CN116058966A

CN116058966A - Cooperative control method and apparatus for medical equipment, medical equipment and storage medium

Info

Publication number: CN116058966A
Application number: CN202111299430.4A
Authority: CN
Inventors: 高晨; 程坤
Original assignee: Jiangsu Yiying Medical Equipment Co ltd
Current assignee: Jiangsu Yiying Medical Equipment Co ltd
Priority date: 2021-11-04
Filing date: 2021-11-04
Publication date: 2023-05-05

Abstract

The invention discloses a cooperative control method and device of medical equipment, the medical equipment and a storage medium. The method is applied to a first medical device, the first medical device stores at least one motion control instruction, the motion control instruction is used for controlling a second medical device to execute corresponding actions, and the cooperative control method comprises the following steps: transmitting a target motion control instruction to the second medical device under the condition that the first medical device and the second medical device establish communication, so that the second medical device executes a task corresponding to the target motion control instruction; receiving task state information fed back by the second medical equipment; and determining the task execution state of the second medical equipment according to the task state information. Therefore, auxiliary matching is realized, the operation flow of medical equipment is simplified, errors caused by manual auxiliary matching are avoided, and further, the operation precision can be improved.

Description

Cooperative control method and apparatus for medical equipment, medical equipment and storage medium

Technical Field

The present invention relates to the field of medical technologies, and in particular, to a method and apparatus for collaborative control of a medical device, and a storage medium.

Background

At present, medical imaging technology is applied to various surgical systems as an auxiliary means of a surgical robot. Through the medical image data that gathers the imaging device leading-in surgical navigation system of surgical robot, can realize the accurate planning before the operation, medical staff looks over the medical instrument position of surgical robot through the display, carries out more effective control, improves diagnosis and treat accuracy and operation repair quality, has obtained good auxiliary effect clinically, has received popularization and attention.

However, conventional surgical navigation systems are time consuming and inefficient. Firstly, acquiring the number of medical images of a patient before an operation, and inputting the number into a navigation system; medical personnel are then required to manually match the anatomy of the patient during the procedure. On the one hand, the labor consumption and the complicated operation flow are involved; on the other hand, because the position of the patient in the imaging scanning process is inconsistent with the position in the operation process, the marker auxiliary matching is needed to be additionally used, so that a new error is introduced in the process, and the risk of reducing the operation precision is directly caused.

Disclosure of Invention

The invention aims to overcome the defect that a plurality of medical devices realize cooperation and are complex to operate based on the prior art, and provides a cooperation control method and device of the medical devices, the medical devices and a storage medium.

The invention solves the technical problems by the following technical scheme:

in a first aspect, a cooperative control method of a medical device is provided, applied to a first medical device, where the first medical device stores at least one motion control instruction, where the motion control instruction is used to control a second medical device to perform a corresponding action, and the cooperative control method includes:

transmitting a target motion control instruction to the second medical device under the condition that the first medical device and the second medical device establish communication, so that the second medical device executes a task corresponding to the target motion control instruction;

receiving task state information fed back by the second medical equipment;

and determining the task execution state of the second medical equipment according to the task state information.

Optionally, the first medical device establishes communication with the second medical device based on a predefined RoboLINK protocol (a communication protocol); the RoboLINK protocol complies with DICOM (international standard for medical images and related information) standards.

Optionally, sending a target motion control instruction to the second medical device, including:

determining a workflow conforming to the current medical scene;

And sequentially sending target motion control instructions for completing the workflow to the second medical equipment.

Optionally, the workflow includes at least one of the following tasks: and starting a Robolink service to adjust the pose of the second medical equipment and acquiring the data of the second medical equipment.

Optionally, the method further comprises:

periodically transmitting a link test signal to the second medical device;

and if the response fed back by the second medical equipment aiming at the link test signal is not received within the preset time, stopping sending the target motion control instruction.

In a second aspect, there is provided a cooperative control method of a medical device, applied to a second medical device, the cooperative control method including:

receiving a target motion control instruction, the target motion control instruction being sent by a first medical device with communication established with the second medical device;

executing a task corresponding to the target motion control instruction;

and sending task state information of the execution action to the first medical equipment so that the first medical equipment determines the task execution state of the second medical equipment according to the task state information.

In a third aspect, there is provided a cooperative control apparatus of a medical device, applied to a first medical device storing at least one motion control instruction for controlling a second medical device to perform a corresponding action, the cooperative control apparatus comprising:

A first sending module, configured to send a target motion control instruction to the second medical device, where the first medical device establishes communication with the second medical device, so that the second medical device performs a task corresponding to the target motion control instruction;

the receiving module is used for receiving task state information fed back by the second medical equipment;

and the determining module is used for determining the task execution state of the second medical equipment according to the task state information.

Optionally, the first medical device establishes communication with the second medical device based on a predefined RoboLINK protocol; the RoboLINK protocol conforms to the DICOM standard.

Optionally, the first sending module includes:

a determining unit, configured to determine a workflow conforming to a current medical scene;

and the sending unit is used for sequentially sending the target motion control instruction for completing the workflow to the second medical equipment.

Optionally, the method further comprises:

the second sending module is used for periodically sending the link test signal to the second medical equipment;

and the stopping module is used for controlling the first medical equipment to stop sending the target motion control instruction under the condition that the response fed back by the second medical equipment aiming at the link test signal is not received within the preset time.

In a fourth aspect, there is provided a cooperative control apparatus of a medical device, which is applied to a second medical device, the cooperative control apparatus including:

a receiving module for receiving a target motion control instruction, the target motion control instruction being sent by a first medical device in a case where communication is established with the second medical device;

an execution module for executing a task corresponding to the target motion control instruction;

and the sending module is used for sending the task state information of the execution action to the first medical equipment so that the first medical equipment can determine the task execution state of the second medical equipment according to the task state information.

In a fifth aspect, a medical device is provided, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a cooperative control method of any of the medical devices described above when the computer program is executed.

In a sixth aspect, a computer-readable storage medium is provided, on which a computer program is stored, which when executed by a processor implements the cooperative control method of a medical device according to any one of the above.

The invention has the positive progress effects that: in the embodiment of the invention, the first medical equipment and the second medical equipment logically form a whole equipment through the cooperative control of the first medical equipment and the second medical equipment, so that the medical auxiliary function is realized, the first medical equipment and the second medical equipment are not required to be matched manually, the operation flow of the medical equipment is simplified, the error caused by manual auxiliary matching is avoided, and the operation precision is further improved.

Drawings

Fig. 1 is a flowchart of a cooperative control method of a medical device according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a DICOM communication model used in a cooperative control method of a medical device according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a software and hardware triggering architecture implemented by a RoboLINK protocol adopted by the cooperative control method of a medical device according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a layered architecture of a software architecture of a RoboLINK protocol adopted by the cooperative control method of a medical device according to an embodiment of the present invention;

FIG. 5 is a flowchart of another method for collaborative control of a medical device according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a communication data flow between a surgical robot and an imaging device according to an embodiment of the present invention;

FIG. 7 is a flowchart of another method for collaborative control of a medical device according to an exemplary embodiment of the present invention;

fig. 8 is a schematic structural view of a medical device according to an exemplary embodiment of the present invention.

Detailed Description

The invention is further illustrated by means of the following examples, which are not intended to limit the scope of the invention.

The embodiment of the invention provides a cooperative control method of medical equipment, which enables two medical equipment to transmit data and control the other party to move so as to cooperatively complete medical operation.

Fig. 1 is a flowchart of a cooperative control method of a medical device according to an embodiment of the present invention, where the cooperative control method is applied to a first medical device, and the first medical device stores at least one motion control instruction, where the motion control instruction is used to control a second medical device to perform a corresponding action. Referring to fig. 1, the cooperative control method includes the steps of:

step 101, under the condition that the first medical device and the second medical device establish communication, sending a target motion control instruction to the second medical device so that the second medical device executes a task corresponding to the target motion control instruction.

The target motion control instruction may correspond to a current medical scenario, and if the current medical scenario is that the first medical device starts the RoboLINK service of the second medical device, the first medical device sends a start instruction (target motion control instruction) to the second medical device; if the current medical scene is that the first medical device controls the second medical device to acquire the medical image, the first medical device sends an image acquisition instruction (target motion control instruction) to the second medical device.

Step 102, task state information fed back by the second medical device is received.

The second medical device sends task status information to the first medical device each time the second medical device receives the target motion control command and/or performs a task corresponding to the target motion control command. The task state information characterizes task execution conditions or task execution states of the second medical equipment, so that the first medical equipment can know the current state and task execution conditions of the second medical equipment, and the second medical equipment can be used for adjusting the second medical equipment. The task state information may include, but is not limited to, at least one of the following parameters: a motion trajectory of the second medical device, a pose of the second medical device, a current state of the second medical device, and the like.

Step 103, determining the task execution condition of the second medical equipment according to the task state information.

The first medical device can timely know the task execution condition of the first medical device according to the task state information fed back by the second medical device so as to facilitate subsequent processing, such as sending a next target motion control instruction to the second medical device or generating prompt information so as to facilitate medical staff and know the current states of the first medical device and the second medical device.

Therefore, through the cooperative control of the first medical equipment and the second medical equipment, the first medical equipment and the second medical equipment logically form a whole equipment, the medical auxiliary function is realized, the first medical equipment and the second medical equipment are not required to be matched manually, the operation flow of the medical equipment is simplified, the error caused by manual auxiliary matching is avoided, and the operation precision can be improved.

The number of the second medical devices may be one or a plurality of the second medical devices, and the types of the plurality of the second medical devices may be the same or different. When the number of the second medical devices is multiple, the multiple devices logically form a device whole, and finally, the medical staff can freely build the medical devices according to actual conditions, so that more and more complex medical auxiliary functions are realized.

In one embodiment, the first medical device periodically transmits a link test signal to the second medical device; if the response of the second medical equipment to the link test signal feedback is not received within the preset time, stopping sending the target motion control instruction, so as to avoid the medical safety problem caused by inconsistent target motion control instructions received by the second medical equipment and the target motion control instruction sent by the first medical equipment.

In one embodiment, the first medical device establishes communication with the second medical device based on a predefined RoboLINK protocol. Currently, DICOM does not have communication rules for controlling medical devices, so the embodiment of the present invention defines a RoboLINK protocol based on the DICOM standard. Medical images and related data between the first medical device and the second medical device, control instructions for controlling the movement of the other party, etc. are transmitted based on the RoboLINK protocol. The defined RoboLINK protocol conforms to the DICOM standard. The RoboLINK protocol enables communication between two medical devices, which can interact with each other, rather than unilateral control. The RoboLINK protocol is a DICOM protocol-based control protocol, and the SOP services are components of the DICOM protocol, which are inheritance and extension to the SOP services.

In order to realize cooperative control of medical devices, in the embodiment of the present invention, a service group of a RoboLINK protocol is formulated with strict reference to a document format of the DICOM standard, a plurality of SOP (service object pair) service classes are designed according to different functions, and service primitives conforming to a logic specification of the DICOM standard are used, so that the RoboLINK protocol can also be used as an extension of the DICOM standard.

Fig. 2 is a schematic structural diagram of a DICOM communication model used in the cooperative control method of a medical device according to an embodiment of the present invention. The bottom layer of the DICOM communication model is directly implemented by the TCP/IP protocol. The main components of the DICOM communication model are a DICOM service object pair (Service Object Pairs, SOP) and a DICOM upper layer protocol (Upper Layers Protocol, ULP), with SOP services being built on top of the ULP protocol, being users of the ULP. The SOP is divided into information objects (Information Object, IOD) and service commands (DICOM Message Service Element, DIMSE), the two are matched with each other, a plurality of services can be provided for DICOM AE (application entity), application and management of various medical data are involved, and a message exchange carrier comprises a DIMSE service group; the ULP provides an interface for information interaction between DICOM applications and TCP/IP layers, and the message exchange carrier is an ACSE (associated control service element) protocol DATA unit, such as P-DATA, A-Abs, etc. The DICOM application layer protocol and the ULP protocol are matched with each other to complete transmission of communication instructions.

The cooperative control process of the first medical device and the second medical device is completed on the DICOM link, and the communication flow is as follows:

association negotiation, association establishment, data transmission and association release;

association negotiation is a first step of two DICOM application entities (first medical device and second medical device) communicating for determining the data type and data encoding scheme of a DICOM link exchange. After the association negotiation is completed, the second medical device provides corresponding SOP service according to the content in the collaboration control instruction sent by the first medical device. In the service process, any party can propose a termination link to end the DICOM communication.

In the embodiment of the invention, the DICOM application layer uses the DIMSE service primitive for communication, and the service primitive is mainly divided into two categories, namely DIMSE-C and DIMSE-N. The DIMSE-C is used for composite SOP, the DIMSE-N is used for normalizing SOP, and the DIMSE service primitives and their uses are listed in Table 1 as examples.

TABLE 1

The following describes the design concept of RoboLINK.

Inside the protocol, the RoboLINK designs a corresponding SOP service group according to different functional requirements. When the first medical device sends out the target motion control instruction, the second medical device starts the corresponding SOP service and feeds back task state information so as to recover the state. The motion control instructions and reply statements used in this process are provided by the dime service primitives in the DICOM standard.

In one embodiment, to meet the safety requirements of medical device regulations, the motion triggering of a portion of the medical device does not allow software triggering to be used, so the RoboLINK protocol also provides hardware switching support for triggering the operation of the portion of the medical device, the overall structure of the software and hardware of which is shown in fig. 3. The RoboLINK protocol is used as an open underlying link, and new services can be developed as required.

Since the core structure of the RoboLINK protocol is the SOP service by referring to the DICOM standard, the RoboLINK protocol is designed RoboLINK Service Class, and is mainly used for data transmission among a plurality of medical devices and transmission of target motion control instructions, which strictly follows the definition of DICOM standard documents.

In one embodiment, the target motion control instructions are independent of each other, and the first medical device may determine the target motion control instruction to be sent according to the actual requirement or the current medical scene, and send the target motion control instruction to the second medical device.

In one embodiment, the plurality of motion control instructions may constitute a workflow, and the first medical device may determine a workflow conforming to the current medical scene according to the current medical scene and sequentially send a target motion control instruction for completing the workflow in the current medical scene to the second medical device. Wherein the workflow includes at least one of the following tasks: starting Robolink service, adjusting pose of the second medical device, and controlling medical image data acquired by the second medical device.

For example, assuming that the workflow is determined to adjust the pose of the second medical device according to the current medical scene, controlling the medical image data collected by the second medical device, and closing the second medical device, the first medical device sequentially sends a target motion control instruction for adjusting the pose of the second medical device, a target motion control instruction for controlling the medical image data collected by the second medical device, and a target motion control instruction for closing the second medical device to the second medical device.

In one embodiment, the DICOM application layer communicates using dime service primitives. The RoboLINK protocol is positioned as an underlying link between the first medical device and the second medical device, and the transmission of the target motion control command is implemented by the RoboLINK protocol. The RoboLINK protocol is an open underlying linking method, and new services can be developed as required. Since the core structure of the RoboLINK protocol is the SOP service, which strictly follows the definition of DICOM standard documents, the RoboLINK is designed RoboLINK Service Class, mainly for data transmission between the first medical device and the second medical device and transmission of target motion control instructions.

The software architecture of the RoboLINK protocol adopts a layered architecture, see fig. 4, with user interfaces at both ends, which facilitate the operation of the first medical device and the second medical device by the healthcare worker. Robolink collaboration services are accomplished by SCU (controller of first medical device) and SCP (controller of second medical device) Manager manipulation RoboLINK Base SOP classes. The controller sends out different target motion control instructions through SCU Manager control RoboLINK Base SCU according to different setting information of the user interface, roboLINK Base SCP starts corresponding SOP service according to the target motion control instructions after receiving the target motion control instructions, and then expands some control operations on the second medical equipment through SCP Manager. In the process, the SCP continuously returns the task state information of the second medical equipment to the SCU for the control equipment to carry out adjustment operation, so that the operation effect of the first medical equipment and the second medical equipment for cooperatively completing the task is achieved.

In one embodiment, the setting of the RoboLINK protocol itself must meet the functional safety requirements of the medical device as it relates to the functional manipulation of the medical device. In addition to meeting the basic requirements of communication safety, i.e. keeping the target motion control command sent by the first medical device consistent with the target motion control command received by the second medical device, it is also necessary to send safety control commands to the medical devices in case of danger to minimize the loss of danger. RoboLINK is mainly configured to control the security of the communication functions of the device in the following manner:

1) C-ECHO heartbeat: in order to avoid the possible safety problem caused by the disconnection of the links of the two medical devices under the unknowing condition, the first medical device continuously sends a C-ECHO instruction as a DICOM heartbeat, the response time is within a specified value, and if any one end does not receive the heartbeat response for more than the specified time, the error is reported to the system.

2) Breaking the net: once the RoboLINK link is broken, all services are suspended and the medical device immediately stops moving, entering a safe state. The disconnection has two modes, wherein any one of the two modes presses the LINK control and disconnects the network cable. In addition, the medical device automatically disconnects in an abnormal situation, such as the medical device detecting a socket abnormality (client abnormality exit, network link abnormality, etc.).

3) And displaying an interface log: SCP end information replied by the N-EVENT-REPORT is output to an SCU end control interface, so that the state can be directly monitored and timely adjusted.

It should be noted that, in the case where the first medical device and the second medical device establish communication, the second medical device may also send the target motion control instruction to the first medical device, so that the first medical device executes a task corresponding to the target motion control instruction and feeds back task state information to the second medical device, so that the second medical device determines, according to the task state information, a task execution state of the second medical device, and a specific implementation process is similar to that of the first medical device, which is not described herein again.

Fig. 5 is a flowchart of another cooperative control method of a medical device according to an embodiment of the present invention, where the cooperative control method is applied to a second medical device, and referring to fig. 5, the cooperative control method includes the following steps:

step 501, receiving a target motion control instruction sent by a first medical device.

Wherein the target motion control instruction is sent by the first medical device with communication established with the second medical device.

In one embodiment, the first medical device establishes communication with the second medical device based on a predefined RoboLINK protocol. In a specific implementation process, refer to an explanation part of the cooperative control method shown in fig. 1, which is not repeated here.

Step 502, executing a task corresponding to the target motion control instruction.

Step 503, sending task status information of the execution action to the first medical device, so that the first medical device determines a task execution status of the second medical device according to the task status information.

The cooperative control process of the medical devices will be further described below taking the first medical device as a surgical robot and the second medical device as an imaging device (e.g., 3D C-arm). Taking the medical scenario of preoperative planning by acquiring medical image data of a patient through interaction between a surgical Robot and a medical imaging device as an example, communication data flows between the surgical Robot and the imaging device are shown in fig. 6, in which a Robot characterizes the surgical Robot, a C-arm characterizes a program device, and communication data is divided into A, B phases. The first stage (a in the figure) is a service preparation stage, in which the imaging apparatus creates a corresponding SOP service according to a request of the surgical robot, and the following steps are completed by this created SOP service. The second stage (B in the figure) is a service proceeding stage, and the SOP completes the service requested by the surgical robot, such as providing image data or controlling movement.

The RoboLINK classifies the imaging device according to its function, and embodiments of the present invention design 3 SOP classes, roboLINK Base SOP, roboLink Attribute Retrieve SOP (attribute acquisition service) and RoboLink Status Notification SOP (status notification service), respectively. Image Management SOP in fig. 6 inherits the image storage class SOP inherent to the DICOM standard and is not described herein. The description of other SOPs is as follows:

1)RoboLINK Base SOP

IOD description

The RoboLINK base class IOD is an abstract information object that creates and manages SOPs. And setting SOP supported by the imaging equipment after the Robolink link, and selectively enabling the corresponding SOP to provide service after receiving the service instruction.

DIMSE service group

Table 2 exemplarily shows RoboLINK Base SOP service elements, wherein the N-CREATE provisioning properties table contains an SOP UID for the SCU to request to the SCP to CREATE a different SOP instance.

TABLE 2

DIMSE service element	Usage SCU/SCP
		N-CREATE	M/M

c. Status of

Table 3 exemplarily shows RoboLINK Base SOP service states.

TABLE 3 Table 3

d. Behavior

After the DICOM link is completed, the surgical robot uses the N-CREATE to request the imaging device to CREATE a different SOP instance, the imaging device returns to the corresponding state, and the success of the creation indicates that the services supported by the RoboLINK have been started.

2)RoboLINK Attribute Retrieve SOP class

IOD description

The attribute acquisition IOD is an abstract information object that manages parameter settings for the control device to set motion parameters such as motion coordinates and angles, patient information, and the like to the imaging device.

DIMSE service group

Table 4 exemplarily shows RoboLINK Attribute Retrieve SOP service elements, the N-SET contains some control parameters SET by the surgical robot, and is transmitted to the imaging device for device control. N-DELETE is used to DELETE an SOP instance.

TABLE 4 Table 4

DIMSE service element	Usage surgical robot/imaging device
		N-SET	M/M (selecting one according to functions)
N-DELETE	M/M

c. Private attribute list

Table 5 is an exemplary RoboLINK Attribute Retrieve SOP private property table listing custom property elements used by N-SET in SOP.

TABLE 5

d. Status of

Table 6 exemplarily shows RoboLINK Attribute Retrieve SOP states.

TABLE 6

e. Behavior

The surgical robot uses the N-SET service primitive to transmit a parameter table to be SET, assigns values for the attributes of the imaging equipment, and after the setting is completed, the imaging equipment can send state information to inform the surgical robot whether the task is completed.

3)RoboLink Status Notification SOP class

IOD description

The status notification IOD is an abstract information object that manages status monitoring. After the imaging device is established, the SOP actively returns the state of the imaging device to the surgical robot after the imaging device establishes a Robolink link with the surgical robot, so that the purpose of monitoring the motion state of the imaging device by the surgical robot is achieved.

DIMSE service group

Table 7 exemplarily shows RoboLink Status Notification SOP service elements.

TABLE 7

DIMSE service element	Usage surgical robot/imaging device
		N-EVENT-REPORT	M/M
N-DELETE	M/M

The N-EVENT-REPORT is actively sent by the imaging device to the surgical robot for reporting the current EVENT condition.

c. Private attribute list

Table 8 exemplarily shows RoboLink Status Notification SOP private attribute tables.

TABLE 8

d. Status of

Status Notification SOP is the same as Attribute Retrieve SOP returns.

e. Behavior

There are three ways for the imaging device to send the N-EVENT-REPORT: a. transmitting on a link already established by the surgical robot; b. the imaging device initiates a new link for transmission; c. and the link is sent immediately after the next surgical robot negotiation. The three modes can be selected according to actual requirements. The method a is in accordance with the logical continuity of the unidirectional control device, and after the imaging device receives the N-CREATE instruction and completes the creation of the designated SOP, the N-EVENT-REPORT-RSP is sent to the surgical robot to reply to the current device state.

Fig. 7 is a flowchart of another method for collaborative control of a medical device according to an exemplary embodiment of the present invention, where interaction between a surgical robot and a medical imaging device is implemented through the SOP designed as described above, and medical image data of a patient is acquired for preoperative planning. Referring to fig. 7, the method includes the steps of:

Step 701, the surgical robot establishes a RoboLINK link with the imaging device.

The LINK between the surgical robot and the imaging device may be, but is not limited to, established by clicking a LINK control on the user interface, triggering a handshake.

After the imaging device and the surgical robot are both started and the initialization work is completed, medical staff clicks a LINK control on a user interface of the imaging device and the surgical robot to establish a RoboLINK LINK.

The communication process of DICOM is adopted, and the surgical robot and the imaging equipment firstly carry out negotiation link, namely, transmit transmission semantics and abstract grammar (equivalent to SOP Class UID) to finish the link of the bottom TCP/IP and the link of the DICOM application layer. Before the Robolink service is started, the surgical robot firstly uses the C-ECHO service primitive to carry out DICOM link test on the Robolink service primitive to confirm that the DICOM link is established between the two parties, namely the establishment of the Robolink bottom layer link is completed, and then the C-ECHO is always sent as a heartbeat to confirm whether the Robolink keeps the link state. On this basis, the surgical robot sends an N-CREATE-RQ service primitive to the imaging device requesting to turn on the RoboLINK service. After receiving the request, the imaging device establishes Attribute Retrieve SOP, status Notification SOP and SOP at the Server end, and returns N-CREATE-RSP after the establishment is completed; if the STATUS attribute in the returned RSP is STATUS_Success, indicating that the Robolink service is started; after Status Notification SOP is established, the imaging device continuously sends an N-EVENT-REPORT-RQ REPORT on the current device state, and the state information is embodied at the master device side, so that the monitoring of the slave device is realized. In the whole link process, the EVENT Type of the N-EVENT-REPORT-RQ is set as the Pending, and the status REPORT is continuously carried out until the monitoring process is finished, and does or Failure is returned, which indicates that the monitoring operation is stopped.

Step 702, the surgical robot requests registration of patient information and sends an inspection instruction to the imaging device.

The inspection instruction is one of the motion control instructions.

In step 703, the imaging device receives the examination instruction, acquires patient information, and registers the patient information.

Step 704, the imaging device sends task state information of the execution action to the surgical robot.

The task status information may include, for example, "checking" information.

Step 705, the surgical robot requests to collect medical images and sends image collection instructions to the imaging device.

Step 706, the imaging device receives the image acquisition instruction, and executes the image acquisition process.

In one embodiment, the image acquisition instructions carry scanning parameters based on which the imaging device acquires medical image data of the patient.

In order to meet the requirements of medical equipment regulation on safety, the motion triggering of the imaging equipment does not allow software triggering to be used, so Robolink also provides hardware switch support for triggering the operation of the imaging equipment, when the medical personnel is determined to step on a foot brake to start, the imaging equipment acquires medical image data, and otherwise, the imaging equipment does not acquire medical image data.

The acquisition of medical image data by an imaging device involves two main steps, namely setting motion parameters and an image acquisition process. In the former stage, the parameters SET by the surgical robot are sent to the imaging device in an N-SET-RQ service primitive, the imaging device is instructed to SET the parameters and return an N-SET-RSP report setting state, and if the return state attribute is STATUS_Success, the fact that the surgical robot can use a Robolink hardware part to perform CT motion triggering, such as stepping on a foot brake, is indicated. During this process, the imaging device still continues to transmit N-EVENT-REPORT-RQ, which the surgical robot can intervene in as appropriate according to the reported device motion parameters.

Step 707, the imaging device sends task state information of the execution action to the surgical robot.

The task state information may include, for example, a process state.

Step 708, the imaging device completes the acquisition of the medical image data and sends the medical image data to the surgical robot.

Step 709, the surgical robot receives the medical image data.

In this process, the surgical robot may also send other instructions to the imaging device, and the imaging device may also send instructions to the surgical robot, which is not described here again.

After completion of the task, the surgical robot and the imaging device disconnect the RoboLINK connection. The surgical robot and the imaging device may also be configured to disconnect the RoboLINK when the healthcare worker triggers the LINK control via the user interface.

Any party may propose to terminate the link along with the DICOM communication section. Under normal conditions, one party receiving the release message replies confirmation, and the two parties disconnect the link to complete normal release of the release. In emergency situations, such as a sudden interruption of the network cable, the network cable can be released without receiving confirmation, i.e. the Abort is released abnormally. Once the link is broken, the imaging device immediately stops all movements, i.e., enters a safe state.

Therefore, the imaging device is associated with the surgical robot through the Robolink protocol, so that the direct interaction between the surgical robot and the imaging device is realized, the automatic registration, the image data transmission and other operations can be realized, the surgical accuracy is improved, the surgical procedure is optimized, and the complexity of manual operation equipment is reduced. The imaging device can be mutually fused with other medical devices, and the surgical robot can be mutually fused with other medical devices to jointly complete operation tasks.

In the embodiment of the invention, a verification program is also designed, the simulation operation robot and the imaging equipment are taken as experimental environments, the communication process of the simulation equipment and the simulation equipment is used for verifying the effectiveness and the safety of the protocol, the protocol achieves the expected effect for the functions of parameter setting, state feedback and the like, and the protocol does not fail for basic exception handling.

The invention also provides an embodiment of the cooperative control device of the medical equipment, corresponding to the embodiment of the cooperative control method of the medical equipment.

The embodiment of the invention also provides a cooperative control device of a medical device, which is applied to a first medical device, wherein the first medical device stores at least one motion control instruction, and the motion control instruction is used for controlling a second medical device to execute corresponding actions, and the cooperative control device comprises:

Optionally, the first sending module includes:

Optionally, the method further comprises:

The embodiment of the invention also provides a cooperative control device of the medical equipment, which is applied to the second medical equipment, and comprises:

For the device embodiments, reference is made to the description of the method embodiments for the relevant points, since they essentially correspond to the method embodiments. The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purposes of the present invention. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

Fig. 8 is a schematic structural diagram of a medical device according to an exemplary embodiment of the present invention, showing a block diagram of an exemplary medical device 80 suitable for use in implementing embodiments of the present invention. The medical device 80 shown in fig. 8 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.

As shown in fig. 8, the medical device 80 may be in the form of a general purpose computing device, which may be a server device, for example. The components of the medical device 80 may include, but are not limited to: the at least one processor 81, the at least one memory 82, a bus 83 connecting the various system components, including the memory 82 and the processor 81.

The bus 83 includes a data bus, an address bus, and a control bus.

The memory 82 may include volatile memory such as Random Access Memory (RAM) 821 and/or cache memory 822, and may further include Read Only Memory (ROM) 823.

Memory 82 may also include a program tool 825 (or utility) having a set (at least one) of program modules 824, such program modules 824 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.

The processor 81 executes various functional applications and data processing, such as the methods provided in any of the embodiments described above, by running a computer program stored in the memory 82.

The medical device 80 may also communicate with one or more external devices 84 (e.g., keyboard, pointing device, etc.). Such communication may occur through an input/output (I/O) interface 85. Also, the medical device 80 may communicate with one or more networks, such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet, through a network adapter 86. As shown, the network adapter 86 communicates with other modules of the model-generated medical device 80 via the bus 83. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in connection with the model-generated medical device 80, including, but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, data backup storage systems, and the like.

It should be noted that although several units/modules or sub-units/modules of a medical device are mentioned in the above detailed description, such a division is merely exemplary and not mandatory. Indeed, the features and functionality of two or more units/modules described above may be embodied in one unit/module in accordance with embodiments of the present invention. Conversely, the features and functions of one unit/module described above may be further divided into ones that are embodied by a plurality of units/modules.

The embodiment of the present invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method provided by any of the above embodiments.

More specifically, among others, readable storage media may be employed including, but not limited to: portable disk, hard disk, random access memory, read only memory, erasable programmable read only memory, optical storage device, magnetic storage device, or any suitable combination of the foregoing.

In a possible implementation manner, the embodiment of the invention may also be implemented in the form of a program product, which comprises a program code for causing a terminal device to carry out the method of implementing any of the embodiments described above, when the program product is run on the terminal device.

Wherein the program code for carrying out the invention may be written in any combination of one or more programming languages, which program code may execute entirely on the user device, partly on the user device, as a stand-alone software package, partly on the user device and partly on the remote device or entirely on the remote device.

While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.

Claims

1. A cooperative control method of a medical device, applied to a first medical device, the first medical device storing at least one motion control instruction for controlling a second medical device to perform a corresponding action, the cooperative control method comprising:

receiving task state information fed back by the second medical equipment;

2. The cooperative control method of medical devices according to claim 1, wherein the first medical device establishes communication with the second medical device based on a predefined RoboLINK protocol; the RoboLINK protocol conforms to the DICOM standard.

3. The cooperative control method of a medical device according to claim 1, wherein transmitting a target motion control instruction to the second medical device includes:

determining a workflow conforming to the current medical scene;

4. A method of collaborative control of a medical device according to claim 3, wherein the workflow includes at least one of the following tasks: starting Robolink service, adjusting the pose of the second medical device, and acquiring the data of the second medical device.

5. The cooperative control method of a medical device according to claim 1, further comprising:

periodically transmitting a link test signal to the second medical device;

6. A cooperative control method of a medical device, which is applied to a second medical device, the cooperative control method comprising:

executing a task corresponding to the target motion control instruction;

7. A cooperative control apparatus for a medical device, applied to a first medical device storing at least one motion control instruction for controlling a second medical device to perform a corresponding action, the cooperative control apparatus comprising:

8. The cooperative control apparatus of claim 7, wherein the first medical device establishes communication with the second medical device based on a predefined RoboLINK protocol; the RoboLINK protocol conforms to the DICOM standard.

9. The cooperative control apparatus of claim 7, wherein the first transmission module comprises:

10. The cooperative control apparatus of a medical device according to claim 7, further comprising:

11. A cooperative control apparatus of a medical device, characterized by being applied to a second medical device, the cooperative control apparatus comprising:

12. A medical device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the cooperative control method of the medical device according to any of claims 1 to 6 when executing the computer program.

13. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the cooperative control method of a medical device according to any one of claims 1 to 6.