Robotic surgical system and method for communicating synchronous and asynchronous information to and from nodes of a robotic arm
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 method of transmitting data at a node of a ring network of a robotic surgical system, the method comprising:
receiving, during a part of a current communication cycle, a current synchronous command from a robot controller at the node of the ring network; and
sending, during the part of the current communication cycle, at least one response to an earlier asynchronous command received from the robot controller at the node of the ring network during an earlier communication cycle,
wherein the current communication cycle spans a predetermined cycle time and the communication cycle includes asynchronous information interleaved with synchronous information including sensor feedback from the robot controller.
2. The method of claim 1 , wherein the part of the current communication cycle is a first frame of the current communication cycle, the method further comprising:
sending, during a second frame of the current communication cycle, a response to an earlier synchronous command from the robot controller at the node of the ring network during the earlier communication cycle; and
receiving, during the second frame of the current communication cycle, a current asynchronous command from the robot controller at the node of the ring network.
3. The method of claim 2 , wherein the response to the earlier synchronous command includes motor feedback.
4. The method of claim 2 , wherein bandwidth of the current communication cycle is divided between the first frame of the current communication cycle and the second frame of the current communication cycle.
5. The method of claim 2 , wherein the current synchronous command is associated with a requirement that the current synchronous command be processed upon receipt or within a predetermined time.
6. The method of claim 1 , wherein the current synchronous command is a motor command.
7. The method of claim 6 , wherein the motor command includes a torque value or a position value.
8. The method of claim 1 , wherein the earlier asynchronous command not associated with a temporal requirement for processing.
9. The method of claim 1 , wherein the earlier asynchronous command includes a request for information from the node.
10. The method of claim 9 , wherein the request for information from the node requests identification of a surgical tool, calibration information for the surgical tool, or at least one kinematic parameter of the surgical tool.
11. The method of claim 9 , wherein the request for information from the node requests a measurement of temperature or a voltage of the node.
12. A method of processing data at a node of a ring network of a robotic surgical system, the method comprising
sending, during a part of a current communication cycle, a response to an earlier synchronous command from a robot controller at the node of the ring network during an earlier communication cycle; and
receiving, during the part of the current communication cycle, a current asynchronous command from the robot controller at the node of the ring network,
wherein the current communication cycle includes asynchronous information interleaved with synchronous information including sensor feedback from the robot controller in corresponding time slots.
13. The method of claim 12 , wherein the part of the current communication cycle is a second part of the current communication cycle, the further comprising:
receiving, during a first part of a current communication cycle, a current synchronous command from a robot controller at the node of the ring network; and
sending, during the first part of the current communication cycle, at least one response to an earlier asynchronous command received from the robot controller at the node of the ring network during the earlier communication cycle.
14. The method of claim 13 , wherein the current synchronous command or the earlier current synchronous command is a motor command.
15. The method of claim 14 , wherein the motor command includes a torque value or a position value.
16. The method of claim 13 , wherein the response to the earlier synchronous command includes motor feedback.
17. The method of claim 13 , wherein the current asynchronous command or the earlier asynchronous command is a request for information from the node including a request for information from the node requests identification of a surgical tool, calibration information for the surgical tool, or at least one kinematic parameter of the surgical tool.
18. A node for processing data in a ring network of a robotic surgical system, the node comprising:
at least one memory configured to store an earlier synchronous command; and
a node controller configured to receive, during a first part of a current communication cycle, a current synchronous command from a robot controller at the node of the ring network and send, during the first part of the current communication cycle, at least one response to the earlier asynchronous command received from the robot controller at the node of the ring network during an earlier communication cycle,
wherein the current communication cycle includes asynchronous information interleaved with synchronous information including sensor feedback from the robot controller.
19. The node of claim 18 , wherein the node controller is further configured to send, during a second part of the current communication cycle, a response to an earlier synchronous command from the robot controller at the node of the ring network during the earlier communication cycle and receive, during the second part of the current communication cycle, a current asynchronous command from the robot controller at the node of the ring network.
20. The node of claim 19 , wherein bandwidth of the current communication cycle is divided between the first part of the current communication cycle and the second part of the current communication cycle.