A One-DOF Free-Hand Haptic Device for Robotic Tele-Echography

Maud Marchal (1) , Jocelyne Troccaz (1)

1 TIMC-IMAG-GMCAO - Gestes Medico-chirurgicaux Assistés par Ordinateur

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.

Mots clés: telemedicine; echography; haptic; probe

Domaines: Robotique [cs.RO]

Maud Marchal, Jocelyne Troccaz. A One-DOF Free-Hand Haptic Device for Robotic Tele-Echography. Medicine Meets Virtual Reality 12, Jan 2004, Newport Beach, California, United States. pp. 232-233. ⟨hal-00206225⟩