CN113301122B - Medical robot distributed system real-time communication method and device and electronic equipment - Google Patents
Medical robot distributed system real-time communication method and device and electronic equipment Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
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- H04L67/141—Setup of application sessions
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
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Abstract
The invention relates to a real-time communication method and device of a medical robot distributed system and a technical scheme of electronic equipment, which comprise the following steps: when the client sides of any two-by-two medical robots communicate, a communication initiator is used as a server side; and the server and the client carry out handshake connection, terminal connection and communication real-time detection with a communication receiver according to the message protocol, the data transmission protocol and the configuration file so as to complete real-time communication. The beneficial effects of the invention are as follows: the method has higher adaptability, can realize communication transmission among any devices on the same local area network line, and provides a need for the transmission of any current communication.
Description
Technical Field
The invention relates to the field of medical treatment and computers, in particular to a medical robot distributed system real-time communication method, a device and electronic equipment.
Background
With the progress and development of modern society, research and application of medical robots are also becoming more and more important. Compared with the traditional operation, the medical robot can replace a doctor to operate in a shielding room, so that a series of diseases caused by radiation are avoided. At present, a medical robot cannot simultaneously meet all functions required by an operation, is high in price, cannot be widely applied to various hospitals, and can effectively assist in clinical operation by integrating the resources of the existing equipment of the hospitals to realize real-time communication of the existing equipment of the hospitals and constructing a medical robot system. In addition, for different clinical operations, the operation modes of the corresponding robots are different, and how to realize communication among a plurality of devices and transmission of any data is a key for constructing a medical robot system. It is therefore necessary to design a unified transmission communication protocol.
OpenIGTLink aims to build a standardized, extensible network protocol for image-guided therapy environments, providing a standard for communication between devices and software to share and translate information that is generalized into three types, imaging, control, 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, its messaging protocol relies primarily on messaging functions, system control, imaging, tracking. With the popularity of medical robots, it cannot cover all information. The growing robot systems will lead to explosion of the system messages, which will cause the communication module to become very large in the design of the application program, with high costs and implementation difficulties.
Disclosure of Invention
The invention aims to at least solve one of the technical problems in the prior art, and provides a real-time communication method, a device and electronic equipment of a distributed system of a medical robot, which are used for realizing communication of any medical robot in the same local area network.
The technical scheme of the invention comprises a medical robot distributed system real-time communication method, which is characterized by comprising the following steps: when the client sides of any two-by-two medical robots communicate, a communication initiator is used as a server side; and the server and the client carry out handshake connection, terminal connection and communication real-time detection with a communication receiver according to a message protocol, a data transmission protocol and a configuration file so as to complete real-time communication.
According to the medical robot distributed system real-time communication method, the communication between the clients of any two medical robots comprises the following steps: and the client ends perform point-to-point communication in a TCP/IP mode.
According to the medical robot distributed system real-time communication method, a message protocol comprises public information and custom data, wherein the public information is used for determining a unique message initiator, and the public information comprises a message ID, a communication receiver ID, a time stamp and data link control; the time stamp is used for recording time information of a communication process and providing a time inquiry function for communication diagnosis; the message ID comprises an account ID and system customization information, wherein the account ID comprises physical information of equipment; the system customization information includes customizable communication information.
The medical robot distributed system real-time communication method comprises the following steps of: each medical robot is provided with a corresponding configuration file, the configuration files are used for describing different types of customized information of the medical robot, and the configuration files can be used for customizing the data types; the configuration file is back-readable, 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 medical robot distributed system real-time communication method, the message protocol further comprises message transmission, the message transmission sets a message as a request header and a request body, and the request header is used for storing public information including a message ID, a communication receiver ID, a time stamp and data link control; the request body is used for storing the address, the port and the equipment unique identifier 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 IDs, the 8 th to 11 th bits are account IDs, the 12 th to 15 th bits are corresponding time stamps, and the 16 th to 19 th bits are data link control.
According to the medical robot distributed system real-time communication method, communication between a server and a 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 the 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 the 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 multithreading.
The medical robot distributed system real-time communication method according to the present invention, wherein the handshake connection comprises: when any two medical robots need to carry out communication transmission, a communication initiator encodes messages in a connection related class into corresponding message information and sends the corresponding message information to a communication receiver, handshake connection of the two medical robots is realized, a corresponding communication module is established between two communication sections which are connected currently, and the related class comprises handshake connection information, handshake connection confirmation information and information 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 side of the second medical robot, the IP address of the first medical robot is assigned to the first four bytes of the customized data information part, the handshake connection message is encoded into a corresponding handshake message through a decoding task, a transmission task thread is started, and the handshake message is sent to the server side; when the server receives the handshake message, the message is decoded through a decoding task to obtain the IP address of the client, and then the client of the second medical robot reversely connects with the server of the second medical robot according to the IP address, and simultaneously encodes a handshake connection confirmation message to send the handshake confirmation message.
The medical robot distributed system real-time communication method according to the present invention, 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 ends of the communication needs to interrupt communication transmission, the interrupt connection type information is encoded into a corresponding message, and the message is sent to the other end to interrupt the communication; specifically, for the third medical robot and the 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, the disconnection information is encoded into a disconnection confirmation message and sent to the third medical robot, when the third medical robot receives the disconnection confirmation information, the information of a closed communication module is encoded, the corresponding encoded information is sent to the fourth medical robot, and the interrupt communication module is confirmed.
The medical robot distributed system real-time communication method comprises the following steps of: when the communication connection is established successfully and the communication module is established, the diagnosis information is encoded into a corresponding message, and the two communication ends periodically send each other to detect the connection state in real time;
the real-time diagnosis information is used for detecting the state of the communication module in real time, and under the condition that the handshake connection at the two communication ends is successful and the communication module is established, a diagnosis task is started to detect the communication module in real time; the diagnosis task calculates the length of the received message in real time through a 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 of receiving the message; and when the transmission time exceeds the set threshold, performing a connection repair process.
The technical scheme of the invention also comprises a medical robot distributed system real-time communication device which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, and is characterized in that the processor realizes any one of the method steps when executing the computer program.
The technical scheme of the invention also comprises electronic equipment, which is characterized by comprising the steps of the method.
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 stored in the memory and capable of running on the processor, and is characterized in that the processor realizes the steps of any one of the above methods when executing the computer program.
The technical scheme of the invention also comprises electronic equipment, and the electronic equipment comprises the method steps.
The beneficial effects of the invention are as follows: the method has higher adaptability, can realize communication transmission among any devices on the same local area network line, and provides a need for the transmission of any current communication.
Drawings
The invention is further described below with reference to the drawings and examples;
fig. 1 shows a general flow chart according to an embodiment of the invention.
Fig. 2 is a schematic diagram of a prior art communication architecture between local devices.
Fig. 3 is a schematic diagram of a communication architecture between local devices according to an embodiment of the present invention.
Fig. 4 is a diagram showing a composition of common information according to an embodiment of the present invention.
Fig. 5 is a schematic diagram illustrating the composition of message ID information 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 of message information composition according to an embodiment of the present invention.
Fig. 8 is a schematic diagram showing the composition of a communication module according to an embodiment of the present invention.
Fig. 9 is a timing diagram of a communication module setup according to an embodiment of the present invention.
Fig. 10 is a timing diagram of a handshake connection according to an embodiment of the present inventions.
Fig. 11 is a timing diagram of an interrupt connection according to an embodiment of the present invention.
Fig. 12 is a communication detection timing diagram according to an embodiment of the present invention.
Fig. 13 is a diagram illustrating an apparatus according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the present embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the accompanying drawings are used to supplement the description of the written description so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present invention, but not to limit the scope of the present invention.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement and the like should be construed broadly, and those skilled in the art can reasonably determine the specific meaning of the terms in the present invention in combination with the specific contents of the technical scheme.
Referring to fig. 1, the technical scheme of the invention includes the following procedures: when the client sides of any two-by-two medical robots communicate, a communication initiator is used as a server side; and the server and the client carry out handshake connection, terminal connection and communication real-time detection with a communication receiver according to the message protocol, the data transmission protocol and the configuration file so as to complete real-time communication. Wherein the medical robot is a distributed device.
Fig. 2 is a schematic diagram of conventional TCP/IP communication, where the conventional TCP/IP communication method has a certain delay and time delay on the handshake connection, and the real-time performance of data transmission is not 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, and both point-to-point parties needing to be connected are designed to be a client and a server, namely, the client sending the request for connection is also the requested server, so that bidirectional communication among the points can be realized, and meanwhile, the communication transmission efficiency is improved.
Referring to fig. 3, the technical scheme of the present invention includes:
session control, the use of an improved TCP/IP communication mode allows for separate management of both ends of a communication connection without affecting the communication transmission in one of the directions.
The message protocol designed by the technical scheme of the invention mainly comprises two aspects, namely LienaMessage (message design) and LienaDatagram (message transmission). The message design of the present communication protocol will be described in detail below:
LienaMessage message design. The LienaMessage is designed as data to be transmitted, and is divided into two blocks for designing in order to uniformly and effectively identify and uniformly transmit data content, and the two blocks are respectively designed for public information and customized information. These two blocks will be described in detail below.
The common information, namely the common information attribute of the equipment at the two ends of the communication connection, plays an important role in the data transmission process, and the common information data part of the design aims to specialize and uniquely identify the common attribute of each communication equipment, so that the common information can be corresponding to a specific equipment through identifying the common information.
For convenience and accuracy, this is to design the common information into four parts, namely, message ID, target ID, DLC, timeStamps. The overall design is shown in fig. 4:
the target ID length is designed to be 4bytes, and represents ID information of the connected end. the length of the timetags is designed to be 4bytes, and the timetags are used for recording time records in the communication process and can also be used for assisting communication diagnosis and the like.
Because of the variety and number of devices and the reality factors such as updating of the devices, the length of the message ID is designed to be 8 bytes, and the message ID consists of two parts, namely an Origin ID (account ID) and a system customized message. Wherein the length of the Origin ID is designed to be 4bytes, and the Origin ID represents the physical attribute information of the connection end equipment, including equipment classification, manufacturer, equipment type, version and the like; system customized message is also 4bytes in length and includes some customized communication information. The schematic structure is shown in fig. 5.
Meanwhile, the technical scheme of the invention is divided according to the functions of the robot system, and the robot system is divided into four types of hands, eyes, brains and arms. 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, the arm is a signal transmission unit, and the instruction of the brain is sent to the hand to realize corresponding operation. For the equipment in each category, the equipment can be specified according to the information of the manufacturer, the equipment type, the production version number of the equipment, the production number and the like, and in addition, the uniqueness of the equipment number is ensured by loading the information of different production batches and the like of the same equipment in the same manufacturer.
In addition, system customized message customizes the reserved portion for information, and may be supplemented as needed.
And the custom data part is designed into content which is required to be specially transmitted by related operations, the corresponding transmission content is different according to different operation requirements, and the size and the length of the transmitted data are different. To facilitate data information management in a variety of formats, we herein design an xml document of specific custom data information based on xml, and read the corresponding message information by reading this document. The length of the message of the custom data part is determined according to the longest message length included in the xml document read at a time. An xml document example designed by the technical scheme of the invention is shown in fig. 6.
Each xml document corresponds to all the equipment information under the current robot system and the message information corresponding to each equipment, and as the type of the current data type is fixed, the corresponding data can be read according to the data type of the content included in each message. In the above example of the xml document, three pieces of message information are included under the current device1, corresponding to the message1, which includes three int types of data, we know that the length of the int type data is 4bytes, here we give the read piece of message length to be fixed to 4bytes, and because the lengths of the message data corresponding to each device are different, here we design the message length to be the length of the customized information data as the longest message length under the device. Thus, we only need to know the data type corresponding to each message information, so as to operate on the message. By designing the message based on the above criteria, we can read and acquire the information directly. And for related personnel with requirements, only one xml document is provided for operators, so that loading and reading of message data information can be realized.
In the process of communication transmission, data are transmitted in a byte stream mode, any message needing to be transmitted needs to be encoded into a message to be sent out, and meanwhile, the received message needs to be decoded into the message to be used by us. The total length of the LienaDatagram message designed by the technical scheme of the invention is fixed to 1024bytes and is divided into a header part and a body part, wherein the length of the header part is designed to be 20bytes. Corresponding to the LienaMessage design, the first 8 bits, namely the 0 th to 7 th bits, of the LienaDatagram message design in the technical scheme of the invention correspond to the message ID, the 8 th to 11 th bits correspond to the Origin ID, the 12 th to 15 th bits correspond to the timetables, and the 16 th to 19 th bits represent DLC. The Body portion is 1004bytes in length. The data represented by each bit of a particular body portion is determined based on the type of message data encoded. The composition structure is schematically shown in FIG. 7.
Therefore, the server side can directly perform corresponding operation according to the received message information, for example, 0-7 bits of the message can be directly encoded into a message ID, so that unique physical information of the client device is obtained, including relevant parameter information such as category, model and the like of the request connection device; bits 8-11 are encoded into the Origin ID. For reading the message of the Body part, encoding is performed according to the message content corresponding to the device, 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 the client side information of the current request connection according to the received message information, wherein the client side information comprises the information of a client side address, a port number, a unique device identifier and the like, so that the connection communication with the specific device is performed, the mutual interference among the plurality of client side service sides is avoided when the plurality of client side service sides are communicated with each other, the transmission efficiency of the 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 implementation method, the communication implementation principle designed by the technical scheme of the invention will be described in detail. In order to realize real-time communication management between any two devices in the same LAN environment, a communication module is specially opened for each two sides needing data transmission, the operations of all the 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 ends of the current communication, including connection, disconnection and connection state of a real-time detector. Each communication terminal can be used as a client to request to connect with a server terminal, and can be used as a server terminal to connect with the requesting client terminal. When other devices need to be connected with the device which is in communication, a new communication module is automatically started to carry out communication transmission, so that the communication between any two devices in the same local area network is realized, the connection is not needed after the connection is requested by the last client, and the communication between any two devices is not affected. 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 achieve an effective real-time management of the individual communication modules, (multithreading management) each communication module is provided with a receiving channel, a transmitting channel and real-time diagnostic tasks. The receiving channel is used for specially managing the received message information and comprises three parts, namely a message coding task decoding task, a message receiving queue inoutQueue and a message receiving management thread receiving task; the sending channel is used for managing the message information sending management channel and comprises an encoding task encodingTask, a message output queue and a thread transmissionTask for sending the message. Besides, a diagnosis task diagnostistask is further arranged and used for detecting the communication state in the communication process in real time. The implementation flow chart is shown in the communication module setup timing chart of fig. 9 below.
The technical scheme of the invention designs three types of messages for the communication protocol, including 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 handshake connection of the two components can be realized by only encoding the message in the connection related class into corresponding message information and sending the message information to the other party, and a communication module is established for the two communication sections which are connected currently; when one of the two ends of the communication needs to interrupt communication transmission, the communication can be interrupted only by coding the interrupt connection message into a corresponding message and sending the message to the other end; when the communication connection is established successfully and the communication module is established, the diagnosis message is encoded into a corresponding message, and the two communication ends periodically send each other to detect the connection state in real time. The implementation of these three processes will be explained in detail below: the technical scheme of the invention adopts three-way handshake connection based on the connection class message designed above. 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 the handshake confirmation information, the client is proved to successfully establish connection with the server, and then a special communication management module is established based on the two communication ends.
Here, the connection class message includes: handshake connection message handleshakemessage, handshake connection acknowledge message handleshakemamitmessage, and message channelOpenedMessage that establishes the communication module. Based on the communication architecture introduced in the first section, when any two devices AB need to communicate, the device a will serve as a client to request a server end connected to the device B, firstly, the IP address of the device a is assigned to the first four bytes of the custom data information part of the handlemessagemessage, the handlemessagemessage is encoded into a corresponding handshake message through the encodingctask, and then a transmissionTask thread is started to send the message to the server end; when the server receives the handshake message, the message is decoded through the encodingTask to obtain the IP address of the client, and then the client of the equipment B is reversely connected with the server of the equipment B according to the IP address, and meanwhile, the handshake confirmation message is sent by encoding the handleshakeCommitmessage. When the server side of the device a receives the handshake confirmation message, the server side encodes the channelOpenedMessage and sends the channelOpenedMessage to the client side of the device B, and simultaneously establishes a special communication management module for the communication of the device A, B, and confirms that the communication connection of the device A, B is successful. A specific handshake connection implementation timing diagram is shown in fig. 10.
The connection is interrupted, and in the actual communication process, there may be a case where both communication parties need to be interrupted without disconnection. Based on this, the design of the interrupt connection class message is used to interrupt both communication ends of the established connection, and includes: disconnection information discongementmessage, confirm disconnection discongementCommitmessage, and close communication module channel closedMessage.
For two devices A, B that are communicating, when a needs to interrupt data transmission communication, the device encodes a discongementmessage into a corresponding message and sends the message to the other party B, which requests to stop communication. When the other party B receives the disconnection information, the disconnection communication is coded into a disconnection confirmation message which is sent to A, when the A receives the disconnection confirmation message, the channel closed message is coded, the corresponding coding information is sent to B, and finally the interruption of the communication module is confirmed. A specific interrupt connection implementation timing diagram is shown in fig. 11.
Communication real-time detection, any two devices performing communication connection need to detect the connection state in real time, for example, when one party of the network is disconnected, the communication between the two parties is disconnected, or the server side of the party is closed, so that the two parties can only send messages and 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, it is necessary to detect the communication state of the current module.
The real-time diagnosis Message is designed 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 diagnostics task is started to detect the communication module in real time, and the diagnostics task 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 started, each of the two communication ends starts a coding thread encodingTask, the heartbeat message is coded into a corresponding message to be sent to the other party, when the other party 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 coded into the corresponding message to be sent to the other party, and when the length of the received message in the diagnostistask is always more than 0, the communication connection state is proved to be normal. When the length of the received message in the diagnostistask is 0 and the length of the message received by the continuous 5s time message is always 0, that is, the heartbeat message information is not received for more than 5s, we consider that the communication transmission connection of the communication module is abnormal, and then start the connection repair process. A connection diagnosis implementation flowchart is shown in fig. 12.
Fig. 13 is a schematic view of an apparatus according to an embodiment of the present invention. The apparatus comprises a memory 100 and a processor 200, wherein the processor 200 stores a computer program for executing: when the client sides of any two-by-two medical robots communicate, a communication initiator is used as a server side; and the server and the client carry out handshake connection, terminal connection and communication real-time detection with a communication receiver according to the message protocol, the data transmission protocol and the configuration file so as to complete real-time communication. Wherein the memory 100 is used for storing data.
It should be appreciated that the method steps in embodiments of the present invention may be implemented or carried out by computer hardware, a combination of hardware and software, or by computer instructions stored in 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.
Furthermore, the operations of the processes described in the present disclosure may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described in the present specification (or variations and/or combinations thereof) may be performed under control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications), by hardware, or combinations thereof, collectively executing 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 computing platform, including, but not limited to, a personal computer, mini-computer, mainframe, workstation, network or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and so forth. Aspects of the invention may be implemented 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, optical read and/or write storage medium, RAM, ROM, etc., such that it is readable by a programmable computer, which when read by a computer, is operable to configure and operate the computer to perform the processes described herein. Further, the machine readable code, or portions thereof, may be transmitted over a wired or wireless network. When such media includes instructions or programs that, in conjunction with a microprocessor or other data processor, implement the steps described above, the invention as described in the present specification includes these and other different types of non-transitory computer-readable storage media. The invention also includes the computer itself when programmed according to the methods and techniques of the present invention.
The computer program can be applied to the input data to perform the functions described in the present invention, thereby converting the input data to generate output data that is stored to the non-volatile 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 specific 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 one of ordinary skill in the art without departing from the spirit of the present invention.
Claims (8)
1. A method for real-time communication of a distributed system of medical robots, the method comprising:
when the client sides of any two-by-two medical robots communicate, a communication initiator is used as a server side;
the server and the client carry out handshake connection, terminal connection and communication real-time detection with a communication receiver according to a message protocol, a data transmission protocol and a configuration file so as to complete real-time communication;
the message protocol comprises public information and custom data, wherein the public information is used for determining a unique message initiator, and the public information comprises a message ID, a communication receiver ID, a time stamp and data link control; the time stamp is used for recording time information of a communication process and providing a time inquiry function for communication diagnosis; the message ID comprises an account ID and system customization information, wherein the account ID comprises physical information of equipment; the system customization information is an information customization reserved part, comprises customizable communication information and can carry out supplementary data according to actual needs;
the message protocol also comprises message transmission, wherein 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 time stamp and data link control; the request body is used for storing the address, the port and the equipment unique identifier 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 IDs, the 8 th to 11 th bits are account IDs, the 12 th to 15 th bits are corresponding time stamps, and the 16 th to 19 th bits are data link control.
2. The method for real-time communication of a medical robot distributed system according to claim 1, wherein the communication of clients of the medical robots in any pair comprises: and the client ends 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 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 be used for customizing the set data types;
the configuration file is read, and the length of the system customization information is determined according to the length of the longest system customization information included in the configuration file read each time.
4. The method for real-time communication of a distributed system of a medical robot according to claim 1, wherein the communication between the server and the client is implemented by a plurality of communication modules, and the communication modules comprise a receiving channel, a transmitting channel and a real-time diagnosis task;
the receiving channel is used for managing the 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 the 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 multithreading.
5. The medical robotic distributed system real-time communication method according to claim 4, wherein the handshake connection comprises:
when any two medical robots need to carry out communication transmission, a communication initiator encodes messages in a connection related class into corresponding message information and sends the corresponding message information to a communication receiver, handshake connection of the two medical robots is realized, a corresponding communication module is established between two communication sections which are connected currently, and the related class comprises handshake connection information, handshake connection confirmation information and information for establishing the communication module;
specifically, when any two medical robots need to communicate, the first medical robot can serve as a client to request to connect with a server side of the second medical robot, the IP address of the first medical robot is assigned to the first four bytes of the customized data information part, the handshake connection message is encoded into a corresponding handshake message through a decoding task, a transmission task thread is started, and the handshake message is sent to the server side;
when the server receives the handshake message, the message is decoded through a decoding task to obtain the IP address of the client, and then the client of the second medical robot reversely connects with the server of the second medical robot according to the IP address, and simultaneously encodes a handshake connection confirmation message to send the handshake confirmation message.
6. The medical robot distributed system real-time communication method according to claim 4, 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 ends of the communication needs to interrupt communication transmission, the interrupt connection type information is encoded into a corresponding message, and the message is sent to the other end to interrupt the communication;
specifically, for the third medical robot and the 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, the disconnection information is encoded into a disconnection confirmation message and sent to the third medical robot, when the third medical robot receives the disconnection confirmation information, the information of a closed communication module is encoded, the corresponding encoded information is sent to the fourth medical robot, and the interrupt communication module is confirmed.
7. The method of real-time communication of a medical robotic distributed system according to claim 4, wherein the real-time detection of communication comprises:
when the communication connection is established successfully and the communication module is established, the diagnosis information is encoded into a corresponding message, and the two communication ends periodically send each other to detect the connection state in real time;
the real-time diagnosis information is used for detecting the state of the communication module in real time, and under the condition that the handshake connection at the two communication ends is successful and the communication module is established, a diagnosis task is started to detect the communication module in real time;
the diagnosis task calculates the length of the received message in real time through a 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 of receiving the message; and when the transmission time exceeds the set threshold, performing a connection repair process.
8. A medical robotic distributed system real-time communication device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method steps of any one of claims 1 to 7 when the computer program is executed.
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