*4.2.1 System architecture*

The key to implement remote surgery is the development of remote surgery robot system. Traditional commercial surgical robots are mainly used in the same physical space. To build a remote surgical robot system, the key is to add a reliable remote communication system. Among them, the remote robot system includes the patient console, the doctor console, the attached endoscope system, and the surgical instrument unit. The remote communication system mainly provides a network channel for the transmission of multimodal signals at the master and slave ends of the robot.
