Teleoperated multimodal robotic interface for telemedicine: A case study on remote auscultation

Falleni, Sara; Filippeschi, Alessandro; Ruffaldi, Emanuele; Avizzano, Carlo Alberto

doi:10.1109/roman.2017.8172345

Cited by 12 publications

(8 citation statements)

References 10 publications

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“…In [28] proposed a system for remote auscultation using a 3-DoF (Degree of Freedom) robotic manipulator which certainly constraints the doctor in terms of the range of motion and tasks.…”

Section: Related Workmentioning

confidence: 99%

Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times of Corona: System Design, Feasibility and Usability Study

Naceri

Elsner

Tröbinger

et al. 2022

IEEE Robot. Autom. Lett.

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The current crisis surrounding the COVID-19 pandemic demonstrates the amount of responsibility and the workload on our healthcare system and, above all, on the medical staff around the world. In this work, we propose a promising approach to overcome this problem using robot-assisted telediagnostics, which allows medical experts to examine patients from distance. The designed telediagnostic system consists of two robotic arms. Each robot is located at the doctor and patient sites. Such a system enables the doctor to have a direct conversation via telepresence and to examine patients through robot-assisted inspection (guided tactile and audiovisual contact). The proposed bilateral teleoperation Manuscript

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“…In [28] proposed a system for remote auscultation using a 3-DoF (Degree of Freedom) robotic manipulator which certainly constraints the doctor in terms of the range of motion and tasks.…”

Section: Related Workmentioning

confidence: 99%

Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times of Corona: System Design, Feasibility and Usability Study

Naceri

Elsner

Tröbinger

et al. 2022

IEEE Robot. Autom. Lett.

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“…In underprivileged countries, the scenario is similar, with a lack of trained professionals with these skills and the resources to train them. This motivates the use of computer-aided decision systems based on auscultation to accelerate the timely diagnosis and referral of patients to specialized treatment centers [12].…”

Section: Introductionmentioning

confidence: 99%

The CirCor DigiScope Dataset: From Murmur Detection to Murmur Classification

Oliveira

Renna

Costa

et al. 2022

IEEE J. Biomed. Health Inform.

121

107

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Cardiac auscultation is one of the most costeffective techniques used to detect and identify many heart conditions. Computer-assisted decision systems based on auscultation can support physicians in their decisions. Unfortunately, the application of such systems in clinical trials is still minimal since most of them only aim to detect the presence of extra or abnormal waves in the phonocardiogram signal, i.e., only a binary ground truth variable (normal vs abnormal) is provided. This is mainly due to the lack of large publicly available datasets, where a more detailed description of such abnormal waves (e.g., cardiac murmurs) exists.To pave the way to more effective research on healthcare recommendation systems based on auscultation, our team has prepared the currently largest pediatric heart sound dataset. A total of 5282 recordings have been collected from the four main auscultation locations of 1568 patients, in the process, 215780 heart sounds have been manually annotated. Furthermore, and for the first time, each cardiac murmur has been manually annotated by an expert annotator according to its timing, shape, pitch, grading, and quality. In addition, the auscultation locations where the murmur is present were identified as well as the auscultation location where the murmur is detected more intensively. Such detailed description for a relatively large number of heart sounds may pave the way for new machine learning algorithms with a real-world application for the detection and analysis of murmur waves for diagnostic purposes.

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“…Based on a survey of the relevant scientific literature, we believe that only one paper has reported a tele‐operative 3‐degree‐of‐freedom (DOF) robotic system for remote auscultation. However, the proposed system configuration was based on remote control and did not focus on autonomous auscultation 29 . For fully autonomous auscultation, it is ideal that the landing points to place the stethoscope by the robotic system can be determined without operator participation.…”

Section: Introductionmentioning

confidence: 99%

“…However, the proposed system configuration was based on remote control and did not focus on autonomous auscultation. 29 For fully autonomous auscultation, it is ideal that the landing points to place the stethoscope by the robotic system can be determined without operator participation. Additionally, when placing the stethoscope on the landing points using the robotic system, it is necessary to apply an optimal contact force for the patients' safety.…”

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confidence: 99%

Towards fully automated robotic platform for remote auscultation

Tsumura

Koseki

Nitta

et al. 2022

Robotics Computer Surgery

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Background: Since most developed countries are facing an increase in the number of patients per healthcare worker due to a declining birth rate and an ageing population, relatively simple and safe diagnosis tasks may need to be performed using robotics and automation technologies, without specialists and hospitals. This study presents an automated robotic platform for remote auscultation, which is a highly cost-effective screening tool for detecting abnormal clinical signs. Method:The developed robotic platform is composed of a 6-degree-of-freedom cooperative robotic arm, LiDAR camera, and a spring-based mechanism holding an electric stethoscope. The platform enables autonomous stethoscope positioning based on external body information acquired using the LiDAR camera-based multiway registration; the platform also ensures safe and flexible contact, maintaining the contact force within a certain range through the passive-actuated mechanism.Results: Our preliminary results confirm that the robotic platform enables estimation of the landing positions required for cardiac examinations based on the depth and landmark information of the body surface. It also handles the stethoscope while maintaining the contact force without relying on the push-in displacement by the robotic arm. Conclusion:The developed robotic platform enables the estimation of the landing positions and handling the stethoscope while maintaining the contact force, which promises the potential of automatic remote auscultation.

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Teleoperated multimodal robotic interface for telemedicine: A case study on remote auscultation

Cited by 12 publications

References 10 publications

Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times of Corona: System Design, Feasibility and Usability Study

Tactile Robotic Telemedicine for Safe Remote Diagnostics in Times of Corona: System Design, Feasibility and Usability Study

The CirCor DigiScope Dataset: From Murmur Detection to Murmur Classification

Towards fully automated robotic platform for remote auscultation

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