CN113223709B

CN113223709B - Surgical procedure backtracking system, method and storage medium

Info

Publication number: CN113223709B
Application number: CN202110637050.0A
Authority: CN
Inventors: 崔建祥; 王明新
Original assignee: Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2021-06-08
Filing date: 2021-06-08
Publication date: 2023-07-28
Anticipated expiration: 2041-06-08
Also published as: CN113223709A

Abstract

The invention provides a surgical procedure backtracking system, a method and a storage medium, wherein the surgical procedure backtracking system comprises a data acquisition end and a playback end; the data acquisition end is used for acquiring operation process data; the playback end comprises a data backtracking module, wherein the data backtracking module is used for acquiring the to-be-backtracked operation process data from the operation process data and positioning and backtracking the acquired to-be-backtracked operation process data according to a preset mark and/or a time axis. According to the invention, the acquired operation process data is positioned and traced through the preset mark and/or the time axis, so that the accurate tracing of the operation process can be realized, the tracing efficiency of the operation process is greatly improved, the operation experience is more convenient to summarize for a user, and the problems in the operation process are positioned and analyzed, thereby being more beneficial to realizing the training of the operation or the operation skill of a robot of the user.

Description

Surgical procedure backtracking system, method and storage medium

Technical Field

The invention relates to the technical field of robots, in particular to a surgical procedure backtracking system, a surgical procedure backtracking method and a storage medium.

Background

The advent of surgical robots has met with a trend toward precision surgery. Surgical robots are powerful tools to assist doctors in performing surgery, such as daVinci surgical robots have been used in hospitals worldwide for their low injuries, low bleeding, quick recovery, and good news for patients.

The surgical robot is designed to accurately implement complex surgical operations in a minimally invasive manner. Under the condition that the traditional operation faces various limitations, a surgical robot is developed to replace the traditional operation, the surgical robot breaks through the limitations of human eyes, and a stereoscopic imaging technology is adopted to clearly present internal organs to an operator. In the area that original hand is not stretched into, 360 degrees rotations, move, swing, centre gripping can be accomplished to the robot to avoid the shake. The wound is small, the bleeding is less, the recovery is quick, the postoperative hospitalization time of a patient is greatly shortened, the postoperative survival rate and the recovery rate can be obviously improved, the wound is favored by vast doctors and patients, and the wound is widely applied to various clinical operations as a high-end medical instrument.

By playing back the operation process, the medical staff can be assisted to realize data analysis, problem diagnosis, operation skill learning summary and the like of the operation process.

Disclosure of Invention

The invention aims to provide a surgical procedure backtracking system, a method and a storage medium, which can position and backtrack a surgical procedure so as to better assist a user in realizing data analysis of the surgical procedure.

In order to achieve the above purpose, the invention provides a surgical procedure backtracking system which is applied to a surgical robot system, wherein the surgical procedure backtracking system comprises a data acquisition end and a playback end;

the data acquisition end is used for acquiring operation process data;

the playback end comprises a data backtracking module, wherein the data backtracking module is used for acquiring the to-be-backtracked operation process data from the operation process data and positioning and backtracking the acquired to-be-backtracked operation process data according to a preset mark and/or a time axis.

Optionally, the preset markers include a point of failure and/or a surgical stage.

Optionally, the surgical procedure data includes intraoperative scene image information data, robot motion information data, and robot state information data.

Optionally, the data acquisition end acquires the surgical procedure data by:

synchronous processing is carried out on different types of operation data;

collecting and summarizing the synchronized surgical data;

and encrypting the summarized operation data to obtain operation process data.

Optionally, the playback end further includes a monitoring parameter configuration module, configured to provide system parameter information;

the data backtracking module is used for carrying out positioning backtracking on the to-be-backtracked operation process data according to the system parameter information provided by the monitoring parameter configuration module and a preset mark and/or a time axis.

Optionally, the surgical procedure backtracking system further includes a target machine end, where the target machine end is configured to obtain the surgical procedure data to be replayed on site from the surgical procedure data to be backtracked, and replay the surgical procedure data on site according to the surgical procedure data to be replayed on site.

Optionally, the playback end further includes a data conversion module, where the data conversion module is configured to obtain the surgical procedure data to be played back on site and perform format conversion on the surgical procedure data to be played back on site;

the target machine end is used for acquiring the data of the operation process to be replayed on site after the format conversion.

Optionally, the target machine end performs on-site playback on the to-be-on-site playback surgical procedure data by:

acquiring a rhythm instruction of data playback;

according to the obtained rhythm instruction of data playback, processing the operation process data to be replayed on site to obtain a data instruction set;

and controlling the robot to perform corresponding movement according to the data instruction set.

Optionally, the target machine end is further configured to obtain motion information data of the live replay robot according to the motion condition of the robot, and compare the obtained motion information data of the live replay robot with the motion information data of the robot in the process data of the surgical procedure to be live replayed.

In order to achieve the above object, the present invention further provides a surgical procedure backtracking method applied to a surgical robot system, the surgical procedure backtracking method comprising:

receiving a surgical procedure backtracking request;

acquiring data of a surgical process to be backtraced;

and positioning and backtracking the acquired data of the operation process to be backtracked according to a preset mark and/or a time axis.

Optionally, before performing positioning backtracking on the acquired data of the surgical procedure to be backtracked, the backtracking method further includes:

acquiring system parameter information;

the positioning and backtracking of the acquired surgical procedure data to be backtracked according to a preset mark and/or a time axis comprises the following steps:

and positioning and backtracking the to-be-backtracked operation process data according to the system parameter information and a preset mark and/or a time axis.

Optionally, the backtracking method further includes:

acquiring data of a surgical procedure to be replayed on site;

and performing site playback on the surgical procedure data to be site played back.

Optionally, the performing on-site playback on the surgical procedure data to be on-site played back includes:

performing format conversion on the acquired surgical process data to be replayed on site;

downloading the data of the operation process to be replayed on site after format conversion to a target machine end;

and performing on-site playback on the surgical procedure data to be on-site played back through the target machine end.

Optionally, the target machine end performs on-site playback on the surgical procedure data to be on-site played back, including:

acquiring a rhythm instruction of data playback;

To achieve the above object, the present invention further provides a readable storage medium having stored therein a computer program which, when executed by a processor, implements the surgical procedure backtracking method described above.

Compared with the prior art, the surgical procedure backtracking system, the method and the storage medium provided by the invention have the following advantages: according to the invention, the acquired operation process data is positioned and traced through the preset mark and/or the time axis, so that the accurate tracing of the operation process can be realized, the tracing efficiency of the operation process is greatly improved, the operation experience is more convenient to summarize for a user, and the problems in the operation process are positioned and analyzed, thereby being more beneficial to realizing the training of the operation or the operation skill of a robot of the user. In addition, at least one part of the acquired operation process data is imported into the target machine end (namely the operation robot system), so that the on-site playback of the operation process data can be realized, the user can more conveniently conduct physical machine analysis on faults occurring in the operation process, and rapid positioning, investigation and influence analysis of real reasons of the faults can be conducted, and meanwhile, a foundation can be laid for design optimization and function improvement of the robot system.

Drawings

Fig. 1 is a schematic view of an application scenario of a surgical procedure backtracking system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a connection relationship structure of a surgical procedure backtracking system according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of an interface display for visual accurate backtracking of procedure data at a playback end according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a process for collecting surgical process data in accordance with one embodiment of the present invention;

FIG. 5 is a schematic diagram of the synchronization principle of different types of surgical data according to an embodiment of the present invention;

FIG. 6 is a flow chart of uploading and storing surgical procedure data according to an embodiment of the present invention;

FIG. 7 is a schematic flow chart of accurate backtracking of surgical procedure data according to an embodiment of the present invention;

FIG. 8a is a schematic diagram of an interface display for locating surgical procedure data based on a fault point in accordance with an embodiment of the present invention;

FIG. 8b is a schematic view of an interface display for locating surgical procedure data according to a surgical stage in accordance with an embodiment of the present invention;

FIG. 9 is a schematic diagram of an interface for monitoring parameter configuration according to an embodiment of the present invention;

FIG. 10 is a flow chart of a field playback of surgical procedure data in accordance with one embodiment of the present invention;

FIG. 11 is a schematic representation of a format of converted surgical procedure data in an embodiment of the present invention;

FIG. 12 is a flow chart of the target machine side performing field playback of the surgical procedure data according to an embodiment of the present invention;

FIG. 13 is a schematic view of a visual interactive interface display in a field according to an embodiment of the present invention;

FIG. 14 is a flow chart illustrating the field playback of surgical procedure data on a robot in accordance with one embodiment of the present invention;

fig. 15 is a flow chart of a surgical procedure backtracking method according to an embodiment of the present invention.

Wherein, the reference numerals are as follows:

doctor control end-100; patient control side-200; an image dolly-300; a doctor console-110; a surgical trolley-210; robot-220; a robotic arm-221;

data acquisition end-400; server-500; playback end-600; a data backtracking module-610; a monitoring parameter configuration module-620; a data conversion module-630; target machine side-700.

Detailed Description

The surgical procedure backtracking system, method and storage medium according to the present invention are described in further detail below with reference to fig. 1 to 15 and the detailed description. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for the purpose of facilitating and clearly aiding in the description of embodiments of the invention. For a better understanding of the invention with objects, features and advantages, refer to the drawings. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are shown only in connection with the present disclosure for the understanding and reading of the present disclosure, and are not intended to limit the scope of the invention, which is defined by the appended claims, and any structural modifications, proportional changes, or dimensional adjustments, which may be made by the present disclosure, should fall within the scope of the present disclosure under the same or similar circumstances as the effects and objectives attained by the present invention.

It is noted that 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 apparatus 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 apparatus. 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 apparatus that comprises the element.

The invention provides a surgical process backtracking system, a method and a storage medium, which can rapidly locate and accurately backtrack a surgical process so as to better assist a user in realizing data analysis of the surgical process.

In order to realize the thought, the invention provides a surgical process backtracking system which is applied to a surgical robot system. Referring to fig. 1, a schematic application scenario diagram of a surgical procedure backtracking system according to an embodiment of the present invention is shown. As shown in fig. 1, the surgical robot system includes a doctor control terminal 100, a patient control terminal 200, and an image cart 300, the doctor control terminal 100 includes a doctor control console 110 provided with a main control arm (not shown), the patient control terminal 200 includes a surgical cart 210, a robot 220, and the like, wherein a patient is laid on the surgical cart 210 to perform a surgery. The robot 220 is provided with a mechanical arm 221 for mounting a surgical instrument (not shown in the figure) and an endoscope (not shown in the figure), the mechanical arm 221, the surgical instrument, the endoscope and the master control arm have a predetermined mapping relationship, so as to form a master-slave relationship, and after the surgical instrument is connected to the mechanical arm 221, the system realizes actions in all directions of the surgical instrument according to the movement of the master control arm, so as to complete the operation. The doctor controls the mechanical arm 221 through the main control arm of the doctor console 110, and the actions of the mechanical arm 221 to manipulate the surgical instrument (e.g., clamping, cutting off, etc.) can be taken through the camera of the endoscope. As will be appreciated by those skilled in the art, the surgical robotic system may also include other surgical aids such as a sterile table (not shown), a ventilator (not shown), a detection device (not shown), and the like.

With continued reference to fig. 2, a schematic diagram of a connection relationship structure of the surgical procedure backtracking system according to an embodiment of the present invention is schematically shown. As shown in fig. 2, the surgical procedure backtracking system includes a data acquisition end 400 and a playback end 600, where, in order to facilitate data interaction, the playback end 600 and the data acquisition end 400 are both communicatively connected to a server 500; the data acquisition end 400 is configured to acquire surgical procedure data, and upload the acquired surgical procedure data to the server 500; the server 500 is configured to store the received surgical procedure data; the playback end 600 includes a data backtracking module 610, where the data backtracking module 610 is configured to obtain data of a surgical procedure to be backtracked from the server 500, and perform positioning backtracking on the obtained data of the surgical procedure to be backtracked according to a preset mark and/or a time axis. In specific operation, a user can quickly locate the surgical process point to be traced according to the preset mark and/or the time axis, so as to realize location tracing. Therefore, the operation process backtracking system provided by the invention can realize accurate backtracking of the operation process by positioning and backtracking the acquired corresponding operation process data through the data backtracking module 610 of the playback end 600, greatly improve the backtracking efficiency of the operation process, is more convenient for users to summarize the operation experience and position and analyze the problems in the operation process, and is further beneficial to realizing the training of the operation or the operation skill of the robot of the users. It should be noted that, although the present embodiment is described taking the server 500 as the transmission medium between the playback end 600 and the data collection end 400 as an example, as will be appreciated by those skilled in the art, in other embodiments, the data collection end 400 may be provided with a memory for storing the surgical procedure data, and the playback end 600 may directly obtain the surgical procedure data to be traced from the data collection end 400, which is not limited in this invention.

Further, please refer to fig. 3, which schematically illustrates an interface display diagram of a visual and accurate backtracking of the data of the operation procedure at the playback end 600 according to an embodiment of the present invention. As shown in fig. 3, the surgical procedure backtracking system provided by the invention can also perform visual positioning backtracking of the surgical procedure in the form of a video+data curve/graph. Therefore, the visual backtracking of the operation process data can be more convenient for the user to analyze the problems in the operation process.

Preferably, the server 500 is a cloud server. Therefore, by adopting the cloud server, the storage of the operation process data can be more convenient, and the downloading of the operation process data is also more convenient.

Preferably, the surgical procedure data includes intraoperative scene image information data, robot motion information data, and robot state information data. The intraoperative scene image information data refers to image data shot by an endoscope, the robot motion information data includes motion information of a mechanical arm 221 of a robot 220, motion information of a main control arm, and the like, and the robot state information data includes fault information.

Referring to fig. 4, a schematic diagram of a process for collecting surgical process data according to an embodiment of the present invention is shown. As shown in fig. 4, the data acquisition terminal 400 acquires the surgical procedure data by:

synchronous processing is carried out on different types of operation data;

collecting and summarizing the synchronized surgical data;

and encrypting the collected operation data to obtain operation process data.

With continued reference to fig. 5, a schematic diagram of the synchronization principle of different types of surgical data according to an embodiment of the present invention is schematically shown. As shown in fig. 5, different types of surgical data may be synchronized by adding time-stamped points, such as time stamps, by a time synchronizer. For how to encrypt the summarized operation data, reference may be made to the prior art, which will not be described in detail in the present invention.

Referring to fig. 6, a schematic flow chart of uploading and storing surgical procedure data according to an embodiment of the invention is shown. As shown in fig. 6, the data collection terminal 400 uploads the surgical procedure data to the server 500 by:

checking the surgical process data to be uploaded;

uploading the surgical procedure data that passed the verification to the server 500.

Thus, by verifying the surgical procedure data to be uploaded and uploading the surgical procedure data passed by the verification to the server 500, the validity of the surgical procedure data uploaded to the server 500 can be ensured. Specifically, the operation process data to be uploaded can be checked by adopting an encryption check mode, or other check modes in the prior art are adopted for checking, and the detailed content of the check can refer to the prior art, so that the invention does not need to describe the details.

Further, as shown in fig. 6, in the process of uploading the checked surgical procedure data to the server 500, the data collection end 400 may further determine whether the uploading of the surgical procedure data is successful, if the uploading is failed, a retransmission mechanism is started, for example, the surgical procedure data which is failed to upload is temporarily stored locally, and after the communication is recovered, the uploading is performed again. The server 500 stores the received successful surgical procedure data for subsequent backtracking operations.

With continued reference to fig. 7, a schematic flow chart of accurate backtracking of surgical procedure data according to an embodiment of the present invention is schematically shown. As shown in fig. 7, in actual operation, the user may select the surgical procedure data desired to be traced, that is, the surgical procedure data to be traced, according to actual needs, and the data tracing module 610 obtains the surgical procedure data to be traced from the server 500, and performs precise tracing (that is, positioning tracing) of the surgical procedure based on the time axis and/or the preset mark. Specifically, when the time axis is used for playback of the surgical procedure, the time axis may be dragged, or the actual positioning may be performed by fast forward, fast reverse, slow forward, slow reverse, and drop. When the preset mark is used for playback, the system can completely mark the operation process data according to the mark point, so that a user can quickly position the operation process point needing backtracking, and the operation process data can be quickly and accurately positioned to a specific position. Further, in the process of playing back by using the preset mark, the positioning can be further performed by combining the time axis, for example, by dragging the time axis, or fast-forward, fast-backward, slow-forward and slow-backward playback.

Referring to fig. 8a and 8b, fig. 8a schematically illustrates an interface display of positioning surgical process data according to a fault point according to an embodiment of the present invention, and fig. 8b schematically illustrates an interface display of positioning surgical process data according to a surgical stage according to an embodiment of the present invention. As shown in fig. 8a and 8b, in this embodiment, the preset markers include a failure point and a surgical stage. For example, the fault points include a class a fault, a class B fault, a class C fault, a class D fault, and the like, and the operation stage includes that the stab card is completed, the primary master-slave operation is performed, the needle holder is used for the first time, and the primary master-slave operation is performed for the last time. The type of the fault point and the type of the operation stage may be set according to actual needs, and the present invention is not limited thereto. Furthermore, it should be noted that, in other embodiments, the preset mark may include only a fault point or only a surgical stage, or the preset mark may be another mark other than a fault point or a surgical stage, which is not limited in this aspect of the present invention, as will be appreciated by those skilled in the art. Therefore, the system can conveniently and rapidly locate the surgical process point needing to be traced back by completely marking the surgical process data according to the preset mark, and high-efficiency and accurate tracing of the surgical process is realized.

Referring to fig. 2, 8a, 8b and 9, fig. 9 is a schematic diagram of an interface display of monitoring parameter configuration according to an embodiment of the present invention. As shown in fig. 2, 8a, 8b, and 9, the playback end 600 further includes a monitoring parameter configuration module 620, where the monitoring parameter configuration module 620 is configured to provide system parameter information, so that by using the monitoring parameter configuration module 620, system parameter information that a user wants to pay attention to in a retrospective operation process, such as a motor code wheel value, a command torque, an actual torque, a joint speed, and the like, can be quickly configured. To further facilitate analysis and diagnosis of retrospective data, the monitoring parameter configuration module 620 is also configured to provide a real-time data profile of system parameters. Specifically, in the surgical procedure backtracking, after the user selects the system parameter to be focused, for example, the selected system parameter is an actual moment, the monitoring parameter configuration module 620 displays the data related to the selected system parameter in the surgical procedure data to be backtracked, for example, the actual moment in the surgical procedure in the form of a real-time graph. Therefore, through the form of the graph, the analysis and diagnosis of the problems in the operation process can be more convenient for the user.

Referring to fig. 2, as shown in fig. 2, the surgical procedure backtracking system further includes a target machine end 700, where the target machine end 700 is configured to obtain the surgical procedure data to be replayed on site from the surgical procedure data to be backtracked, and perform on-site replay according to the surgical procedure data to be replayed on site (the surgical procedure data selected from the surgical procedure data to be backtracked), where the target machine end 700 performs corresponding actions according to the surgical procedure data to be replayed on site, so as to implement on-site replay). Therefore, at least one part of the acquired surgical process data to be traced back is led into the target machine end 700 (for example, a surgical robot system), so that the field playback of the surgical process data can be realized, the physical machine analysis of the surgical process by a user is more convenient, the rapid positioning, the investigation and the influence analysis of the real fault cause are more convenient, the design optimization of the robot system can be accelerated, and the function promotion of the robot system is more convenient.

Specifically, the target machine 700 may obtain the to-be-field playback operation process data from the to-be-backtracked operation process data through the server 500. Because the format of the surgical procedure data stored in the server 500 may not match the data format recognizable by the target machine side 700, the surgical procedure data may need to be converted before being downloaded to the target machine side 700 for field playback. Referring to fig. 2, as shown in fig. 2, the playback end 600 further includes a data conversion module 630, where the data conversion module 630 is configured to obtain and format-convert the to-be-field-played-back surgical procedure data, and transmit the to-be-field-played-back surgical procedure data after the format conversion to the server 500, and the target machine end 700 is configured to download the to-be-field-played-back surgical procedure data after the format conversion from the server 500. It should be noted that, in other embodiments, the target machine side 700 may also directly download the data of the surgical procedure to be replayed on site after the format conversion from the replay side 600.

Referring to fig. 10, a schematic flow chart of the field playback of the surgical procedure data according to an embodiment of the present invention is shown. As shown in fig. 10, during specific operation, according to the playback requirement, the user may select, from the to-be-backed surgical process data, to-be-played field playback surgical process data through a time axis and/or a preset mark at the playback end 600, then convert, through the data conversion module 630, the format of the to-be-played field playback surgical process data into a format adapted to the target machine end 700, so as to ensure the validity and security of the data, and after the to-be-played field playback surgical process data is obtained by downloading by the target machine end 700, decrypt and verify the obtained to-be-played field playback surgical process data, and after the data decryption verification is successful, the user may perform the field playback of the surgical process at the target machine end 700.

Referring to fig. 11, a schematic diagram of a format of converted surgical procedure data according to an embodiment of the present invention is shown. As shown in fig. 11, the data within the converted data to be field replayed surgical procedure includes a data header, a data portion, and a data trailer. Wherein the data header contains information of the data type; the data portion includes a time stamp type, a data value, etc., for example, a data section of intraoperative scene image information data includes a time stamp type, a frame rate, a decoding type, etc., and robot motion information data and robot state information data include a time stamp type, a history position (master control arm, each joint information of the mechanical arm 221), instruction information, etc.; the data tail contains information such as data encryption, verification and the like.

Referring to fig. 12, a schematic flow chart of the on-site playback of the surgical procedure data by the target machine side according to an embodiment of the present invention is shown. As shown in fig. 12, the target machine 700 performs on-site playback on the acquired surgical procedure data to be on-site played back specifically by:

acquiring a rhythm instruction of data playback;

Referring to fig. 13, a schematic view of a field visual interactive interface display provided by an embodiment of the present invention is shown. As shown in fig. 13, in actual operation, a user may control the rhythm of data playback on a site visual interactive software interface installed on the target machine end 700, for example, by selecting a forward or backward key to quickly locate a surgical procedure point where site playback is desired, and by using a single step key, the movement process of the robot 220 may be split into multiple steps. The controller of the target machine 700 processes the acquired surgical procedure data to be replayed on site according to the acquired rhythm instruction of data replay, so as to convert the surgical procedure data to be replayed on site into a series of data instruction sets, and finally issues the data instruction sets to the machine to control the specific action of the robot 220, so as to realize the on-site replay of the surgical procedure data. Thus, the user can analyze problems occurring during the surgical procedure according to the field playback process of the robot 220.

Referring to fig. 14, a schematic flow chart of the on-site playback of surgical procedure data on a robot according to an embodiment of the present invention is shown. As shown in fig. 14, when the controller of the target robot 700 controls the mechanical arm 221 of the robot 220 to move according to the data command set, the motion information data of the robot 220 is obtained according to the motion condition of the robot 220, so that the user can analyze the problems occurring in the operation process according to the motion information data of the robot 220 in the field playback process and the system information data of the robot 220.

Further, as shown in fig. 13, the on-site visual interactive software interface is further provided with a data storage key, so that the motion information data of the robot 220 can be stored by one key through the key, and thus the motion information data of the robot 220 obtained by on-site playback can be compared with the motion information data of the robot in the operation process data to be on-site played back acquired by the target machine end 700, thereby being more convenient for rapid positioning, investigation and influence analysis of the real cause of the fault and being more beneficial for accelerating design optimization and function improvement of a robot system.

In order to realize the thought, the invention also provides a surgical procedure backtracking method which is applied to the surgical robot system. Referring to fig. 15, a schematic flow chart of a surgical procedure backtracking method according to an embodiment of the invention is shown. As shown in fig. 15, the surgical procedure backtracking method includes the steps of:

step S100, receiving a surgical procedure backtracking request.

Step S200, acquiring data of a surgical procedure to be traced back.

And step 300, positioning and backtracking the acquired surgical process data to be backtracked according to a preset mark and/or a time axis.

Preferably, before performing location backtracking on the acquired surgical procedure data to be backtracked, the backtracking method further includes:

acquiring system parameter information;

Preferably, the preset markers include points of failure and/or surgical phases.

Preferably, the backtracking method further includes:

acquiring data of a surgical procedure to be replayed on site;

Preferably, the performing on-site playback of the surgical procedure data to be on-site played back includes:

Preferably, the target machine end performs on-site playback on the surgical procedure data to be on-site played back, including:

acquiring a rhythm instruction of data playback;

Therefore, the operation process backtracking method provided by the invention can be used for positioning and backtracking the acquired operation process data through the preset mark and/or the time axis, so that the accurate backtracking of the operation process can be realized, the backtracking efficiency of the operation process is greatly improved, the operation experience can be summarized by a user, and the problems in the operation process can be positioned and analyzed, thereby being more beneficial to realizing the training of the operation or the operation skill of a robot of the user. In addition, the operation process backtracking method provided by the invention can realize the on-site playback of operation process data by leading at least one part of the acquired operation process data into the target machine end (namely the operation robot system), thereby being more convenient for a user to carry out physical machine analysis on faults occurring in the operation process, and quick positioning, investigation and influence analysis on the real reasons of the faults, and laying a foundation for design optimization and function improvement of the robot system.

To achieve the above-described idea, the present invention further provides a readable storage medium having stored therein a computer program which, when executed by a processor, can implement the surgical procedure backtracking method described above. Therefore, the method and the device can realize accurate backtracking of the operation process by positioning and backtracking the acquired operation process data through the preset mark and/or the time axis, greatly improve the backtracking efficiency of the operation process, are more convenient for users to summarize the operation experience and position and analyze the problems in the operation process, and are further beneficial to realizing the training of the operation or the operation skill of the robot of the users. In addition, at least one part of the acquired operation process data is imported into the target machine end (namely the operation robot system), so that the on-site playback of the operation process data can be realized, the user can more conveniently conduct physical machine analysis on faults occurring in the operation process, and rapid positioning, investigation and influence analysis of real reasons of the faults can be conducted, and meanwhile, a foundation can be laid for design optimization and function improvement of the robot system.

The readable storage media of embodiments of the present invention may take the form of any combination of one or more computer-readable media. The readable medium may be a computer readable signal medium or a computer readable storage medium. 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 (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer hard disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, 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 document, 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.

The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. 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.

Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including 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).

In summary, compared with the prior art, the surgical procedure backtracking system, the method and the storage medium provided by the invention have the following advantages: according to the invention, the acquired operation process data is positioned and traced through the preset mark and/or the time axis, so that the accurate tracing of the operation process can be realized, the tracing efficiency of the operation process is greatly improved, the operation experience is summarized by a user, and the problems in the operation process are positioned, thereby being more beneficial to realizing the training of the operation or the operation skill of a robot of the user. In addition, at least one part of the acquired operation process data is imported into the target machine end (namely the operation robot system), so that the on-site playback of the operation process data can be realized, the user can more conveniently conduct physical machine analysis on faults occurring in the operation process, and rapid positioning, investigation and influence analysis of real reasons of the faults can be conducted, and meanwhile, a foundation can be laid for design optimization and function improvement of the robot system.

It should be noted that the apparatus and methods disclosed in the embodiments herein may be implemented in other ways. The apparatus embodiments described above are merely illustrative, for example, flow diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments herein. 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.

In addition, the functional modules in the embodiments herein may be integrated together to form a single part, or the modules may exist alone, or two or more modules may be integrated to form a single part.

The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any alterations and modifications made by those skilled in the art based on the above disclosure shall fall within the scope of the present invention. It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, the present invention is intended to include such modifications and alterations insofar as they come within the scope of the invention or the equivalents thereof.

Claims

1. The surgical procedure backtracking system is characterized by comprising a data acquisition end and a playback end, wherein the data acquisition end is used for acquiring surgical procedure data;

the playback end comprises a data backtracking module, wherein the data backtracking module is used for acquiring the to-be-backtracked operation process data from the operation process data and positioning and backtracking the acquired to-be-backtracked operation process data according to a preset mark and/or a time axis;

the surgical procedure backtracking system further comprises a target machine end, wherein the target machine end is used for acquiring the surgical procedure data to be replayed on site from the surgical procedure data to be backtracked, and controlling the robot to perform corresponding actions in the surgical procedure to be replayed on site according to the surgical procedure data to be replayed on site so as to realize on-site replay.

2. A surgical procedure backtracking system according to claim 1, wherein the preset markers include points of failure and/or surgical phases.

3. The surgical procedure backtracking system of claim 1, wherein the surgical procedure data includes intraoperative scene image information data, robotic motion information data, and robotic state information data.

4. The surgical procedure backtracking system of claim 1, wherein the data acquisition end acquires surgical procedure data by:

synchronous processing is carried out on different types of operation data;

collecting and summarizing the synchronized surgical data;

and encrypting the summarized operation data to obtain operation process data.

5. The surgical procedure backtracking system of claim 1, wherein the playback end further comprises a monitoring parameter configuration module for providing system parameter information;

6. The surgical procedure backtracking system of claim 1, wherein the playback end further comprises a data conversion module for obtaining and format converting the surgical procedure data to be replayed on site;

7. The surgical procedure backtracking system of claim 6, wherein the target machine side performs on-site playback of the surgical procedure data to be on-site played back by:

acquiring a rhythm instruction of data playback;

8. The surgical procedure backtracking system of claim 7, wherein the target machine side is further configured to obtain live replay robot motion information data according to a motion condition of the robot, and compare the obtained live replay robot motion information data with robot motion information data in the surgical procedure data to be live replayed.

9. A surgical procedure backtracking method, applied to a surgical robotic system, comprising:

receiving a surgical procedure backtracking request;

acquiring data of a surgical process to be backtraced;

positioning and backtracking the acquired data of the operation process to be backtracked according to a preset mark and/or a time axis;

the backtracking method further comprises the following steps:

acquiring data of a surgical procedure to be replayed on site;

and controlling the robot to perform corresponding actions in the surgical procedure to be replayed on site according to the surgical procedure data to be replayed on site so as to realize on-site replay.

10. The surgical procedure backtracking method according to claim 9, wherein before performing location backtracking on the acquired surgical procedure data to be backtracked, the backtracking method further comprises:

acquiring system parameter information;

11. A surgical procedure backtracking method according to claim 9, wherein the preset markers include points of failure and/or surgical phases.

12. The surgical procedure backtracking method of claim 9, wherein the robot is controlled to perform in-situ playback of the surgical procedure data to be in-situ played back by:

and controlling a robot to perform on-site playback on the surgical process data to be on-site played back through the target machine end.

13. The surgical procedure backtracking method of claim 12, wherein the target robot-side control robot performs on-site playback of the surgical procedure data to be on-site played back, comprising:

acquiring a rhythm instruction of data playback;

14. A readable storage medium, characterized in that the readable storage medium has stored therein a computer program which, when executed by a processor, implements the surgical procedure backtracking method of any one of claims 9 to 13.