title: Fetal tele-echography using a robotic arm and a satellite link.
abstract: OBJECTIVE
  To design a method for conducting fetal ultrasound examinations in isolated hospital sites using a dedicated remotely controlled robotic arm (tele-echography).
  
  
  METHODS
  Tele-echography was performed from our hospital (expert center) on 29 pregnant women in an isolated maternity hospital (patient site) 1700 km away, and findings were compared with those of conventional ultrasound examinations. At the patient site, a robotic arm holding the real ultrasound probe was placed on the patient's abdomen by an assistant with no experience of performing ultrasound. The robotic arm, remotely controlled with a fictive (expert) probe, reproduced the exact movements (tilting and rotating) of the expert hand on the real ultrasound probe.
  
  
  RESULTS
  In 93.1% of the cases, all biometric parameters, placental location and amniotic fluid volume, were correctly assessed using the teleoperated robotic arm. In two cases, femur length could not be correctly measured. The mean duration of fetal ultrasound examination was 14 min (range, 10-18) and 18 min (range, 13-23) by conventional and tele-echography methods, respectively. The mean number of times the robotic arm was repositioned on the patient's abdomen was seven (range, 5-9).
  
  
  CONCLUSIONS
  Tele-echography using a robotic arm provides the main information needed to assess fetal growth and the intrauterine environment within a limited period of time.
authors.affiliation: Unité de Médecine et Physiologie Spatiales, Médecine Nucleaire et Ultrasons CHU Trousseau, Tours, France. arbeille@med.univ-tours.fr
authors.forename: P
authors.initials: P
authors.lastname: Arbeille
authors.forename: J
authors.initials: J
authors.lastname: Ruiz
authors.forename: P
authors.initials: P
authors.lastname: Herve
authors.forename: M
authors.initials: M
authors.lastname: Chevillot
authors.forename: G
authors.initials: G
authors.lastname: Poisson
authors.forename: F
authors.initials: F
authors.lastname: Perrotin
mesh_terms: D005260:Female; D047109:Fetal Development; D006801:Humans; D011247:Pregnancy; D012371:Robotics; D017215:Satellite Communications; D019112:Teleradiology / Q000295:instrumentation / Q000379:methods*; D013997:Time Factors; D016216:Ultrasonography, Prenatal / Q000295:instrumentation / Q000379:methods*