title: Plugfest 2009: Global Interoperability in Telerobotics and Telemedicine.
abstract: Despite the great diversity of teleoperator designs and applications, their underlying control systems have many similarities. These similarities can be exploited to enable inter-operability between heterogeneous systems. We have developed a network data specification, the Interoperable Telerobotics Protocol, that can be used for Internet based control of a wide range of teleoperators. In this work we test interoperable telerobotics on the global Internet, focusing on the telesurgery application domain. Fourteen globally dispersed telerobotic master and slave systems were connected in thirty trials in one twenty four hour period. Users performed common manipulation tasks to demonstrate effective master-slave operation. With twenty eight (93%) successful, unique connections the results show a high potential for standardizing telerobotic operation. Furthermore, new paradigms for telesurgical operation and training are presented, including a networked surgery trainer and upper-limb exoskeleton control of micro-manipulators.
authors.affiliation: University of Washington, Seattle, WA, USA.
authors.forename: H Hawkeye
authors.initials: HH
authors.lastname: King
authors.affiliation: University of Washington, Seattle, WA, USA.
authors.forename: Blake
authors.initials: B
authors.lastname: Hannaford
authors.affiliation: Imperial College London, London, UK.
authors.forename: Ka-Wai
authors.initials: KW
authors.lastname: Kwok
authors.affiliation: Imperial College London, London, UK.
authors.forename: Guang-Zhong
authors.initials: GZ
authors.lastname: Yang
authors.affiliation: Johns Hopkins University, Baltimore, MD, USA.
authors.forename: Paul
authors.initials: P
authors.lastname: Griffiths
authors.affiliation: Johns Hopkins University, Baltimore, MD, USA.
authors.forename: Allison
authors.initials: A
authors.lastname: Okamura
authors.affiliation: Korea University of Technology and Education, Cheonan, Korea.
authors.forename: Ildar
authors.initials: I
authors.lastname: Farkhatdinov
authors.affiliation: Korea University of Technology and Education, Cheonan, Korea.
authors.forename: Jee-Hwan
authors.initials: JH
authors.lastname: Ryu
authors.affiliation: Rensselaer Polytechnic Institute, Troy, NY, USA.
authors.forename: Ganesh
authors.initials: G
authors.lastname: Sankaranarayanan
authors.affiliation: Rensselaer Polytechnic Institute, Troy, NY, USA.
authors.forename: Venkata
authors.initials: V
authors.lastname: Arikatla
authors.affiliation: Tokyo Institute of Technology, Yokohama, Japan.
authors.forename: Kotaro
authors.initials: K
authors.lastname: Tadano
authors.affiliation: Tokyo Institute of Technology, Yokohama, Japan.
authors.forename: Kenji
authors.initials: K
authors.lastname: Kawashima
authors.affiliation: Technische Universität München, Munich, Germany.
authors.forename: Angelika
authors.initials: A
authors.lastname: Peer
authors.affiliation: Technische Universität München, Munich, Germany.
authors.forename: Thomas
authors.initials: T
authors.lastname: Schauß
authors.affiliation: Technische Universität München, Munich, Germany.
authors.forename: Martin
authors.initials: M
authors.lastname: Buss
authors.affiliation: University of California, Santa Cruz, CA, USA.
authors.forename: Levi
authors.initials: L
authors.lastname: Miller
authors.affiliation: University of California, Santa Cruz, CA, USA.
authors.forename: Daniel
authors.initials: D
authors.lastname: Glozman
authors.affiliation: University of California, Santa Cruz, CA, USA.
authors.forename: Jacob
authors.initials: J
authors.lastname: Rosen
authors.affiliation: SRI International, Menlo Park, CA, USA.
authors.forename: Thomas
authors.initials: T
authors.lastname: Low
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