CN116849724B - Communication method, device, equipment and storage medium based on surgical robot - Google Patents
Communication method, device, equipment and storage medium based on surgical robot Download PDFInfo
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00221—Electrical control of surgical instruments with wireless transmission of data, e.g. by infrared radiation or radiowaves
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Abstract
The present disclosure relates to a communication method based on a surgical robot, which is applied to a state monitoring system for monitoring operation states of a plurality of subsystems therein, and includes: generating a heartbeat signal in response to a monitoring operation for the plurality of subsystems, wherein the heartbeat signal includes a first heartbeat alignment code; transmitting the heartbeat signal to the plurality of subsystems, so that the plurality of subsystems generate feedback state information based on the heartbeat signal and feed back, wherein the feedback state information comprises a second heartbeat alignment code; and acquiring feedback state information of the subsystems, and performing operation of the feedback state information of the subsystems based on the first heartbeat alignment code and the second heartbeat alignment code to generate monitoring results for the subsystems. According to the method, the state monitoring of the system to the surgical robot can be accurately completed through efficient and accurate communication transmission in the system.
Description
Technical Field
The disclosure relates to the technical field of communication, and in particular relates to a communication method, device, equipment and storage medium based on a surgical robot.
Background
With the development of robot assisted surgery equipment, surgical robot assistance is also more and more common in bone surgery, and a surgical robot system comprises a plurality of subsystems, and the subsystems are mutually matched, so that various bone surgery can be completed, but the functions of the subsystems are independently realized, the running state is independently monitored, and the overall monitoring of the system is not realized. In order to realize the overall monitoring of the system, the communication among all the subsystems needs to be performed rapidly and accurately, so that a communication method suitable for the surgical robot needs to be provided for realizing the overall monitoring of the system.
Disclosure of Invention
In order to solve the technical problems, the present disclosure provides a communication method, device, equipment and storage medium based on a surgical robot, which can accurately complete the overall state monitoring of the system to the surgical robot through efficient and accurate communication transmission among all subsystems in the system.
In a first aspect, an embodiment of the present disclosure provides a communication method based on a surgical robot, applied to a state monitoring system for monitoring operation states of a plurality of subsystems therein, the method including:
generating a heartbeat signal in response to a monitoring operation for the plurality of subsystems, wherein the heartbeat signal includes a first heartbeat alignment code;
Transmitting the heartbeat signal to the plurality of subsystems, so that the plurality of subsystems generate feedback state information based on the heartbeat signal and feed back, wherein the feedback state information comprises a second heartbeat alignment code;
And acquiring feedback state information of the subsystems, and performing operation of the feedback state information of the subsystems based on the first heartbeat alignment code and the second heartbeat alignment code to generate monitoring results for the subsystems.
Optionally, the state monitoring system includes a functional module and a communication module, where the functional module is configured to generate the heartbeat signal and transmit the heartbeat signal to the communication module, and the communication module is configured to forward the received heartbeat signal to the multiple subsystems.
Optionally, the first heartbeat alignment code includes a first identity code and a heartbeat counter, where the first identity code is used to identify the identity of the communication module, and the heartbeat counter is used to identify current data that has sent a heartbeat signal in a current period via the functional module.
Optionally, the generating, in response to the monitoring operation for the plurality of subsystems, a heartbeat signal includes:
responding to monitoring operation of the subsystems, acquiring current data of a counter in the functional module, and generating the heartbeat counting code according to the current data;
Acquiring a first identity code of the communication module, and generating a first heartbeat alignment code according to the first identity code and the heartbeat counting code;
And generating the heartbeat signal according to the first heartbeat alignment code.
Optionally, the feedback status information further includes a second identity code and a feedback content segment, where the second identity code is used to identify the multiple subsystems that send the feedback status information, the second heartbeat alignment code is generated based on the first heartbeat alignment code, and is used to align information during shaping, and the feedback content segment is used to record an operation status of each subsystem.
Optionally, the feedback status information further includes a frame header, a calibration code, and an information end code, where the frame header is used to identify a type of information fed back, the calibration code is used to calibrate accuracy of the information, and the information end code is used to declare that the feedback status information is coded.
Optionally, the calculating feedback state information of the plurality of subsystems based on the first heartbeat alignment code and the second heartbeat alignment code, generating a monitoring result for the plurality of subsystems includes:
Checking the feedback state information of the subsystems based on the second heartbeat alignment code, and shaping each feedback state information after the successful check to obtain system state information;
generating system state normal information according to the heartbeat signal;
And aligning a first heartbeat alignment code in the system state normal information with a second heartbeat alignment code in the system state information, performing bit operation of the system state information and the system state normal information, and generating monitoring results for the subsystems.
Optionally, the shaping processing of each feedback state information after successful verification to obtain system state information includes:
determining feedback content segments in the feedback state information after successful verification, and splicing the feedback content segments according to a preset splicing sequence to obtain spliced content segments;
and coding according to the same frame header section, the second heartbeat alignment code, the information ending code and the spliced content section in each piece of feedback state information to obtain the system state information.
In a second aspect, an embodiment of the present disclosure provides a communication device based on a surgical robot, which is applied to a state monitoring system for monitoring an operation state of a plurality of subsystems therein, the device comprising:
A generation unit configured to generate a heartbeat signal in response to a monitoring operation for the plurality of subsystems, wherein the heartbeat signal includes a first heartbeat alignment code;
A sending unit, configured to send the heartbeat signal to the plurality of subsystems, so that the plurality of subsystems generate feedback state information based on the heartbeat signal and feed back the feedback state information, where the feedback state information includes a second heartbeat alignment code;
the processing unit is used for acquiring feedback state information of the subsystems and carrying out operation on the feedback state information of the subsystems based on the first heartbeat alignment code and the second heartbeat alignment code to generate monitoring results for the subsystems.
In a third aspect, an embodiment of the present disclosure provides an electronic device, including:
A memory;
A processor; and
A computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the surgical robot-based communication method as described above.
In a fourth aspect, embodiments of the present disclosure provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a surgical robot-based communication method as described above.
The embodiment of the disclosure provides a communication method based on a surgical robot, which is applied to a state monitoring system, wherein the state monitoring system is used for monitoring the operation states of a plurality of subsystems in the state monitoring system, and the method comprises the following steps: generating a heartbeat signal in response to a monitoring operation for the plurality of subsystems, wherein the heartbeat signal includes a first heartbeat alignment code; transmitting the heartbeat signal to the plurality of subsystems, so that the plurality of subsystems generate feedback state information based on the heartbeat signal and feed back, wherein the feedback state information comprises a second heartbeat alignment code; and acquiring feedback state information of the subsystems, and performing operation of the feedback state information of the subsystems based on the first heartbeat alignment code and the second heartbeat alignment code to generate monitoring results for the subsystems. According to the method, through efficient and accurate communication transmission among all subsystems in the system, the overall state monitoring of the system on the surgical robot can be accurately completed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic flow chart of a communication method based on a surgical robot according to an embodiment of the disclosure;
Fig. 2 is a waveform diagram of a heartbeat signal according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of feedback status information according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of system status information according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a communication device based on a surgical robot according to an embodiment of the disclosure;
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.
Aiming at the technical problems, the embodiment of the disclosure provides a communication method based on a surgical robot, which is a state monitoring system with uniform pace from top to bottom constructed on the surgical robot, and the operating states of all subsystems can be rapidly and comprehensively mastered to perform real-time monitoring by performing efficient and accurate communication among all subsystems in the state monitoring system, and the system can be integrated into a whole through coordination among all subsystems, so that the operation safety and controllability of the system are ensured. And in particular may be described in more detail by one or more of the following examples.
Fig. 1 is a flow chart of a communication method based on a surgical robot according to an embodiment of the present disclosure, which is applied to a state monitoring system, where the state monitoring system is configured to monitor an operation state of a plurality of subsystems therein, and specifically includes steps S110 to S130 shown in fig. 1:
the state monitoring system comprises a plurality of monitoring centers, wherein the monitoring centers comprise a system monitoring center, a mechanical arm monitoring center, a main control board monitoring center and a photoelectric tracking monitoring center, and the system monitoring center is used for issuing heartbeat signals to other monitoring centers, receiving and processing feedback state information fed back by the other monitoring centers and generated based on the heartbeat signals and generating monitoring results; the mechanical arm monitoring center is used for monitoring a mechanical arm trolley module in the surgical robot system; the main control board monitoring center is used for monitoring the running states of a plurality of subsystems under the main control board through the heartbeat signals; the photoelectric tracking monitoring center is used for monitoring a photoelectric tracking module in a navigation module in the surgical robot system. The system monitoring center comprises a functional module, a communication module, a memory and an operation state monitoring module, wherein the functional module is used for generating a heartbeat signal and transmitting the heartbeat signal to the communication module, the communication module is used for forwarding the received heartbeat signal to the subsystems, the memory is used for storing a plurality of feedback state information fed back to the communication module by the subsystems, the functional module is further used for acquiring the feedback state information from the memory, integrally processing the feedback state information into system state information and storing the system state information into the memory, and the operation state monitoring module is used for reading the system state information from the memory and carrying out bit operation on the system state information and system state normal information obtained based on heartbeat signal coding to obtain a monitoring result.
The specific implementation steps of S110 to S130 are as follows:
S110, generating a heartbeat signal in response to monitoring operation of the subsystems.
Wherein the heartbeat signal includes a first heartbeat alignment code.
It can be understood that after the state monitoring system detects the start of the control software configured on the surgical robot, the start of the control software triggers the monitoring operation of the state monitoring system for a plurality of subsystems, and the state monitoring system generates a heartbeat signal in response to the monitoring operation. It can be understood that the system completes one heartbeat monitoring, and before the control software is closed, a heartbeat signal is triggered every t1 time, and state monitoring is continuously performed based on the heartbeat signal. In order to prevent the feedback information of the current heartbeat signal from being confused with the feedback information of the last or next heartbeat signal, a heartbeat alignment code is fused in each generated heartbeat signal, and the heartbeat alignment code is marked as a first heartbeat alignment code, wherein the feedback information refers to the state information fed back by the subsystem according to the current heartbeat signal, namely the feedback state information.
For example, referring to fig. 2, fig. 2 is a waveform diagram of a heartbeat signal provided by an embodiment of the disclosure, where the state monitoring system triggers the heartbeat signal every t1 time before the control software is turned off.
The first heartbeat alignment code comprises a first identity code and a heartbeat counting code, wherein the first identity code is used for identifying the identity of the communication module, and the heartbeat counting code is used for identifying the current data of the heartbeat signal sent by the functional module in the current period.
It can be understood that the first heartbeat alignment code includes an 8-bit first identity code and an 8-bit heartbeat counter code, and the first heartbeat alignment code may also include only the 8-bit heartbeat counter code, where the 8-bit heartbeat counter code is used to distinguish the current heartbeat signal from the last and next heartbeat signals, and is used for subsequent alignment feedback state information. The first identity code is used for identifying the identity code of a receiver for receiving the heartbeat signal, the sender of the heartbeat signal is a functional module, the receiver is a communication module, the first identity code is the identity code of the communication module, and the identity codes of different modules are different. The heartbeat counting code is used for identifying the number of heartbeat signals sent in the current period through the functional module, the functional module determines the current period in the monitoring process, for example, the 10 th period, the functional module comprises a counter, the counter records the number of the heartbeat signals sent in the current period by the functional module, for example, the number of the heartbeat signals sent recorded by the counter is 20, and it is understood that the counter can be cleared after one monitoring period is finished.
Optionally, the generating the heartbeat signal in response to the monitoring operation for the plurality of subsystems may be specifically implemented by:
Responding to monitoring operation of the subsystems, acquiring current data of a counter in the functional module, and generating the heartbeat counting code according to the current data; acquiring a first identity code of the communication module, and generating a first heartbeat alignment code according to the first identity code and the heartbeat counting code; and generating the heartbeat signal according to the first heartbeat alignment code, wherein the current data comprises a current period and a current quantity.
It can be understood that, in response to the monitoring operation for the plurality of subsystems, the current data recorded by the counter in the functional module is acquired, the current period refers to the current monitored period, and the current number refers to the number of the heartbeat signals that have been started. And then processing the current period and the current data according to a preset rule to generate a heartbeat count number, for example, directly splicing the current period and the current number on the basis of the above example to obtain the heartbeat count number of 1020, wherein the heartbeat count numbers in each triggered heartbeat signal are different and are used for distinguishing feedback state information of different heartbeat signals, for example, the heartbeat count number mark of 0920 is the 20 th heartbeat signal sent in the 9 th stage, and it is understood that other processing modes for generating the heartbeat count number are not limited herein.
And S120, sending the heartbeat signals to the subsystems so that the subsystems generate feedback state information based on the heartbeat signals and feed back the feedback state information.
The feedback state information comprises a second heartbeat alignment code, a second identity code and a feedback content segment, wherein the second identity code is used for identifying the subsystems for sending the feedback state information, the second heartbeat alignment code is generated based on the first heartbeat alignment code and used for aligning information during integer processing, and the feedback content segment is used for recording the running states of the subsystems. The feedback state information further comprises a frame header section, a calibration code and an information ending code, wherein the frame header section is used for identifying the information type of the feedback state information, the calibration code is used for calibrating the accuracy of the feedback state information, and the information ending code is used for declaring the end of the feedback state information coding.
It can be understood that, based on S110, the functional module transmits the heartbeat signal to the communication module, and the communication module processes the heartbeat signal to conform to the communication transmission protocols of different subsystems and then sends the processed heartbeat signal to the corresponding subsystem. For a certain subsystem of the subsystems, taking a monitoring center and a plurality of modules to be monitored as examples, the monitoring center receives a heartbeat signal sent by a communication module and sends the heartbeat signal to each module to be monitored, each module obtains the current running state of the module based on the heartbeat signal and feeds back the current running state to the monitoring center, and the monitoring center performs integer processing on the current running states fed back by the modules to generate feedback state information and returns the feedback state information to the communication module.
It can be understood that the feedback status information fed back by each subsystem includes a second heartbeat alignment code, a second identity code, and a feedback content segment, where the second identity code is used to identify a plurality of subsystems that send the feedback status information, the second identity code is an identity code of each subsystem, and is used to distinguish/identify a source of the feedback status information, the identity codes of different subsystems are different, and a number of bits of the second identity code is not limited, for example, the identity code of the mechanical arm subsystem is 00001, and the identity code of the main control board subsystem is 00002. The second heartbeat alignment code is generated based on the first heartbeat alignment code and is used for aligning each feedback state information during the shaping process, the first heartbeat alignment code is associated with the second heartbeat alignment code, the first heartbeat alignment code and the second heartbeat alignment code can be identical, and the second heartbeat alignment code generated by different subsystems can be identical. The feedback content segment is used for recording the running state of each subsystem, namely describing the state information fed back by the subsystem. The feedback state information also comprises a frame header section, a calibration code and an information ending code, wherein the frame header section is used for identifying the information type of the feedback state information and distinguishing heartbeat feedback from other feedback, the information type comprises the types of safety monitoring behavior (heartbeat monitoring), functional application behavior and the like, and the frame header sections in the information fed back by each system are the same. The calibration code is used to calibrate the accuracy of the feedback status information. The information end code is used to declare the end of the feedback status information encoding.
Referring to fig. 3, an exemplary embodiment of the present disclosure is shown in fig. 3, which is a schematic structural diagram of feedback status information provided by an embodiment of the present disclosure, where a coding manner of the feedback status information of a subsystem is shown, and a feedback status information data structure includes a plurality of bit frame header segments, a second identity code, a second heartbeat alignment code, a plurality of bit feedback content segments, a calibration code, and an information end code.
S130, acquiring feedback state information of the subsystems, and performing operation on the feedback state information of the subsystems based on the first heartbeat alignment code and the second heartbeat alignment code to generate monitoring results for the subsystems.
The system monitoring center also receives feedback state information returned by each subsystem in the plurality of subsystems by using the communication module and stores the feedback state information into the memory. And then the feedback state information returned by each subsystem is read from the memory by using the functional module.
It can be understood that, based on the step S120, the feedback status information fed back by each subsystem in the plurality of subsystems is obtained, the feedback status information of each subsystem is shaped, the first heartbeat alignment code and the second heartbeat alignment code are aligned, and then the feedback status information of the plurality of subsystems is operated, so as to generate the monitoring result of the heartbeat signal for the plurality of subsystems.
Optionally, in S130, the operation of feedback state information of the multiple subsystems based on the first heartbeat alignment code and the second heartbeat alignment code may be performed to generate a monitoring result for the multiple subsystems, which may specifically be implemented by the following steps:
Checking the feedback state information of the subsystems based on the second heartbeat alignment code, and shaping each feedback state information after the successful check to obtain system state information; generating system state normal information according to the heartbeat signal; and aligning a first heartbeat alignment code in the system state normal information with a second heartbeat alignment code in the system state information, performing bit operation of the system state information and the system state normal information, and generating monitoring results for the subsystems.
It can be understood that, based on the second heartbeat alignment code and the frame header section, the feedback state information returned by the multiple subsystems is checked to determine whether the multiple feedback state information is feedback information of the same heartbeat signal, or based on the second heartbeat alignment code, the feedback state information returned by the multiple subsystems is checked to obtain each feedback state information after the verification is successful, the verification is that the second heartbeat alignment code is the same, wherein each subsystem returns one feedback state information. And (3) shaping the multiple pieces of feedback state information which are successfully checked to obtain system state information, sending the heartbeat signals to each subsystem, and simultaneously sending the heartbeat signals to an operation state monitoring center, wherein the operation state monitoring center is used for generating system state normal information according to the heartbeat signals, namely generating codes in the system normal state according to the heartbeat signals, the system state normal information and the system state information have the same data structure, aligning a first heartbeat alignment code in the system state normal information and a second heartbeat alignment code in the system state information, carrying out bit operation on the system state information and the system state normal information, and generating monitoring results of the heartbeat signals for the multiple subsystems according to bit operation results.
Optionally, in S130, shaping the feedback status information after successful verification to obtain system status information may be implemented specifically by the following steps:
Determining feedback content segments in the feedback state information after successful verification, and splicing the feedback content segments according to a preset splicing sequence to obtain spliced content segments; and coding according to the same frame header section, the second heartbeat alignment code, the information ending code and the spliced content section in each piece of feedback state information to obtain the system state information.
It can be understood that the feedback content segments in the feedback state information are determined to obtain a plurality of feedback content segments, and the feedback content segments are spliced according to a preset splicing sequence of each subsystem to obtain spliced content segments. The plurality of feedback state information are generated based on the same heartbeat signal and have the same frame head section, the second heartbeat alignment code and the information ending code, so that the same data section in the feedback state information is directly obtained, and the frame head section, the second heartbeat alignment code, the spliced content section and the information ending code are encoded to obtain the system state information.
For example, referring to fig. 4, fig. 4 is a schematic structural diagram of system status information provided by an embodiment of the present disclosure, where a system status information data structure (after-shaping data structure) sequentially includes a plurality of bit frame header segments, a second heartbeat alignment code, a spliced content segment, and an information end code, and a splicing sequence of each subsystem in the spliced content segment is: the system comprises a main control board subsystem, a tracking module subsystem and a mechanical arm subsystem.
The communication method based on the surgical robot is applied to a state monitoring system, wherein the state monitoring system is used for monitoring the running states of a plurality of subsystems in the state monitoring system, and the method comprises the following steps: generating a heartbeat signal in response to a monitoring operation for the plurality of subsystems, wherein the heartbeat signal includes a first heartbeat alignment code; transmitting the heartbeat signal to the subsystems so that the subsystems generate feedback state information based on the heartbeat signal and feed back the feedback state information, wherein the feedback state information comprises a second heartbeat alignment code; the method comprises the steps of acquiring feedback state information of a plurality of subsystems, performing operation of the feedback state information of the subsystems based on a first heartbeat alignment code and a second heartbeat alignment code, generating monitoring results for the subsystems, and setting the heartbeat alignment code in communication information to realize efficient and accurate communication transmission among all subsystems in the system.
Fig. 5 is a schematic structural diagram of a communication device based on a surgical robot according to an embodiment of the disclosure. The communication device based on the surgical robot provided in the embodiments of the present disclosure may execute the processing flow provided in the embodiment of the communication method based on the surgical robot, and is specifically applied to a state monitoring system, where the state monitoring system is configured to monitor the operation states of a plurality of subsystems therein, as shown in fig. 5, the communication device 500 based on the surgical robot includes a generating unit 510, a sending unit 520, and a processing unit 530, where:
A generating unit 510, configured to generate a heartbeat signal in response to a monitoring operation for the plurality of subsystems, where the heartbeat signal includes a first heartbeat alignment code;
A transmitting unit 520, configured to transmit the heartbeat signal to the plurality of subsystems, so that the plurality of subsystems generate feedback status information based on the heartbeat signal and feed back, where the feedback status information includes a second heartbeat alignment code;
The processing unit 530 is configured to obtain feedback status information of the multiple subsystems, and perform operation on the feedback status information of the multiple subsystems based on the first heartbeat alignment code and the second heartbeat alignment code, so as to generate monitoring results for the multiple subsystems.
Optionally, the state monitoring system includes a functional module and a communication module, where the functional module is configured to generate the heartbeat signal and transmit the heartbeat signal to the communication module, and the communication module is configured to forward the received heartbeat signal to the multiple subsystems;
The first heartbeat alignment code comprises a first identity code and a heartbeat counting code, wherein the first identity code is used for identifying the identity of the communication module, and the heartbeat counting code is used for identifying the current data of the heartbeat signal sent by the functional module in the current period.
Optionally, the generating unit 510 is configured to:
responding to monitoring operation of the subsystems, acquiring current data of a counter in the functional module, and generating the heartbeat counting code according to the current data;
Acquiring a first identity code of the communication module, and generating a first heartbeat alignment code according to the first identity code and the heartbeat counting code;
And generating the heartbeat signal according to the first heartbeat alignment code.
Optionally, the feedback status information in the apparatus 500 further includes a second identity code and a feedback content segment, where the second identity code is used to identify the multiple subsystems that send the feedback status information, the second heartbeat alignment code is generated based on the first heartbeat alignment code, and is used to align information during shaping, and the feedback content segment is used to record an operation status of each subsystem.
Optionally, the feedback status information in the apparatus 500 further includes a frame header, a calibration code, and an information end code, where the frame header is used to identify an information type of the feedback status information, the calibration code is used to calibrate accuracy of the feedback status information, and the information end code is used to declare that the feedback status information is encoded and ended.
Optionally, the processing unit 530 is configured to:
Checking the feedback state information of the subsystems based on the second heartbeat alignment code, and shaping each feedback state information after the successful check to obtain system state information;
generating system state normal information according to the heartbeat signal;
And aligning a first heartbeat alignment code in the system state normal information with a second heartbeat alignment code in the system state information, performing bit operation of the system state information and the system state normal information, and generating monitoring results for the subsystems.
Optionally, the processing unit 530 is configured to:
determining feedback content segments in the feedback state information after successful verification, and splicing the feedback content segments according to a preset splicing sequence to obtain spliced content segments;
and coding according to the same frame header section, the second heartbeat alignment code, the information ending code and the spliced content section in each piece of feedback state information to obtain the system state information.
The communication device based on the surgical robot in the embodiment shown in fig. 5 may be used to implement the technical solution of the above-mentioned method embodiment, and its implementation principle and technical effects are similar, and will not be described herein again.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure. Referring now in particular to fig. 6, a schematic diagram of an electronic device 600 suitable for use in implementing embodiments of the present disclosure is shown. The electronic device 600 in the embodiments of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), wearable electronic devices, and the like, and fixed terminals such as digital TVs, desktop computers, smart home devices, and the like. The electronic device shown in fig. 6 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 6, the electronic device 600 may include a processing means (e.g., a central processor, a graphics processor, etc.) 601 that may perform various suitable actions and processes according to a program stored in a Read Only Memory (ROM) 602 or a program loaded from a storage means 608 into a Random Access Memory (RAM) 603 to implement the surgical robot-based communication method of the embodiments as described in the present disclosure. In the RAM 603, various programs and data required for the operation of the electronic apparatus 600 are also stored. The processing device 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
In general, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, and the like; an output device 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 608 including, for example, magnetic tape, hard disk, etc.; and a communication device 609. The communication means 609 may allow the electronic device 600 to communicate with other devices wirelessly or by wire to exchange data. While fig. 6 shows an electronic device 600 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a non-transitory computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts, thereby implementing the surgical robot-based communication method as described above. In such an embodiment, the computer program may be downloaded and installed from a network via communication means 609, or from storage means 608, or from ROM 602. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 601.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
Alternatively, the electronic device may perform other steps described in the above embodiments when the above one or more programs are executed by the electronic device.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including, but not limited to, an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or gateway that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or gateway. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or gateway that comprises the element.
The foregoing is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A communication method based on a surgical robot, applied to a state monitoring system for monitoring operation states of a plurality of subsystems therein, the method comprising:
generating a heartbeat signal in response to a monitoring operation for the plurality of subsystems, wherein the heartbeat signal includes a first heartbeat alignment code;
Transmitting the heartbeat signal to the plurality of subsystems, so that the plurality of subsystems generate feedback state information based on the heartbeat signal and feed back, wherein the feedback state information comprises a second heartbeat alignment code;
acquiring feedback state information of the subsystems, and performing operation of the feedback state information of the subsystems based on the first heartbeat alignment code and the second heartbeat alignment code to generate monitoring results for the subsystems;
The state monitoring system comprises a functional module and a communication module, wherein the functional module is used for generating the heartbeat signal and transmitting the heartbeat signal to the communication module, and the communication module is used for forwarding the received heartbeat signal to the subsystems;
The first heartbeat alignment code comprises a first identity code and a heartbeat counting code, the first identity code is used for identifying the identity of the communication module, and the heartbeat counting code is used for identifying the current data of the heartbeat signal sent by the functional module in the current period;
The feedback state information further comprises a second identity code and a feedback content segment, wherein the second identity code is used for identifying the subsystems for sending the feedback state information, the second heartbeat alignment code is generated based on the first heartbeat alignment code and is used for aligning information during integer processing, and the feedback content segment is used for recording the running states of the subsystems;
The feedback state information further comprises a frame header section, a calibration code and an information ending code, wherein the frame header section is used for identifying the information type of the feedback state information, the calibration code is used for calibrating the accuracy of the feedback state information, and the information ending code is used for declaring the end of the feedback state information coding.
2. The method of claim 1, wherein the generating a heartbeat signal in response to the monitoring operation for the plurality of subsystems comprises:
responding to monitoring operation of the subsystems, acquiring current data of a counter in the functional module, and generating the heartbeat counting code according to the current data;
Acquiring a first identity code of the communication module, and generating a first heartbeat alignment code according to the first identity code and the heartbeat counting code;
And generating the heartbeat signal according to the first heartbeat alignment code.
3. The method of claim 1, wherein the computing feedback status information for the plurality of subsystems based on the first and second heartbeat alignment codes, generating monitoring results for the plurality of subsystems, comprises:
Checking the feedback state information of the subsystems based on the second heartbeat alignment code, and shaping each feedback state information after the successful check to obtain system state information;
generating system state normal information according to the heartbeat signal;
And aligning a first heartbeat alignment code in the system state normal information with a second heartbeat alignment code in the system state information, performing bit operation of the system state information and the system state normal information, and generating monitoring results for the subsystems.
4. A method according to claim 3, wherein shaping each feedback status information after successful verification to obtain system status information comprises:
determining feedback content segments in the feedback state information after successful verification, and splicing the feedback content segments according to a preset splicing sequence to obtain spliced content segments;
and coding according to the same frame header section, the second heartbeat alignment code, the information ending code and the spliced content section in each piece of feedback state information to obtain the system state information.
5. A surgical robot-based communication device for use with a condition monitoring system for monitoring the operational condition of a plurality of subsystems therein, the device comprising:
A generation unit configured to generate a heartbeat signal in response to a monitoring operation for the plurality of subsystems, wherein the heartbeat signal includes a first heartbeat alignment code;
A sending unit, configured to send the heartbeat signal to the plurality of subsystems, so that the plurality of subsystems generate feedback state information based on the heartbeat signal and feed back the feedback state information, where the feedback state information includes a second heartbeat alignment code;
the processing unit is used for acquiring feedback state information of the subsystems and carrying out operation on the feedback state information of the subsystems based on the first heartbeat alignment code and the second heartbeat alignment code to generate monitoring results for the subsystems;
The state monitoring system comprises a functional module and a communication module, wherein the functional module is used for generating the heartbeat signal and transmitting the heartbeat signal to the communication module, and the communication module is used for forwarding the received heartbeat signal to the subsystems;
The first heartbeat alignment code comprises a first identity code and a heartbeat counting code, the first identity code is used for identifying the identity of the communication module, and the heartbeat counting code is used for identifying the current data of the heartbeat signal sent by the functional module in the current period;
The feedback state information further comprises a second identity code and a feedback content segment, wherein the second identity code is used for identifying the subsystems for sending the feedback state information, the second heartbeat alignment code is generated based on the first heartbeat alignment code and is used for aligning information during integer processing, and the feedback content segment is used for recording the running states of the subsystems;
The feedback state information further comprises a frame header section, a calibration code and an information ending code, wherein the frame header section is used for identifying the information type of the feedback state information, the calibration code is used for calibrating the accuracy of the feedback state information, and the information ending code is used for declaring the end of the feedback state information coding.
6. An electronic device, comprising:
A memory;
A processor; and
A computer program;
Wherein the computer program is stored in the memory and configured to be executed by the processor to implement the surgical robot-based communication method of any one of claims 1 to 4.
7. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, carries out the steps of the surgical robot-based communication method according to any one of claims 1 to 4.
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