CN114081624A - Virtual simulation system of surgical robot - Google Patents
Virtual simulation system of surgical robot Download PDFInfo
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- CN114081624A CN114081624A CN202111328321.0A CN202111328321A CN114081624A CN 114081624 A CN114081624 A CN 114081624A CN 202111328321 A CN202111328321 A CN 202111328321A CN 114081624 A CN114081624 A CN 114081624A
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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Abstract
The application relates to a virtual simulation system of a surgical robot, which comprises a scene self-defining module, a virtual routing module and a plurality of service server modules, wherein the scene self-defining module is in communication connection with the virtual routing module, and the virtual routing module is in communication connection with each service server module respectively; the scene self-defining module is used for receiving simulation scene information and simulation operation information and sending the simulation scene information and the simulation operation information to the virtual routing module; the virtual routing module is used for matching an optimal service server module as a target server module and sending the simulation scene information and the simulation operation information to the target server module; and the target server module is used for generating a three-dimensional simulation scene according to the simulation scene information and carrying out simulation operation in the three-dimensional simulation scene according to the simulation operation information. The method and the device can effectively improve the convenience of user simulation operation.
Description
Technical Field
The application relates to the technical field of medical robots, in particular to a virtual simulation system of a surgical robot.
Background
In recent years, there are more and more research projects on surgical robots, and the surgical robots are used to assist doctors in performing surgery, so that the quality and efficiency of the surgery can be effectively improved. Generally, after determining the operation type and the operation room, preoperative planning is needed, an operation path of an operation robot is planned, and then navigation is performed in the operation according to the planned operation path; the planning work is completed on a PC computer of an operating room to be operated, and simulation operation planning is also performed aiming at the virtual scene of the operating room to be operated; because of lack of memory management of operating room PC computer, the phenomenon of insufficient memory or downtime occurs in the operation planning process in the long-term past, and the single-machine simulation system can only be used locally by users, therefore, the inventor considers that the existing operation robot simulation system is inconvenient for users to use and needs further improvement.
Disclosure of Invention
In view of this, the present application provides a surgical robot virtual simulation system, so as to solve the technical problem of how to implement effective management of simulation resources of the existing surgical robot simulation system, so as to improve convenience of simulation operation of a user.
In order to solve the above problems, the present application provides a virtual simulation system for a surgical robot, including a scene customization module, a virtual routing module, and a plurality of service server modules, where the scene customization module is in communication connection with the virtual routing module, and the virtual routing module is in communication connection with each service server module respectively;
the scene self-defining module is used for receiving simulation scene information and simulation operation information and sending the simulation scene information and the simulation operation information to the virtual routing module;
the virtual routing module is used for matching an optimal service server module as a target server module and sending the simulation scene information and the simulation operation information to the target server module;
and the target server module is used for generating a three-dimensional simulation scene according to the simulation scene information and carrying out simulation operation in the three-dimensional simulation scene according to the simulation operation information.
Optionally, the target server module includes a scene loading unit, a planning and analyzing unit, and a scene simulation unit;
the scene loading unit is used for receiving the simulation scene information, calling a prestored target scene file according to the simulation scene information and generating a corresponding three-dimensional simulation scene;
the planning analysis unit is used for planning a path and/or analyzing motion according to the simulation operation information, generating simulation motion information of each object to be operated and transmitting the simulation motion information to the scene simulation unit;
and the scene simulation unit is used for carrying out simulation operation on each object to be operated in the three-dimensional simulation scene according to the simulation motion information of each object to be operated.
Optionally, the simulation scene information includes a surgical scene type, and a target scene file is prestored in correspondence to one surgical scene type, where the target scene file is a three-dimensional model engineering file of a real surgical space and facility.
Optionally, the simulation operation information includes direct simulation information and/or indirect simulation information, where the direct simulation information includes motion control information, peripheral device operation information, and/or doctor behavior information of the virtual surgical robot arm at each time node in the simulation process; the indirect simulation information includes start point position information of a path to be operated of an object to be operated.
Optionally, the scene simulation unit includes a simulation controller of a virtual surgical robot manipulator, a simulation controller of peripheral equipment, and/or a simulation controller of doctor behavior; the simulation controller of the virtual surgical robot mechanical arm at least comprises a power-off motor displacement controller, a joint motor speed controller, a joint motor sensor controller and a tail end position sensor controller; the simulation controller of the peripheral equipment at least comprises a CT equipment operation controller, a shooting equipment controller and a bed controller.
Optionally, the target server module further includes a heartbeat monitoring unit, a resource monitoring unit, and a simulation process management unit;
the heartbeat monitoring unit is used for acquiring a heartbeat packet of the current target server module and sending the heartbeat packet to the virtual routing module;
the resource monitoring unit is used for acquiring the hardware resource use information of the current target server module and sending the hardware resource use information to the virtual routing module so that the virtual routing module determines the target server module;
and the simulation process management unit is used for monitoring the simulation process of the target server module in real time and restarting the closed simulation process.
Optionally, the virtual routing module includes a heartbeat receiving unit, a selecting unit, a message routing unit, a routing process management unit, and an alarm unit;
the heartbeat receiving unit is used for receiving heartbeat packets sent by each service server module so as to determine the running state of each service server module;
the selection unit is used for determining a target server module according to the hardware resource use information and the running state of each service server module;
the message routing unit is used for converting the simulation operation information into simulation operation sub-information corresponding to each message main body according to the preset message main body classification, and sending the converted simulation operation sub-information to the target server module so as to enable each simulation controller corresponding to the scene simulation unit to perform simulation operation according to the simulation operation sub-information corresponding to the message main body classification;
the routing process management unit is used for monitoring the process of the message routing unit;
and the alarm unit is used for generating overload alarm information when the utilization rate of the hardware resources of the service server module exceeds a preset threshold value.
Optionally, the target server module further includes a Web server module, and the Web server module is provided with a browser;
and the Web server module is used for acquiring a current three-dimensional simulation scene of the scene simulation unit and transmitting the current three-dimensional simulation scene to the browser in an image form if the browsing request sent by the browser is acquired.
Optionally, the scene simulation unit is further configured to obtain absolute position information of a target portion of a mechanical arm of the virtual surgical robot and a simulation result in real time during a simulation process, and transmit the absolute position information and the simulation result to the Web server module;
the Web server module is further used for transmitting the acquired target position absolute position information of the virtual surgical robot arm and the simulation result to the browser.
Optionally, the target position absolute position information of the virtual surgical robot arm includes an absolute position of the end of the arm and absolute positions of each joint node of the arm; and the simulation result comprises whether the target part of the mechanical arm reaches a self-defined pose according to the simulation operation information.
The beneficial effects of adopting the above embodiment are: the simulation scene information and the simulation operation information of the real operation scene are customized by the user through the scene customizing module, so that the user can remotely/remotely perform simulation operation, and the convenience of the simulation operation is improved; in addition, the virtual routing module determines a target server module from the plurality of service server modules, and the target server module is automatically matched with the proper service server module for simulation, so that the rationality of resource use of the service server modules can be improved, and the downtime phenomenon is avoided; furthermore, the target server module generates a three-dimensional simulation scene according to the simulation scene information, and performs simulation operation in the three-dimensional simulation scene according to the simulation operation information, so that a virtual real operation scene can be used for performing simulation operation, related medical personnel can perform robot operation training, and operability and safety of the operation are improved.
Drawings
FIG. 1 is a functional block diagram of an embodiment of a surgical robot virtual simulation system provided herein;
FIG. 2 is a functional block diagram of another embodiment of a surgical robotic virtual simulation system provided herein;
FIG. 3 is a functional block diagram of another embodiment of a surgical robotic virtual simulation system provided herein;
fig. 4 is a schematic block diagram illustrating interaction between a virtual routing module and a service server module of the surgical robot virtual simulation system according to the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the application and together with the description, serve to explain the principles of the application and not to limit the scope of the application.
In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1, a schematic block diagram of an embodiment of a virtual simulation system of a surgical robot provided in the present application is shown, where the virtual simulation system of a surgical robot includes a scene customization module 10, a virtual routing module 20, and a plurality of service server modules 30, the scene customization module 10 is in communication connection with the virtual routing module 20, and the virtual routing module 20 is in communication connection with each service server module 30.
And the scene customizing module 10 is configured to receive the simulation scene information and the simulation operation information and send the simulation scene information and the simulation operation information to the virtual routing module 20.
The virtual routing module 20 is configured to match an optimal service server module 30 as a target server module, and send the simulation scene information and the simulation operation information to the target server module, so as to further describe a working principle of the target server module, please refer to fig. 2.
And the target server module 40 is used for generating a three-dimensional simulation scene according to the simulation scene information and performing simulation operation in the three-dimensional simulation scene according to the simulation operation information.
In the embodiment, the scene customizing module 10 enables the user to customize the simulation scene information and the simulation operation information of the real operation scene, so that the user can perform simulation operation remotely/in different places, and the convenience of the simulation operation is improved; in addition, the virtual routing module 20 determines the target server module 40 from the plurality of service server modules 30, and the appropriate service server modules 30 are automatically matched for simulation, so that the resource use reasonability of the service server modules 30 can be improved, and the downtime phenomenon is avoided; further, the target server module 40 generates a three-dimensional simulation scene according to the simulation scene information, and performs simulation operation in the three-dimensional simulation scene according to the simulation operation information, so that a virtual and real operation scene can be used for performing simulation operation, related medical staff can perform robot operation training, and operability and safety of the operation are improved.
In the present embodiment, a plurality of service server modules 30 are respectively deployed on PC hosts of different operating rooms; the scenario customization module 10 may access the input simulation scenario information and/or simulation operation information through the browser, and determine the target server module 40 through the virtual routing module 20, so that the simulation operation may be performed on the target server module 40 according to the simulation scenario information and the simulation operation information. In addition, in the embodiment, the distributed virtual simulation system of the surgical robot is established by the plurality of service server modules, so that a plurality of users can be supported to perform online simulation of a real surgical scene, the type of the surgical scene can be customized, and the convenience of user simulation is improved.
In this embodiment, the simulation scenario information includes user information of an operator and customized surgical scenario information, and it should be noted that, if the scenario customization module 10 acquires simulation scenario information of multiple users, the simulation scenario information is automatically matched with the target server modules 40 to be simulated respectively according to the acquired time sequence.
In an embodiment, referring to fig. 3, the virtual routing module 20 includes a heartbeat receiving unit 201, a selecting unit 202, a message routing unit 203, a routing process management unit 204, and an alarming unit 205. A heartbeat receiving unit 201, configured to receive heartbeat packets sent by each service server module 30, so as to determine an operating state of each service server module 30; a selecting unit 202, configured to determine the target server module 40 according to the hardware resource usage information and the operating state of each service server module 30; the message routing unit 203 is configured to classify the simulation operation information according to a preset message body, convert the simulation operation information into simulation operation sub information corresponding to each message body, and send the converted simulation operation sub information to the target server module 40, so that each simulation controller corresponding to the scene simulation unit performs simulation operation according to the simulation operation sub information corresponding to the class of the message body; a routing process management unit 204, configured to monitor a process of the message routing unit 203; an alarm unit 205, configured to generate overload alarm information when the hardware resource usage rate of the service server module 30 exceeds a preset threshold.
It should be noted that, the heartbeat receiving unit 201 receives the heartbeat packet sent by each service server module 30, and the heartbeat packet may reflect whether the running state of the corresponding service server module 30 is normal.
For example, in a specific embodiment, the occupation ratios of the CPU, the memory, and the disk IO read in the configuration file of one service server module 30 are 70%, 10%, and 20%, respectively, and the current hardware resource information occupation ratios of the service server module 30 are CPU 5%, memory 44%, and disk IO 6%, so that the total hardware resource utilization ratio of the service server module 30 is 70% + 5% + 10% + 44% + 20% + 6 is 9.1%. Further, the selection unit 202 is used as the target server module 40 according to the service server module 30 which operates normally and has the least hardware resource usage rate.
The message routing unit 203 classifies the simulation operation information according to a preset message body, and converts the simulation operation information into simulation operation sub-information corresponding to each message body; the preset message body classification can be determined according to an object to be operated which actually exists in the three-dimensional simulation scene, for example, the message body includes four types of messages including a mechanical arm, a shooting device, a doctor action and a mechanical arm controller. The emulation operation sub-information includes a message body id and message contents.
The routing process management unit 204 performs a timing query on the running state of the process of the message routing unit 203, and restarts the current process if the current process is closed, thereby improving the stability of the simulation system.
In one embodiment, referring to fig. 4, the target server module 40 includes a heartbeat monitoring unit 401, a resource monitoring unit 402, and an emulated process management unit 403; a heartbeat monitoring unit 401, configured to obtain a heartbeat packet of the current service server module 30 and send the heartbeat packet to the virtual routing module 20; the resource monitoring unit 402 is configured to obtain hardware resource usage information of the current service server module 30 and send the hardware resource usage information to the virtual routing module 20, so that the virtual routing module 20 determines the target server module 40. And the simulation process management unit 403 is configured to monitor the simulation process in real time and restart the closed simulation process if the current service server module 30 determines that the current service server module is the target server module 40.
It should be noted that, the heartbeat monitoring unit 401 is connected to the heartbeat receiving unit 201 of the virtual routing unit through a network, such as a Socket network, and after the connection is successful, sends the acquired heartbeat of the current target server module 40 to the heartbeat receiving unit 201, so as to monitor the operating state of each service server module 30.
The resource monitoring unit 402 sends the obtained hardware resource usage information to the selecting unit 202 of the virtual routing module 20 through the Socket network, where the hardware resource usage information includes id of the corresponding service server module 30 and hardware resource usage rate.
In an embodiment, referring to FIG. 4, target server module 40 further includes a scenario loading unit 404, a plan parsing unit 405, and a scenario simulation unit 406. And the scene loading unit 404 is configured to receive the simulation scene information, and call a pre-stored target scene file according to the simulation scene information to generate a corresponding three-dimensional simulation scene. And the planning analysis unit 405 is configured to perform path planning and/or motion analysis according to the simulation operation information, generate simulation motion information of each object to be operated, and transmit the simulation motion information to the scene simulation unit 406. The scene simulation unit 406 is configured to perform simulation operation on each object to be operated in a three-dimensional simulation scene according to the simulation motion information of each object to be operated; the scene simulation unit 406 is further configured to obtain, in real time, absolute position information of a target portion of the virtual surgical robot arm during the simulation process and a simulation result.
In this embodiment, the plan parsing unit 405 receives the simulation operation information sent by the message routing unit 203, and sends the corresponding message content to the corresponding object to be operated according to the object to be operated to which the message body id points in the simulation operation information, for example, if the message body id is 1001.1 joint motor controller, then sends the message content corresponding to the message body id to the 1001.1 joint motor controller.
The object to be operated comprises a virtual surgical robot mechanical arm, peripheral equipment, a simulation controller corresponding to doctor behaviors and the like.
The simulation motion information of each object to be operated is the corresponding message content, which includes the motion control information of the virtual surgical robot arm, the peripheral device operation information, and/or the doctor behavior information at each time node, which has been described above, and is not described herein again.
Optionally, the simulation scene information includes a surgical scene type, and one surgical scene type is pre-stored with a target scene file, which is a three-dimensional model engineering file of a real surgical space and facility.
It should be noted that, a user may input simulation scenario information to the scenario customization module 10 through a browser, where the simulation scenario information further includes information such as a user id.
The operation scene type can be a puncture operation scene type or an ablation operation scene, and the target scene file of the puncture operation scene type and the target scene file of the ablation operation scene can be the same or different, and can be determined according to the actual scene condition of the operation robot operating room in the hospital.
The three-dimensional model engineering files of the real operation spaces and facilities can be obtained through modeling by a laser point cloud method or can be obtained through modeling by a space shooting method, and the obtained three-dimensional model engineering files of the real operation spaces and facilities and the corresponding operation scene types are prestored in a scene database to be called. It should be noted that, when the layout of the real operation space and facilities is changed, the corresponding three-dimensional model engineering file is also updated.
Optionally, the simulation operation information includes direct simulation information and/or indirect simulation information, and the direct simulation information includes motion control information, peripheral device operation information, and/or doctor behavior information of the virtual surgical robot arm at each time node in the simulation process; the indirect simulation information includes start point position information of a path to be operated of the object to be operated.
It should be noted that, a user may input simulation operation information to the scene customization module 10 through a browser, and may package the simulation operation information through a Socket network and send the packaged simulation operation information to the message routing unit 203 of the virtual routing module 20. The simulation operation information may be direct simulation information, for example, the motion control information of the virtual surgical robot arm in the surgical workflow includes information such as joint motor speed, acceleration, and rotation radian.
The peripheral equipment operation information comprises operation information of peripheral equipment used in a real operation scene, such as scanning action of a CT (computed tomography) device; the doctor behavior information comprises the actions of stepping a control pedal, dragging a mechanical arm action command or adjusting a surgical tool command and the like.
The simulation operation information may also be indirect simulation information, such as start point position information of a path to be operated of an object to be operated.
Optionally, the target position absolute position information of the virtual surgical robot arm includes an absolute position of the end of the arm and absolute positions of each joint node of the arm; the simulation result comprises whether the target part of the mechanical arm achieves a self-defined pose according to the simulation operation information.
The scene simulation unit 406 may also show a change of the target portion of the virtual surgical robot arm in the form of a graph, a curve, or the like. The target part of the mechanical arm comprises key parts such as the tail end of the mechanical arm and each joint node. The absolute position of the target portion may refer to a position coordinate of the target portion in a three-dimensional simulation scene coordinate system.
In an embodiment, referring to fig. 4, the scene simulation unit 406 includes a simulation controller 4061 of the virtual surgical robotic arm, a simulation controller 4062 of the peripheral device, and/or a simulation controller 4063 of the doctor's behavior; the simulation controller 4061 of the virtual surgical robot arm includes at least a power-off motor displacement controller, a joint motor speed controller, a joint motor sensor controller, and a terminal position sensor controller; the simulation controller 4062 of the peripheral device includes at least a CT device operation controller, a photographing device controller, and a bed controller.
It should be noted that the off-motor displacement controller is configured to control the rotating motor to rotate according to the rotation angle according to the corresponding operation control information, and control the translation motor to translate according to the displacement. The tail end position sensor controller is used for acquiring absolute position information of the tail end of the mechanical arm in real time. And the joint motor speed controller is used for controlling the speed and the acceleration of each joint of the mechanical arm in a limited range according to the corresponding motion control information. The joint motor sensor controller is used for acquiring absolute position information of each joint of the mechanical arm in real time.
In one embodiment, referring to FIG. 4, the target server module 40 further includes a Web server module 407; the Web server module 407 is provided with a browser; the Web server module 407 is configured to, if a browsing request sent by the browser is acquired, acquire a current three-dimensional simulation scene of the scene simulation unit 406 and transmit the current three-dimensional simulation scene to the browser in an image form.
Optionally, the Web server module 407 is further configured to transmit the acquired target position absolute information of the virtual surgical robot arm and the simulation result to the browser.
It should be noted that the relationship between the browser and the target server module 40 may be established by using a B/S architecture; a user can send an http request to a Web server module 407 of the current target server module 40 through a browser, the Web server module 407 obtains a current three-dimensional simulation scene in a corresponding scene simulation unit 406 through Socket, pushes the user browser in a jpeg image form, pushes absolute position information of a target part of a mechanical arm of the virtual surgical robot and a simulation result to the user browser, and refreshes a UI interface of the user browser, so that an operator can observe a simulation process of the virtual surgical robot in real time; it should be noted that, a user may perform a translation or rotation operation on an image on the UI interface at the browser end to switch the viewing angle. In addition, the simulation process management unit 403 monitors the processes corresponding to the simulation controllers in the scene simulation unit 406 and the corresponding Web server modules 407, and if any process of the simulation controller and/or the Web server module 407 is closed, the corresponding process is restarted, so that the stability of the simulation system is improved.
Different from the prior art, the present embodiment enables the user to customize the simulation scene information and the simulation operation information of the real surgical scene through the scene customization module 10, so that the user can perform the simulation operation remotely/remotely, and the convenience of the simulation operation is improved; in addition, the virtual routing module 20 determines the target server module 40 from the plurality of service server modules 30, and the appropriate service server modules 30 are automatically matched for simulation, so that the resource use reasonability of the service server modules 30 can be improved, and the downtime phenomenon is avoided; further, the target server module 40 generates a three-dimensional simulation scene according to the simulation scene information, and performs simulation operation in the three-dimensional simulation scene according to the simulation operation information, so that a virtual and real operation scene can be used for performing simulation operation, related medical staff can perform robot operation training, and operability and safety of the operation are improved. In addition, an http request can be sent to the Web server module 407 of the current target server module 40 through a user browser, and the Web server module 407 pushes the jpeg image of the current three-dimensional simulation scene, the absolute position information of the target part of the virtual surgical robot arm, and the simulation result to the user browser, so that the user can perform the simulation operation visually.
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application.
Claims (10)
1. A virtual simulation system of a surgical robot is characterized by comprising a scene self-defining module, a virtual routing module and a plurality of service server modules, wherein the scene self-defining module is in communication connection with the virtual routing module, and the virtual routing module is in communication connection with each service server module respectively;
the scene self-defining module is used for receiving simulation scene information and simulation operation information and sending the simulation scene information and the simulation operation information to the virtual routing module;
the virtual routing module is used for matching an optimal service server module as a target server module and sending the simulation scene information and the simulation operation information to the target server module;
and the target server module is used for generating a three-dimensional simulation scene according to the simulation scene information and carrying out simulation operation in the three-dimensional simulation scene according to the simulation operation information.
2. The surgical robot virtual simulation system of claim 1, wherein the target server module comprises a scenario loading unit, a plan parsing unit, and a scenario simulation unit;
the scene loading unit is used for receiving the simulation scene information, calling a prestored target scene file according to the simulation scene information and generating a corresponding three-dimensional simulation scene;
the planning analysis unit is used for planning a path and/or analyzing motion according to the simulation operation information, generating simulation motion information of each object to be operated and transmitting the simulation motion information to the scene simulation unit;
and the scene simulation unit is used for carrying out simulation operation on each object to be operated in the three-dimensional simulation scene according to the simulation motion information of each object to be operated.
3. The surgical robot virtual simulation system according to claim 2, wherein the simulation scenario information includes a surgical scenario type, and one surgical scenario type is pre-stored with a target scenario file corresponding to the three-dimensional model engineering file of the real surgical space and facility.
4. The surgical robot virtual simulation system according to claim 2, wherein the simulation operation information includes direct simulation information and/or indirect simulation information, the direct simulation information including motion control information, peripheral device operation information, and/or doctor behavior information of the virtual surgical robot arm at each time node in the simulation process; the indirect simulation information includes start point position information of a path to be operated of an object to be operated.
5. The surgical robot virtual simulation system according to claim 4, wherein the scene simulation unit comprises a simulation controller of a virtual surgical robot manipulator, a simulation controller of a peripheral device and/or a simulation controller of a doctor's behavior; the simulation controller of the virtual surgical robot mechanical arm at least comprises a power-off motor displacement controller, a joint motor speed controller, a joint motor sensor controller and a tail end position sensor controller; the simulation controller of the peripheral equipment at least comprises a CT equipment operation controller, a shooting equipment controller and a bed controller.
6. The surgical robot virtual simulation system according to claim 2, wherein the target server module further includes a heartbeat monitoring unit, a resource monitoring unit, and a simulation progress management unit;
the heartbeat monitoring unit is used for acquiring a heartbeat packet of the current target server module and sending the heartbeat packet to the virtual routing module;
the resource monitoring unit is used for acquiring the hardware resource use information of the current target server module and sending the hardware resource use information to the virtual routing module so that the virtual routing module determines the target server module;
and the simulation process management unit is used for monitoring the simulation process of the target server module in real time and restarting the closed simulation process.
7. The surgical robot virtual simulation system according to claim 2, wherein the virtual routing module includes a heartbeat receiving unit, a selecting unit, a message routing unit, a routing process management unit, and an alarm unit;
the heartbeat receiving unit is used for receiving heartbeat packets sent by each service server module so as to determine the running state of each service server module;
the selection unit is used for determining a target server module according to the hardware resource use information and the running state of each service server module;
the message routing unit is used for converting the simulation operation information into simulation operation sub-information corresponding to each message main body according to the preset message main body classification, and sending the converted simulation operation sub-information to the target server module so as to enable each simulation controller corresponding to the scene simulation unit to perform simulation operation according to the simulation operation sub-information corresponding to the message main body classification;
the routing process management unit is used for monitoring the process of the message routing unit;
and the alarm unit is used for generating overload alarm information when the utilization rate of the hardware resources of the service server module exceeds a preset threshold value.
8. The surgical robot virtual simulation system according to claim 2, wherein the target server module further comprises a Web server module provided with a browser;
and the Web server module is used for acquiring a current three-dimensional simulation scene of the scene simulation unit and transmitting the current three-dimensional simulation scene to the browser in an image form if the browsing request sent by the browser is acquired.
9. The surgical robot virtual simulation system according to claim 2, wherein the scene simulation unit is further configured to obtain absolute position information of a target portion of a mechanical arm of the virtual surgical robot during a simulation process and a simulation result in real time, and transmit the absolute position information and the simulation result to the Web server module;
the Web server module is further used for transmitting the acquired target position absolute position information of the virtual surgical robot arm and the simulation result to the browser.
10. The virtual simulation system of a surgical robot according to claim 9, wherein the target site absolute position information of the virtual surgical robot arm includes an absolute position of a robot arm tip and absolute positions of respective joint nodes of the robot arm; and the simulation result comprises whether the target part of the mechanical arm reaches a self-defined pose according to the simulation operation information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111328321.0A CN114081624B (en) | 2021-11-10 | 2021-11-10 | Virtual simulation system of surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111328321.0A CN114081624B (en) | 2021-11-10 | 2021-11-10 | Virtual simulation system of surgical robot |
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