Network Delay Forecast and Master–Slave Consistency Enhancement for Remote Surgical Robots

IF 2.3 3区医学 Q2 SURGERY

International Journal of Medical Robotics and Computer Assisted Surgery Pub Date : 2025-02-06 DOI:10.1002/rcs.70048

Jinhua Li, Chi Zhang, Bo Guan, Haitao Niu, Jianchang Zhao

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引用次数: 0

Abstract

Background

The inevitable network delay can directly impact the process of remote surgeries and affect the master–slave motion consistency, and sudden changes in delay can compromise surgical safety.

Methods

Firstly, real-time calibration of unidirectional network delays is performed. Subsequently, the network delay is forecasted with a real-time training parallel recurrent neural network for safety warnings, and the real-time forecast of slave manipulator position is performed to enhanced the master–slave motion consistency. Finally, the forecast accuracy across multiple scales is assessed to provide feedback.

Results

The programme can operate on standard computers at distances of at least 630 km. Our forecast method meets the real-time requirement, demonstrates strong generalisation capabilities and reduces the impact of network delay on master–slave motion consistency to approximately 20%–80% of its original level.

Conclusions

The proposed forecast method enables real-time delay forecast for remote surgeries, reducing the impact of delay on master–slave motion consistency.

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来源期刊

International Journal of Medical Robotics and Computer Assisted Surgery 医学-外科

CiteScore

4.50

自引率

12.00%

发文量

131

审稿时长

6-12 weeks

期刊介绍： The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.