title: Robot-based tele-echography: the TER system.
abstract: This paper presents a master-slave robotized system enabling a remote echographic diagnosis. The expert holds a virtual probe placed on a haptic device; he moves this virtual probe in order to control the motion of the real probe positioned on the body of the patient located remotely. The real probe is placed on a lightweight and user-friendly slave robot and moved by it. The contact force between the probe and the patient is fed back to the operator allowing him to have a haptic virtual environment. The aim of this haptic control is to preserve the medical expert proprioception in order to the facilitate hand-eye coordination necessary to echographic examination. In this paper we present the architecture of the system and experimental results.
authors.affiliation: TIMC/IMAG Laboratory, Domaine de la Merci, F-38706 La Tronche, France.
authors.forename: Adriana
authors.initials: A
authors.lastname: Vilchis
authors.forename: Kohji
authors.initials: K
authors.lastname: Masuda
authors.forename: Jocelyne
authors.initials: J
authors.lastname: Troccaz
authors.forename: Philippe
authors.initials: P
authors.lastname: Cinquin
mesh_terms: D005602:France; D006801:Humans; D012371:Robotics; D017216:Telemedicine / Q000295:instrumentation*; D014463:Ultrasonography / Q000295:instrumentation / Q000379:methods*