding window is the validity corresponding to the first error code arrangement characteristic, it is determined that the command with the error code is invalid for the control of the energy device and cannot be used to control the energy device in order to prevent accidental injury to the patient. Therefore, the output of the energy device is stopped and the start command in the sliding window is switched to the stop command.

[0080] Specifically, at least each control command currently pointed to by the sliding window should be determined to be invalid, but it can also be further determined that each control command in the current preset queue is invalid; in another implementation, the sliding window can be further slid to perform arrangement characteristic detection and validity determination on the non-currently specified control commands in the current preset queue.

[0081] Referring again to Figure 8, only the start instruction 1 with sequence numbers {b, c, d, e, f} in the sliding window 830 is switched to the stop instruction 0. No arbitrary operation is performed on the instructions with other sequence numbers outside the sliding window 830, thereby updating the new preset queue 840.

[0082] 705. If the number of start and stop instructions that have erroneous results is less than a preset number threshold, then the first distribution of start and stop instructions that have erroneous results and start and stop instructions that have not erroneous results in a preset sliding window is determined according to the sequence number.

[0083] In this embodiment, when the number of start and stop commands with erroneous codes is less than a preset threshold, the energy device is controlled according to the erroneous command, which will not cause damage to the tissue, or the remote doctor console will not have a lag in controlling the energy device. At this time, the control command of the preset sliding window forms a second or third error pattern.

[0084] In this embodiment, by determining the first distribution of start and stop commands that have erroneous codes and start and stop commands that have not erroneous codes within a preset sliding window, it is determined which scenario the remote doctor console's control operation on the energy device may belong to, thereby determining how to process the commands in the current preset sliding window to meet the requirements of the corresponding scenario.

[0085] 706. If the first distribution is a first cross distribution, then the control instructions pointed to by the preset sliding window are determined to be the second error rate arrangement characteristic;

[0086] In this embodiment, the first cross-distribution means that the start instruction that has a bit error is cross-sorted with the stop instruction that has no bit error, and the stop instruction that has a bit error is cross-sorted with the start instruction that has no bit error; for example, the order before and after the start instruction that has a bit error is one or more stop instructions that have no bit error, or the order before and after the stop instruction that has a bit error is one or more start instructions that have no bit error.

[0087] Specifically, as shown in Figure 9, the remote doctor console generates control instructions 910 based on the operation of the energy device. After being transmitted to the patient's surgical platform via the network channel, the instructions are temporarily stored as control instructions 920 in a preset queue. The preset sliding window 930 specifies 5 control instructions. The preset sliding window 930 slides to the control instructions with the specified sequence number {b, c, d, e, f}. Among them, the instruction with sequence number c has a bit error, and the instruction 1 in control instruction 910 is bit errored to the instruction 0 in control instruction 920. At the same time, the adjacent instructions with sequence numbers b and d are 1. At this time, the control instructions with sequence numbers {b, c, d, e, f} specified by the sliding window 930 have the second bit error arrangement characteristic.

[0088] 707. If the validity is the validity corresponding to the second error arrangement characteristic, then the start command and stop command that cause an error in the preset sliding window are switched to an adjacent stop command or start command;

[0089] For example, continuing to refer to Figure 9, the stop instruction 0 of sequence number c in the sliding window 930 is switched to the start instruction 1 of the adjacent sequences b and d, thereby updating the new preset queue 940.

[0090] 708. If the first distribution is a first sequential distribution, then the control instructions pointed to by the preset sliding window are determined to be the third error rate arrangement characteristic.

[0091] In this embodiment, the first sequential distribution represents the sequential order of start instructions that have encountered bit errors and start instructions that have not encountered bit errors, as well as the sequential order of stop instructions that have encountered bit errors and stop instructions that have not encountered bit errors; for example, the start instructions that have encountered bit errors are ordered before or after one or more start instructions that have not encountered bit errors, or the stop instructions that have encountered bit errors are ordered before or after one or more stop instructions that have not encountered bit errors.

[0092] Specifically, as shown in Figure 10, the remote doctor console generates control instructions 1010 based on the operation of the energy device. After being transmitted to the patient's surgical platform via the network channel, the instructions are temporarily stored as control instructions 1020 in a preset queue. The preset sliding window 1030 specifies 5 control instructions. The preset sliding window 1030 slides to the control instructions with specified sequence numbers {b, c, d, e, f}. Among them, the instruction with sequence number d has a bit error. The instruction error 0 in control instruction 1010 is changed to instruction 1 in control instruction 1020. At the same time, the adjacent instructions with sequence numbers c and e are 1. At this time, the control instructions with sequence numbers {b, c, d, e, f, g} specified by the sliding window 1030 have the third bit error arrangement characteristic.

[0093] 709. If the validity is the validity corresponding to the third error arrangement characteristic, then maintain the stop command and start command in the preset sliding window;

[0094] Referring to Figure 10, for the start command 1 with the error code number d, simply keep its original start command 1. This will ensure that the remote doctor's control of the energy device is smoother and will not cause the doctor to experience any jumps in start and stop.

[0095] 710. Output control commands from the preset queue after switching commands via the preset sliding window to control the start and stop of the energy device.

[0096] In this embodiment, the stop command is switched to the start command, the start command is switched to the stop command, or the stop command and start command are kept in a preset queue order in steps 704, 707, and 709 for the start and stop control of the energy device.

[0097] The degree of transition between the start and stop instructions under each sequence number, from largest to smallest, is represented by the following error sequence characteristics: the first error sequence characteristic, the second error sequence characteristic, and the third error sequence characteristic.

[0098] Please refer to Figure 11 below for a second embodiment of the energy device control method, illustrating the energy device control method under randomized arrangement characteristics, as shown below:

[0099] 1101. Obtain control commands continuously transmitted from the remote doctor console through the network channel, and input the control commands sequentially into a preset queue, wherein the control commands are triggered based on the remote doctor console's response to an operation on the energy device;

[0100] 1102. Determine the arrangement order of each number in the preset sliding window, and determine the random interval of each number according to the arrangement order;

[0101] In this embodiment, control commands are stored sequentially in a preset queue according to the order in which they are received on the patient's surgical platform; the sequence number in the control commands is generated according to the triggering order on the remote doctor's console. However, the order in which control commands are received on the patient's surgical platform and the order in which they are triggered on the remote doctor's console may differ due to network transmission, causing the remote doctor's console to control the start and stop of the energy device out of order, resulting in erroneous control of the energy device during real-time operation.

[0102] Specifically, the arrangement order is used to determine whether the control commands corresponding to the sequence numbers in the sliding window are out of order, and the degree of out of order. For example, a remote doctor's console triggers multiple control commands for the operation of an energy device, and the sequence numbers of each control command are generated sequentially as {1,2,3,4,5,6,...}; the patient's surgical platform stores each control command in a preset queue according to the order in which they are received, and the sequence numbers of each control command in the preset queue are {1,2,5,6,4,3,...}; based on the multiple control commands specified by the sliding window in the preset queue, the arrangement order of the sequence numbers of the specified control commands in the preset queue can be determined.

[0103] In this embodiment, the disorder interval refers to the difference between the sequence number of each control instruction and its order in the preset queue. For example, if the sequence numbers of each control instruction in the preset sliding window are {1,2,5,6,4,3}, then the disorder interval between sequence number 1 and sequence number 2 is zero, the disorder interval between sequence number 5 is 2 (that is, the control instruction with sequence number 5 in the preset sliding window is disordered to the 3rd order in the preset sliding window, and the order difference is 2), the disorder interval between sequence number 6 is 2, the disorder interval between sequence number 4 is 1, and the disorder interval between sequence number 3 is 3.

[0104] Furthermore, a first difference is determined between the sequence number of the first control instruction in the preset sliding window and the sequence number of other control instructions, and a second difference is determined between the first control instruction and other control instructions in the preset queue. Based on the magnitude of the first difference and the second difference, a sorting difference is determined, that is, a disordered interval is determined.

[0105] 1103. If the disordered interval exceeds the preset interval, then the control instructions pointed to by the preset sliding window are determined to have the first disordered character arrangement characteristic.

[0106] In this embodiment, when there are serial numbers in the sliding window whose disordered interval exceeds the preset interval, it indicates that the control command corresponding to the serial number has a long delay in being transmitted from the remote doctor's console to the patient's surgical platform. There is not enough time to adjust the disordered order of each control command, so the energy device cannot be controlled in real time / effectively, which may cause accidental harm to the patient or produce a significant lag in the control of the energy device. At this time, the control commands pointed to by the preset sliding window are detected as having the first disordered arrangement characteristic.

[0107] For example, please refer to Figure 12. The remote doctor console generates control instructions 1210 based on the operation of the energy device. After being transmitted to the patient's surgical platform through the network channel, the instructions are temporarily stored as control instructions 1220 in a preset queue. The preset interval is 3, and the preset sliding window 1230 specifies 5 control instructions. The preset sliding window 1230 slides to the control instructions with specified sequence numbers {b, g, h, i, c}, where the random interval of sequence number b is 0, the random interval of sequence number g is 4, the random interval of sequence number h is 4, the random interval of sequence number i is 4, and the random interval of sequence number c is 3. Since the random interval of sequence numbers g, h, and i is 4, which exceeds the preset interval 3, the control instructions with specified sequence numbers {b, g, c, d, e} that the preset sliding window 1230 slides to are determined to have the first randomized arrangement characteristic.

[0108] 1104. If the validity is the validity corresponding to the first scrambled character arrangement characteristic, then the start command in the preset sliding window is switched to the stop command;

[0109] In this embodiment, the validity representation corresponding to the first random character arrangement characteristic is: the control of the energy device by the remote doctor console is invalid control. At this time, in order to prevent the energy device from causing harm to the patient, it is necessary to stop the energy output of the energy device. Therefore, the start command currently specified by the preset sliding window is switched to the stop command.

[0110] For example, please continue to refer to Figure 12. Switch the start instruction 1 (the instruction corresponding to the sequence number g, h, i, c) in the sliding window 1230 with the sequence number {b, g, h, i, c} to the stop instruction 0, thereby updating the new preset queue 1240.

[0111] 1105. If the disordered interval does not exceed the preset interval and is not zero, then the control instructions pointed to by the preset sliding window are determined to be the second disordered character arrangement characteristic.

[0112] In this embodiment, when there is a sequence number in the sliding window whose disordered interval does not exceed the preset interval and is not zero, it indicates that the delay time for the control command corresponding to the sequence number to be transmitted from the remote doctor's console to the patient's surgical platform is short. There is enough time to adjust the disordered order of each control command to correctly sort and control the energy device in real time / effectively, so as to avoid accidental injury to the patient or obvious lag in the control of the energy device. At this time, the control commands pointed to by the preset sliding window are detected as having the second disordered arrangement characteristic.

[0113] For example, please refer to Figure 13. The remote doctor console generates control instructions 1310 based on the operation of the energy device. After being transmitted to the patient's surgical platform through the network channel, the instructions are temporarily stored as control instructions 1320 in a preset queue. The preset interval is 3, and the preset sliding window 1330 specifies 5 control instructions. The preset sliding window 1330 slides to the control instructions with specified sequence numbers {b, c, g, d, e}, where the disordered interval of sequence number b is 0, the disordered interval of sequence number c is 0, the disordered interval of sequence number g is 3, the disordered interval of sequence number d is 1, and the disordered interval of sequence number e is 1. Since sequence number g has a maximum disordered interval of 3 and does not exceed the preset interval of 3 (at least one disordered interval is not zero), the control instructions with specified sequence numbers {b, c, g, d, e} that the preset sliding window 1330 slides to are determined to have the second randomized arrangement characteristic.

[0114] 1106. If the validity is the validity corresponding to the second random character arrangement characteristic, then the sequence number and corresponding instruction in the preset sliding window are rearranged according to the sequence number increment;

[0115] In this embodiment, the validity representation corresponding to the second randomized arrangement characteristic is: the remote doctor console's control of the energy device is effective but insufficient; at this time, in order to effectively control the energy device and prevent it from causing harm to the patient, the control instructions currently specified in the preset sliding window are rearranged according to their sequence numbers, so that the sequence number of the control instructions corresponds to the sorting in the preset sliding window.

[0116] For example, please continue to refer to Figure 13. The control instructions (serial numbers and corresponding instructions) {b, c, g, d, e} in the preset sliding window 1330 are interpolated and sorted. The control instructions {b, c, g, d, e} are rearranged according to the principle of increasing serial number. The serial numbers in the preset sliding window can be continuous or discontinuous, resulting in the rearranged control instructions {b, c, d, e, g}, which are then updated into a new preset queue 1340.

[0117] 1107. If the disordered interval is zero, then the control instructions pointed to by the preset sliding window are determined to have the third disordered character arrangement characteristic.

[0118] The degree of disorder of each sequence number and corresponding instruction, from largest to smallest, is represented by the following scrambling characteristics: the first scrambling characteristic, the second scrambling characteristic, and the third scrambling characteristic.

[0119] 1108. If the validity is the validity corresponding to the third random character arrangement characteristic, then maintain the stop and start commands in the preset sliding window;

[0120] In this embodiment, the disorder interval is zero, that is, the sequence number of the control instructions in the preset sliding window corresponds to the sequence of the preset sliding window, and there is no need to adjust the order of each control instruction.

[0121] 1109. Output control commands, either after switching via the preset sliding window or after rearrangement, from the preset queue to control the start and stop of the energy device.

[0122] In this embodiment, the start command in steps 1104, 1106, and 1108 is switched to a stop command, a rearranged control command, or a control command that maintains the order and is output according to a preset queue order, for use in starting and stopping the energy device.

[0123] Please refer to Figure 14 below for a third embodiment of the energy device control method, illustrating the energy device control method under the interval arrangement characteristics, as shown below:

[0124] 1401. Obtain control commands continuously transmitted from the remote doctor console through the network channel, and input the control commands sequentially into a preset queue, wherein the control commands are triggered based on the remote doctor console's response to an operation on the energy device;

[0125] 1402. Determine the number of each sequence number and corresponding instruction in the preset sliding window, wherein the preset sliding window is configured to accommodate a preset first number of control instructions;

[0126] In this embodiment, each preset queue has a preset number of storage spaces. Each storage space stores received control instructions (sequence number and corresponding instruction) according to a preset pulse cycle. A preset sliding window specifies a preset first number of storage spaces to determine the control instructions to be accommodated. Each pulse cycle is set to a preset duration, such as 10ms. If no control instruction is stored in any storage space according to its pulse cycle, that storage space is left empty. Control instructions not stored according to the pulse cycle may have already been transmitted from the remote doctor's console to the patient's surgical platform, in which case they can be stored in the next storage space. Alternatively, packet loss may have occurred during transmission, in which case the next sequentially transmitted control instruction can be stored in the next storage space.

[0127] 1403. If the number of each sequence number and corresponding instruction is less than the preset first number and greater than or equal to the preset second number, then the control instructions pointed to by the preset sliding window are determined to have a first interval arrangement characteristic, wherein the preset second number is less than the preset first number;

[0128] In this embodiment, when the number of control instructions (serial number and corresponding instruction) in the preset sliding window is greater than or equal to the preset second number, it indicates that a small number of control instructions have not been stored in the preset queue in time, or that a small number of control instructions have been lost. At this time, the energy device can be controlled in real time / effectively without causing accidental harm to the patient or causing obvious lag in the control of the energy device. The control instructions pointed to by the current preset sliding window are detected as having the first interval arrangement characteristic.

[0129] For example, please refer to Figure 15. The remote doctor console generates control instructions 1510 based on the operation of the energy device. After being transmitted to the patient's surgical platform through the network channel, the instructions are temporarily stored as control instructions 1520 in a preset queue. The preset second quantity is 3, and the preset sliding window 1530 specifies 5 control instructions (i.e., the preset first quantity is 5). The preset sliding window 1530 slides to the control instructions with the specified sequence number {b, c, d, null, null}. The three control instructions (sequence numbers b, c, d and corresponding instructions 0, 0, 0) are stored in three of the five storage spaces specified by the preset sliding window 1530, which is equal to the preset second quantity of 3. Therefore, the control instructions with the specified sequence number {b, c, d, null, null} that the preset sliding window 1530 slides to are determined to be the first interval arrangement characteristic.

[0130] 1404. If the validity is the validity corresponding to the first interval arrangement characteristic, then the sequence number and corresponding instruction in the preset sliding window are interpolated to obtain a first number of sequence numbers and corresponding instructions.

[0131] In this embodiment, the validity representation corresponding to the first interval arrangement characteristic is: the remote doctor's console's control of the energy device is effective but insufficient; at this time, in order to effectively control the energy device and prevent it from causing harm to the patient, the control instructions currently specified in the preset sliding window are interpolated according to their sequence numbers, so that the storage space for unstored control instructions is filled. Specifically, according to the sequence number at the beginning of the preset sliding window, corresponding sequence numbers can be assigned, and corresponding instructions can be assigned according to one or two control instructions before / after the sequence, and / or other control instructions in the preset sliding window.

[0132] For example, please continue to refer to Figure 15. In the control instructions with the sequence number {b, c, d, null, null} in the sliding window 1530, the two missing control instructions are assigned the sequence number d1 and sequence number d2 according to the sequence number d that comes first. At the same time, according to the instructions 0,0,0 with the sequence numbers b, c, d in the sliding window 1530, the control instructions with the sequence numbers d1 and d2 are assigned the instruction 0 and instruction 0 respectively, thereby updating the new preset queue 1540.

[0133] Furthermore, as the sliding window slides, it determines the next control instruction in the preset queue with sequence number d. If the sequence number of the next control instruction is e, then the control instructions with sequence numbers d1 and d2 are deleted; if the sequence number of the next control instruction jumps to f, then the control instruction with sequence number d2 is deleted; if the sequence number of the next control instruction jumps to g or a later sequence number, then the control instructions d1 and d2 are retained.

[0134] 1405. If the number of each sequence number and corresponding instruction is less than a preset second number, then determine the second distribution of each sequence number and corresponding instruction;

[0135] In this embodiment, when the number of control instructions (serial number and corresponding instruction) in the preset sliding window is less than the preset second number, it indicates that many control instructions have not been stored in the preset queue in time, or that many control instructions have been lost. At this time, the energy device cannot be controlled in real time / effectively, which may cause accidental harm to the patient, or cause obvious lag in the control of the energy device. The control instructions pointed to by the current preset sliding window are detected as having the first interval arrangement characteristic.

[0136] By determining the second distribution of each control instruction (serial number and corresponding instruction) in the preset sliding window, it is possible to further determine which scenario the remote doctor's control operation on the energy device may belong to, and thus determine how to process the instructions in the current preset sliding window to meet the requirements of the corresponding scenario, such as a scenario of packet loss, delay, or stopping the use of the energy device.

[0137] 1406. If the second distribution is a second cross distribution, then the control commands pointed to by the preset sliding window are determined to have the second interval arrangement characteristic;

[0138] In this embodiment, the second cross distribution represents the storage space that does not store control instructions, which is cross-sorted with the storage space that stores control instructions in a preset sliding window. For example, one or more storage spaces before and after the storage space that does not store control instructions store control instructions.

[0139] For example, please refer to Figure 16. The remote doctor console generates control instructions 1610 based on the operation of the energy device. After being transmitted to the patient's surgical platform through the network channel, the instructions are temporarily stored as control instructions 1620 in a preset queue. The preset second quantity is 3, and the preset sliding window 1630 specifies 5 control instructions. The preset sliding window 1630 slides to the control instructions with the specified sequence number {null, c, null, e, null}. Two control instructions (sequence numbers c and e and corresponding instructions 0 and 0) are stored in two of the five storage spaces specified by the preset sliding window 1630, which is less than the preset second quantity of 3. At the same time, the storage space of each unstored control instruction is cross-distributed relative to the storage space of the stored sequence numbers c and e, and the control instructions with the specified sequence number {null, c, null, e, null} in the current preset sliding window are determined to be the second interval arrangement characteristic.

[0140] 1407. If the validity is the validity corresponding to the second interval arrangement characteristic, then the start command in the preset sliding window is switched to the stop command;

[0141] In this embodiment, the validity of the second interval arrangement characteristic is as follows: the control of the energy device by the remote doctor console is invalid; in order to prevent the energy device from causing harm to the patient, the start command in the preset sliding window is switched to the stop command.

[0142] For example, please continue to refer to Figure 16. In the control instructions with serial numbers {null, c, null, e, null} in the sliding window 1630, since the instructions with serial numbers c and e are stop instructions, no further switching is required. For the storage space of the three control instructions that are not stored, serial numbers and stop instructions that are sorted relative to serial numbers c and e can be further assigned to update the new preset queue 1640, which will be used to control the energy device to stop outputting energy and avoid causing accidental injury to the patient.

[0143] 1408. If the second distribution is a second sequential distribution, then the control commands pointed to by the preset sliding window are determined to have a third interval arrangement characteristic;

[0144] In this embodiment, the second sequential distribution represents the storage space that does not store control instructions, which is ordered sequentially with the storage space that stores control instructions in a preset sliding window. For example, multiple storage spaces that are ranked first do not store control instructions, while one or more storage spaces that are ranked last store control instructions.

[0145] For example, please refer to Figure 17. The remote doctor console generates control instructions 1710 based on the operation of the energy device. After being transmitted to the patient's surgical platform through the network channel, the instructions are temporarily stored as control instructions 1720 in a preset queue. The preset second quantity is 3, and the preset sliding window 1730 specifies 5 control instructions. The preset sliding window 1730 slides to the control instructions with the specified sequence number {b, c, null, null, null}. Two control instructions (sequence numbers b and c and corresponding instructions 1 and 1) are stored in two of the five storage spaces specified by the preset sliding window 1730, which is less than the preset second quantity of 3. At the same time, the storage space for each unstored control instruction is distributed sequentially relative to the storage space storing sequence numbers b and c, and the control instructions with the specified sequence number {b, c, null, null, null} in the current preset sliding window are determined to have the second interval arrangement characteristic.

[0146] 1409. If the validity is the validity corresponding to the third interval arrangement characteristic, then maintain the stop command and start command in the preset sliding window;

[0147] In this embodiment, the validity of the third interval arrangement characteristic is as follows: the remote doctor's console controls the energy device in a partial manner; each control command that can be stored sequentially can effectively control the energy device and will not cause harm to the patient, so the start command in the preset sliding window is switched to the stop command.

[0148] For example, please continue to refer to Figure 17. In the control instructions with sequence numbers {b, c, null, null, null} in the sliding window 1730, the start instruction with sequence number b remains unchanged. For the storage space of the three unstored control instructions, the sequence number and stop instruction can be further assigned relative to sequence number c and sequence number e, thereby updating to a new preset queue 1740, which is subsequently used to control the energy device to stop outputting energy and avoid causing accidental injury to the patient.

[0149] 1410. Output control commands, either after switching via the preset sliding window or after interpolation processing, from the preset queue to control the start and stop of the energy device.

[0150] In this embodiment, the start command in steps 1404, 1407, and 1409 is switched to a stop command, an interpolated control command, or a maintenance control command and output in a preset queue order for the start and stop control of the energy device.

[0151] The degree of absence of each sequence number and corresponding instruction, from largest to smallest, is represented by the following interval arrangement characteristics: the second interval arrangement characteristic, the first interval arrangement characteristic, and the third interval arrangement characteristic.

[0152] In a preferred embodiment, the validity includes at least a first validity and a second validity, wherein the validity of the first validity is greater than the validity of the second validity; after determining the validity of the control instructions in the preset queue based on the arrangement characteristics, the method further includes: if the validity is the first validity, sliding the preset sliding window along the preset queue by a preset third number of control instructions; if the validity is the second validity, sliding the preset sliding window along the preset queue by the length of the control instructions within the preset sliding window range; and performing the next round of detection of the arrangement characteristics and determination of the validity based on the sliding of the preset sliding window.

[0153] Specifically, the first validity refers to all or some control commands in the preset sliding window being valid. The second validity refers to all control commands in the preset sliding window being invalid. The preset third quantity, for example, is 1 (or 2, 3, etc.). When a control command in the current round of the sliding window is determined to have the first validity, meaning all or some control commands are valid, the slider can slide by one control command length to perform the arrangement characteristic detection and validity determination of the control commands in the next round of the sliding window; that is, the control commands in the next round of the sliding window partially overlap with those in the current round. When a control command in the current round of the sliding window is determined to have the second validity, meaning all control commands are invalid, the slider can skip all control commands specified in the current sliding window and perform the arrangement characteristic detection and validity determination of the control commands in the next round of the sliding window; that is, the control commands in the next round of the sliding window do not overlap with those in the current round.

[0154] Furthermore, for example, the validity of the aforementioned second error sequence characteristic, second random sequence characteristic, first interval sequence characteristic, and third error sequence characteristic, third random sequence characteristic, and third interval sequence characteristic is the first validity; the validity of the aforementioned first error sequence characteristic, first random sequence characteristic, and second interval sequence characteristic is the second validity.

[0155] The remote surgical robot also includes a proximal doctor's console, which is communicatively connected to the patient's surgical platform. The energy device control method further includes: responding to the preset sliding window after sliding a preset number of times (at least once, preferably three or more times, wherein the number of times is not limited to the same preset queue, but can be different queues sliding a preset number of times consecutively), and the validity determined is a second validity, performing any of the following operations: stopping the acquisition of control commands from the remote doctor's console and using the proximal doctor's console to operate and control the energy device (i.e., the local doctor's console takes over); or, switching the start command in the preset queue to a stop command (i.e., stopping the remote doctor's console from controlling the energy device); or, performing a backtracking operation along the movement path of the energy device (moving the energy device to a safe position).

[0156] It should be noted that other sorting schemes that can be easily conceived by those skilled in the art within the technical scope disclosed in this invention should also be within the protection scope of this invention, and will not be elaborated here.

[0157] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is merely an example. In practical applications, the above functions can be assigned to different functional units or modules as needed, that is, the internal structure of the mobile terminal can be divided into different functional units or modules to complete all or part of the functions described above. The functional modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the modules in the mobile terminal can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0158] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps described in the various method embodiments above.

[0159] This application provides a computer program product that, when run on a mobile terminal, enables the mobile terminal to implement the steps described in the above-described method embodiments.

[0160] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0161] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0162] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determination" or "if the described condition or event is detected" may be interpreted, depending on the context, as "once determination," "in response to determination," "once the described condition or event is detected," or "in response to the detection of the described condition or event."

[0163] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0164] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0165] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this invention. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0166] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0167] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0168] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0169] If integrated modules / units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. Computer-readable media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in a computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0170] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for controlling energy devices in a remote surgical robot, characterized in that, The remote surgical robot includes: A remote doctor console and a patient operating table, wherein the remote doctor console and the patient operating table are connected via a network channel, and the patient operating table is equipped with energy devices; A processor, located on the patient surgical platform, is configured to execute the energy device control method as follows: The system acquires control commands continuously transmitted from the remote doctor's console through the network channel and sequentially inputs the control commands into a preset queue, wherein the control commands are triggered based on the remote doctor's console's response to an operation on the energy device; The arrangement characteristics of the control commands in the preset queue are detected, and the validity of the control commands in the preset queue is determined based on the arrangement characteristics. The preset queue outputs control commands corresponding to the validity to control the start and stop of the energy device.

2. The energy device control method according to claim 1, characterized in that, Detecting the arrangement characteristics of the control commands in the preset queue includes: The preset sliding window points to a portion of the control instructions in the preset queue, and extracts the sequence number and instruction from each control instruction pointed to by the preset sliding window. The instruction includes a start instruction and a stop instruction. Based on each of the specified serial numbers and the corresponding specified instructions, detect at least one of the following arrangement characteristics of each control instruction pointed to by the preset sliding window: error arrangement characteristic, garbled character arrangement characteristic, and interval arrangement characteristic; The error sequence characteristic is an arrangement characteristic that indicates a jump in the start and stop instructions under each sequence number; the scrambled sequence characteristic is an arrangement characteristic that indicates a scrambled order of each sequence number and its corresponding instruction; and the interval sequence characteristic is an arrangement characteristic that indicates a missing sequence number and its corresponding instruction.

3. The energy device control method according to claim 2, characterized in that, Based on the sequence numbers and corresponding instructions, the error pattern characteristics of the control instructions pointed to by the preset sliding window are detected, including: Determine the number of start and stop commands that have erroneous values ​​in the preset sliding window; If the number of start and stop commands that cause bit errors is greater than or equal to a preset number threshold, then each control command pointed to by the preset sliding window is determined to be a first bit error arrangement characteristic. If the number of start and stop instructions that have bit errors is less than a preset threshold, then the first distribution of start and stop instructions that have bit errors and start and stop instructions that have not bit errors in a preset sliding window is determined according to the sequence number. If the first distribution is the first cross distribution, then the control instructions pointed to by the preset sliding window are determined to be the second error rate arrangement characteristic; If the first distribution is the first sequential distribution, then the control instructions pointed to by the preset sliding window are determined to be the third error sequence characteristic; The degree of transition between the start and stop instructions under each sequence number, from largest to smallest, is represented by the following error sequence characteristics: the first error sequence characteristic, the second error sequence characteristic, and the third error sequence characteristic.

4. The energy device control method according to claim 3, characterized in that, Outputting control commands corresponding to the validity from the preset queue to control the start and stop of the energy device, including: If the validity is the validity corresponding to the first error pattern characteristic, then the start command in the preset sliding window is switched to a stop command; If the validity is the validity corresponding to the second error arrangement characteristic, then the start and stop instructions that cause errors in the preset sliding window are switched to adjacent stop or start instructions; If the validity is the validity corresponding to the third error permutation characteristic, then the stop and start instructions in the preset sliding window are maintained; The control command, after being switched via the preset sliding window, is output from the preset queue to control the start and stop of the energy device.

5. The energy device control method according to claim 2, characterized in that, Based on the sequence numbers and corresponding instructions, the random character arrangement characteristics of the control instructions pointed to by the preset sliding window are detected, including: Determine the arrangement order of each number in the preset sliding window, and determine the random interval of each number according to the arrangement order; If the disorder interval exceeds the preset interval, then the control instructions pointed to by the preset sliding window are determined to have the first disordered character arrangement characteristic. If the disorder interval does not exceed the preset interval and is not zero, then the control instructions pointed to by the preset sliding window are determined to have the second disorder arrangement characteristic. If the disordered interval is zero, then the control instructions pointed to by the preset sliding window are determined to have the third disordered character arrangement characteristic. The degree of disorder of each sequence number and corresponding instruction, from largest to smallest, is represented by the following scrambling characteristics: the first scrambling characteristic, the second scrambling characteristic, and the third scrambling characteristic.

6. The energy device control method according to claim 5, characterized in that, Outputting control commands corresponding to the validity from the preset queue to control the start and stop of the energy device, including: If the validity is the same as the validity corresponding to the first scrambled character arrangement characteristic, then the start command in the preset sliding window is switched to the stop command; If the validity is the validity corresponding to the second random character arrangement characteristic, then the sequence number and corresponding instruction in the preset sliding window are rearranged according to the sequence number increment; If the validity is the validity corresponding to the third scrambled character arrangement characteristic, then the stop and start commands in the preset sliding window are maintained; The control commands, either after being switched via the preset sliding window or rearranged, are output from the preset queue to control the start and stop of the energy device.

7. The energy device control method according to claim 2, characterized in that, Based on the sequence numbers and corresponding instructions, the interval arrangement characteristics of the control instructions pointed to by the preset sliding window are detected, including: Determine the number of each sequence number and corresponding instruction in the preset sliding window, wherein the preset sliding window is configured to accommodate a preset first number of control instructions; If the number of each sequence number and corresponding instruction is less than the preset first number and greater than or equal to the preset second number, then the control instructions pointed to by the preset sliding window are determined to have a first interval arrangement characteristic, wherein the preset second number is less than the preset first number; If the number of each sequence number and corresponding instruction is less than a preset second number, then a second distribution of each sequence number and corresponding instruction is determined; If the second distribution is a second cross distribution, then the control commands pointed to by the preset sliding window are determined to have the second interval arrangement characteristic; If the second distribution is a second sequential distribution, then the control commands pointed to by the preset sliding window are determined to have a third interval arrangement characteristic; The degree of absence of each sequence number and corresponding instruction, from largest to smallest, is represented by the following interval arrangement characteristics: the second interval arrangement characteristic, the first interval arrangement characteristic, and the third interval arrangement characteristic.

8. The energy device control method according to claim 7, characterized in that, Outputting control commands corresponding to the validity from the preset queue to control the start and stop of the energy device, including: If the validity is the validity corresponding to the first interval arrangement characteristic, then the sequence number and corresponding instruction in the preset sliding window are interpolated to obtain a first number of sequence numbers and corresponding instructions; If the validity is the validity corresponding to the second interval arrangement characteristic, then the start command in the preset sliding window is switched to a stop command; If the validity is the validity corresponding to the third interval arrangement characteristic, then the stop command and start command in the preset sliding window are maintained; The control command, after being switched by the preset sliding window or after interpolation processing, is output from the preset queue to control the start and stop of the energy device.

9. The energy device control method according to any one of claims 2-8, characterized in that, Determining the validity of control instructions in the preset queue based on the arrangement characteristics includes: The validity of any level of effectiveness of the control instructions in the preset queue is determined based on the error arrangement characteristics indicating any jump degree from large to small, the random arrangement characteristics indicating any disorder degree from large to small, or the interval arrangement characteristics indicating any missing degree from large to small.

10. The energy device control method according to claim 9, characterized in that, The validity includes at least a first validity and a second validity, wherein the degree of validity of the first validity is greater than the degree of validity of the second validity; After determining the validity of the control instructions in the preset queue based on the arrangement characteristics, the method further includes: If the validity is the first validity, then the preset sliding window will slide along the preset queue for the length of a preset third number of control instructions; If the validity is the second validity, then the control instruction for sliding the preset sliding window along the preset queue is the length of the preset sliding window range; Based on the sliding of the preset sliding window, the next round of detection of the arrangement characteristics and determination of the validity are performed.

11. The energy device control method according to claim 9, characterized in that, The remote surgical robot also includes a proximal doctor's console, wherein the proximal doctor's console is communicatively connected to the patient surgical platform; The energy device control method further includes: If the validity of the preset sliding window is determined to be the second validity after sliding a preset number of times, perform any of the following operations: Stop receiving control commands from the remote doctor's console and stopping the operation and control of the energy device using the proximal doctor's console; or, Switch the start command in the preset queue to a stop command; or... Perform a reversal operation along the movement path of the energy device.

12. A remote surgical robot, characterized in that, The remote surgical robot includes: A remote doctor console and a patient operating table, wherein the remote doctor console and the patient operating table are connected via a network channel, and the patient operating table is equipped with energy devices; The processor, located on the patient surgical platform, is configured to: The system acquires control commands continuously transmitted from the remote doctor's console through the network channel and sequentially inputs the control commands into a preset queue, wherein the control commands are triggered based on the remote doctor's console's response to an operation on the energy device; The arrangement characteristics of the control commands in the preset queue are detected, and the validity of the control commands in the preset queue is determined based on the arrangement characteristics. The preset queue outputs control commands corresponding to the validity to control the start and stop of the energy device.

13. A readable storage medium, characterized in that, The readable storage medium stores a computer program that, when executed by a processor, implements the steps of the energy device control method for a remote surgical robot as described in claims 1-11.

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