Latency Measurement And Compensation Technology Research On Telesurgery Robot System

With the advantages of no geographical restrictions and strong scalability,telesurgery is currently an important development direction of minimally invasive surgery,which makes it possible for cross-regional surgical procedures.It can break the traditional medical treatment concept of seeing the doctor and going to hospital when uncomfortable.At the same time,it is also an effective way to solve the problem of uneven distribution of medical resources.However,due to the increase of transmission distance,new problems will be introduced,such as packet loss,disorder,latency,and the requirement for high definition image transmission.In this paper,the following contents are studied for solving the above issues:Firstly,this paper introduced the development and advantages of surgical operation,and analyzed the domestic and international research status of minimally invasive surgery and telesurgery.Secondly,based on the “MicroHand S” MIS robot developed by Tianjin University,the system structure of telesurgery robot was analyzed.According to the characteristics of remote operation,a master-slave data communication software was developed.Taking the software as the platform,the network communication test between Tianjin and Beijing was completed,which tested the network situation at different times of a day.The issues of remote HD image transmission and distortion of the three-dimensional image transmission were solved.Surgical operation in large latency environment will not only prolong the operation time,increase the risk of operation,but also increase the inadaptability of doctor's operation.The accurate measurement of latency is the premise of latency reduction and compensation,and also an important index to evaluate the robot.After fully analyzing the causes of latency,this study put forward a method by comparing the orientations of the input and output events through image processing technology.After quantitatively analyzing the accuracy of the proposed measurement method,the author applied it to a visual feedback-based master-slave robotic system with two degrees of freedom.Experimental results show that the overall system latency of measured system is about 250 ms and the opposite clearance of the measured joint is in the range of 1.7 °-1.9 °.Finally,this paper introduced the improved Smith pre-estimation control model and network data prediction filtering control model.After simulating the control system with TrueTime2.0,a single joint remote control system based on STM32 was set up in the LAN to verify the feasibility of the scheme.