A predictive control approach and interactive GUI to enhance distal environment rendering during robotized tele-echography: Interactive platform for robotized telechography

Abstract

Performing a robotized telemedicin networks brings forth two issues. One is transp enable the operator, e.g. the medical ultras safely and accurately perform bilateral te despite the long time delays inherent to the co To counter these effects, two strategies are com at the operator site, the rendering of the intera remote robotic systems with its environment (i. the control of the robot's orientation. The fir development of a new control architecture ba model providing an anticipated value of the d stiffness; it is complemented with a graphic us which provides the expert with the real-time the haptic probe with the robot's end effecto operated control. These combined strategies with an improved interactive tool for a tele-dia Keywords-bilateral architecture; tele-ech robotic; GUI; force feedback I.

Visualizing tactile feedback: an overview of current technologies with a focus on ultrasound elastography

“…These ultrasound-based robotic systems can also be improved with the use of tactile sensing (i.e., resistive, capacitive, piezoelectric, optical), which has been demonstrated in the context of minimally invasive surgeries ( 87 ). The integration of these sensor arrays with ultrasound introduces a multi-modal clinical tool to remotely detect pressure and to measure the underlying stiffness of an object to achieve more reliable tissue assessments.…”

“…The integration of these sensor arrays with ultrasound introduces a multi-modal clinical tool to remotely detect pressure and to measure the underlying stiffness of an object to achieve more reliable tissue assessments. The low-cost disposable sensors ( mm , 90 sensing elements, 30 Hz update rate) combined with the linear-array transducer (128 elements, 4–9 MHz operating frequency range) have been shown to achieve higher tumor localization accuracy compared to evaluations with ultrasound alone ( 87 ).…”

Robotized Tele-Echography: An Assisting Visibility Tool to Support Expert Diagnostic

“…Nevertheless, the communication links between expert and patient site introduce some variable time-delays. For instance, in [18] is reported a time-delay of about 1 s with a standard deviation of 200 ms using an Inmarsat satellite communication. This communication constraint may lead to disturbances and deteriorates the trajectory tracking generated by the expert.…”

“…The tele-operated system is fully transparent under two conditions: i) the robot end-effector holding the US probe reproduces the same orientations as the one generated by the practitioner manipulating the haptic probe, and ii) the force rendered by the haptic probe reflects the force exerted by the US probe on the patient's body. To this aim, different bilateral control architectures have been developed [18]. These control aspects will not be considered in this paper as we will focus on maintaining the visibility of the regions of interest that could be lost by unexpected moves at the patient sites (i.e.…”

“…AUTONOMOUS MODE: AN ASSISTING TOOL FOR TELE-ECHOGRAPHY To perform robotized tele-echography, the literature provides many different teleoperated procedures. Hence, different bilateral control architectures based on wave variable are presented in [18]. In this work, we propose to enhance the tele-echography process thanks to some autonomous modes.…”