A remote surgery experiment between Japan and Thailand over Internet using a low latency CODEC system

Arata, Jumpei; Takahashi, Hiroki; Pitakwatchara, Phongsaen; Warisawa, Shin’ichi; Tanoue, Kazuo; Konishi, Kozo; Ieiri, Satoshi; Shimizu, Shuhei; Nakashima, Naotoshi; Okamura, Koji; Fujino, Yuichi; Ueda, Yuta; Chotiwan, Pornarong; Mitsuishi, Mamoru; Hashizume, Makoto

doi:10.1109/robot.2007.363108

Cited by 57 publications

(26 citation statements)

References 12 publications

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“…Using advanced tele-diagnostic tools, medical expertise could be available anywhere and anytime regardless of the physician's location [16]. Hereby, a tele-robot at the patient's location will be controlled by the physician, so that not only audio and/or visual information but also haptic feedback is provided.…”

Section: Healthcarementioning

confidence: 99%

5G-Enabled Tactile Internet

Simsek

Aijaz

Dohler

et al. 2016

IEEE J. Select. Areas Commun.

707

430

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Abstract-The long-term ambition of the Tactile Internet is to enable a democratization of skill, and how it is being delivered globally. An integral part of this is to be able to transmit touch in perceived real-time, which is enabled by suitable robotics and haptics equipment at the edges, along with an unprecedented communications network. The fifth generation (5G) mobile communications systems will underpin this emerging Internet at the wireless edge. This paper presents the most important technology concepts which lay at the intersection of the larger Tactile Internet and the emerging 5G systems. The paper outlines the key technical requirements and architectural approaches for the Tactile Internet, pertaining to wireless access protocols, radio resource management aspects, next generation core networking capabilities, edge-cloud and edge-AI capabilities. The paper also highlights the economic impact of the Tactile Internet as well as a major shift in business models for the traditional telecommunications ecosystem.

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Section: Healthcarementioning

confidence: 99%

5G-Enabled Tactile Internet

Simsek

Aijaz

Dohler

et al. 2016

IEEE J. Select. Areas Commun.

707

430

View full text Add to dashboard Cite

show abstract

“…The time delay T = 0.125 is intentionally generated in the control system, whose value was referred from (Arata et al, 2007) as the time delay of the control signal between Japan and Thailand: approximately 124.7 ms. Note that the proposed bilateral control scheme guarantees stability of the teleoperation system in the presence of constant time delay, however, stability is not guaranteed in use of the force reflecting servo type bilateral control law in the presence of constant time delay.…”

Section: Methodsmentioning

confidence: 99%

Robust Bilateral Control for Teleoperation System with Communication Time Delay - Application to DSD Robotic Forceps for Minimally Invasive Surgery -

Ishii¹

2011

Robust Control, Theory and Applications

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“…The time varying delay was chosen as follows, whose value was referred from communication time delay of control signal between Japan and Thailand: approximately 124.7ms in [12]. Simulation result for condition B) is shown in Fig.…”

Section: B) Verification Of the Effect Of Motion Scalingmentioning

confidence: 99%

Lyapunov function based bilateral control for teleoperation system with time varying delay

Ishii

Nishitani

Hashimoto

2010

2010 IEEE International Conference on Industrial Technology

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Recently, robotic surgical support systems are in clinical use for minimally invasive surgery. In order to improve the operability of the robotic surgical systems, development of haptic forceps teleoperation systems is required to help surgeon's dexterity. In addition, the motion scaling, which can adequately reduce or enlarge the movements and tactile senses of the operator and the robot, is necessary to assure safety of the surgery. On the other hand, communication time delay is inevitable in teleoperation systems, which may cause instability of the teleoperation systems. Therefore, stability of the system must be guaranteed in the presence of the communication time delay between master device and slave device. We have developed a multi-DOF robotic forceps manipulator using a novel omnidirectional bending mechanism, and for the developed robotic forceps manipulator, we proposed a passivity based bilateral control that enables motion scaling in both position tracking and force tracking, and guarantees the stability of the teleoperation system in the presence of constant time delay, so far. In this paper, the passivity based bilateral control is extended so as to guarantee the stability of the teleoperation system not only in the presence of the constant time delay but also in the presence of the time varying delay.

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A remote surgery experiment between Japan and Thailand over Internet using a low latency CODEC system

Cited by 57 publications

References 12 publications

5G-Enabled Tactile Internet

5G-Enabled Tactile Internet

Robust Bilateral Control for Teleoperation System with Communication Time Delay - Application to DSD Robotic Forceps for Minimally Invasive Surgery -

Lyapunov function based bilateral control for teleoperation system with time varying delay

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