title: Robot-based tele-echography: clinical evaluation of the TER system in abdominal aortic exploration.
abstract: OBJECTIVE
  The TER system is a robot-based tele-echography system allowing remote ultrasound examination. The specialist moves a mock-up of the ultrasound probe at the master site, and the robot reproduces the movements of the real probe, which sends back ultrasound images and force feedback. This tool could be used to perform ultrasound examinations in small health care centers or from isolated sites. The objective of this study was to prove, under real conditions, the feasibility and reliability of the TER system in detecting abdominal aortic and iliac aneurysms.
  
  
  METHODS
  Fifty-eight patients were included in 2 centers in Brest and Grenoble, France. The remote examination was compared with the reference standard, the bedside examination, for aorta and iliac artery diameter measurement, detection and description of aneurysms, detection of atheromatosis, the duration of the examination, and acceptability.
  
  
  RESULTS
  All aneurysms (8) were detected by both techniques as intramural thrombosis and extension to the iliac arteries. The interobserver correlation coefficient was 0.982 (P < .0001) for aortic diameters. The rate of concordance between 2 operators in evaluating atheromatosis was 84% +/- 11% (95% confidence interval).
  
  
  CONCLUSIONS
  Our study on 58 patients suggests that the TER system could be a reliable, acceptable, and effective robot-based system for performing remote abdominal aortic ultrasound examinations. Research is continuing to improve the equipment for general abdominal use.
authors.affiliation: Department of Radiology, Grenoble University Hospital, Grenoble, France. tmartinelli@chu-grenoble.fr
authors.forename: Thomas
authors.initials: T
authors.lastname: Martinelli
authors.forename: Jean-Luc
authors.initials: JL
authors.lastname: Bosson
authors.forename: Luc
authors.initials: L
authors.lastname: Bressollette
authors.forename: Franck
authors.initials: F
authors.lastname: Pelissier
authors.forename: Eric
authors.initials: E
authors.lastname: Boidard
authors.forename: Jocelyne
authors.initials: J
authors.lastname: Troccaz
authors.forename: Philippe
authors.initials: P
authors.lastname: Cinquin
mesh_terms: D000328:Adult; D000368:Aged; D000369:Aged, 80 and over; D017544:Aortic Aneurysm, Abdominal / Q000000981:diagnostic imaging*; D003936:Diagnosis, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D004452:Echocardiography / Q000295:instrumentation* / Q000379:methods; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005260:Female; D006801:Humans; D017543:Iliac Aneurysm / Q000000981:diagnostic imaging*; D008297:Male; D008875:Middle Aged; D019114:Remote Consultation / Q000295:instrumentation* / Q000379:methods; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D012680:Sensitivity and Specificity; D019112:Teleradiology / Q000295:instrumentation* / Q000379:methods