A one-DOF freehand haptic device for robotic tele-echography.
Tele-echography may be an interesting alternative to conventional care when the medical expert is not close to the patient to be examined. In a system for tele-echography, medical expert proprioception and gesture feelings must be preserved to synchronize the ultrasound images with the motion made by the physician. It is why we develop a master-slave system for robotic tele-echography integrating force feedback. Because existing haptic devices are not fully adapted to this application--their workspace is often small and their basis is fixed--, we have developed a one-dimensional free-hand force feedback device. In this paper, we describe the design and a first evaluation of this new haptic device for robotic tele-echography.
Marchal
Maud
M
TIMC-IMAG/GMCAO, Institut d'Ingénierie de l'Information de Santé, Domaine de la Merci, F-38706 La Tronche Cedex France. Maud.Marchal@imag.fr
Troccaz
Jocelyne
J
D005602:France; D006801:Humans; D012371:Robotics; D017216:Telemedicine; D014463:Ultrasonography / Q000295:instrumentation*; D014584:User-Computer Interface