System and method for remote clock estimation for reliable communications

Patent metadata

Field	Value
Publication number	US-9735951-B2
Application number	US-201514972332-A
Country	US
Kind code	B2
Filing date	Dec 17, 2015
Priority date	Jun 26, 2014
Publication date	Aug 15, 2017
Grant date	Aug 15, 2017

Abstract

An electronic device is provided including a processor, a communications interface coupled to the processor, a memory coupled to the processor, and a module saved in the memory. The module configures the processor to receive a first communications packet from a remote device via the communications interface including information useful for estimating a clock offset of the remote device, and determine an upper bound of the clock offset of the remote device with respect to the electronic device based on the information.

First claim

What is claimed is:

1. A medical navigation system for controlling a robotic arm, the medical navigation system comprising:
a first processor, a first communications interface coupled to the first processor, and a first memory coupled to the first processor, the first memory having a first module saved therein; and
a robotic arm having a second processor coupled to a second memory, a second communications interface communicating with the first communications interface, and a second module saved in the second memory,
at least one of the first and second modules configuring the corresponding first or second processor to:
receive a first communications packet from a remote device via the corresponding communications interface including information useful for estimating a clock offset of the remote device;
determine an upper bound of the clock offset of the remote device with respect to the processor performing the determination based on the information; and
determine a maximum age of data contained in the first communications packet based on the upper bound of the clock offset of the remote device with respect to the processor performing the determination.

2. The medical navigation system according to claim 1 , wherein the information useful for estimating the clock offset of the remote device includes a timestamp of the processor performing the determination at a start of transmission of a second communications packet to the remote device, T1, a timestamp of the remote device upon receipt of the second communications packet, T2, and a timestamp of the remote device at a start of transmission of the first communications packet, T3.

3. The medical navigation system according to claim 2 , wherein the information useful for estimating the clock offset of the remote device further includes a timestamp of the processor performing the determination upon receipt of the first communications packet, T4.

4. The medical navigation system according to claim 2 , wherein the second communications packet was sent earlier in time than the first communications packet and the communications packets are TCP/IP packets that are not explicit request/response packets sent for the purpose of determining timing information.

5. The medical navigation system according to claim 2 , wherein the first communications packet and the second communications packet are sent over the Internet and the communications interface includes Ethernet.

6. The medical navigation system according to claim 1 , wherein when the first processor performs the determination of an upper bound of the clock offset of the remote device and the maximum age of data, the remote device is the robotic arm; or when the second processor performs the determination of an upper bound of the clock offset of the remote device and the maximum age of data, the remote device is the medical navigation system.

7. The medical navigation system according to claim 1 , wherein the remote device includes a remote server having a third processor coupled to a third memory and a third communications interface, the third processor running a server module.

8. A method of determining an upper bound of a clock offset of a remote device relative to an electronic device that is part of a medical navigation system, the electronic device including a first processor, a first communications interface coupled to the first processor, a first memory coupled to the first processor, and a first module saved in the first memory, the first module for configuring the first processor to perform the method comprising:
receiving a first communications packet from the remote device via the first communications interface including information useful for estimating a clock offset of the remote device;
determining the upper bound of the clock offset of the remote device with respect to the electronic device based on the information; and
determining a maximum age of data contained in the first communications packet based on the upper bound of the clock offset of the remote device with respect to the electronic device.

9. The method according to claim 8 , wherein the electronic device includes at least one of a computing device that is part of the medical navigation system and a robotic arm that is part of the medical navigation system and the remote device includes a remote server having a second processor coupled to a second memory and a second communications interface, the second processor running a server module.

10. The method according to claim 8 , wherein the electronic device includes a computing device of the medical navigation system and the remote device includes a robotic arm.

11. The method according to claim 8 , wherein the electronic device includes a robotic arm and the remote device includes a computing device of the medical navigation system.

12. The method according to claim 8 , wherein the electronic device includes a computing device of the medical navigation system and the remote device includes a server running a server module.

13. The method according to claim 8 , wherein the electronic device includes a robotic arm and the remote device includes a server running a server module.

14. The method according to claim 8 , wherein the information useful for estimating the clock offset of the remote device includes a timestamp of the electronic device at a start of transmission of a second communications packet to the remote device, T1, a timestamp of the remote device upon receipt of the second communications packet, T2, and timestamp of the remote device at a start of transmission of the first communications packet, T3.

15. The method according to claim 14 , wherein the information useful for estimating the clock offset of the remote device further includes a timestamp of the electronic device upon receipt of the first communications packet, T4.

16. The method according to claim 14 , wherein the second communications packet was sent earlier in time than the first communications packet and the communications packets are TCP/IP packets that are not explicit request/response packets sent for the purpose of determining timing information.

17. A computer program product comprising a non-transitory computer readable medium having stored thereon computer executable instructions that when executed by an electronic device that is part of a medical navigation system perform a method of determining an upper bound of a clock offset of a remote device relative to the electronic device, the electronic device including a first processor, a first communications interface coupled to the first processor, a first memory coupled to the first processor, and a first module saved in the first memory, the first module for configuring the first processor to perform the method comprising:
receiving a first communications packet from the remote device via the first communications interface including information useful for estimating a clock offset of the remote device;
determining the upper bound of the clock offset of the remote device with respect to the electronic device based on the information; and
determining a maximum age of data contained in the first communications packet based on the upper bound of the clock offset of the remote device with respect to the electronic device.

18. The computer program product according to claim 17 , wherein the electronic device includes at least one of a computing device that is part of the medical navigation system and a robotic arm that is part of the medical navigation system and the remote device includes a remote server having a se

Assignees

• Synaptive Medical Barbados Inc

Inventors

• Thomas Monroe M
• Alexander Simon

Classifications

• H04L43/106

  using time related information in packets, e.g. by adding timestamps · CPC title

• H04J3/0602

  Systems characterised by the synchronising information used · CPC title

• H04J3/0667 Primary

  Bidirectional timestamps, e.g. NTP or PTP for compensation of clock drift and for compensation of propagation delays (arrangements for monitoring round trip delays in packet switching networks H04L43/0864) · CPC title

• H04L7/04 Primary

  Speed or phase control by synchronisation signals {(H04L7/0075 takes precedence)} · CPC title