Tele-operated robotic ultrasound system for medical diagnosis

Duan, Bin; Xiong, Linfei; Guan, Xiaolong; Yong-qing, FU; Zhang, Yong‐Wei

doi:10.1016/j.bspc.2021.102900

Cited by 24 publications

(15 citation statements)

References 10 publications

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“…The robotic ultrasound probe has a posture sensor and “UP button”. The posture sensor managed three degrees of freedoms (DOFs) for rotation, the position sensor managed two DOFs for the movement on the horizontal plane, the “UP button” and pressure sensor managed one DOF for the up and down movement ( 27 ). The tele-doctor can manipulate the robot-control console to maneuver a remote robotic arm.…”

Section: Methodsmentioning

confidence: 99%

“…The force control and force protection algorithm can ensure the contact force within the set value. For abdomen examination, the vertical protection force of 3–40 N and the horizontal protection force of 20 N could be set, which could ensure the smooth movement of the probe and output stable ultrasound images and protect the patient ( 26 , 27 ). The screen interface of ultrasound imaging system (Clover 60; Wisonic Medical Technology) is captured by a video capture card and transferred to the doctor side via the Internet; the control signal for the ultrasound main unit is captured through the control panel and sent to the main unit following the control protocol.…”

Section: Methodsmentioning

confidence: 99%

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Successful Use of a 5G-Based Robot-Assisted Remote Ultrasound System in a Care Center for Disabled Patients in Rural China

Chai

Xiong

et al. 2022

Front. Public Health

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BackgroundDisability has become a global population health challenge. Due to difficulties in self-care or independent living, patients with disability mainly live in community-based care centers or institutions for long-term care. Nonetheless, these settings often lack basic medical resources, such as ultrasonography. Thus, remote ultrasonic robot technology for clinical applications across wide regions is imperative. To date, few experiences of remote diagnostic systems in rural care centers have been reported.ObjectiveTo assess the feasibility of a fifth-generation cellular technology (5G)-based robot-assisted remote ultrasound system in a care center for disabled patients in rural China.MethodsPatients underwent remote robot-assisted and bedside ultrasound examinations of the liver, gallbladder, spleen, and kidneys. We compared the diagnostic consistency and differences between the two modalities and evaluated the examination duration, image quality, and safety.ResultsForty-nine patients were included (21 men; mean age: 61.0 ± 19.0 [range: 19–91] years). Thirty-nine and ten had positive and negative results, respectively; 67 lesions were detected. Comparing the methods, 41 and 8 patients had consistent and inconsistent diagnoses, respectively. The McNemar and kappa values were 0.727 and 0.601, respectively. The mean duration of remote and bedside examinations was 12.2 ± 4.5 (range: 5–26) min and 7.5 ± 1.8 (range: 5–13) min (p < 0.001), respectively. The median image score for original images on the patient side and transmitted images on the doctor side was 5 points (interquartile range: [IQR]: 4.7–5.0) and 4.7 points (IQR: 4.5–5.0) (p = 0.176), respectively. No obvious complications from the examination were reported.ConclusionsA 5G-based robot-assisted remote ultrasound system is feasible and has comparable diagnostic efficiency to traditional bedside ultrasound. This system may provide a unique solution for basic ultrasound diagnostic services in primary healthcare settings.

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Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Successful Use of a 5G-Based Robot-Assisted Remote Ultrasound System in a Care Center for Disabled Patients in Rural China

Chai

Xiong

et al. 2022

Front. Public Health

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“…As a result, the action of the operator is consistent with the action of the robotic arm. The gesture sensor manages three DOFs for rotation, the position sensor manages two DOFs for the movement on the horizontal plane, the “UP” button and pressure sensor manage one DOF for the up and down movement, respectively [ 24 ]. Via the US system control platform, the US image settings, which include the time-gain compensation, the focal position, the dynamic range, and the mechanical index, are optimized for each examination by the tele-doctor.…”

Section: Methodsmentioning

confidence: 99%

Clinical application of a 5G-based telerobotic ultrasound system for thyroid examination on a rural island: a prospective study

Zhang

Yin

et al. 2022

Endocrine

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Purpose To evaluate the feasibility of a 5G-based telerobotic ultrasound (US) system for thyroid examination on a rural island. Methods From September 2020 to March 2021, this prospectively study enrolled a total of 139 patients (average age, 58.6 ± 12.7 years) included 33 males and 106 females, who underwent 5G-based telerobotic thyroid US examination by a teledoctor at Shanghai Tenth People's Hospital and a conventional thyroid US examination at Chongming Second People's Hospital 84 km away. The clinical feasibility of 5G-based telerobotic US for thyroid examination were evaluated in terms of safety, duration, US image quality, diagnostic results, and questionnaire survey. Results 92.8% of patients had no examination-related complaints. The average duration of the 5G-based telerobotic US examination was similar as that of conventional US examination (5.57 ± 2.20 min vs. 5.23 ± 2.1 min, P = 0.164). The image quality of telerobotic US correlated well with that of conventional US (4.63 ± 0.60 vs. 4.65 ± 0.61, P = 0.102). There was no significant difference between two types of US examination methods for the diameter measurement of the thyroid, cervical lymph nodes, and thyroid nodules. Two lymphadenopathies and 20 diffuse thyroid diseases were detected in two types of US methods. 124 thyroid nodules were detected by telerobotic US and 127 thyroid nodules were detected by conventional US. Among them, 122 were the same thyroid nodules. In addition, there were good consistency in the US features (component, echogenicity, shape, and calcification) and ACR TI-RADS category of the same thyroid nodules between telerobotic and conventional US examinations (ICC = 0.788-0.863). 85.6% of patients accepted the telerobotic US, and 87.1% were willing to pay extra fee for the telerobotic US. Conclusion The 5G-based telerobotic US system can be a routine diagnostic tool for thyroid examination for patients on a rural island.

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“…MIT started to study teleoperation in the mid-1960s and the mid-1990s when prof. Sheridan reported progress in the field of teleoperation in several countries and application areas including space, undersea, mines, toxic waste cleanup, telediagnosis, and telesurgery [37,38]. Since then, teleoperation applications have been researched for healthcare [23,39,40], industrial [41], education [5,10], underwater [42], nuclear [43], and energy applications [44]. González et al [41] proposed a teleoperation system to control industrial robots.…”

Section: Teleoperationmentioning

confidence: 99%

“…By using teleoperation it is possible to preserve the physical integrity of human work and to allow people with motor disabilities to perform grinding and sanding processes. A teleoperated robotic system for healthcare performing ultrasound scanning was presented by Duan et al [39]. Tests were conducted and proven that using teleoperated robots to take ultrasound was safe and effective [39].…”

Section: Teleoperationmentioning

confidence: 99%

Common Educational Teleoperation Platform for Robotics Utilizing Digital Twins

Kaarlela

Arnarson²,

Pitkäaho³

et al. 2022

Machines

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The erratic modern world introduces challenges to all sectors of societies and potentially introduces additional inequality. One possibility to decrease the educational inequality is to provide remote access to facilities that enable learning and training. A similar approach of remote resource usage can be utilized in resource-poor situations where the required equipment is available at other premises. The concept of Industry 5.0 (i5.0) focuses on a human-centric approach, enabling technologies to concentrate on human–machine interaction and emphasizing the importance of societal values. This paper introduces a novel robotics teleoperation platform supported by the i5.0. The platform reduces inequality and allows usage and learning of robotics remotely independently of time and location. The platform is based on digital twins with bi-directional data transmission between the physical and digital counterparts. The proposed system allows teleoperation, remote programming, and near real-time monitoring of controlled robots, robot time scheduling, and social interaction between users. The system design and implementation are described in detail, followed by experimental results.

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Tele-operated robotic ultrasound system for medical diagnosis

Cited by 24 publications

References 10 publications

Successful Use of a 5G-Based Robot-Assisted Remote Ultrasound System in a Care Center for Disabled Patients in Rural China

Successful Use of a 5G-Based Robot-Assisted Remote Ultrasound System in a Care Center for Disabled Patients in Rural China

Clinical application of a 5G-based telerobotic ultrasound system for thyroid examination on a rural island: a prospective study

Common Educational Teleoperation Platform for Robotics Utilizing Digital Twins

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