构建真实网络下手术遥操作视频流评估基准，揭示网络质量对操作成功率的显著影响。
VISTA: A Benchmark for Real-Time Video Streaming under Network Impairments in Surgical Teleoperation
- 用真实网络模型模拟五种场景，测试视频流质量与操作表现
- 4G农村和地球同步卫星下操作成功率降至12%~35%
- 适合医疗机器人、远程手术系统研发人员参考
实时视频流在手术遥操作中至关重要，但现有研究缺乏在真实网络干扰下的可复现评估。本文提出VISTA基准，用于研究前向视频路径中的网络干扰对视频质量、时间连续性及人类任务表现的影响。采用Linux Traffic Control结合NetEm与Gilbert-Elliott丢包模型，模拟医院局域网、5G城市、4G农村、低轨卫星和地球同步卫星共五种网络条件。基准集成标准化的珠子转移任务，并同步测量网络服务质量（QoS）、客观视频质量（PSNR、SSIM、VMAF）以及冻结率，同时保持稳定的反向控制通道。375次实验表明，网络退化显著降低操作性能：成功率达97%（医院局域网）降至12%（地球同步卫星），平均完成时间从80秒增至255秒。结果证明网络干扰直接影响手术遥操作的完成度与成功率，为真实网络约束下的遥操作视频评估提供了可复现基础。源代码见https://github.com/Dzxx623/VISTA。
原文摘要 · Abstract (English)
Real-time video streaming is crucial in surgical teleoperation, yet reproducible evaluation under realistic network impairments remains limited. This paper presents VISTA, a benchmark designed to study how impairments along the forward video path affect received video quality, temporal continuity, and human task performance. VISTA employs Linux Traffic Control with NetEm and a Gilbert-Elliott loss model to emulate five network conditions: Hospital LAN, 5G Urban, 4G Rural, LEO Satellite, and GEO Satellite. The benchmark integrates a standardised peg transfer task with synchronized measurements of network quality of service (QoS), objective video quality (PSNR, SSIM, and VMAF), and temporal continuity through freeze rate, while maintaining a stable reverse control channel. Across 375 experimental trials, network degradation substantially reduced teleoperation performance: success rate decreased from 97% in Hospital LAN to 79% in 5G Urban, 35% in 4G Rural, 71% in LEO Satellite, and 12% in GEO Satellite, while mean task completion time for successful trials increased from 80 s in Hospital LAN to 117 s in 5G Urban, 211 s in 4G Rural, 152 s in LEO Satellite, and 255 s in GEO Satellite. These findings show that network impairments have a direct impact on task completion and success in surgical teleoperation, and provide a reproducible basis for evaluating teleoperation video under realistic network constraints. Source code available at https://github.com/Dzxx623/VISTA.
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