CN113301122A - Real-time communication method and device for medical robot distributed system and electronic equipment - Google Patents
Real-time communication method and device for medical robot distributed system and electronic equipment Download PDFInfo
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Abstract
The invention relates to a medical robot distributed system real-time communication method, a device and an electronic device, comprising the following technical scheme: when the client sides of any two medical robots communicate, the communication initiator is used as a server side; the server and the client perform handshake connection, terminal connection and communication real-time detection with the communication receiver according to the message protocol, the data sending protocol and the configuration file so as to complete real-time communication. The invention has the beneficial effects that: the method has high adaptability, can realize communication transmission among any devices on the same local area network line, and provides requirements for transmission needing communication at present.
Description
Technical Field
The invention relates to the field of medical treatment and computers, in particular to a real-time communication method and device for a medical robot distributed system and electronic equipment.
Background
With the progress and development of modern society, the research and application of medical robots are also more and more important. Compared with the traditional operation, the medical robot can replace a doctor to operate in a shielding room, thereby avoiding a series of diseases caused by ray radiation. At present, a medical robot can not meet all functions required by an operation at the same time, and the robot is expensive and can not be generally applied to various hospitals, so that how to combine the existing equipment resources of the hospitals, realize the real-time communication of the existing equipment of the hospitals, construct a medical robot system and effectively assist the implementation of clinical operations. In addition, for different clinical operations, the operation modes of corresponding robots are different, and how to realize communication among a plurality of devices and transmission of any data is the key for constructing a medical robot system. Therefore, it is necessary to design a unified transmission communication protocol.
OpenIGTLink is directed to building standardized, extensible network protocols for image-guided therapy environments, providing a standard for communication between devices and software to share and translate information, which is generalized to three types of imaging, control, and tracking. However, the protocol does not mention handling real-time session management, such as handshaking between nodes, detach procedures, and most importantly, scheduling policies and failure handling procedures when the network is congested. In addition, the message protocol of the system mainly depends on the functions of the message, such as system control, image and tracking. With the spread of medical robots, it cannot cover all information. The increasing growth of robotic systems will lead to message-like explosion of the system, which will make the communication module very large in the design of the application, and the cost and implementation difficulty are high.
Disclosure of Invention
The invention aims to solve at least one technical problem in the prior art, and provides a real-time communication method, a real-time communication device and electronic equipment for a distributed system of medical robots, which are used for realizing communication of any medical robot in the same local area network.
The technical scheme of the invention comprises a real-time communication method of a medical robot distributed system, which is characterized by comprising the following steps: when the client sides of any two medical robots communicate, the communication initiator is used as a server side; the server and the client perform handshake connection, terminal connection and communication real-time detection with a communication receiver according to a message protocol, a data sending protocol and a configuration file so as to complete real-time communication.
According to the real-time communication method of the medical robot distributed system, the communication between any two clients of the medical robots comprises the following steps: and the clients perform point-to-point communication in a TCP/IP mode.
According to the real-time communication method of the medical robot distributed system, a message protocol comprises public information and customized data, the public information is used for determining a unique message initiator, and the public information comprises a message ID, a communication receiver ID, a timestamp and data link control; the time stamp is used for recording the time information of the communication process and providing a time inquiry function for communication diagnosis; the message ID comprises an account ID and system customization information, and the account ID comprises physical information of the equipment; the system customization information includes customizable communication information.
The medical robot distributed system real-time communication method according to which system customization information includes: setting a corresponding configuration file in each medical robot, wherein the configuration file is used for describing different types of customized information of the medical robots, and the configuration file can set data types in a self-defined manner; the configuration file can be read back, and the length of the system customization information is determined according to the longest length of the system customization information included in the configuration file read each time.
According to the real-time communication method of the medical robot distributed system, the message protocol further comprises message transmission, the message transmission sets a message as a request head and a request body, and the request head is used for storing public information including a message ID, a communication receiver ID, a timestamp and data link control; the request body is used for storing the address, the port and the unique equipment identification of the target medical robot; the size of the data packet transmitted by the message is 1024bytes, the request head is 1004bytes, and the request body is 20 bytes; the 0 th to 7 th bits of the request head are message ID, the 8 th to 11 th bits are account ID, the 12 th to 15 th bits correspond to time stamp, and the 16 th to 19 th bits are data link control.
According to the real-time communication method of the medical robot distributed system, communication between a server and the client is achieved through a plurality of communication modules, and each communication module comprises a receiving channel, a sending channel and a real-time diagnosis task; the receiving channel is used for managing received message information and comprises a message coding task, a message receiving queue and a message receiving management thread; the sending channel is used for managing received message information and comprises a message coding task, a message receiving queue and a message receiving management thread; the real-time diagnosis task is used for detecting the communication state in the communication process in real time; the receiving channel, the sending channel and the real-time diagnosis task of the communication module are realized through multiple threads.
The real-time communication method of the medical robot distributed system, wherein the handshake connection comprises: when any two medical robots need to carry out communication transmission, a communication initiator encodes messages in connection related classes into corresponding message information and sends the corresponding message information to a communication receiver, handshake connection of the two medical robots is realized, and meanwhile, a corresponding communication module is established between two communication segments of current connection, wherein the related classes comprise handshake connection messages, handshake connection confirmation messages and messages for establishing the communication module; specifically, when any two medical robots need to communicate, the first medical robot of the device can serve as a client to request to connect with a server of the second medical robot, assigns the IP address of the first medical robot to the first four bytes of the customized data information part, encodes the handshake connection message into a corresponding handshake message through a decoding task, starts a transmission task thread, and sends the handshake message to the server; when the server receives the handshake message, the server decodes the handshake message through the decoding task to acquire the IP address of the client, then the client of the second medical robot performs reverse connection with the server of the second medical robot according to the IP address, and encodes the handshake connection confirmation message to send the handshake confirmation message.
The real-time communication method of the medical robot distributed system, wherein the terminal connection comprises the following steps: creating an interrupt connection type message, wherein the interrupt connection type message comprises disconnection information, disconnection confirmation information and communication module closing information; when one of the two communication ends needs to interrupt communication transmission, the interrupt connection information is coded into a corresponding message and sent to the other end, so that the communication can be interrupted; specifically, for a third medical robot and a fourth medical robot which are in communication, when the third medical robot needs to interrupt data transmission communication, disconnection information is encoded into a corresponding message and sent to the fourth medical robot, when the fourth medical robot receives the disconnection information, disconnection confirmation information is encoded into a disconnection confirmation message and sent to the third medical robot, when the third medical robot receives the disconnection confirmation message, information for closing a communication module is encoded, corresponding encoding information is sent to the fourth medical robot, and a communication module is confirmed to be interrupted.
The real-time communication method of the medical robot distributed system, wherein the communication real-time detection comprises the following steps: when the communication connection is successfully established and the communication module is established, the diagnosis information is coded into a corresponding message, and the two communication ends periodically send the message to each other so as to detect the connection state in real time;
the real-time diagnosis information is used for real-time detection of the state of the communication module, and under the condition that handshake connection at two communication ends is successful and the communication module is established, a diagnosis task is started to perform real-time detection on the communication module; the diagnosis task calculates the length of the received message in real time through the heartbeat message to detect the communication state, and judges whether the communication transmission connection of the communication module is abnormal or not according to the time for receiving the message; when the transmission time exceeds a set threshold, a process of connection repair is performed.
The technical scheme of the invention also includes a medical robot distributed system real-time communication device which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor is characterized by realizing any one of the steps of the method when executing the computer program.
An aspect of the invention also includes an electronic device, characterized in that it comprises the method steps according to any one of the above.
The technical scheme of the invention also comprises a system upgrading device of the embedded universal integrated circuit card, which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, and is characterized in that the processor realizes any one of the steps of the method when executing the computer program.
The technical solution of the present invention also includes an electronic device including the above method steps.
The invention has the beneficial effects that: the method has high adaptability, can realize communication transmission among any devices on the same local area network line, and provides requirements for transmission needing communication at present.
Drawings
The invention is further described below with reference to the accompanying drawings and examples;
FIG. 1 shows a general flow diagram according to an embodiment of the invention.
Fig. 2 is a schematic diagram illustrating a communication architecture between local devices in the prior art.
Fig. 3 is a schematic diagram illustrating a communication architecture between local devices according to an embodiment of the present invention.
Fig. 4 is a diagram illustrating a common information composition according to an embodiment of the present invention.
Fig. 5 is a schematic diagram illustrating a packet ID information composition according to an embodiment of the present invention.
FIG. 6 illustrates an example of a configuration document according to an embodiment of the present invention.
Fig. 7 is a schematic diagram illustrating a message information composition according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of a communication module according to an embodiment of the present invention.
Fig. 9 is a timing diagram illustrating the establishment of a communication module according to an embodiment of the present invention.
Fig. 10 is a timing diagram illustrating handshake connection according to an embodiment of the present invention.
FIG. 11 is a timing diagram illustrating an interrupt connection according to an embodiment of the present invention.
Fig. 12 is a timing diagram illustrating communication detection according to an embodiment of the present invention.
Fig. 13 shows a diagram of an apparatus according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, unless otherwise explicitly defined, terms such as set, etc. should be broadly construed, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the detailed contents of the technical solutions.
Referring to fig. 1, the technical solution of the present invention includes the following processes: when the client sides of any two medical robots communicate, the communication initiator is used as a server side; the server and the client perform handshake connection, terminal connection and communication real-time detection with the communication receiver according to the message protocol, the data sending protocol and the configuration file so as to complete real-time communication. Wherein the medical robots are distributed devices.
Fig. 2 is a schematic diagram of conventional TCP/IP communication, where a handshake connection in the conventional TCP/IP communication method has a certain delay and latency, and real-time performance of data transmission cannot be guaranteed. In consideration of actual communication requirements, in order to meet the real-time communication requirements among various components in a distributed system, the communication mode is improved, point-to-point parties needing to be connected are designed into a client and a server, namely, the client sending a request connection is also the requested server, so that the two-way communication between the point and the point can be realized, and the communication transmission efficiency is improved.
Referring to fig. 3, the technical solution of the present invention includes:
and session control, the two ends of the communication connection can be managed independently by adopting the improved TCP/IP communication mode, and the communication transmission in one direction is not influenced.
The message protocol design, the message protocol designed by the technical scheme of the invention mainly comprises two aspects, namely LienaMessage (message design) and LienaDatagram (message transmission). The following will describe the message design of the communication protocol in detail:
LienaMessage message design. The LienaMessage is designed to be data which needs to be transmitted, and in order to uniformly and effectively identify and uniformly transmit data content, the LienaMessage is divided into two blocks to be designed, wherein the LienaMessage is respectively designed for public information and customized information. These two blocks will be described in detail separately below.
The public information data part is designed to be specific and unique for the common attribute of each communication device, and can be corresponding to a specific device by identifying the public information.
For convenience and accuracy, the common information is designed into the following four parts, namely, message ID, target ID, DLC and timeStamps. The overall design is shown in fig. 4:
the length of the target ID is designed to be 4bytes, and represents the ID information of the connected end. the time stamps are designed to be 4bytes in length, and are used for recording time during communication, assisting communication diagnosis and the like.
Due to the variety of types and numbers of the current devices, the updating of the devices and other realistic factors, the length of the message ID is designed to be 8 bytes, and the message ID consists of an Origin ID (account ID) and a system customized message. The length of Origin ID is designed to be 4bytes, and represents the physical attribute information of the connecting end equipment, including equipment classification, manufacturer, equipment type, version and the like; the system customized message is also 4bytes in length, including some customized communications. The schematic structural diagram is shown in fig. 5.
Meanwhile, according to the technical scheme of the invention, the robot system is divided into four types of hands, eyes, brains and arms according to the function division of the robot system. The 'hand' represents an execution unit of the robot, the 'eye' represents a robot signal acquisition unit, the 'brain' is a robot system control instruction unit, and the 'arm' is a signal transmission unit, so that the 'brain' instruction is sent to the 'hand' to realize corresponding operation. For each type of equipment, the equipment can be specified according to information such as a manufacturer, an equipment type, a production version number and a production number of the equipment, and the uniqueness of the equipment number is ensured by loading information such as different production batches of the same equipment from the same manufacturer.
In addition, the reserved part is customized for the information by the system customized message, and the data can be supplemented according to the actual requirement.
The customized data part is designed into the content which needs to be specially transmitted for related operation, the corresponding transmission content is different according to different operation requirements, and the size and the length of the transmitted data are different. In order to facilitate management of data information in diversified formats, an xml document of special customized data information is designed based on xml, and the corresponding message information is read by reading the xml document. The length of the message of the custom data section is determined based on the longest message length included in the xml document read at each time. An example of an xml document designed according to the present invention is shown in fig. 6.
Each xml document corresponds to all the device information under the current robot system and the message information corresponding to each device, and since the type of the current data type is fixed, the reading of the corresponding data can be realized according to the data type of the content included in each message. Taking an xml document in the example of the above figure as an example, three pieces of message information are included below the current device1, corresponding to the message1, which includes three int-type data, and we know that the length of the int-type data is 4bytes, where we fix the length of the read message to 4bytes, and since the lengths of the message data corresponding to each device are different, we design the length of the message to be the length of the longest message length of the device, which is the length of the customized information data. Therefore, the message can be operated only by knowing the data type corresponding to each message. The message is designed based on the above standard, and the message can be directly read to obtain the information. For the relevant personnel with requirements, the loading and reading of the message data information can be realized only by providing the operator with the xml document.
In the LienaDatagram message design, in the communication transmission process, data is transmitted in a byte stream mode, any message needing to be transmitted needs to be encoded into a message and then can be sent out, and meanwhile, the received message needs to be decoded into the message and then can be used by people. The LienaDatagram message designed by the technical scheme of the invention has the total length fixed as 1024bytes and is divided into a header part and a body part, wherein the length of the header part is designed as 20 bytes. Corresponding to the LienaMessage design, the first 8 bits, namely the 0 th to the 7 th bits, of the LienaDatagram message design in the technical scheme of the invention correspond to the message ID, the 8 th to the 11 th bits correspond to the Origin ID, the 12 th to the 15 th bits correspond to the timeStamps, and the 16 th to the 19 th bits represent the DLC. The Body portion is 1004bytes in length. The data represented by each bit of the specific body part is determined according to the type of the coded message data. The schematic diagram of the composition structure is shown in fig. 7.
Therefore, the server side can directly perform corresponding operations according to the received message information, for example, 0-7 bits of the message can be directly encoded into a message ID, so as to obtain the unique physical information of the client side device, including the relevant parameter information such as the category, the model and the like of the connection request device; bits 8-11 are encoded into Origin ID. For reading the message of the Body part, encoding is carried out according to the message content corresponding to the equipment, so that the Body part of the message is read.
Therefore, when a plurality of devices are communicated with each other, the server side can directly acquire client information which is currently requested to be connected and comprises information such as client addresses, port numbers and unique device identifiers according to the received message information to carry out connection communication with the specific devices, the plurality of client service sides are not interfered with each other when being communicated with each other, the transmission efficiency of communication is improved, and meanwhile, the communication of the current medical robot distributed system is provided.
Communication implementation, see FIGS. 8-12
Based on the above implementation method, the communication implementation principle designed by the technical solution of the present invention will be described in detail herein. In order to realize real-time communication management between any two devices in the same local area network environment, a communication module is specially designed for each two parties needing data transmission, all operations of two communication ends are carried out in the module, the two communication ends can carry out data transmission in the module, and meanwhile, the communication module can manage the two current communication ends, including connection, disconnection and real-time detector connection states. Each communication terminal can be used as a client terminal to request to connect with the server terminal, and can also be used as a server terminal to connect with the requested client terminal. When other equipment needs to be connected with the equipment which is in communication, a new communication module is automatically started for communication transmission, so that the communication between any two pieces of equipment under the same local area network is realized, the connection is not needed after the last client requests the connection, and the communication between any two pieces of equipment is not influenced mutually. The schematic diagram of the communication module designed by the technical scheme of the invention is shown in the following figure 8.
In order to realize real-time effective management of each communication module, (multi-thread management) here, each communication module is respectively provided with a receiving channel, a sending channel and a real-time diagnosis task. The receiving channel is used for specially managing received message information and comprises three parts of a message coding task decodingTask, a message receiving queue inoutQueue and a receiving management task for receiving a message management thread; the sending channel is used for managing a message sending management channel, and comprises an encoding task encodingTask, a message output queue outputQueue and a thread transmissionTask for sending messages. Besides, a diagnosis task diagnosissisTask is also set and used for detecting the communication state in the communication process in real time. The implementation flow chart is shown as the communication module establishment sequence chart in the following figure 9.
The technical scheme of the invention designs three types of messages for the communication protocol, which comprise a connection type message, an interrupt connection type message and a real-time diagnosis type message. When any two components need to carry out communication transmission, the handshaking connection of the two components can be realized by encoding the messages in the connection related classes into corresponding message information and sending the message information to the other side, and a communication module is established for the two sections of communication which are currently connected; when one of the two communication ends needs to interrupt communication transmission, the interrupt connection type message is encoded into a corresponding message and sent to the other end, so that the communication can be interrupted; when the communication connection is successfully established and the communication module is established, the diagnosis message is encoded into a corresponding message, and the two communication ends periodically send the message to each other so as to detect the connection state in real time. The implementation of these three processes will be explained in detail below: and handshake connection, based on the designed connection type message, the technical scheme of the invention adopts three-way handshake connection. Firstly, a client sends a request to be connected to a server, when the server receives a handshake request, handshake confirmation information is sent to the client, when the client receives handshake confirmation information, the client is proved to be successfully connected with the server, and then a special communication management module is established based on two communication ends.
Here, the connection class message includes: a handshake connection message handhaskemessage, a handshake connection acknowledgement message handhaskecommit message, and a message channeloppedmessage to establish the communication module. Based on the communication architecture introduced in the first section, when any two devices AB need to communicate, the device a can serve as a server side of a client request connection device B, firstly, the IP address of the device a is assigned to the first four bytes of the customized data information part of the handhakemessage, the handhakemessage is encoded into a corresponding handshake message through encodingTask, then, a transmissionTask thread is started, and the message is sent to the server side; when the server receives the handshake message, the server decodes the message to obtain the IP address of the client through encodingTask, and then the client of the device B reversely connects the server of the device B according to the IP address, and encodes the handshake commit message to send a handshake confirmation message. When the server side of the device a receives the handshake confirmation message, the server side of the device a encodes the channelOpenedMessage and sends the handshake confirmation message to the client side of the device B, and meanwhile, a special communication management module is established for communication of the device A, B, and it is confirmed that the communication connection of the device A, B is successful. A timing diagram of a specific handshake connection implementation is shown in fig. 10.
The connection is interrupted, and in the actual communication process, the situation that the two communication parties need to be interrupted but the connection is not disconnected occurs. Based on the situation, the design of the interrupt connection class message is used for interrupting the two communication ends of the established connection, and the message class design comprises: disconnection information discongmentmessage, confirmed disconnection discongagementCommitmessage, and closed communication module channelClosedmessage.
For two devices A, B which are communicating, when a needs to interrupt data transmission communication, a disagnermentmessage is encoded into a corresponding message and sent to another party B, and the communication is required to stop. When the other party B receives the disconnection information, the disconnectgamentCommitMessage is coded into a disconnection confirmation message and sent to the A, when the A receives the disconnection confirmation message, the A codes the channelClosedMessage, sends the corresponding coding information to the B, and finally confirms that the communication module is disconnected. The specific interrupt connection implementation timing diagram is shown in fig. 11.
Communication real-time detection, namely, when a network of one party is disconnected, the communication of the two parties is disconnected, or a server of one party is closed, so that the server can only send messages but cannot receive information. In this case, the data transmission of the current communication module is not affected, and the abnormal exit of the communication module is not caused. Therefore, in order to avoid such a situation, we need to detect the communication status of the current module.
The design of the real-time diagnosis type Message is used for real-time detection of the state of a communication module, under the condition that handshake connection at two communication ends is successful and the communication module is established, a diagnosis task diagnosissisTask is started to detect the module in real time, and the diagnosissisTask detects the communication state by calculating the length of the received Message in real time. The real-time diagnosis class message is provided with a heartbeat message. When the diagnosis task is opened, the two communication ends respectively open an encoding thread encodingTask, the heartbeat message is encoded into a corresponding message and sent to the opposite side, when the other side receives the message, the message is decoded into corresponding message information, when the received message is judged to be the heartbeat message, the heartbeat message is encoded into the corresponding message and sent to the opposite side, and when the length of the received message in the diagnosisTask is always larger than 0, the communication connection state is proved to be normal. When the length of the received message in the diagnosissisTask is 0, and the length of the message received by the time message of continuous 5s is always 0, that is, the heartbeat message information is not received in the time exceeding 5s, we can consider that the communication transmission connection of the communication module is abnormal, and then open the connection repairing process. A connection diagnostic implementation flow diagram is shown in fig. 12.
Fig. 13, a schematic diagram of an apparatus according to an embodiment of the present invention is shown. The apparatus comprises a memory 100 and a processor 200, wherein the processor 200 stores a computer program for performing: when the client sides of any two medical robots communicate, the communication initiator is used as a server side; the server and the client perform handshake connection, terminal connection and communication real-time detection with the communication receiver according to the message protocol, the data sending protocol and the configuration file so as to complete real-time communication. Wherein the memory 100 is used for storing data.
It should be recognized that the method steps in embodiments of the present invention may be embodied or carried out by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The method may use standard programming techniques. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
Further, operations of processes described in this disclosure may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described in this disclosure (or variations and/or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions and may be implemented by hardware or combinations thereof as code (e.g., executable instructions, one or more computer programs, or one or more applications) that is executed collectively on one or more processors. The computer program includes a plurality of instructions executable by one or more processors.
Further, the method may be implemented in any type of computing platform operatively connected to a suitable interface, including but not limited to a personal computer, mini computer, mainframe, workstation, networked or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and the like. Aspects of the invention may be embodied in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optically read and/or write storage medium, RAM, ROM, or the like, such that it may be read by a programmable computer, which when read by the storage medium or device, is operative to configure and operate the computer to perform the procedures described herein. Further, the machine-readable code, or portions thereof, may be transmitted over a wired or wireless network. The invention described in this patent specification includes these and other various types of non-transitory computer-readable storage media when such media include instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. The invention also includes the computer itself when programmed according to the methods and techniques described herein.
The computer program can be applied to input data to perform the functions described in the present invention, thereby converting the input data to generate output data to be stored to the nonvolatile memory. The output information may also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including particular visual depictions of physical and tangible objects produced on a display.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (11)
1. A medical robot distributed system real-time communication method is characterized by comprising the following steps:
when the client sides of any two medical robots communicate, the communication initiator is used as a server side;
the server and the client perform handshake connection, terminal connection and communication real-time detection with a communication receiver according to a message protocol, a data sending protocol and a configuration file so as to complete real-time communication.
2. The medical robot distributed system real-time communication method according to claim 1, wherein the communication between the clients of any two medical robots includes: and the clients perform point-to-point communication in a TCP/IP mode.
3. The medical robot distributed system real-time communication method according to claim 1, wherein the message protocol includes common information and custom data, the common information is used to determine a unique message originator, the common information includes a message ID, a communication recipient ID, a timestamp, and a data link control; the time stamp is used for recording the time information of the communication process and providing a time inquiry function for communication diagnosis; the message ID comprises an account ID and system customization information, and the account ID comprises physical information of the equipment; the system customization information includes customizable communication information.
4. The medical robotic distributed system real-time communication method of claim 3, wherein the system customization information includes:
setting a corresponding configuration file in each medical robot, wherein the configuration file is used for describing different types of customized information of the medical robots, and the configuration file can set data types in a self-defined manner;
the configuration file can be read back, and the length of the system customization information is determined according to the longest length of the system customization information included in the configuration file read each time.
5. The medical robot distributed system real-time communication method according to claim 3, wherein the message protocol further includes message transmission, the message transmission setting a message as a request header and a request body, the request header storing common information including a message ID, a communication recipient ID, a timestamp, and a data link control; the request body is used for storing the address, the port and the unique equipment identification of the target medical robot; the size of the data packet transmitted by the message is 1024bytes, the request head is 1004bytes, and the request body is 20 bytes; the 0 th to 7 th bits of the request head are message ID, the 8 th to 11 th bits are account ID, the 12 th to 15 th bits correspond to time stamp, and the 16 th to 19 th bits are data link control.
6. The medical robot distributed system real-time communication method according to claim 1, wherein the communication between the server and the client is realized through a plurality of communication modules, and the communication modules comprise a receiving channel, a sending channel and a real-time diagnosis task;
the receiving channel is used for managing received message information and comprises a message coding task, a message receiving queue and a message receiving management thread;
the sending channel is used for managing received message information and comprises a message coding task, a message receiving queue and a message receiving management thread;
the real-time diagnosis task is used for detecting the communication state in the communication process in real time;
the receiving channel, the sending channel and the real-time diagnosis task of the communication module are realized through multiple threads.
7. The medical robotic distributed system real-time communication method of claim 6, wherein the handshake connection comprises:
when any two medical robots need to carry out communication transmission, a communication initiator encodes messages in connection related classes into corresponding message information and sends the corresponding message information to a communication receiver, handshake connection of the two medical robots is realized, and meanwhile, a corresponding communication module is established between two communication segments of current connection, wherein the related classes comprise handshake connection messages, handshake connection confirmation messages and messages for establishing the communication module;
specifically, when any two medical robots need to communicate, the first medical robot of the device can serve as a client to request to connect with a server of the second medical robot, assigns the IP address of the first medical robot to the first four bytes of the customized data information part, encodes the handshake connection message into a corresponding handshake message through a decoding task, starts a transmission task thread, and sends the handshake message to the server;
when the server receives the handshake message, the server decodes the handshake message through the decoding task to acquire the IP address of the client, then the client of the second medical robot performs reverse connection with the server of the second medical robot according to the IP address, and encodes the handshake connection confirmation message to send the handshake confirmation message.
8. The medical robotic distributed system real-time communication method of claim 6, wherein the terminal connection comprises:
creating an interrupt connection type message, wherein the interrupt connection type message comprises disconnection information, disconnection confirmation information and communication module closing information; when one of the two communication ends needs to interrupt communication transmission, the interrupt connection information is coded into a corresponding message and sent to the other end, so that the communication can be interrupted;
specifically, for a third medical robot and a fourth medical robot which are in communication, when the third medical robot needs to interrupt data transmission communication, disconnection information is encoded into a corresponding message and sent to the fourth medical robot, when the fourth medical robot receives the disconnection information, disconnection confirmation information is encoded into a disconnection confirmation message and sent to the third medical robot, when the third medical robot receives the disconnection confirmation message, information for closing a communication module is encoded, corresponding encoding information is sent to the fourth medical robot, and a communication module is confirmed to be interrupted.
9. The medical robotic distributed system real-time communication method of claim 6, wherein the communication real-time detection comprises:
when the communication connection is successfully established and the communication module is established, the diagnosis information is coded into a corresponding message, and the two communication ends periodically send the message to each other so as to detect the connection state in real time;
the real-time diagnosis information is used for real-time detection of the state of the communication module, and under the condition that handshake connection at two communication ends is successful and the communication module is established, a diagnosis task is started to perform real-time detection on the communication module;
the diagnosis task calculates the length of the received message in real time through the heartbeat message to detect the communication state, and judges whether the communication transmission connection of the communication module is abnormal or not according to the time for receiving the message; when the transmission time exceeds a set threshold, a process of connection repair is performed.
10. A medical robotic distributed system real-time communication device comprising a memory, a processor and a computer program stored in said memory and executable on said processor, wherein said processor implements the method steps of any of claims 1 to 8 when executing said computer program.
11. An electronic device, characterized in that it comprises the method steps of any one of claims 1 to 9.
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