Human teleoperation - a haptically enabled mixed reality system for teleultrasound

Black, David; Yazdi, Yas Oloumi; Hosseinabadi, Amir Hossein Hadi; Salcudean, Septimiu E.

doi:10.1080/07370024.2023.2218355

Cited by 8 publications

(3 citation statements)

References 44 publications

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“…In [23], an Augmented reality (AR) teleoperation interface was developed to reduce the time delay in ultrasound scanning. In [33], a multimodal feedback teleoperation system was developed to provide sonographers with a better experience by designing a virtual ultrasound probe on the human side. In addition, some novel control schemes were investigated to improve the teleoperation control system.…”

Section: A Teleoperation-based Robot-assisted Sonographymentioning

confidence: 99%

Design and Quantitative Assessment of Teleoperation-Based Human–Robot Collaboration Method for Robot-Assisted Sonography

Si,

Wang,

Yang

2024

IEEE Trans. Automat. Sci. Eng.

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Tele-echography has emerged as a promising and effective solution, leveraging the expertise of sonographers and the autonomy of robots to perform ultrasound scanning for patients residing in remote areas, without the need for in-person visits by the sonographer. Designing effective and natural human-robot interfaces for tele-echography remains challenging, with patient safety being a critical concern. In this article, we develop a teleoperation system for robot-assisted sonography with two different interfaces, a haptic device-based interface and a low-cost 3D Mouse-based interface, which can achieve continuous and intuitive telemanipulation by a leader device with a small workspace. To achieve compliant interaction with patients, we design impedance controllers in Cartesian space to track the desired position and orientation for these two teleoperation interfaces. We also propose comprehensive evaluation metrics of robot-assisted sonography, including subjective and objective evaluation, to evaluate tele-echography interfaces and control performance. We evaluate the ergonomic performance based on the estimated muscle fatigue and the acquired ultrasound image quality. We conduct user studies based on the NASA Task Load Index to evaluate the performance of these two humanrobot interfaces. The tracking performance and the quantitative comparison of these two teleoperation interfaces are conducted by the Franka Emika Panda robot. The results and findings provide guidance on human-robot collaboration design and implementation for robot-assisted sonography.Note to Practitioners-Robot-assisted sonography has demonstrated efficacy in medical diagnosis during clinical trials. However, deploying fully autonomous robots for ultrasound scanning remains challenging due to various constraints in practice, such as patient safety, dynamic tasks, and environmental uncertainties. Semi-autonomous or teleoperation-based robot sonography Manuscript

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Section: A Teleoperation-based Robot-assisted Sonographymentioning

confidence: 99%

Design and Quantitative Assessment of Teleoperation-Based Human–Robot Collaboration Method for Robot-Assisted Sonography

Si,

Wang,

Yang

2024

IEEE Trans. Automat. Sci. Eng.

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“…Holographic teleconferencing and holographic telepresence [13]- [18] are impressive HTC applications. There is a small conceptual difference between these terms.…”

Section: ) Communicationsmentioning

confidence: 99%

On the Way to Holographic-Type Communications: Perspectives and Enabling Technologies

Petkova,

Bozhilov,

Manolova

et al. 2024

IEEE Access

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Holographic-type communication (HTC) is on the verge of revolutionizing current communication paradigms. It will seamlessly connect people from distant locations through a fully immersive experience that will engage all five senses: sight, hearing, touch, smell, and taste. However, the practical realization and widespread adoption of HTC impose significant demands on current networks and enduser devices. While recent studies have primarily focused on discussing the HTC challenges and potential research directions, this paper takes a further step by evaluating the capabilities of wireless networks to meet HTC requirements. Specifically, it highlights the limitations of the fifth-generation (5G) networks by identifying HTC-related Key Performance Indicators (KPIs) and explores the potential of the sixth-generation (6G) networks. Moreover, it not only proposes potential research approaches for HTC enhancement but also analyzes their impact on the challenges in HTC implementation. Finally, the paper questions the ubiquitous potential of 6G, suggesting that a coordinated approach leveraging artificial intelligence (AI) for jointly optimizing user sites and communication networks is the most promising strategy, rather than solely relying on the capabilities of specific network generations.

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“…With recent advancements in communication technologies like 5G and Wi-Fi 6, coupled with the development of the tactile internet, it is now possible to control and monitor remote robots in real-time using mixed reality [25], all within a low-latency, high-precision communication environment [26]. The integration of the tactile internet with communication technologies has addressed stability and transparency issues that were previously hindered by network problems.…”

Section: Robot Teleoperationmentioning

confidence: 99%

Research on Teleoperated Virtual Reality Human–Robot Five-Dimensional Collaboration System

Zhang,

Liu,

Duan

et al. 2023

Biomimetics

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In the realm of industrial robotics, there is a growing challenge in simplifying human–robot collaboration (HRC), particularly in complex settings. The demand for more intuitive teleoperation systems is on the rise. However, optimizing robot control interfaces and streamlining teleoperation remains a formidable task due to the need for operators to possess specialized knowledge and the limitations of traditional methods regarding operational space and time constraints. This study addresses these issues by introducing a virtual reality (VR) HRC system with five-dimensional capabilities. Key advantages of our approach include: (1) real-time observation of robot work, whereby operators can seamlessly monitor the robot’s real-time work environment and motion during teleoperation; (2) leveraging VR device capabilities, whereby the strengths of VR devices are harnessed to simplify robot motion control, significantly reducing the learning time for operators; and (3) adaptability across platforms and environments: our system effortlessly adapts to various platforms and working conditions, ensuring versatility across different terminals and scenarios. This system represents a significant advancement in addressing the challenges of HRC, offering improved teleoperation, simplified control, and enhanced accessibility, particularly for operators with limited prior exposure to robot operation. It elevates the overall HRC experience in complex scenarios.

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Human teleoperation - a haptically enabled mixed reality system for teleultrasound

Cited by 8 publications

References 44 publications

Design and Quantitative Assessment of Teleoperation-Based Human–Robot Collaboration Method for Robot-Assisted Sonography

Design and Quantitative Assessment of Teleoperation-Based Human–Robot Collaboration Method for Robot-Assisted Sonography

On the Way to Holographic-Type Communications: Perspectives and Enabling Technologies

Research on Teleoperated Virtual Reality Human–Robot Five-Dimensional Collaboration System

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