Robotic surgical system and method for handling real-time and non-real-time traffic
A robotic surgical system and method are disclosed for handling real-time and non-real-time traffic. In one embodiment, a surgical robotic system is provided comprising at least one robotic arm coupled to an operating table; and a control computer comprising a processor and a hardware interface, wherein the processor is configured to: receive a notification about real-time data from the operating table at the hardware interface; process the real-time data immediately upon receiving the notification; and poll the hardware interface for non-real time data from the operating table only when not processing the real-time data. Other embodiments are provided.
1 . A surgical robotic system, comprising:
at least one robotic arm; and
a computer comprising a processor and a network interface, wherein the processor is configured to:
receive a notification about real-time data from the at least one robotic arm, the real-time data received at the network interface; and
process the real-time data responsive to the received notification.
2 . The surgical robotic system of claim 1 , wherein the computer is further configured to process non-real-time data when not processing the real-time data, wherein the real-time data comprises robotic arm traffic, and wherein the non-real-time data comprises operating table component traffic.
3 . The surgical robotic system of claim 1 , wherein the processor comprises a driver, and wherein the network interface is configured to:
send an interrupt to the driver in response to receiving the real-time data; and
store non-real-time data in a buffer;
wherein the driver is configured to poll the network interface for the non-real-time data when not processing the robotic arm traffic.
4 . The surgical robotic system of claim 3 , wherein the driver comprises a real-time device driver and a non-real-time device driver.
5 . The surgical robotic system of claim 4 , wherein the real-time device driver and the nonreal-time device driver are implemented with multiple threads within one driver.
6 . The surgical robotic system of claim 4 , wherein the real-time device driver operates in an interrupt mode, and wherein the non-real-time device driver operates in a polling mode.
7 . The surgical robotic system of claim 4 , wherein the real-time device driver and the nonreal-time device driver are bound to one core of the computer.
8 . The surgical robotic system of claim 4 , wherein the computer comprises a real-time server in communication with the real-time device driver and a non-real-time server in communication with the non-real-time device driver.
9 . The surgical robotic system of claim 8 , wherein the computer further comprises a queue configured to store asynchronous calls before they are sent to the real-time server.
10 . The surgical robotic system of claim 1 , wherein the computer is a backup computer.
11 . The surgical robotic system of claim 1 , wherein the computer is in communication with an operating table using a first ring network protocol, and wherein the operating table is in communication with the at least one robotic arm using a second ring network protocol.
12 . The surgical robotic system of claim 1 further comprising:
a user console having one or more user interface devices, wherein the user console is configured to generate a control command for at least one robotic arm in response to manipulation of the one or more user interface devices and send the control command to the computer, wherein the computer is configured to translate the control command into robotic arm traffic for transmission to the at least one robotic arm.
13 . The surgical robotic system of claim 11 , wherein the operating table comprises one or more of the following: a table power distribution board, a table base controller, and a table speaker board.
14 . A method for handling data to and from a surgical robot at a backup computer, the method comprising:
receiving, by a processor, a notification from a network interface of the backup computer, the notification being about real-time data to be forwarded to or received from a robotic arm and/or a surgical tool mounted on the robotic arm; and
processing, by the processor, the real-time data in response to the notification.
15 . The method of claim 14 , further comprising:
receiving, by the processor, non-real-time data from the network interface for processing the non-real-time data, the receiving being when not processing the real-time data, wherein the backup computer comprises a driver; and wherein the network interface:
sends an interrupt to the driver in response to receiving robotic arm traffic
as the real-time data; and
stores an operating table frame as non-real-time data in a buffer;
wherein the driver polls the network interface for the operating table frame when not processing the robotic arm traffic.
16 . The method of claim 15 , wherein the driver comprises a real-time device driver and a non-real-time device driver, and wherein the real-time device driver and the non-real-time device driver are implemented via two separate data paths within one driver.
17 . A surgical robotic system, comprising:
a robotic arm;
a surgical tool for connection to a distal end of the robotic arm; and
one or more processors configured to:
receive a notification about real-time data for the robotic arm or the surgical tool, the notification comprising a message received by the processor where the message is to then process the real-time data.
18 . The surgical robotic system of claim 17 further comprising a queue configured to store non-real-time data, wherein the one or more processors are configured to process the non-real-time data when not processing the real-time data.
19 . The surgical robotic system of claim 18 , wherein the non-real-time data is from multiple clients.