Robotic tele-echography (TER)

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.

References :

- 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

Contact : or

Laboratoire TIMC-IMAG, Domaine de la Merci, 38706 La Tronche Cedex

Grenoble INP
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