TER : a system robotic tele-Echography

Marc Althuser (1) , Jean-Marc Ayoubi (1) , Philippe Cinquin (2) , Fabien Courrèges (3) , Agnès Guerraz (4) , Bernard Hennion (4) , Franck Pellisier (4) , Gérard Poisson (3) , Pierre Thorel (4) , Jocelyne Troccaz (2) , Adriana Vilchis (2) , Alain Gourdon (3) , Pierre Caron (5) , Olivier Mérigeaux (5) , Loïc Urbain (5) , Cédric Daimo (6) , Stéphane Lavallée (6) , Philippe Arbeille (7) , Bertrand Tondu (8) , Serge Ippolito (8) , Pierre Vieyres (3)

1 CHUGA - Centre Hospitalier Universitaire [CHU Grenoble]
2 TIMC-IMAG-GMCAO - Gestes Medico-chirurgicaux Assistés par Ordinateur
3 LVR - Laboratoire de Vision et Robotique
4 FT R&D - France Télécom Recherche & Développement
5 SINTERS S.A. [Toulouse]
6 PRAXIM
7 CHU Trousseau [Tours]
8 LESIA-INSA - Laboratoire d'Étude des Systèmes Informatiques et Automatiques

The quality of ultrasound based diagnosis highly depends on the operator's skills. Some healthcare centres may not have the required medical experts on hand when needed and therefore may not benefit from highly specialized ultrasound examinations. The aim of this project is to provide a reliable solution in order to perform expert ultrasound examinations in distant geographical areas and for the largest population possible. TER is a tele-robotic system designed and developed by a French consortium composed of universities, hospitals and industrial companies. One originality of TER is the development of a compliant slave robot actuated by muscles. This slave robot is tele-operated by an expert clinician who remotely performs the exam. In this paper, we present the architecture of TER and describe its components.

Mots clés: ultrasound examination; haptics; TER; robot

Domaines: Recherche opérationnelle [math.OC]

Marc Althuser, Jean-Marc Ayoubi, Philippe Cinquin, Fabien Courrèges, Agnès Guerraz, et al.. TER : a system robotic tele-Echography. --, 2001, France. p. 326. ⟨hal-00021553⟩