*4.2.2 Remote signal transmission mechanism*

In order to ensure the smooth operation of remote surgery, doctors not only need to control the robotic arm at the patient end to perform surgery, but also need to constantly confirm the feedback information at the patient end. Therefore, the transmission of remote signals needs to have a high real-time two-way transmission mechanism. At present, the transmission hardware of the remote communication system is mainly based on the upper computer, and most of the transmission mechanisms adopt the robot control information transmission protocol based on UDP [9]. However, due to the low transmission reliability of UDP transmission protocol, developing a real-time and reliable transmission mechanism is one of the important research directions for the future development of remote surgical robots.
