Surgical Robot Dual Network Latency Reduction
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Solution Overview
Problem
Surgical robotic systems face challenges in efficient operation and communication due to increasing complexity, leading to latency issues as they require effective management of synchronous and asynchronous networks to ensure reliable and timely communication among subsystems.
Innovation Solution
The implementation of a surgical robotic system that utilizes both synchronous and asynchronous networks, allowing components to communicate efficiently by making local decisions within the synchronous network and resorting to global decision-making through the asynchronous network when necessary, thereby reducing overall latency and enhancing operational and data communication efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single communication network is used for all subsystems, then system complexity is reduced, but communication latency increases and reliability decreases
Solution Approach 1:
The communication network is segmented into multiple independent networks (first communication network and second communication network) with different topologies and protocols. The first network uses a ring topology for high reliability, while the second network uses a star topology for ease of management. This segmentation allows each network to be optimized for its specific function, improving overall communication reliability without requiring a single overly complex network to handle all requirements.
Solution Approach 2:
A network switch acts as an intermediary device that connects the first and second communication networks. The switch receives data from one network and forwards it to the appropriate network, enabling seamless communication between subsystems connected to different networks. This intermediary resolves the complexity issue by providing a standardized interface between the two networks, allowing them to work together without requiring direct integration of all subsystems.
2Speed
If synchronous communication is used for all data transmission, then real-time control is improved, but bandwidth consumption increases and latency for non-critical data worsens
Solution Approach 1:
Different communication qualities are applied to different data types based on their requirements. Critical real-time control data transmitted over the first communication network uses synchronous communication with deterministic timing to ensure real-time performance. Non-critical data such as video feeds and sensor information transmitted over the second communication network uses asynchronous communication, reducing bandwidth consumption and energy usage while maintaining adequate performance for these less time-sensitive applications.
Solution Approach 2:
The system dynamically selects communication protocols and networks based on data priority and timing requirements. Time-critical control signals utilize the synchronous ring network for guaranteed delivery, while less critical data routes through the asynchronous star network. This dynamic allocation of communication resources optimizes overall system performance by matching communication characteristics to data requirements, reducing unnecessary bandwidth consumption.
3Loss of time
If distributed decision-making is implemented at subsystem level, then response time is reduced, but system coordination complexity increases
Solution Approach 1:
Decision-making authority is segmented between local subsystem controllers and the central control system. Each subsystem (e.g., robotic arm, camera system, smoke evacuation) has its own controller that can make independent real-time decisions for immediate responses. Meanwhile, the central control system handles higher-level coordination and planning. This segmentation enables fast local responses while distributing coordination complexity across multiple intelligent nodes rather than concentrating it all centrally.
Solution Approach 2:
The system implements continuous feedback loops where subsystem controllers report their status and decisions to the central control system, which monitors and coordinates overall system behavior. This feedback mechanism allows distributed decision-making to proceed smoothly while maintaining system-wide coordination, as the central system can observe local decisions and intervene when necessary to resolve conflicts or optimize overall performance.
Data Source
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AI summary
Surgical robotic systems including synchronous and asynchronous networks and methods employing the same are provided. One surgical robotic system includes a networked computing node, a slave robot assembly, and first and second communication paths. The slave robot assembly includes subunits, communicatively coupled to one another by way of the first communication paths, thereby forming at least a portion of a synchronous network. The networked computing node and a subunit are communicatively coupled to one another by way of the second communication paths, thereby forming at least a portion of a second network, and are configured to communicate one or more packets to one another by way of the second network. The subunit is configured to communicate, with the other subunits via the synchronous network, data from the one or more packets. A clock rate of the synchronous network is independent from a clock rate of the second network.