Method for detecting faults in operating states of surgical robots

A method for detecting faults in an operating state of surgical robots, the method comprising:

• broadcasting, by a master computer, a desired pose signal to a master embedded computer and a plurality of slave embedded computers via a local area network (LAN) router at a preset period,
• receiving, by the mater computer, a null operation instruction signal transmitted from the master embedded computer at the preset period,
• receiving, by the mater computer, actual pose signals transmitted from the slave embedded computers at the preset period;
• if the master embedded computer and the slave embedded computers do not receive the desired pose signal transmitted from the master computer via the LAN router within the preset period and the master embedded computer does not receive a null operation response signal returned from the master computer via the LAN router, determining that the master computer fails in the full operating state;
• receiving, by the master embedded computer, the desired pose signal transmitted from the master computer at the preset period,
• sending, by the master embedded computer, the null operation instruction signal to the master computer at the preset period,
• obtaining, by the master embedded computer, the null operation response signal transmitted from the master computer;
• listening, by the master embedded compute, to motor position control signals transmitted from respective slave embedded computers via a first communication bus;
• if the master computer does not receive the null operation instruction signal transmitted from the master embedded computer via the LAN router within the preset period, determining that the master embedded computer fails in the full operating state;
• and
• receiving, by the respective slave embedded computers, the desired pose signal transmitted from the master computer via the LAN router at the preset period,
• transmitting, by the respective slave embedded computers, actual pose signals to the master computer via the LAN router;
• sending, by the respective slave embedded computers, motor position control signals to a surgical tool driving module or an imaging tool driving module via the first communication bus at the preset period;
• if the master computer does not receive the actual pose signal transmitted by a certain slave embedded computer via the LAN router within the preset period and if the master embedded computer does not listen to the motor position control signal transmitted from the certain slave embedded computer via the first communication bus within the preset period, determining that a certain slave embedded computer fails in the full operating state.