Systems and methods for synchronizing nodes of a robotic system
AssigneeIntuitive Surgical Operations, Inc.
InventorsBrian D. Hoffman, Joshua Radel
Life of this patent
Estimating the term…
Abstract
A robotic system is provided. The robotic system includes a publishing node including at least one first synchronization database that includes a plurality of attributes, each of the attributes including a tag identifying the attribute and data, a flag associated with each of the attributes, and a subscriber list. The system also includes a subscriber node including at least one second synchronization database. The publishing node is configured to set the flag associated with the attributes when the attributes are written in the at least one first synchronization database or when the data included in the attributes are modified and publish the flagged attributes to the subscriber node.
Claims30
A robotic system, comprising:
- a publishing node, the publishing node including at least one first synchronization database, the at least one first synchronization database comprising:
- a plurality of attributes, each of the attributes including a tag identifying the attribute and data;
- a flag associated with each of the attributes;
- and
- a subscriber list;
- and
- a subscriber node, the subscriber node including at least one second synchronization database, wherein
- the publishing node is configured to set the flag associated with the attributes when the attributes are written in the at least one first synchronization database or when the data included in the attributes are modified and publish the flagged attributes to the subscriber node.
A method for synchronizing data across nodes of a robotic system, comprising:
- transmitting, from a publishing node, an advertising message advertising attributes stored in a server instance of a synchronization database executing on the publishing node;
- receiving, by a subscribing node coupled to the publishing node, the advertising message;
- transmitting, by the subscribing node, a subscription message indicating the attributes stored in the server instance of a synchronization database executing on the publishing node that the at least one subscribing node wants to subscribe to;
- adding, by the publishing node, the subscribing node to a subscription list maintained in the server instance of a synchronization database executing on the publishing node;
- setting, by the publishing node, a flag for each of the subscribed attributes;
- transmitting, by the publishing node, a synchronization packet including each of the flagged attributes to the subscribing node;
- and
- clearing the flag for each of the transmitted attributes.
A non-transitory computer-readable medium having instructions for execution by one or more processors of a robotic system, when executed, cause the one or more processors to perform a method for synchronizing nodes of the robotic system, the method comprising:
- transmitting, from a publishing node, an advertising message advertising attributes stored in a server instance of a synchronization database executing on the publishing node;
- receiving, by a subscribing node coupled to the publishing node, the advertising message;
- transmitting a subscription message from the subscribing node to the publishing node, the subscription message indicating the attributes stored in the server instance of a synchronization database executing on the publishing node that the at least one subscribing node wants to subscribe to;
- adding the subscribing node to a subscription list maintained in the server instance of a synchronization database executing on the publishing node;
- setting a flag for each of the subscribed attributes in the server instance of a synchronization database executing on the publishing node;
- transmitting a synchronization packet from the publishing node to the subscribing node, the synchronization packet including each of the flagged attributes;
- and
- clearing the flag for each of the transmitted attributes in the server instance of a synchronization database executing on the publishing node.
Dependencies are inferred from the claim text.