HaptiScan: A Haptically-Enabled Robotic Ultrasound System for Remote Medical Diagnostics
Medical ultrasound is a widely used diagnostic imaging modality that provides real-time imaging at a relatively low cost. However, its widespread application is hindered by the need for expert operation, particularly in remote regional areas where trained sonographers are scarce. This paper presents...
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MDPI AG
2024-11-01
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| Online Access: | https://www.mdpi.com/2218-6581/13/11/164 |
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| author | Zoran Najdovski Siamak Pedrammehr Mohammad Reza Chalak Qazani Hamid Abdi Sameer Deshpande Taoming Liu James Mullins Michael Fielding Stephen Hilton Houshyar Asadi |
| author_facet | Zoran Najdovski Siamak Pedrammehr Mohammad Reza Chalak Qazani Hamid Abdi Sameer Deshpande Taoming Liu James Mullins Michael Fielding Stephen Hilton Houshyar Asadi |
| author_sort | Zoran Najdovski |
| collection | DOAJ |
| description | Medical ultrasound is a widely used diagnostic imaging modality that provides real-time imaging at a relatively low cost. However, its widespread application is hindered by the need for expert operation, particularly in remote regional areas where trained sonographers are scarce. This paper presents the development of HaptiScan, a state-of-the-art telerobotic ultrasound system equipped with haptic feedback. The system utilizes a commercially available robotic manipulator, the UR5 robot from Universal Robots, integrated with a force/torque sensor and the Phantom Omni haptic device. This configuration enables skilled sonographers to remotely conduct ultrasound procedures via an internet connection, addressing both the geographic and ergonomic limitations faced in traditional sonography. Key innovative features of the system include real-time force feedback, ensuring that sonographers can precisely control the ultrasound probe from a remote location. The system is further enhanced by safety measures such as over-force sensing, patient discomfort monitoring, and emergency stop mechanisms. Quantitative indicators of the system’s performance include successful teleoperation over long distances with time delays, as demonstrated in simulations. These simulations validate the system’s control methodologies, showing stable performance with force feedback under varying time delays and distances. Additionally, the UR5 manipulator’s precision, kinematic, and dynamic models are mathematically formulated to optimize teleoperation. The results highlight the effectiveness of the proposed system in overcoming the technical challenges of remote ultrasound procedures, offering a viable solution for real-world telemedicine applications. |
| format | Article |
| id | doaj-art-4e8a555b12da4e3c8dc47fc51f76b04f |
| institution | Kabale University |
| issn | 2218-6581 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj-art-4e8a555b12da4e3c8dc47fc51f76b04f2024-11-26T18:20:40ZengMDPI AGRobotics2218-65812024-11-01131116410.3390/robotics13110164HaptiScan: A Haptically-Enabled Robotic Ultrasound System for Remote Medical DiagnosticsZoran Najdovski0Siamak Pedrammehr1Mohammad Reza Chalak Qazani2Hamid Abdi3Sameer Deshpande4Taoming Liu5James Mullins6Michael Fielding7Stephen Hilton8Houshyar Asadi9Institute for Intelligent Systems Research and Innovation, Deakin University, Waurn Ponds 3216, AustraliaFaculty of Design, Tabriz Islamic Art University, Tabriz 5164736931, IranFaculty of Computing and Information Technology (FoCIT), Sohar University, Sohar 311, OmanSchool of Engineering, Deakin University, Waurn Ponds 3216, AustraliaManuFutures, Deakin University, Waurn Ponds 3216, AustraliaSuperior Swift Technologies Pty Ltd., Melbourne 3122, AustraliaInstitute for Intelligent Systems Research and Innovation, Deakin University, Waurn Ponds 3216, AustraliaInstitute for Intelligent Systems Research and Innovation, Deakin University, Waurn Ponds 3216, AustraliaTelstra Group Limited, Melbourne 3000, AustraliaInstitute for Intelligent Systems Research and Innovation, Deakin University, Waurn Ponds 3216, AustraliaMedical ultrasound is a widely used diagnostic imaging modality that provides real-time imaging at a relatively low cost. However, its widespread application is hindered by the need for expert operation, particularly in remote regional areas where trained sonographers are scarce. This paper presents the development of HaptiScan, a state-of-the-art telerobotic ultrasound system equipped with haptic feedback. The system utilizes a commercially available robotic manipulator, the UR5 robot from Universal Robots, integrated with a force/torque sensor and the Phantom Omni haptic device. This configuration enables skilled sonographers to remotely conduct ultrasound procedures via an internet connection, addressing both the geographic and ergonomic limitations faced in traditional sonography. Key innovative features of the system include real-time force feedback, ensuring that sonographers can precisely control the ultrasound probe from a remote location. The system is further enhanced by safety measures such as over-force sensing, patient discomfort monitoring, and emergency stop mechanisms. Quantitative indicators of the system’s performance include successful teleoperation over long distances with time delays, as demonstrated in simulations. These simulations validate the system’s control methodologies, showing stable performance with force feedback under varying time delays and distances. Additionally, the UR5 manipulator’s precision, kinematic, and dynamic models are mathematically formulated to optimize teleoperation. The results highlight the effectiveness of the proposed system in overcoming the technical challenges of remote ultrasound procedures, offering a viable solution for real-world telemedicine applications.https://www.mdpi.com/2218-6581/13/11/164telerobotic ultrasound systemsafetyteleoperation controlhapticsdynamicsforce sensing |
| spellingShingle | Zoran Najdovski Siamak Pedrammehr Mohammad Reza Chalak Qazani Hamid Abdi Sameer Deshpande Taoming Liu James Mullins Michael Fielding Stephen Hilton Houshyar Asadi HaptiScan: A Haptically-Enabled Robotic Ultrasound System for Remote Medical Diagnostics Robotics telerobotic ultrasound system safety teleoperation control haptics dynamics force sensing |
| title | HaptiScan: A Haptically-Enabled Robotic Ultrasound System for Remote Medical Diagnostics |
| title_full | HaptiScan: A Haptically-Enabled Robotic Ultrasound System for Remote Medical Diagnostics |
| title_fullStr | HaptiScan: A Haptically-Enabled Robotic Ultrasound System for Remote Medical Diagnostics |
| title_full_unstemmed | HaptiScan: A Haptically-Enabled Robotic Ultrasound System for Remote Medical Diagnostics |
| title_short | HaptiScan: A Haptically-Enabled Robotic Ultrasound System for Remote Medical Diagnostics |
| title_sort | haptiscan a haptically enabled robotic ultrasound system for remote medical diagnostics |
| topic | telerobotic ultrasound system safety teleoperation control haptics dynamics force sensing |
| url | https://www.mdpi.com/2218-6581/13/11/164 |
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