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The clinical objective is to enable en expert operator to remotely perform echographic examinations. The system type is master-slave. Thanks to the master workstation (top) allowing for real-time image display and force feedback to the operator, he (she) can control the echographic probe movements. The slave system (bottom) is a light, cable-driven robot with 2 degrees of freedom (dof) for translation on the patient body and 4 dofs for rotation of the probe (3dofs) and one fine translation for pressure control on the body. A visio conference makes it possible for the two sites to dialog. The system has been demonstrated with several types of telecommunications networks.
A. Vilchis, J. Troccaz, P. Cinquin, K. Masuda, F. Pellissier. A new robot architecture for tele-echography. IEEE Trans. On Robotics and Automation, Special issue on Medical Robotics, Vol19, No5, pp922-926, october 2003 (PDF)
A. Vilchis, K. Masuda, M. Althuser, J.-M. Ayoubi, J.-L. Bosson, J. Troccaz, P. Cinquin. Télé-échographie robotisée : des concepts à la validation clinique. Annales des Télécommunications, Santé et Technologies de l’information, Vol58, No5-6, pp687-697, 2003
Collaborations : France Telecom R&D, Praxim, Grenoble hospital, CIC, Brest hospital, LATIM
Status: several patents, clinical evaluation performed between Brest and Grenoble for patients having an abdominal aortic aneurysm –RNRT Project VTHD++ – Hydra start-up launched in 2005 for product development
More information : Best PhD thesis Award, INPG, 2003 Adriana Vilchis-Gonzales
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