Experiments with the TER Tele-echography Robot

Autor:	Marc Althuser, Franck Pellisier, Jean-Marc Ayoubi, Pierre Thorel, Bertrand Tondu, Philippe Cinquin, Agnès Guerraz, Fabien Courreges, Jocelyne Troccaz, Adriana Vilchis Gonzales, Gérard Poisson
Rok vydání:	2002
Předmět:	business.industry Computer science Motion (physics) Contact force Robot Computer vision Artificial muscle Artificial intelligence Manipulator Actuator business Simulation Haptic technology Gesture
Zdroj:	Medical Image Computing and Computer-Assisted Intervention — MICCAI 2002 ISBN: 9783540442240 MICCAI (1)
DOI:	10.1007/3-540-45786-0_18
Popis:	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.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::a380b3311c22d10d42d4dcd1cc84f96e https://doi.org/10.1007/3-540-45786-0_18 Zobrazit plný text záznamu