CN114081624B - Virtual simulation system of surgical robot - Google Patents
Virtual simulation system of surgical robot Download PDFInfo
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- CN114081624B CN114081624B CN202111328321.0A CN202111328321A CN114081624B CN 114081624 B CN114081624 B CN 114081624B CN 202111328321 A CN202111328321 A CN 202111328321A CN 114081624 B CN114081624 B CN 114081624B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application relates to a virtual simulation system of a surgical robot, which comprises a scene self-defining module, a virtual routing module and a plurality of service server modules, wherein the scene self-defining module is in communication connection with the virtual routing module, and the virtual routing module is respectively in communication connection with each service server module; the scene self-defining module is used for receiving simulation scene information and simulation operation information and sending the simulation scene information and the simulation operation information to the virtual routing module; the virtual routing module is used for matching an optimal service server module as a target server module and sending the simulation scene information and the simulation operation information to the target server module; the target server module is used for generating a three-dimensional simulation scene according to the simulation scene information and performing simulation operation in the three-dimensional simulation scene according to the simulation operation information. The user simulation operation convenience can be effectively improved.
Description
Technical Field
The application relates to the technical field of medical robots, in particular to a virtual simulation system of a surgical robot.
Background
In recent years, more and more research projects are being conducted on surgical robots, and surgical robots are used for assisting doctors in performing operations, so that the quality and efficiency of the operations can be effectively improved. After the operation type and the operating room are determined, preoperative planning is needed, an operation path of the operation robot is planned, and then navigation is performed in operation according to the planned operation path; the planning works are all completed on a PC computer of the operating room to be operated, and simulation operation planning is performed aiming at the virtual scene of the operating room to be operated; because of the lack of memory management on the PC computer in the operating room, the phenomenon of insufficient memory or downtime occurs in the operation planning process in the long-term past, and the single-edition simulation system can only be used for local use of users, the inventor considers that the existing operation robot simulation system is inconvenient for users to use, and further improvement is needed.
Disclosure of Invention
In view of this, the present application provides a virtual simulation system for a surgical robot, which is used to solve the technical problem of how to effectively manage the simulation resources of the existing simulation system for a surgical robot, so as to improve the convenience of user simulation operation.
In order to solve the problems, the application provides a virtual simulation system of a surgical robot, which comprises a scene self-defining module, a virtual routing module and a plurality of service server modules, wherein the scene self-defining module is in communication connection with the virtual routing module, and the virtual routing module is in communication connection with each service server module respectively;
the scene self-defining module is used for receiving simulation scene information and simulation operation information and sending the simulation scene information and the simulation operation information to the virtual routing module;
the virtual routing module is used for matching an optimal service server module as a target server module and sending the simulation scene information and the simulation operation information to the target server module;
the target server module is used for generating a three-dimensional simulation scene according to the simulation scene information and performing simulation operation in the three-dimensional simulation scene according to the simulation operation information.
Optionally, the target server module comprises a scene loading unit, a planning analysis unit and a scene simulation unit;
the scene loading unit is used for receiving the simulation scene information, calling a pre-stored target scene file according to the simulation scene information and generating a corresponding three-dimensional simulation scene;
the planning analysis unit is used for carrying out path planning and/or motion analysis according to the simulation operation information, generating simulation motion information of each object to be operated and transmitting the simulation motion information to the scene simulation unit;
the scene simulation unit is used for performing simulation operation on each object to be operated in the three-dimensional simulation scene according to the simulation motion information of each object to be operated.
Optionally, the simulation scene information includes a surgery scene type, and one surgery scene type corresponds to a pre-stored target scene file, and the target scene file is a three-dimensional model engineering file of a real surgery space and a facility.
Optionally, the simulation operation information includes direct simulation information and/or indirect simulation information, where the direct simulation information includes motion control information, peripheral operation information and/or doctor behavior information of the virtual surgical robot arm at each time node in the simulation process; the indirect simulation information comprises starting point position information of a path to be operated of an object to be operated.
Optionally, the scene simulation unit comprises a simulation controller of the mechanical arm of the virtual surgical robot, a simulation controller of the peripheral equipment and/or a simulation controller of the doctor's behavior; the simulation controller of the virtual surgical robot arm at least comprises a joint motor displacement controller, a joint motor speed controller, a joint motor sensor controller and a tail end position sensor controller; the simulation controller of the peripheral equipment at least comprises a CT equipment operation controller, a shooting equipment controller and a bed controller.
Optionally, the target server module further comprises a heartbeat monitoring unit, a resource monitoring unit and a simulation process management unit;
the heartbeat monitoring unit is used for acquiring a heartbeat packet of the current target server module and sending the heartbeat packet to the virtual routing module;
the resource monitoring unit is used for acquiring the hardware resource use information of the current target server module and sending the hardware resource use information to the virtual routing module so that the virtual routing module determines the target server module;
the simulation process management unit is used for monitoring the simulation process of the target server module in real time and restarting the closed simulation process.
Optionally, the virtual routing module includes a heartbeat receiving unit, a selecting unit, a message routing unit, a routing process management unit and an alarm unit;
the heartbeat receiving unit is used for receiving heartbeat packets sent by each service server module so as to determine the running state of each service server module;
the selection unit is used for determining a target server module according to the hardware resource use information and the running state of each service server module;
the message routing unit is used for classifying according to preset message bodies, converting the simulation operation information into simulation operation sub-information corresponding to each message body, and sending the converted simulation operation sub-information to the target server module so that each simulation controller corresponding to the scene simulation unit performs simulation operation according to the simulation operation sub-information corresponding to the message body class;
the route process management unit is used for monitoring the process of the message route unit;
and the alarm unit is used for generating overload alarm information when the utilization rate of the hardware resources of the service server module exceeds a preset threshold value.
Optionally, the target server module further comprises a Web server module, and the Web server module is provided with a browser;
and the Web server module is used for acquiring the current three-dimensional simulation scene of the scene acquisition simulation unit and transmitting the current three-dimensional simulation scene to the browser in the form of an image if the browsing request sent by the browser is acquired.
Optionally, the scene simulation unit is further configured to obtain, in real time, absolute position information of a target part of the mechanical arm of the virtual surgical robot in a simulation process and a simulation result, and transmit the absolute position information and the simulation result to the Web server module;
the Web server module is further used for transmitting the obtained absolute position information of the target part of the mechanical arm of the virtual operation robot and the simulation result to the browser.
Optionally, the absolute position information of the target part of the mechanical arm of the virtual surgical robot includes an absolute position of a tail end of the mechanical arm and an absolute position of each joint node of the mechanical arm; the simulation result comprises whether the target part of the mechanical arm reaches a self-defined pose according to the simulation operation information.
The beneficial effects of adopting the embodiment are as follows: the simulation scene information and the simulation operation information of the real operation scene are customized by a user through the scene customization module, so that the user can remotely/remotely perform the simulation operation, and the convenience of the simulation operation is improved; in addition, a target server module is determined from a plurality of service server modules through the virtual routing module, and a proper service server module is automatically matched for simulation, so that the rationality of resource use of the service server module can be improved, and the downtime phenomenon is avoided; further, the target server module generates a three-dimensional simulation scene according to the simulation scene information, and performs simulation operation in the three-dimensional simulation scene according to the simulation operation information, so that a virtual real operation scene can be used for performing simulation operation, related medical staff can perform robot operation training, and the operability and safety of the operation are improved.
Drawings
FIG. 1 is a functional block diagram of one embodiment of a surgical robot virtual simulation system provided herein;
FIG. 2 is a functional block diagram of another embodiment of a surgical robot virtual simulation system provided herein;
FIG. 3 is a functional block diagram of another embodiment of a surgical robot virtual simulation system provided herein;
fig. 4 is a schematic block diagram of interactions between a virtual routing module and a service server module of the surgical robot virtual simulation system provided by the present application.
Detailed Description
Preferred embodiments of the present application are described in detail below with reference to the attached drawing figures, which form a part of the present application and, together with the embodiments of the present application, serve to explain the principles of the present application and are not intended to limit the scope of the present application.
In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Referring to fig. 1, which is a schematic block diagram of an embodiment of a virtual simulation system for a surgical robot provided in the present application, the virtual simulation system for a surgical robot includes a scenario customization module 10, a virtual routing module 20, and a plurality of service server modules 30, where the scenario customization module 10 is communicatively connected to the virtual routing module 20, and the virtual routing module 20 is communicatively connected to each service server module 30 respectively.
The scenario customization module 10 is configured to receive the simulation scenario information and the simulation operation information, and send the received simulation scenario information and the simulation operation information to the virtual routing module 20.
The virtual routing module 20 is configured to match the optimal service server module 30 as a target server module, and send the simulation scene information and the simulation operation information to the target server module, and for further explaining the working principle of the target server module, please refer to fig. 2.
The target server module 40 is configured to generate a three-dimensional simulation scene according to the simulation scene information, and perform a simulation operation in the three-dimensional simulation scene according to the simulation operation information.
According to the embodiment, the scene customization module 10 enables a user to customize simulation scene information and simulation operation information of a real operation scene, so that the user can remotely/remotely perform simulation operation, and the convenience of the simulation operation is improved; in addition, the virtual routing module 20 determines the target server module 40 from the plurality of service server modules 30, and the target server module 40 is automatically matched with a proper service server module 30 for simulation, so that the rationality of resource use of the service server module 30 can be improved, and the downtime phenomenon is avoided; further, the target server module 40 generates a three-dimensional simulation scene according to the simulation scene information, and performs simulation operation in the three-dimensional simulation scene according to the simulation operation information, so that a virtual real operation scene can be virtualized to perform a simulation operation, so that relevant medical staff can perform robot operation training, and the operability and safety of the operation are improved.
In this embodiment, a plurality of service server modules 30 are deployed on PC hosts of different operating rooms, respectively; the scene customization module 10 may access input simulation scene information and/or simulation operation information through a browser, and determine the target server module 40 through the virtual routing module 20, so that simulation operation may be performed on the target server module 40 according to the simulation scene information and the simulation operation information. In addition, the distributed virtual simulation system of the surgical robot is established through the plurality of service server modules, so that a plurality of users can be supported to perform online simulation on real surgical scenes, the types of the surgical scenes can be customized, and the convenience of user simulation is improved.
In this embodiment, the simulation scene information includes user information of an operator and customized operation scene information, and it should be noted that, if the scene customization module 10 obtains the simulation scene information of a plurality of users, the target server modules 40 to be simulated are automatically matched according to the obtained time sequence.
In an embodiment, referring to fig. 3, the virtual routing module 20 includes a heartbeat receiving unit 201, a selecting unit 202, a message routing unit 203, a routing process management unit 204, and an alarm unit 205. A heartbeat receiving unit 201, configured to receive heartbeat packets sent by each service server module 30, so as to determine an operation state of each service server module 30; a selection unit 202, configured to determine the target server module 40 according to the hardware resource usage information and the running state of each service server module 30; the message routing unit 203 is configured to convert the simulation operation information into simulation operation sub-information corresponding to each message body according to a preset message body classification, and send the converted simulation operation sub-information to the target server module 40, so that each simulation controller corresponding to the scene simulation unit performs a simulation operation according to the simulation operation sub-information corresponding to the message body classification; a routing process management unit 204, configured to monitor a process of the message routing unit 203; and the alarm unit 205 is configured to generate overload alarm information when the hardware resource usage rate of the service server module 30 exceeds a preset threshold.
Note that, the heartbeat receiving unit 201 receives heartbeat packets sent by each service server module 30, where the heartbeat packets may reflect whether the operation state of the corresponding service server module 30 is normal.
The selection unit 202 obtains the hardware resource usage information of each service server module 30, where the hardware resource usage information may be determined according to the memory allocation situation and the current memory occupancy rate in the corresponding service server module 30, for example, in a specific embodiment, the ratios of the CPU, the memory, and the disk IO are respectively 70%, 10%, and 20% in the configuration file of one service server module 30, and the current hardware resource information occupancy rate of the service server module 30 is 5% of the CPU, 44% of the memory, and 6% of the disk IO, so that the total hardware resource usage rate of the service server module 30 is 70% + 5% +10% + 44% +20% + 6% = 9.1%. Further, the selection unit 202 is the target server module 40 according to the service server module 30 that operates normally and has the minimum hardware resource usage.
The message routing unit 203 performs conversion of the simulation operation information into simulation operation sub-information corresponding to each message body according to the preset message body classification; the preset message body classification can be determined according to an object to be operated actually existing in the three-dimensional simulation scene, for example, the message body comprises four types of messages including a mechanical arm, shooting equipment, doctor behaviors and a mechanical arm controller. The emulation operations sub-information includes a message body id and message content.
The route process management unit 204 performs timing inquiry on the running state of the process of the message route unit 203, and if the current process is closed, the current process is restarted, so that the stability of the simulation system is improved.
In an embodiment, referring to fig. 4, the target server module 40 includes a heartbeat monitoring unit 401, a resource monitoring unit 402, and a simulation process management unit 403; the heartbeat monitoring unit 401 is configured to obtain a heartbeat packet of the current service server module 30 and send the heartbeat packet to the virtual routing module 20; the resource monitoring unit 402 is configured to obtain the hardware resource usage information of the current service server module 30, and send the obtained hardware resource usage information to the virtual routing module 20, so that the virtual routing module 20 determines the target server module 40. The simulation process management unit 403 is configured to monitor the simulation process in real time and restart the closed simulation process if the current service server module 30 is determined to be the target server module 40.
It should be noted that, after the heartbeat monitoring unit 401 is connected to the heartbeat receiving unit 201 of the virtual routing unit through a network, such as a Socket network, the heartbeat receiving unit 201 sends the acquired heartbeat of the current target server module 40 to monitor the operation state of each service server module 30.
The resource monitoring unit 402 sends the obtained hardware resource usage information to the selection unit 202 of the virtual routing module 20 through the Socket network, where the hardware resource usage information includes the id of the corresponding service server module 30 and the hardware resource usage rate.
In an embodiment, referring to fig. 4, the target server module 40 further includes a scenario loading unit 404, a planning parsing unit 405, and a scenario simulation unit 406. The scene loading unit 404 is configured to receive the simulation scene information, and call a pre-stored target scene file according to the simulation scene information, so as to generate a corresponding three-dimensional simulation scene. The planning analysis unit 405 is configured to perform path planning and/or motion analysis according to the simulation operation information, generate simulation motion information of each object to be operated, and transmit the simulation motion information to the scene simulation unit 406. The scene simulation unit 406 is configured to perform a simulation operation on each object to be operated in the three-dimensional simulation scene according to the simulation motion information of each object to be operated; the scene simulation unit 406 is further configured to obtain, in real time, absolute position information of a target portion of the mechanical arm of the virtual surgical robot in a simulation process and a simulation result.
In this embodiment, the planning analysis unit 405 receives the simulation operation information sent by the message routing unit 203, and sends the corresponding message content to the corresponding object to be operated according to the object to be operated pointed by the message body id in the simulation operation information, for example, if the message body id is 1001.1 joint motor controller, then the message content corresponding to the message body id is sent to the 1001.1 joint motor controller.
The object to be operated comprises a virtual operation robot mechanical arm, peripheral equipment, a simulation controller corresponding to doctor behaviors and the like.
The simulation motion information of each object to be operated is corresponding message content, including motion control information, peripheral operation information and/or doctor behavior information of the mechanical arm of the virtual surgical robot on each time node, which are described in the above text and are not described herein again.
Optionally, the simulation scene information includes a surgery scene type, and one surgery scene type corresponds to a pre-stored target scene file, wherein the target scene file is a three-dimensional model engineering file of a real surgery space and a facility.
It should be noted that, the user may input the simulation scene information to the scene customization module 10 through the browser, where the simulation scene information further includes information such as a user id.
The operation scene type can be a puncture operation scene type or an ablation operation scene and the like, and the target scene file of the puncture operation scene type and the target scene file of the ablation operation scene can be the same or different and can be determined according to the actual scene condition of an operation robot operating room of a hospital.
The three-dimensional model engineering files of the real operation space and facilities can be obtained through modeling by a laser point cloud method or can be obtained through modeling by a space shooting method, and the three-dimensional model engineering files of the obtained real operation space and facilities and the corresponding operation scene types are prestored in a scene database to be called. When the layout of the real operation space and facilities is changed, the corresponding three-dimensional model engineering file is updated.
Optionally, the simulation operation information includes direct simulation information and/or indirect simulation information, where the direct simulation information includes motion control information, peripheral operation information and/or doctor behavior information of the virtual surgical robot arm at each time node in the simulation process; the indirect simulation information includes start point position information of a path to be operated of the object to be operated.
It should be noted that, the user may input the simulation operation information to the scene customization module 10 through the browser, and may package the simulation operation information through the Socket network and then send the packaged simulation operation information to the message routing unit 203 of the virtual routing module 20. The simulation operation information may be direct simulation information, for example, motion control information of a virtual surgical robot arm in a surgical workflow includes information such as joint motor speed, acceleration, rotation radian, and the like.
The peripheral device operation information includes operation information of peripheral devices that may be used in a real operation scene, such as a scanning action of a CT device; the doctor behavior information comprises a pedal stepping control action, a manipulator dragging action command or a surgical tool adjusting command and the like.
The simulation operation information may also be indirect simulation information, such as start point position information of a path to be operated of the object to be operated.
Optionally, the absolute position information of the target part of the mechanical arm of the virtual surgical robot includes an absolute position of a distal end of the mechanical arm and an absolute position of each joint node of the mechanical arm; the simulation result includes whether the target part of the mechanical arm reaches a self-defined pose according to the simulation operation information.
It should be noted that, the scene simulation unit 406 may also display the change condition of the target portion of the virtual surgical robot arm in a chart, a curve, or the like. The target part of the mechanical arm comprises the key parts such as the tail end of the mechanical arm, each joint node and the like. The absolute position of the target site may refer to the position coordinates of the target site in the three-dimensional simulated scene coordinate system.
In an embodiment, referring to fig. 4, the scene simulation unit 406 includes a simulation controller 4061 of the virtual surgical robot arm, a simulation controller 4062 of the peripheral device, and/or a simulation controller 4063 of the doctor's behavior; the simulation controller 4061 of the virtual surgical robot arm includes at least a joint motor displacement controller, a joint motor speed controller, a joint motor sensor controller, and a tip position sensor controller; the peripheral simulation controller 4062 includes at least a CT apparatus operation controller, a photographing apparatus controller, and a bed controller.
The joint motor displacement controller is used for controlling the rotating motor to rotate according to the rotating angle according to the corresponding operation control information and controlling the translation motor to translate according to the displacement. The tail end position sensor controller is used for acquiring absolute position information of the tail end of the mechanical arm in real time. The joint motor speed controller is used for controlling the speed and the acceleration of each joint movement of the mechanical arm in a limited range according to the corresponding movement control information. The joint motor sensor controller is used for acquiring absolute position information of each joint of the mechanical arm in real time.
In one embodiment, referring to FIG. 4, the target server module 40 further includes a Web server module 407; the Web server module 407 is provided with a browser; the Web server module 407 is configured to acquire, if a browsing request sent by the browser is acquired, a current three-dimensional simulation scene of the scene simulation unit 406 and transmit the current three-dimensional simulation scene to the browser in an image form.
Optionally, the Web server module 407 is further configured to transmit the obtained absolute position information of the target portion of the mechanical arm of the virtual surgical robot and the simulation result to a browser.
It should be noted that, the relationship between the browser and the target server module 40 may be established by using a B/S architecture; the user can send an http request to the Web server module 407 of the current target server module 40 through the browser, the Web server module 407 obtains the current three-dimensional simulation scene in the corresponding scene simulation unit 406 through a Socket, pushes the user browser in a jpeg image mode, pushes the absolute position information of the target part of the mechanical arm of the virtual surgical robot and the simulation result to the user browser, and simultaneously refreshes the UI interface of the user browser, so that an operator can observe the simulation process of the virtual surgical robot in real time; it should be noted that, the user may perform a pan or rotate operation on the image on the UI interface at the browser end to switch the viewing angle. In addition, the simulation process management unit 403 monitors the processes of the simulation controllers and the corresponding Web server modules 407 in the corresponding scene simulation unit 406, and if any one of the processes of the simulation controllers and/or the Web server modules 407 is closed, the corresponding process is restarted, so that the stability of the simulation system is improved.
Compared with the prior art, the embodiment enables the user to customize the simulation scene information and the simulation operation information of the real operation scene through the scene customization module 10, so that the user can remotely/remotely perform the simulation operation, and the convenience of the simulation operation is improved; in addition, the virtual routing module 20 determines the target server module 40 from the plurality of service server modules 30, and the target server module 40 is automatically matched with a proper service server module 30 for simulation, so that the rationality of resource use of the service server module 30 can be improved, and the downtime phenomenon is avoided; further, the target server module 40 generates a three-dimensional simulation scene according to the simulation scene information, and performs simulation operation in the three-dimensional simulation scene according to the simulation operation information, so that a virtual real operation scene can be virtualized to perform a simulation operation, so that relevant medical staff can perform robot operation training, and the operability and safety of the operation are improved. In addition, an http request can be sent to the Web server module 407 of the current target server module 40 through the user browser, and the Web server module 407 pushes the jpeg image of the current three-dimensional simulation scene, the absolute position information of the target part of the mechanical arm of the virtual operation robot and the simulation result to the user browser, so that the user can perform simulation operation in a visual mode.
The foregoing is merely a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions easily conceivable by those skilled in the art within the technical scope of the present application should be covered in the scope of the present application.
Claims (10)
1. The virtual simulation system of the surgical robot is characterized by comprising a scene self-defining module, a virtual routing module and a plurality of service server modules, wherein the scene self-defining module is in communication connection with the virtual routing module, and the virtual routing module is respectively in communication connection with each service server module;
the scene customization module is used for receiving user-defined simulation scene information and simulation operation information and sending the simulation scene information and the simulation operation information to the virtual routing module;
the virtual routing module is used for matching an optimal service server module as a target server module and sending the simulation scene information and the simulation operation information to the target server module;
the target server module is used for generating a three-dimensional simulation scene according to the simulation scene information and performing simulation operation in the three-dimensional simulation scene according to the simulation operation information.
2. The surgical robot virtual simulation system of claim 1, wherein the target server module comprises a scene loading unit, a planning parsing unit, and a scene simulation unit;
the scene loading unit is used for receiving the simulation scene information, calling a pre-stored target scene file according to the simulation scene information and generating a corresponding three-dimensional simulation scene;
the planning analysis unit is used for carrying out path planning and/or motion analysis according to the simulation operation information, generating simulation motion information of each object to be operated and transmitting the simulation motion information to the scene simulation unit;
the scene simulation unit is used for performing simulation operation on each object to be operated in the three-dimensional simulation scene according to the simulation motion information of each object to be operated.
3. The virtual simulation system of a surgical robot according to claim 2, wherein the simulation scene information includes a surgical scene type, and one surgical scene type corresponds to a pre-stored target scene file, and the target scene file is a three-dimensional model engineering file of a real surgical space and facility.
4. The virtual simulation system of a surgical robot according to claim 2, wherein the simulation operation information includes direct simulation information and/or indirect simulation information, the direct simulation information including motion control information, peripheral operation information, and/or doctor behavior information of the virtual surgical robot arm at each time node in the simulation process; the indirect simulation information comprises starting point position information of a path to be operated of an object to be operated.
5. The surgical robot virtual simulation system of claim 4, wherein the scene simulation unit comprises a simulation controller of a virtual surgical robot arm, a simulation controller of a peripheral device, and/or a simulation controller of a doctor's behavior; the simulation controller of the virtual surgical robot arm at least comprises a joint motor displacement controller, a joint motor speed controller, a joint motor sensor controller and a tail end position sensor controller; the simulation controller of the peripheral equipment at least comprises a CT equipment operation controller, a shooting equipment controller and a bed controller.
6. The surgical robot virtual simulation system of claim 2, wherein the target server module further comprises a heartbeat monitoring unit, a resource monitoring unit, and a simulation process management unit;
the heartbeat monitoring unit is used for acquiring a heartbeat packet of the current target server module and sending the heartbeat packet to the virtual routing module;
the resource monitoring unit is used for acquiring the hardware resource use information of the current target server module and sending the hardware resource use information to the virtual routing module so that the virtual routing module determines the target server module;
the simulation process management unit is used for monitoring the simulation process of the target server module in real time and restarting the closed simulation process.
7. The surgical robot virtual simulation system of claim 2, wherein the virtual routing module comprises a heartbeat receiving unit, a selecting unit, a message routing unit, a routing process management unit, and an alarm unit;
the heartbeat receiving unit is used for receiving heartbeat packets sent by each service server module so as to determine the running state of each service server module;
the selection unit is used for determining a target server module according to the hardware resource use information and the running state of each service server module;
the message routing unit is used for classifying according to preset message bodies, converting the simulation operation information into simulation operation sub-information corresponding to each message body, and sending the converted simulation operation sub-information to the target server module so that each simulation controller corresponding to the scene simulation unit performs simulation operation according to the simulation operation sub-information corresponding to the message body class;
the route process management unit is used for monitoring the process of the message route unit;
and the alarm unit is used for generating overload alarm information when the utilization rate of the hardware resources of the service server module exceeds a preset threshold value.
8. The surgical robot virtual simulation system of claim 2, wherein the target server module further comprises a Web server module, the Web server module being provided with a browser;
and the Web server module is used for acquiring the current three-dimensional simulation scene of the scene simulation unit and transmitting the current three-dimensional simulation scene to the browser in the form of an image if the browsing request sent by the browser is acquired.
9. The virtual simulation system of the surgical robot according to claim 8, wherein the scene simulation unit is further configured to acquire, in real time, absolute position information of a target part of the mechanical arm of the virtual surgical robot in a simulation process and a simulation result, and transmit the absolute position information and the simulation result to the Web server module;
the Web server module is further used for transmitting the obtained absolute position information of the target part of the mechanical arm of the virtual operation robot and the simulation result to the browser.
10. The virtual simulation system of a surgical robot according to claim 9, wherein the absolute position information of the target site of the virtual surgical robot arm includes an absolute position of the arm tip and an absolute position of each joint node of the arm; the simulation result comprises whether the target part of the mechanical arm reaches a self-defined pose according to the simulation operation information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111328321.0A CN114081624B (en) | 2021-11-10 | 2021-11-10 | Virtual simulation system of surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111328321.0A CN114081624B (en) | 2021-11-10 | 2021-11-10 | Virtual simulation system of surgical robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114081624A CN114081624A (en) | 2022-02-25 |
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| CN112069072A (en) * | 2020-09-07 | 2020-12-11 | 上海高仙自动化科技发展有限公司 | Robot simulation control system, method, server and storage medium |
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| US11350994B2 (en) * | 2017-06-19 | 2022-06-07 | Navlab Holdings Ii, Llc | Surgery planning |
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| CN110955978A (en) * | 2019-12-02 | 2020-04-03 | 北京达美盛科技有限公司 | Method for realizing three-dimensional visual multi-service multi-terminal fusion |
| GB2593473A (en) * | 2020-03-23 | 2021-09-29 | Cmr Surgical Ltd | Virtual console for controlling a surgical robot |
| CN112168345B (en) * | 2020-09-07 | 2022-03-01 | 武汉联影智融医疗科技有限公司 | Surgical robot simulation system |
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| CN113616336B (en) * | 2021-09-13 | 2023-04-14 | 上海微创微航机器人有限公司 | Surgical robot simulation system, simulation method, and readable storage medium |
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