A space-ground integrated satellite communication network system suitable for remote surgery

Abstract

A space-ground integrated satellite communication network system suitable for remote surgery, which relates to the field of satellite communication. It solves the deficiencies of existing medium and high-orbit satellites, such as high latency, large jitter, and easy congestion. The system includes: a remote surgery operation console module, which is used to connect the transceiver data of the remote surgery operation console module to the remote small station of the high-orbit satellite system through a dedicated line; a satellite communication module, which is used to manage the communication connection between the remote small station of satellite communication and the ground network; a cloud server forwarding module, which is used to forward data between the gateway and the robot, confirm the network address where the destination hospital is located, and reach the 5G CPE device at the hospital through a wireless or wired network; the surgical robot module receives the instruction data of the remote surgery operation console module in real time, and at the same time sends the response data of the surgical robot module to the remote surgery operation console module in real time, realizing remote data interaction between the remote surgery operation console module and the surgical robot.

Description

Technical Field

[0001] The present invention relates to the field of satellite communication technology, and particularly relates to an integrated space-ground satellite communication network system suitable for remote surgery. Background Art

[0002] As a key technology in remote surgery, the satellite link plays a crucial role in ensuring the reliability of remote medical services. The satellite link has the advantages of wide coverage, long transmission distance, and being unrestricted by terrain, and is very suitable for remote medical treatment. Through the satellite link, doctors can conduct real-time video consultations with patients, transmit medical imaging materials, perform remote surgeries, etc., greatly improving the quality and efficiency of medical services.

[0003] The application of the satellite link in remote surgery involves multiple technical links, including signal transmission, reception, and processing. Each link requires precise technical implementation. Signal transmission and processing technologies include modulation and demodulation, encoding and decoding, signal amplification, image processing, data compression technology, etc. Through the integration of these technology groups, the reliable transmission and correct interpretation of service content are ensured, and the reliability requirements for information transmission in remote surgery are met.

[0004] Although the satellite link has significant advantages in remote medical treatment, its application also faces many challenges, such as signal transmission jitter, delay, and congestion. For example, excessive delay will cause both communication parties to wait, which may result in untimely responses of the remote robot to instructions, discontinuous surgical actions, and improper operations of small displacements, affecting the accuracy of surgical operations; while real-time services such as video cannot tolerate signal jitter, which will cause interruptions in voice or video, unable to timely feedback the motion state of the controlled end, and is extremely likely to cause misoperations, and also affects the processing of some network protocols.

[0005] Remote surgery has extremely high requirements for these network performance indicators. Especially for high-orbit satellite (about 36,000 km from the earth) links, the problems of transmission delay and stability are particularly prominent. How to reduce or decrease the communication link delay, improve the link stability, and reduce signal jitter is crucial for remote surgery, and currently, the research on the reliability of satellite communication links for remote surgery is relatively scarce. Summary of the Invention

[0006] The present invention aims to solve the deficiencies in the prior art such as high delay, large jitter, and easy congestion of high-orbit satellites. To solve the above technical problems, the present invention is realized through the following technical solutions:

[0007] Solution 1: The present invention proposes an integrated space-ground satellite communication network system suitable for remote surgery, and the system includes:

[0008] Remote surgical console module, used to connect the receiving and sending data of the remote surgical console module to the remote station via a dedicated line;

[0009] A satellite communication module, used for the gateway to manage the communication connection between the remote satellite communication station and the ground network;

[0010] The cloud server forwarding module is used to forward data between the gateway and the robot, confirm the network address of the destination hospital, and reach the 5G CPE device at the hospital via wireless or wired network;

[0011] The surgical robot module is used to connect to the 5G CPE via a wired or wireless network. The surgical robot module receives the command data from the remote surgical console module in real time, and sends the response data of the surgical robot module to the remote surgical console module in real time, thereby realizing remote data interaction between the remote surgical console module and the surgical robot.

[0012] Furthermore, a preferred embodiment is provided, wherein the step from the remote surgical console module to the surgical robot is achieved in only one hop.

[0013] Furthermore, a preferred embodiment is provided, wherein the satellite communication module also includes a step of analyzing and evaluating the reliability of the satellite communication link.

[0014] Furthermore, a preferred embodiment is provided, wherein the reliability analysis and evaluation of the satellite communication link includes steps of signal transmission topology, network bandwidth, and QoS control.

[0015] Furthermore, a preferred embodiment is provided, in which the remote surgical operating table module and the surgical robot are configured with single-channel single-carrier QPSK modulation or high-order modulation to ensure a communication rate of 10 Mbps.

[0016] Furthermore, a preferred embodiment is provided, in which the business data of the surgical robot includes surgical manipulation instructions, image data, and voice data.

[0017] Furthermore, a preferred embodiment is provided, wherein the QoS modulation method is obtained by respectively judging the data volume and service reliability of the surgical manipulation instructions, image data, and voice data, that is,

[0018] The order of the volume of voice data from small to large is: control command < voice data < image data;

[0019] The order of service reliability from high to low is: control command > image data > voice data.

[0020] Furthermore, a preferred embodiment is provided, wherein the surgical robot also includes a step of adaptively encoding business data.

[0021] The advantages of the present invention are as follows:

[0022] The space-earth integrated satellite communication network system suitable for remote surgery described in the present invention has the advantage of low latency. Different from the two-hop end-to-end connection of other existing high-orbit satellite communications, the end-to-end communication in the system described in the present invention, that is, the remote surgery operation console and the surgical robot is realized by only one hop, reducing the communication latency of the satellite link by half. At the same time, the ground segment network is directly connected to the dedicated cloud server of the satellite main station network, and the cloud server directly provides the connection between the transceiver ends, reducing the routing latency brought by the public network. Through the space-earth integrated communication link solution, the remote latency is controlled within 300 ms, which is beneficial to the remote control and response of the remote robot.

[0023] The space-earth integrated satellite communication network system suitable for remote surgery described in the present invention has the advantage of congestion-free. The gateway station pre-allocates an independent 5 MHz bandwidth for the end-to-end channel, and uses single-channel single-carrier QPSK modulation or higher-order modulation to make the information rate reach 10 Mbps or more, avoiding network congestion.

[0024] The space-earth integrated satellite communication network system suitable for remote surgery described in the present invention can achieve high-quality transmission. Classify the network data and set priorities according to the data volume and service importance. Through this optimized QoS control strategy, it is possible to simultaneously transmit operation instructions, image data, and voice data with high quality in one signal and avoid network congestion.

[0025] The space-earth integrated satellite communication network system suitable for remote surgery described in the present invention further includes adaptive coding technology to optimize congestion handling and flow control. The information rate of large traffic data services such as image services fluctuates due to changes in channel quality. For suddenly deteriorating channel quality, the system automatically adjusts the coding type, compression, and frame rate reduction, etc., to keep the data stable at a relatively stable level, perform flow control, and reduce the risks of data congestion, data packet loss, and high jitter.

[0026] The present invention is also applicable to the field of measuring the reliability of satellite links. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a flowchart of a space-earth integrated satellite communication network system suitable for remote surgery described in Embodiment 1. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, rather than all of them.

[0029] Embodiment 1. This embodiment provides a space-ground integrated satellite communication network system suitable for remote surgery. The system includes:

[0030] A remote surgery operation console module, which is used to connect the transceiver data of the remote surgery operation console module to the remote station through a dedicated line.

[0031] A satellite communication module, which is used for the communication connection between the remote station managed by the gateway for satellite communication and the ground network.

[0032] A cloud server forwarding module, which is used for data forwarding between the gateway and the robot, and confirming the network address where the destination hospital is located, and reaching the 5G CPE device at the hospital through a wireless or wired network.

[0033] A surgical robot module, which is connected to the 5G CPE through a wired or wireless network. The surgical robot module receives the instruction data of the remote surgery operation console module in real time, and at the same time sends the response data of the surgical robot module to the remote surgery operation console module in real time, realizing the remote data interaction between the remote surgery operation console module and the surgical robot.

[0034] Embodiment 2. This embodiment is a further limitation of the space-ground integrated satellite communication network system suitable for remote surgery described in Embodiment 1. The step from the remote surgery operation console module to the surgical robot is only achieved in one hop.

[0035] Embodiment 3. This embodiment is a further limitation of the space-ground integrated satellite communication network system suitable for remote surgery described in Embodiment 1. The satellite communication module further includes steps for analyzing and evaluating the reliability of the satellite communication link.

[0036] Embodiment 4. This embodiment is a further limitation of the space-ground integrated satellite communication network system suitable for remote surgery described in Embodiment 1. The reliability analysis and evaluation of the satellite communication link include steps of signal transmission topology, network bandwidth, and QoS control.

[0037] Embodiment 5. This embodiment is a further limitation of the space-ground integrated satellite communication network system suitable for remote surgery described in Embodiment 1. The remote surgery operation console module and the surgical robot are configured with single-channel single-carrier QPSK modulation or higher-order modulation to ensure a communication rate of 10 Mbps.

[0038] Embodiment 6. This embodiment further limits the space-ground integrated satellite communication network system suitable for remote surgery described in Embodiment 1. The service data of the surgical robot includes surgical operation instructions, image data, and voice data.

[0039] Embodiment 7. This embodiment further limits the space-ground integrated satellite communication network system suitable for remote surgery described in Embodiment 6. The QoS modulation method is obtained by respectively judging the data volume and service reliability of surgical operation instructions, image data, and voice data, that is,

[0040] The data volume of voice data from small to large is: operation instructions < voice data < image data;

[0041] The service reliability from large to small is: operation instructions > image data > voice data.

[0042] Embodiment 8. This embodiment further limits the space-ground integrated satellite communication network system suitable for remote surgery described in Embodiment 1. The surgical robot further includes a step of adaptively encoding service data.

[0043] Embodiment 9. This embodiment proposes an example, and the example is used to explain Embodiments 1 to 8 above. The example is specifically as follows:

[0044] See Figure 1 To illustrate this embodiment, the purpose of this embodiment is to overcome the deficiencies of existing high-orbit satellites such as high latency, large jitter, and easy congestion, and propose a dedicated bandwidth, optimized QoS control strategy, and optimized network topology solution. The specific steps are as follows:

[0045] The overall architecture is as Figure 1 shown. The data transmitted and received by the remote surgery operation console is connected to the remote small station through a dedicated line. The remote small station jumps to the gateway through the satellite communication link in one hop, enters the Internet from the gateway, uses a dedicated cloud server for data forwarding, so as to reach the network address where the destination hospital is located, and then reaches the 5G CPE device at the hospital through wireless or wired networks, and then is connected to the surgical robot module through wired or wireless networks. The remote surgery operation console commands the surgical robot to perform surgery, and the images captured by the surgical robot are sent to the surgery console in real time. Through the above link, a "dedicated" network service from the end (remote surgery operation console module) to the end (surgical robot) is realized, which is suitable for network quality-sensitive services.

[0046] The reliability of satellite links is an important indicator for measuring their application effectiveness. This reliability needs to be analyzed and evaluated from multiple perspectives, including signal transmission topology, improving network bandwidth, and system QoS control. These four aspects are primarily used to address network latency, jitter, and congestion.

[0047] (1) Improve network bandwidth. An independent satellite carrier is configured for the remote surgery station (high-orbit satellite and remote station). There is no competition for the channel with other user terminals, and the uplink and downlink communication rates are guaranteed to be 10Mbps.

[0048] (2) Optimize routing. The system simplifies routing as much as possible, minimizing forwarding nodes and routing length. The satellite link enters the satellite master station in one hop. The master station network and the hospital-side network are logically directly connected to the cloud server. Data is forwarded directly from the satellite master station to the hospital network through the cloud server, avoiding the multi-node routing selection in the Internet and reducing latency.

[0049] (3) Apply QoS control. The surgical robot's service data includes surgical manipulation instructions, image data, and voice data. The QoS control strategy is as follows:

[0050] The order of data volume from small to large is: control instructions < voice data < image data;

[0051] The order of business importance from large to small is: control instructions > image data > voice data.

[0052] The amount of control instruction data is small but very important, so the communication system adopts a QoS control strategy to give higher priority to control instructions and surgical main lens image data, ensuring that these two data are transmitted first during sending and returning, avoiding business congestion, reducing latency, and ensuring lower jitter for important data.

[0053] (4) Optimize congestion and flow control. The transmission rate of high-volume data services such as image services fluctuates. For sudden and dramatic increases in data, the system automatically performs flow control, stabilizing the data transmission rate at a relatively stable level through compression and frame rate reduction, thereby avoiding large amounts of data congestion and queuing during peak hours, which can cause packet loss and retransmission, and greatly reducing the risk of high jitter.

[0054] Those skilled in the art can understand that the above is only the preferred embodiment of the present invention. The features described in various embodiments and / or claims of the present disclosure can be combined or combined in various ways, even if such combinations or combinations are not explicitly recorded in the present disclosure. It is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

[0055] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they know the basic creative concept. Therefore, the appended claims are intended to be construed as including the preferred embodiments and all changes and modifications falling within the scope of the present invention. Obviously, those skilled in the art can make various changes and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A space-ground integrated satellite communication network system suitable for remote surgery, characterized in that: The system comprises: Remote surgical console module, used to connect the receiving and sending data of the remote surgical console module to the remote station via a dedicated line; Satellite communication module, The gateway manages the communication connection between the remote base station of satellite communication and the ground network; The cloud server forwarding module is used to forward data between the gateway and the robot, confirm the network address of the destination hospital, and reach the 5G CPE device at the hospital through a wireless or wired network; The surgical robot module is used to connect to the 5GCPE device via a wired or wireless network. The surgical robot module receives command data from the remote surgical console module in real time, and sends response data from the surgical robot module to the remote surgical console module in real time, thereby realizing remote data interaction between the remote surgical console module and the surgical robot. The remote surgical console module and surgical robot module are configured with single-channel single-carrier QPSK modulation or high-order modulation to ensure a communication rate of 10 Mbps.

2. The integrated space-ground satellite communication network system suitable for remote surgery according to claim 1, characterized in that: The satellite communication module is used to analyze and evaluate the reliability of satellite communication links.

3. The integrated space-ground satellite communication network system suitable for remote surgery according to claim 2, characterized in that: The reliability analysis and evaluation of the satellite communication link includes analysis and evaluation of the topology of signal transmission, network bandwidth, and QoS modulation.

4. The integrated space-ground satellite communication network system suitable for remote surgery according to claim 1, characterized in that: The business data of the surgical robot includes surgical operation instructions, image data, and voice data.

5. The integrated space-ground satellite communication network system suitable for remote surgery according to claim 3, characterized in that: The QoS modulation method is obtained by respectively judging the data volume and service reliability of the surgical manipulation instructions, image data, and voice data, that is, The order of the volume of voice data from small to large is: control command < voice data < image data; The order of service reliability from high to low is: control command > image data > voice data.

6. The integrated space-ground satellite communication network system suitable for remote surgery according to claim 1, characterized in that: The surgical robot module is also used to adaptively encode business data.

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