Beyond audio and video: multimedia networking support for distributed, immersive virtual environments

Jeffay, Kevin; Hudson, Thomas C.; Parris, Mark

doi:10.1109/eurmic.2001.952468

Cited by 24 publications

(19 citation statements)

References 10 publications

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“…It is well established in the engineering literature that this dissociation between input and output motions starts at about 100ms 29,30 , and can become problematic at latencies greater than 300 ms 31 , at which point a latency control/manager 32 must generally be introduced to assist the user. Operation Lindbergh 2 reported a control latency of approximately 40 ms and found that this latency did not affect surgeon’s perception of the safety of the operation, since all surgeons gave the system a perfect subjective score in “perception of the safety of the operation” 33 .…”

Section: Discussionmentioning

confidence: 99%

An Experimental Feasibility Study on Robotic Endonasal Telesurgery

Wirz¹,

Torres

Swaney³

et al. 2015

Neurosurgery

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Background Novel robots have recently been developed specifically for endonasal surgery. They can deliver several thin, tentacle-like surgical instruments through a single nostril. Among the many potential advantages of such a robotic system is the prospect of telesurgery over long distances. Objective To describe a phantom pituitary tumor removal done by a surgeon in Nashville, Tennessee, controlling a robot located approximately 800 km away in Chapel Hill, North Carolina. This is the first remote telesurgery experiment involving tentacle-like concentric tube manipulators. Methods A phantom pituitary tumor removal experiment was conducted twice – once locally and once remotely – using the robotic system. Robot commands and video were transmitted across the Internet. The latency of the system was evaluated quantitatively in both local and remote cases to determine the effect of the 800 km between the surgeon and robot. Results We measured a control and video latency of less than 100 ms in the remote case. Qualitatively, the surgeon was able to carry out the experiment easily, and observed no discernable difference between the remote and local cases. Conclusion Telesurgery over long distances is feasible with this robotic system. In the longer term, this may enable expert skull base surgeons to help many more patients by performing surgeries remotely over long distances.

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Section: Discussionmentioning

confidence: 99%

An Experimental Feasibility Study on Robotic Endonasal Telesurgery

Wirz¹,

Torres

Swaney³

et al. 2015

Neurosurgery

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show abstract

“…7 Virtual test scenario scenario. The task involved using the end effector (E) to grasp a cylindrical object (1), dip the cylinder in a viscous material (2), and insert the cylinder into a round hole (3). This task was chosen because it involves typical telepresence movements, such as pick-and-place and tracking motions.…”

Section: Methodsmentioning

confidence: 99%

“…There exist numerous studies which confirm the negative influence of delay on teleoperation [1][2][3].…”

Section: Existing Researchmentioning

confidence: 99%

Prediction-based methods for teleoperation across delayed networks

et al. 2007

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The remote nature of telepresence scenarios can be seen as a strongpoint and also as a weakness. Although it enables the remote control of robots in dangerous or inaccessible environments, it necessarily involves some kind of communication mechanism for the transmission of control signals. This communication mechanism necessarily involves adverse network effects such as delay. Three mechanisms aimed at improving the effects of network delay are presented in this paper: (1) Motion prediction to partially compensate for network delays, (2) force prediction to learn a local force model, thereby reducing dependency on delayed force signals, and (3) haptic data compression to reduce the required bandwidth of high frequency data. The utilized motion prediction scheme was shown to improve operator performance, but had no influence on operator immersion. The force prediction provided haptic feedback through synchronous forces from the local model, thereby stabilizing the control loop. The developed haptic data compression scheme reduced the number of packets sent across the network by 90%, while improving the quality of the haptic feedback.

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“…This work describes two strategies to stabilize haptic feedback in the presence of unpredictable delays. Other researchers, such as, Jeffay [40] and Belghit [41] deal with "distant haptic interaction".…”

Section: Challenges and Related Researchmentioning

confidence: 99%

Simultaneous remote haptic collaboration for assembling tasks

et al. 2007

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Stand-alone virtual environments (VEs) using haptic devices have proved useful for assembly/disassembly simulation of mechanical components. Nowadays, collaborative haptic virtual environments (CHVEs) are also emerging. A new peer-to-peer collaborative haptic assembly simulator (CHAS) has been developed whereby two users can simultaneously carry out assembly tasks using haptic devices. Two major challenges have been addressed: virtual scene synchronization (consistency) and the provision of a reliable and effective haptic feedback. A consistency-maintenance scheme has been designed to solve the challenge of achieving consistency. Results show that consistency is guaranteed. Furthermore, a force-smoothing algorithm has been developed which is shown to improve the quality of force feedback under adverse network conditions. A range of R. Iglesias (B) · S. Casado · T. Gutiérrez laboratory experiments and several real trials between Labein (Spain) and Queen's University Belfast (Northern Ireland) have verified that CHAS can provide an adequate haptic interaction when both users perform remote assemblies (assembly of one user's object with an object grasped by the other user). Moreover, when collisions between grasped objects occur (dependent collisions), the haptic feedback usually provides satisfactory haptic perception. Based on a qualitative study, it is shown that the haptic feedback obtained during remote assemblies with dependent collisions can continue to improve the sense of co-presence between users with regard to only visual feedback.

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Beyond audio and video: multimedia networking support for distributed, immersive virtual environments

Cited by 24 publications

References 10 publications

An Experimental Feasibility Study on Robotic Endonasal Telesurgery

An Experimental Feasibility Study on Robotic Endonasal Telesurgery

Prediction-based methods for teleoperation across delayed networks

Simultaneous remote haptic collaboration for assembling tasks

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