Impact of delay on telesurgical performance: study on the robotic simulator dV-Trainer

Perez, Manuela; Xu, Song; Chauhan, Sanket; Tanaka, Alyssa; Simpson, Khara; Abdul-Muhsin, Haidar; Smith, Roger D.

doi:10.1007/s11548-015-1306-y

Cited by 50 publications

(29 citation statements)

References 18 publications

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“…From [47], it is visible that average latency of up to 100ms for transferring control signals to the ROV does not impair the ROV control algorithm. Extensive analysis of impact of delay on telesurgical performance was presented in [48]. It was concluded that deterioration of performance was noticeable for latencies above 300ms and that there was increase in errors during control for latencies greater than 500ms.…”

Section: Discussionmentioning

confidence: 99%

Real‐Time Video Latency Measurement between a Robot and Its Remote Control Station: Causes and Mitigation

Kaknjo

Rao

Omerdić

et al. 2018

Wireless Communications and Mobile Computing

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This work presents a detailed study, characterization, and measurement of video latency in a real-time video streaming application. The target application consists of an automatic control system in the form of a control station and the mini Remotely Operated Vehicle (ROV) equipped with a camera, which is controllable over local area network (LAN) and the Internet. Control signal transmission and feedback measurements to the operator usually impose real-time constraints on the network channel. Similarly, the video stream, which is required for the normal system control and maneuvering, imposes further strict requirements on the network in terms of bandwidth and latency. Based on these requirements, controlling the system in real time through a standard Internet connection is a challenging task. The measurement of important network parameters like availability, bandwidth, and latency has become mandatory for remotely controlling the system in real time. It is necessary to establish a methodology for the measurement of video and network latency to improve the real-time controllability and safety of the system as such measurement is not possible using existing solutions due to the following reasons: insufficient accuracy, relying on the Internet resources such as generic Network Time Protocol (NTP) servers, inability to obtain one-way delay measurement, and many solutions only having support for web cameras. Here, an efficient, reliable, and cost-effective methodology for the measurement of latency of a video stream over a LAN and the Internet is proposed. A dedicated stratum-1 NTP server is used and the necessary software needed for acquiring and measuring the latency of a video stream from a generic IP camera as well as integration into the existing ROV control software was developed. Here, by using the software and dedicated clock synchronization equipment (NTP server), it was found that normal video latencies in a LAN were in the range of 488ms -850ms, while latencies over the Internet were measured to be in the range of 558ms -1211ms. It is important to note that the values were obtained by using a generic (off-the-shelf) IP camera and they represent the actual latencies which might be experienced during control over long range and across international territory borders.

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Section: Discussionmentioning

confidence: 99%

Real‐Time Video Latency Measurement between a Robot and Its Remote Control Station: Causes and Mitigation

Kaknjo

Rao

Omerdić

et al. 2018

Wireless Communications and Mobile Computing

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“…It can be crucial in many cases, in particular for surgeries that require about a dozen of milliseconds, such as for the surgical precision and task completion during the future robotic-assisted remote telepresence surgery. For short terms, the obtained latency still satisfies the surgeons when it comes to human interaction with a remote expert, such as providing an advice or guidance during an ongoing surgery that do not require instantaneous reaction, however, in future work, it needs to be optimized and kept below 200 ms, as studied in [20].…”

Section: Resultsmentioning

confidence: 93%

Streaming DICOM Real-Time Video and Metadata Flows outside the Operating Room

Jaouhari

Pasquier

Amélie

et al. 2019

2019 IEEE Global Communications Conference (GLOBECOM)

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With the current advancement in the medical world, surgeons are faced with the challenge of handling many sources of medical information in more and more complex and technological Operating Rooms (ORs). Obviously, in the next generation ones, there will be an increasing number of video flows during the surgery (e.g. endoscopes, cameras, ultrasounds, etc.), which can be also displayed all over the OR in order to facilitate the task for the surgeon and to avoid any adverse events or problems related to inadequate communication in the OR. Additionally, other information needs to be shared, pre/post/during an operation, such as the history of the digital images related to the patient in the PACS and the metadata coming from medical sensors. Moreover, these medical videos captured from the OR can be either displayed on a large screen in the OR in order to provide the surgeon with more visibility, in this case via DICOM-RTV, or streamed outside the OR via a P2P solution. The latter one can serve various purposes such as for teaching medical student in real-time or for remote-expertise with a remote senior surgeons. Hence, this paper addresses the challenges of streaming DICOM-RTV video and metadata flows live from the operating room, typically during an ongoing surgery, in real-time to the outside world. A Proof of Concept is also presented in order to demonstrate the feasibility of our solution.

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“…Xu et al 31 claimed that the impact of latency on instrument manipulations was mild in the 0 to 200-ms range and that a less than 200-ms latency was ideal for telesurgery. Perez et al 32 reported a measurable deterioration in the performance beginning at a latency of 300 ms. Based on these results, our measured system latency is within a clinically acceptable range. As described earlier, the major contribution to the overall latency is from the Visionsense stereoscopic vision system, not the AR visualization itself.…”

Section: Discussionmentioning

confidence: 98%

Laparoscopic stereoscopic augmented reality: toward a clinically viable electromagnetic tracking solution

et al. 2016

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Abstract. The purpose of this work was to develop a clinically viable laparoscopic augmented reality (AR) system employing stereoscopic (3-D) vision, laparoscopic ultrasound (LUS), and electromagnetic (EM) tracking to achieve image registration. We investigated clinically feasible solutions to mount the EM sensors on the 3-D laparoscope and the LUS probe. This led to a solution of integrating an externally attached EM sensor near the imaging tip of the LUS probe, only slightly increasing the overall diameter of the probe. Likewise, a solution for mounting an EM sensor on the handle of the 3-D laparoscope was proposed. The spatial image-to-video registration accuracy of the AR system was measured to be 2.59 AE 0.58 mm and 2.43 AE 0.48 mm for the leftand right-eye channels, respectively. The AR system contributed 58-ms latency to stereoscopic visualization. We further performed an animal experiment to demonstrate the use of the system as a visualization approach for laparoscopic procedures. In conclusion, we have developed an integrated, compact, and EM tracking-based stereoscopic AR visualization system, which has the potential for clinical use. The system has been demonstrated to achieve clinically acceptable accuracy and latency. This work is a critical step toward clinical translation of AR visualization for laparoscopic procedures.

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Impact of delay on telesurgical performance: study on the robotic simulator dV-Trainer

Cited by 50 publications

References 18 publications

Real‐Time Video Latency Measurement between a Robot and Its Remote Control Station: Causes and Mitigation

Real‐Time Video Latency Measurement between a Robot and Its Remote Control Station: Causes and Mitigation

Streaming DICOM Real-Time Video and Metadata Flows outside the Operating Room

Laparoscopic stereoscopic augmented reality: toward a clinically viable electromagnetic tracking solution

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