A predictive control approach and interactive GUI to enhance distal environment rendering during robotized tele-echograph

Pierre Vieyres (1) , Laurence Josserand (1) , Marco Chiccoli (1) , Juan Sébastian Sandoval Arevalo (1) , Nicolas Morette (1) , Cyril Novales (1) , Aïcha Fonte (1) , Soteris Avgousti (2) , Sotos Voskarides (2) , Takis Kasparis (2)

1 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]
2 telemedicine research laboratory

Performing a robotized telemedicine act via specific networks brings forth two issues. One is transparency in order to enable the operator, e.g. the medical ultrasound specialist, to safely and precisely perform bilateral tele-operation tasks despite the long time delays inherent to the chosen communication link. To counter these effects, two strategies are combined to improve at the operator site the rendering of the interactions of the remote robotic systems with its environment (i.e. the patient), and the control of the robot's orientation. The first approach is the development of a new control architecture based on an internal model providing an anticipated value of the distant environment stiffness for any time delays; it is complemented by the development of a graphic user interface (GUI) which provides the expert with the relative position of the haptic probe and the robot's end effector for a better tele-operated control. These combined strategies provide the expert with an improved interactive tool for a tele-diagnosis.

Domaines: Robotique [cs.RO]

Pierre Vieyres, Laurence Josserand, Marco Chiccoli, Juan Sébastian Sandoval Arevalo, Nicolas Morette, et al.. A predictive control approach and interactive GUI to enhance distal environment rendering during robotized tele-echograph. IEEE
12th Intern. Conf. on BioInformatics & BioEngineering, Nov 2012, Larnaca, Cyprus. pp.12. ⟨hal-00777197⟩