**5. Basic principle and configuration conditions of the master and slave end of the remote surgical robot**

The remote surgical robot system integrates key technologies such as robot technology, communication technology, remote control technology, space mapping algorithm, and fault tolerance analysis. The intraoperative endoscope image is compressed by the image encoder and then transmitted to the decoder at the main hand end through the network for decoding. Then, the doctor can observe the transmitted surgical image through the display, so as to operate the main hand; the signals of each joint sensor in the master hand are collected and processed in real time and then output. The data packets are encapsulated by the master communication controller and sent to the slave hand *via* the dedicated Internet. The received data packets are verified and filtered by the slave controller at the hand end and sent to the robot motion controller. The motion controller performs motion calculation, and finally inputs the data information to the drivers of each motor, then controls the manipulator to complete the operation of the main end physician.

### **5.1 Master and slave control communication method for remote surgery**

The Internet is the basis of communication. It has not only complex physical circuits, but also complex protocol families, verification mechanisms and network security mechanisms. The network delay mainly depends on the transmission distance and the physical link through which data transmission passes, including the number of routers and the processing time of routers. The transmission routes and routing routes of fixed transmission nodes are usually fixed. However, due to the sharing and competition of the network, the processing time and processing tasks of the router are changing, and the processing time of data packets on the router at different times

is also changing. Therefore, data packet disorder, delay, and other problems will occur. Therefore, in order to meet the stringent requirements of surgical operation, it is necessary to use a dedicated network and solve the problem of data transmission fluctuations through delay compensation and filtering.
