Robotic surgical system having a communication network of a ring topology and method for use therewith
A robotic surgical system is disclosed having a ring network for communicating information between a controller and nodes of one or more robotic arms. A communications protocol is described by which synchronous and asynchronous information can be communicated to and from the nodes of the robotic arms. Also disclosed are various aspects of a physical layer that can be used with the network.
1. A robotic surgical system comprising:
a plurality of robotic arms, each robotic arm comprising a plurality of nodes arranged in a ring network;
a first controller; and
a second controller in communication with the ring networks of each of the robotic arms and with the first controller;
wherein the first controller is configured to send the second controller a single message comprising a plurality of individual multi-node messages, each individual multi-node message associated with a different robotic arm and comprising a plurality of packets, each packet associated with a different node in the robotic arm;
wherein the second controller is configured to separate out each individual multi-node message from the single message and send each robotic arm its associated individual multi-node messages, wherein the second controller is further configured to receive individual multi-node messages from the ring networks of each of the robotic arms, combine the received individual multi-node messages into a merged message, and send the merged message to the first controller; and
wherein for a given robotic arm, the individual multi-node message associated with that arm is sent to all nodes of that arm, wherein each node of that arm receives the packets associated with all of the nodes of that arm but is configured to only act on the packet that is associated with that node.
2. The robotic surgical system of claim 1 , wherein the second controller is a timing master for the robotic surgical system.
3. The robotic surgical system of claim 1 , wherein the first controller is configured to communicate with the second controller using a fiber optic link.
4. The robotic surgical system of claim 1 , wherein the second controller is configured to communicate with the plurality of robotic arms using a low-voltage differential signal.
5. The robotic surgical system of claim 1 , wherein each robotic arm comprises a plurality of cables connecting the nodes of that robotic arm to each other, wherein each node comprises pass-through cable connectors and active cable connectors, and wherein the plurality of cables are connected to the pass-through cable connectors and the active cable connectors to provide a node-skipping configuration.
6. The robotic surgical system of claim 1 , wherein the second controller comprises a transmitter configured to use a first common mode voltage to transmit a low-voltage differential signal and further configured to use a second common mode voltage to transmit encoded additional information.
7. The robotic surgical system of claim 6 , wherein the transmitter is further configured to provide a back-terminated transmission line.
8. The robotic surgical system of claim 1 , wherein the plurality of nodes include at least one node having one or more of the following components: a node controller, a single motor, a dual motor, a wireless tool interface, a force/torque sensor, and an input/output board.
9. The robotic surgical system of claim 1 , wherein the second controller is integrated in a patient table, and wherein the first controller is located away from the patient table.
10. A method for communicating in a robotic surgical system, the method comprising:
performing in a robotic surgical system comprising a first controller, a second controller, and plurality of robotic arms:
with the first controller, sending a single message comprising a plurality of individual multi-node messages to the second controller, wherein each individual multi-node message is associated with a different robotic arm and comprises a plurality of packets, each packet associated with a different node in the robotic arm; and
with the second controller:
separating out each individual multi-node message from the single message and send each robotic arm its associated individual multi-node message;
receiving individual multi-node messages from the ring networks of each of the robotic arms;
combining the received individual multi-node messages into a merged message; and
sending the merged message to the first controller;
wherein for a given robotic arm, the individual multi-node message associated with that arm is sent to all nodes of that arm, wherein each node of that arm receives the packets associated with all of the nodes of that arm but is configured to only act on the packet that is associated with that node.
11. The method of claim 10 , wherein the second controller is a timing master for the robotic surgical system.
12. The method of claim 10 , wherein the first controller is configured to communicate with the second controller using a fiber optic link.
13. The method of claim 10 , wherein the second controller is configured to communicate with the plurality of robotic arms using a low-voltage differential signal.
14. The method of claim 10 , wherein each robotic arm comprises a plurality of cables connecting the nodes of that robotic arm to each other, wherein each node comprises pass-through cable connectors and active cable connectors, and wherein the plurality of cables are connected to the pass-through cable connectors and the active cable connectors to provide a node-skipping configuration.
15. The method of claim 10 , wherein the second controller comprises a transmitter configured to use a first common mode voltage to transmit a low-voltage differential signal and further configured to use a second common mode voltage to transmit encoded additional information.
16. The method of claim 15 , wherein the transmitter is further configured to provide a back-terminated transmission line.
17. The method of claim 10 , wherein the second controller is integrated in a patient table, and wherein the first controller is located away from the patient table.
18. A robotic surgical system comprising:
a plurality of robotic arms, each robotic arm comprising a plurality of nodes arranged in a ring network;
a master controller;
a base controller; and
means for coordinating communications between the master controller and the nodes of the robotic arms through the base controller;
wherein for a given robotic arm, an individual multi-node message associated with that arm is sent to all nodes of that arm, wherein each node of that arm receives packets associated with all of the nodes of that arm but is configured to only act on the packet that is associated with that node.
19. The robotic surgical system of claim 18 , wherein the plurality of nodes include at least one node having one or more of the following components: a node controller, a single motor, a dual motor, a wireless tool interface, a force/torque sensor, and an input/output board.
20. The robotic surgical system of claim 18 , wherein the base controller is integrated in a patient table, and wherein the master controller is located away from the patient table.