Space-ground integrated satellite communication network system suitable for remote surgery

Abstract

The invention discloses a space-ground integrated satellite communication network system suitable for a remote operation, and relates to the field of satellite communication. The defects that an existing medium-high orbit satellite is high in time delay, large in jitter, prone to congestion and the like are overcome. The system comprises a remote operation console module which is used for connecting transmit-receive data of the remote operation console module to a far-end small station of a high-orbit satellite system through a special line; the satellite communication module is used for gateway management of communication connection between a remote small station of satellite communication and a ground network; the cloud server forwarding module is used for forwarding data between the gateway and the robot, confirming a network address of a destination hospital, and arriving at 5G CPE equipment of the hospital through a wireless or wired network; the surgical robot module receives instruction data of the remote surgical operation table module in real time and sends response data of the surgical robot module to the remote surgical operation table module in real time, and remote data interaction between the remote surgical operation table module and the surgical robot is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite communication, and particularly to a space-earth integrated 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 unaffected by terrain restrictions, 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, as well as image processing and data compression technologies. Through the integration of these technology groups, reliable transmission and correct interpretation of service content are ensured, meeting the reliability requirements of information transmission for remote surgery.

[0004] Although the satellite link has significant advantages in remote medical treatment, its application also faces many challenges, such as signal transmission jitter, latency, and congestion problems. For example, excessive latency 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, and jitter will cause interruptions in voice or video, unable to timely feedback the motion state of the controlled end, easily causing misoperations, and also affecting the processing of some network protocols.

[0005] Remote surgery has extremely strict requirements for these network performance indicators. Especially for high-orbit satellite (about 36,000 km from the earth) links, the problems of transmission latency and stability are particularly prominent. How to reduce or decrease the latency of the communication link, improve the stability of the link, 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 latency, 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: Solution 1: The present invention proposes a space-earth integrated satellite communication network system suitable for remote surgery, and the system includes: The remote surgical operation console module is used to connect the received and transmitted data of the remote surgical operation console module to the remote small station through a dedicated line; The satellite communication module is used to manage the communication connection between the remote small 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 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 is used to connect to the 5G CPE through a wired or wireless network. The surgical robot module receives the instruction data of the remote surgical operation console module in real time, and at the same time sends the response data of the surgical robot module to the remote surgical operation console module in real time, realizing the remote data interaction between the remote surgical operation console module and the surgical robot.

[0007] Furthermore, a preferred implementation is provided, and the step from the remote surgical operation console module to the surgical robot is realized in only one hop.

[0008] Furthermore, a preferred implementation is provided, and the satellite communication module further includes steps for analyzing and evaluating the reliability of the satellite communication link.

[0009] Furthermore, a preferred implementation is provided, and the reliability analysis and evaluation of the satellite communication link include steps of signal transmission topology, network bandwidth, and QoS control.

[0010] Furthermore, a preferred implementation is provided, and the remote surgical 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.

[0011] Furthermore, a preferred implementation is provided, and the service data of the surgical robot includes surgical manipulation instructions, image data, and voice data.

[0012] Furthermore, a preferred implementation is provided, and the QoS modulation method is obtained by respectively judging the data volume and service reliability of surgical manipulation instructions, image data, and voice data, that is, The data volume of voice data from small to large is: manipulation instruction < voice data < image data; The service reliability from large to small is: manipulation instruction > image data > voice data.

[0013] Furthermore, a preferred implementation is provided, and the surgical robot further includes steps for adaptively encoding service data.

[0014] The advantages of the present invention are as follows: 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 geostationary 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 achieved in 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.

[0015] 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.

[0016] 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 size of the data volume and the importance of the service. Through this optimized QoS control strategy, it is possible to simultaneously transmit manipulation instructions, image data, and voice data with high quality in one signal, and avoid network congestion.

[0017] The space-earth integrated satellite communication network system suitable for remote surgery described in the present invention also 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 deteriorated 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.

[0018] The present invention is also applicable to the field of measuring the reliability of satellite links. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application.

[0021] Embodiment 1. This embodiment provides a space-ground integrated satellite communication network system suitable for remote surgery. The system includes: A remote surgery operation console module for connecting the transceiver data of the remote surgery operation console module to a remote small station through a dedicated line; A satellite communication module for managing the communication connection between the remote small station of satellite communication and the ground network; A cloud server forwarding module for forwarding data between the gateway and the robot, 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; A surgical robot module for connecting 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.

[0022] Embodiment 2. This embodiment further limits 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.

[0023] Embodiment 3. This embodiment further limits 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.

[0024] Embodiment 4. This embodiment further limits 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.

[0025] Embodiment 5. This embodiment further limits 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.

[0026] 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.

[0027] Embodiment 7. This embodiment further defines a space-ground integrated satellite communication network system suitable for remote surgery described in Embodiment 6. The QoS modulation method is as follows: It is obtained by respectively judging the data volume and service reliability of surgical operation instructions, image data, and voice data. That is, The data volumes of voice data from small to large are in turn: operation instructions < voice data < image data; The service reliabilities from large to small are in turn: operation instructions > image data > voice data.

[0028] Embodiment 8. This embodiment further defines a 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.

[0029] 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: See Figure 1 To illustrate this embodiment, the purpose of this embodiment is to overcome the deficiencies of existing geostationary satellites such as high latency, large jitter, and easy congestion, and propose a dedicated bandwidth, optimized QoS control strategy, and optimized network topology scheme. The specific steps are as follows: 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 a wireless or wired network, and then is connected to the surgical robot module through a wired or wireless network. The remote surgery operation console commands to control 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.

[0030] The reliability of the satellite link is an important indicator to measure its application effect. The reliability of the satellite link needs to be analyzed and evaluated from multiple perspectives, including the topological structure of signal transmission, increasing network bandwidth, system QoS control, etc. The network delay, jitter, and congestion are mainly solved through 4 aspects.

[0031] (1) Increase network bandwidth. An independent satellite carrier is configured for the remote small station (geostationary satellite and remote small station) of remote surgery, and there is no competition for channels by other user terminals, and the uplink and downlink communication rates are guaranteed at 10 Mbps.

[0032] (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 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 multiple nodes in the Internet from selecting routes layer by layer and reducing latency.

[0033] (3) Apply QoS control. The surgical robot service data includes surgical manipulation instructions, image data, and voice data. The QoS control strategy is as follows: The order of data volume from small to large is: operation command < voice data < image data; The order of business importance from high to low is: operation command > image data > voice data.

[0034] The amount of control instruction data is not large but is 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.

[0035] (4) Optimize congestion and flow control. The transmission rate of high-volume data services such as image services fluctuates. For sudden and drastic increases in data, the system automatically performs flow control, stabilizing the data transmission rate at a relatively stable level by means of compression and frame rate reduction, thereby avoiding large amounts of data congestion and queuing at peak times, resulting in packet loss and retransmission, and greatly reducing the risk of high jitter.

[0036] Those skilled in the art will appreciate that the above are only preferred embodiments of the present invention, and the various embodiments of the present disclosure and / or the features described in the claims may be combined or combined in various ways, even if such combinations or combinations are not explicitly described 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 aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or perform equivalent substitutions on some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

[0037] Although the preferred embodiments of the present invention have been described, additional changes and modifications can be made by those skilled in the art once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall 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: A remote surgery console module is used to connect the receiving and sending data of the remote surgery console module to a remote station via a dedicated line; Satellite communication module, used for gateway management of communication connection between remote satellite communication stations and 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 5G CPE device via a wired or wireless network. The surgical robot module receives the command data of the remote surgical operating table module in real time, and sends the response data of the surgical robot module to the remote surgical operating table module in real time, thereby realizing remote data interaction between the remote surgical operating table module and the surgical robot.

2. The integrated space-ground satellite communication network system suitable for remote surgery according to claim 1, characterized in that: The step from the remote surgical console module to the surgical robot is achieved in just one hop.

3. The integrated space-ground satellite communication network system suitable for remote surgery according to claim 1, characterized in that: The satellite communication module also includes steps for analyzing and evaluating the reliability of satellite communication links.

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

5. The integrated space-ground satellite communication network system suitable for remote surgery according to claim 1, characterized in that: 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.

6. 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 manipulation instructions, image data, and voice data.

7. The integrated space-ground satellite communication network system suitable for remote surgery according to claim 6, characterized in that: The QoS modulation method is obtained by respectively judging the data volume and service reliability of the surgical manipulation instruction, image data, and voice data, that is, The order of the amount of voice data from small to large is: operation command < voice data < image data; The service reliability is in the following order: operation command > image data > voice data.

8. The space-ground integrated satellite communication network system suitable for remote surgery according to claim 1, characterized in that: The surgical robot also includes a step of adaptively encoding business data.

Images