視覚・触覚モデル仲介型遠隔超音波検査システム
Visual-Haptic Model Mediated Teleoperation for Remote Ultrasound
遠隔超音波検査の遅延対策として、事前取得した超音波ボリュームをリアルタイム再スライスして視覚プレビューと触覚フィードバックを同時に提示するモデル仲介型遠隔操作を提案し、1000msの往復遅延まで操作負担と完了時間を補償できることを示した。
著者: David Black, Maria Tirindelli, Septimiu Salcudean, Wolfgang Wein, Marco Esposito
分類: cs.RO, cs.HC
原文アブストラクト
Tele-ultrasound has the potential greatly to improve health equity for countless remote communities. However, practical scenarios involve potentially large time delays which cause current implementations of telerobotic ultrasound (US) to fail. Using a local model of the remote environment to provide haptics to the expert operator can decrease teleoperation instability, but the delayed visual feedback remains problematic. This paper introduces a robotic tele-US system in which the local model is not only haptic, but also visual, by re-slicing and rendering a pre-acquired US sweep in real time to provide the operator a preview of what the delayed image will resemble. A prototype system is presented and tested with 15 volunteer operators. It is found that visual-haptic model-mediated teleoperation (MMT) compensates completely for time delays up to 1000 ms round trip in terms of operator effort and completion time while conventional MMT does not. Visual-haptic MMT also significantly outperforms MMT for longer time delays in terms of motion accuracy and force control. This proof-of-concept study suggests that visual-haptic MMT may facilitate remote robotic tele-US.
