The MIDSTEP system for ultrasound guided remote telesurgery

Cunha, D. de; Gravez, Philippe; Leroy, C.; Maillard, E.; Jouan, J; Varley, Peter; Jones, Michael H.; Halliwell, Michael; Hawkes, Dean; Wells, P.N.T.; Angelini, L.

doi:10.1109/iembs.1998.747107

Cited by 30 publications

(19 citation statements)

References 1 publication

Supporting

Mentioning

Contrasting

Order By: Relevance

“…We set the requirement to be the maximum found in the literature, i.e., 576 × 768. The frame rate in De Cunha et al (1998) and Abolmaesumi et al (2002) is 15 fps. Given that technological advances have increased in both processing and transmission capabilities, the requirement is set to 25 fps.…”

Section: Ultrasound Imagementioning

confidence: 99%

“…The ultrasound image pixel depth requirement is set to 8 bits, as this is most common (De Cunha et al, 1998;Abolmaesumi et al, 2002;Vilchis et al, 2003). The resolution of the images varies from 180 × 210 in Mebarki et al (2008) up too 576 × 768 in Bachta and Krupa (2006).…”

Section: Ultrasound Imagementioning

confidence: 99%

“…Light-weight transportable systems, which can be used in ambulances and on space stations are reported in Gourdon et al (1999), Vieyres et al (2003), Courreges et al (2004), Arbeille et al (2008), Bruyère et al (2010), and Charron et al (2010). In De Cunha et al (1998), a physician controls a ultrasound probe in order to guide a surgeon at a remote site. A cable driven robot is reported in Vilchis Gonzales et al (2001), Vilchis et al (2003), and Martinelli et al (2007), where a system is designed to perform follow up investigations on pregnant women.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

An Ultrasound Robotic System Using the Commercial Robot UR5

et al. 2016

View full text Add to dashboard Cite

The use of robots in health care has increased dramatically over the last decade. One area of research has been to use robots to conduct ultrasound examinations, either controlled by a physician or autonomously. This paper examines the possibility of using the commercial robot UR5 from Universal Robots to make a tele-operated robotic ultrasound system. Physicians diagnosing patients using ultrasound probes are prone to repetitive strain injuries, as they are required to hold the probe in uncomfortable positions and exert significant static force. The main application for the system is to relieve the physician of this strain by letting the them control a robot that holds the probe. A set of requirements for the system is derived from the state-of-the-art systems found in the research literature. The system is developed through a low-level interface for the robot, effectively building a new software framework for controlling it. Compliance force control and forward flow haptic control of the robot was implemented. Experiments are conducted to quantify the performance of the two control schemes. The force control is estimated to have a bandwidth of 16.6 Hz, while the haptic control is estimated to have a bandwidth of 65.4 Hz for the position control of the slave and 13.4 Hz for the force control of the master. Overall, the system meets the derived requirements and the main conclusion is that it is feasible to use the UR5 robot for robotic ultrasound applications.

show abstract

Section: Ultrasound Imagementioning

confidence: 99%

Section: Ultrasound Imagementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An Ultrasound Robotic System Using the Commercial Robot UR5

et al. 2016

View full text Add to dashboard Cite

show abstract

“…A laparoscopic system in which an expert tele-operates a robot by holding an ultrasound probe is presented in [1]. Simultaneous videoconference of two experts [2], one located at the patient side and the other at a distant location, has been used for distant diagnosis.…”

mentioning

confidence: 99%

Mobile tele-echography: user interface design

Cañero¹,

Thomos

Triantafyllidis

et al. 2005

IEEE Trans. Inform. Technol. Biomed.

View full text Add to dashboard Cite

Abstract-Ultrasound imaging allows the evaluation of the degree of emergency of a patient. However, in some instances, a well-trained sonographer is unavailable to perform such echography. To cope with this issue, the Mobile Tele-Echography Using an Ultralight Robot (OTELO) project aims to develop a fully integrated end-to-end mobile tele-echography system using an ultralight remote-controlled robot for population groups that are not served locally by medical experts. This paper focuses on the user interface of the OTELO system, consisting of the following parts: an ultrasound video transmission system providing real-time images of the scanned area, an audio/video conference to communicate with the paramedical assistant and with the patient, and a virtual-reality environment, providing visual and haptic feedback to the expert, while capturing the expert's hand movements. These movements are reproduced by the robot at the patient site while holding the ultrasound probe against the patient skin. In addition, the user interface includes an image processing facility for enhancing the received images and the possibility to include them into a database.

show abstract

“…Some previous tele-echography and robot-based echography systems have been developed [1][2][3][4][5][6][7][8]. Some of these approaches are purely tele-medicine projects (see [5] for example).…”

Section: Introductionmentioning

confidence: 99%

Experiments with the TER Tele-echography Robot

Gonzales

Troccaz

Cinquin

et al. 2002

Medical Image Computing and Computer-Assisted Intervention — MICCAI 2002

View full text Add to dashboard Cite

Abstract. This paper presents a master-slave system applied to the remote diagnosis from echographic data. The motion of the master manipulator is remotely controlled by a physician and reproduced by a slave robot carrying the echographic probe. The contact force between the probe and the patient is fed back to operator allowing him to have a haptic virtual environment. The innovation of this haptic control is to preserve medical expert propioception and gesture feelings, which are necessary to synchronize the ultrasound images with the motion made by the medical doctor. The slave robot is a cable-driven manipulator using pneumatic artificial muscle actuators to control the motion of the ultrasound probe. In this paper we present the architecture and the performances of the slave robot and the first experiments of the master-slave remote echography system for examinations of pregnant women.

show abstract

The MIDSTEP system for ultrasound guided remote telesurgery

Cited by 30 publications

References 1 publication

An Ultrasound Robotic System Using the Commercial Robot UR5

An Ultrasound Robotic System Using the Commercial Robot UR5

Mobile tele-echography: user interface design

Experiments with the TER Tele-echography Robot

Contact Info

Product

Resources

About