Robotic Arm Ring Network for Real-Time Surgical Communication
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Solution Overview
Problem
Current robotic surgical systems face challenges in efficiently communicating synchronous and asynchronous information between controllers and nodes of robotic arms, which can lead to latency and inefficiencies in real-time surgical procedures.
Innovation Solution
A ring network communication protocol is implemented, allowing for synchronized and asynchronous data exchange between nodes of robotic arms, using a master controller and base controller to manage multi-node messages and ensure real-time data transfer through a statically-allocated bandwidth and optimized cycle timing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a traditional communication network is used to exchange data between controllers and robotic arm nodes, then the system structure is simple, but latency increases and real-time performance deteriorates
Solution Approach 1:
The communication network is segmented into multiple independent rings, with each ring dedicated to specific robotic arms or node groups. This segmentation isolates traffic patterns, allowing optimized communication paths for different data types (synchronous vs. asynchronous) and reducing overall latency while maintaining system reliability.
Solution Approach 2:
Ring master nodes act as intermediaries that manage and route communications between different rings and nodes. These masters coordinate data exchange, buffer asynchronous information, and synchronize timing, thereby reducing latency and improving real-time performance without requiring complete system restructuring.
2Productivity
If synchronous and asynchronous information are communicated without separate protocols, then the communication protocol is simple, but communication efficiency decreases
Solution Approach 1:
The communication protocol is segmented into distinct synchronous and asynchronous channels. Synchronous communication handles real-time control signals with deterministic timing, while asynchronous communication manages event-driven data exchange. This separation improves overall communication efficiency by allowing each protocol to be optimized for its specific purpose without interfering with the other.
Solution Approach 2:
Synchronous communication operates on periodic cycles with predetermined timing intervals, ensuring deterministic data exchange for real-time control. Asynchronous communication operates event-driven, transmitting data only when changes occur. This periodic versus event-driven approach maximizes efficiency for each communication type while maintaining manageable protocol complexity.
Data Source
AI summary
A robotic surgical system is disclosed having a ring network for communicating information between a controller and nodes of one or more robotic arms. A communications protocol is described by which synchronous and asynchronous information can be communicated to and from the nodes of the robotic arms. Also disclosed are various aspects of a physical layer that can be used with the network.