A Semi-Autonomous Robotic System for Remote Trauma Assessment

Mathur, Bharat; Topiwala, Anirudh; Schaffer, Saul; Kam, Michael; Saeidi, Hamed; Fleiter, Thorsten; Krieger, Axel

doi:10.1109/bibe.2019.00122

Cited by 13 publications

(15 citation statements)

References 22 publications

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“…We submitted a proof-of-concept robotic system for a semi-autonomous remote assessment in [12]. This system was capable of estimating the FAST scan locations on a patient's body and autonomously driving to them, making it easier for a radiologist to perform the scan.…”

Section: Figure 1: Fast Scan Positionsmentioning

confidence: 99%

“…An expert radiologist successfully performed a FAST exam on a full-scale FAST scan ultrasound phantom with improved image quality over manual scans, demonstrating early feasibility of the system. We used a Hybrid bilateral tele-manipulation strategy in [12] which was a combination of position and rate based tele-manipulation strategies.…”

Section: Figure 1: Fast Scan Positionsmentioning

confidence: 99%

“…Our contributions in this paper are 1) development of a position based tele-manipulation technique, 2) evaluation and comparison of the bilateral telemanipulation system in [12] with a position based system using human subjects, and 3) identification of a strategy which can be integrated into tele-manipulated robotic system to expand the potential of robotic trauma care to rapidly initialize lifesaving diagnostics and treatment procedures.…”

Section: Figure 1: Fast Scan Positionsmentioning

confidence: 99%

“…This difference in kinematic chains poses an interesting control problem in human-robot interaction. The robotic system in [12] was designed to be semi- Figure 4: a) Haptic Device, b) Wrist Joints autonomous such that it is able to estimate the FAST scan locations and autonomously drive to a point close to each of them following which control is given to the remote operator to perform the tele-manipulated US scan. The technique used in [12] for estimating the FAST locations using position of umbilicus and the size of the patient was found to be fairly accurate.…”

Section: Tele-manipulationmentioning

confidence: 99%

“…The sweeping motions required in roll, pitch and yaw axes to reorient the tool and scan for organs during the US scan perfectly fit this situation. Hence, in [12], we developed a hybrid control technique using position control strategy for translation commands and rate control strategy for orientation commands and hypothesized that this would be the ideal approach for this application. We compare the conventional position control strategy with the hybrid control strategy using tests that simulated a FAST exam.…”

Section: Tele-manipulationmentioning

confidence: 99%

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Evaluation of Control Strategies for a Tele-manipulated Robotic System for Remote Trauma Assessment

Mathur¹,

Topiwala²,

Saeidi³

et al. 2019

2019 Proceedings of the Conference on Control and Its Applications

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Unintentional injury or trauma is among the leading causes of death in the United States with up to 29% of the prehospital trauma deaths attributed to uncontrolled hemorrhages. This paper reports and analyzes control strategies for a tele-manipulated robotic system to enable remote Focused Assessment with Sonography for Trauma (FAST) en route to the hospital. We compare a hybrid telemanipulation technique which combines conventional position and rate control techniques to a position-based telemanipulated system. We also evaluate the performance of a force activated virtual fixture (VF) as an addition to the tele-manipulation system to expand the potential of robotic trauma care towards rapidly initializing lifesaving diagnostics and treatment procedures. From human subject trials, it was found that the final tele-manipulated system allows the operators to easily position the probe in 25% less time than the position-based system, as well as perform a FAST exam while smoothly sweeping the probe at 70% smoother sweep velocities with a consistent contact force having a 150% lower standard deviation than a system without the VF.

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Section: Figure 1: Fast Scan Positionsmentioning

confidence: 99%

Section: Figure 1: Fast Scan Positionsmentioning

confidence: 99%

Section: Figure 1: Fast Scan Positionsmentioning

confidence: 99%

Section: Tele-manipulationmentioning

confidence: 99%

Section: Tele-manipulationmentioning

confidence: 99%

See 3 more Smart Citations

Evaluation of Control Strategies for a Tele-manipulated Robotic System for Remote Trauma Assessment

Mathur¹,

Topiwala²,

Saeidi³

et al. 2019

2019 Proceedings of the Conference on Control and Its Applications

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Telerobotic Sonography for Remote Diagnostic Imaging

Adams

Burbridge

Obaid

et al. 2020

J of Ultrasound Medicine

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Access to sonographers and sonologists is limited in many communities around the world. Telerobotic sonography (robotic ultrasound) is a new technology to increase access to sonography, providing sonographers and sonologists the ability to manipulate an ultrasound probe from a distant location and remotely perform ultrasound examinations. This narrative review discusses the development of telerobotic ultrasound systems, clinical studies evaluating the feasibility and diagnostic accuracy of telerobotic sonography, and emerging use of telerobotic sonography in clinical settings. Telerobotic sonography provides an opportunity to provide real‐time ultrasound examinations to underserviced rural and remote communities to increase equity in the delivery of diagnostic imaging.

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A review on tele-manipulators for remote diagnostic procedures and surgery

Ratnangshu

Baishya

Bhattacharya

2023

CSIT

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With modern medicine and healthcare services improving in leaps and bounds, the integration of telemedicine has helped in expanding these specialised healthcare services to remote locations. Healthcare telerobotic systems form a component of telemedicine, which allows medical intervention from a distance. It has been nearly 40 years since a robotic technology, PUMA 560, was introduced to perform a stereotaxic biopsy in the brain. The use of telemanipulators for remote surgical procedures began around 1995, with the Aesop, the Zeus, and the da Vinci robotic surgery systems. Since then, the utilisation of robots has steadily increased in diverse healthcare disciplines, from clinical diagnosis to telesurgery. The telemanipulator system functions in a master–slave protocol mode, with the doctor operating the master system, aided by audio-visual and haptic feedback. Based on the control commands from the master, the slave system, a remote manipulator, interacts directly with the patient. It eliminates the requirement for the doctor to be physically present in the spatial vicinity of the patient by virtually bringing expert-guided medical services to them. Post the Covid-19 pandemic, an exponential surge in the utilisation of telerobotic systems has been observed. This study aims to present an organised review of the state-of-the-art telemanipulators used for remote diagnostic procedures and surgeries, highlighting their challenges and scope for future research and development.

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A Semi-Autonomous Robotic System for Remote Trauma Assessment

Cited by 13 publications

References 22 publications

Evaluation of Control Strategies for a Tele-manipulated Robotic System for Remote Trauma Assessment

Evaluation of Control Strategies for a Tele-manipulated Robotic System for Remote Trauma Assessment

Telerobotic Sonography for Remote Diagnostic Imaging

A review on tele-manipulators for remote diagnostic procedures and surgery

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