Visual-Haptic Model Mediated Teleoperation for Remote Ultrasound

TL;DR

This paper presents a novel visual-haptic model-mediated teleoperation system for remote ultrasound that effectively compensates for large time delays, improving operator performance and stability in tele-ultrasound procedures.

Contribution

The study introduces a combined visual and haptic local model for tele-ultrasound, enabling real-time preview of delayed images to enhance stability and accuracy during remote procedures.

Findings

Compensates for delays up to 1000 ms in operator effort and completion time.

Significantly improves motion accuracy and force control over traditional methods.

Demonstrates feasibility of remote robotic tele-ultrasound with large delays.

Abstract

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.