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Title: An Anticipative Control Approach and Interactive GUI to Enhance the Rendering of the Distal Robot Interaction with its Environment during Robotized Tele-Echography: Interactive Platform for Robotized Tele-Echography
Authors: Vieyres, Pierre 
Sandoval, Juan 
Josserand, Laurence 
Novales, Cyril 
Chiccoli, Marco 
Morette, Nicolas 
Fonte, Aicha 
Avgousti, Sotiris 
Voskarides, Sotos 
Kasparis, Takis 
Major Field of Science: Engineering and Technology
Field Category: Electrical Engineering - Electronic Engineering - Information Engineering
Keywords: Robotized telemedicine;Telemedicine
Issue Date: 15-Jul-2013
Source: International Journal of Monitoring and Surveillance Technologies Research (IJMSTR), 2013, vol. 1 no. 3
Volume: 1
Issue: 3
Journal: International Journal of Monitoring and Surveillance Technologies Research (IJMSTR) 
Abstract: Performing a robotized telemedicine act via specific networks brings forth the issue of transparency in order to enable the operator, e.g. the medical ultrasound specialist, to safely and accurately perform bilateral tele-operation tasks despite the long time delays inherent to the communication link. To counter these effects, two strategies are combined to improve, at the operator site, the rendering of the interactions between the remote robotic systems with its environment (i.e. the patient), and the control of the robot’s orientation at the operator site. 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; it is complemented with a graphic user interface (GUI) which provides the expert with the real-time relative position of the haptic probe with the robot’s end effector for better tele-operated control. These combined strategies provide the expert with an improved interactive tool for tele-diagnosis.
ISSN: 21667241
DOI: 10.4018/ijmstr.2013070101
Rights: IGI Global
Type: Article
Affiliation : University of Orleans 
Laboratory Prisme 
Telemedicine Research Laboratory 
Cyprus University of Technology 
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