Plugfest 2009: Global interoperability in Telerobotics and telemedicine

  title={Plugfest 2009: Global interoperability in Telerobotics and telemedicine},
  author={Hawkeye H. I. King and Blake Hannaford and K. W. Kwok and Guang-Zhong Yang and Paul G. Griffiths and Allison M. Okamura and Ildar Farkhatdinov and Jee-Hwan Ryu and Ganesh Sankaranarayanan and Venkata Sreekanth Arikatla and Kotaro Tadano and Kenji Kawashima and Angelika Peer and Thomas Schauss and Martin Buss and Levi Makaio Miller and Daniel Glozman and Jacob Rosen and Thomas Low},
  journal={2010 IEEE International Conference on Robotics and Automation},
  • H. King, B. Hannaford, +16 authors Thomas Low
  • Published 2010
  • Engineering, Computer Science, Medicine
  • 2010 IEEE International Conference on Robotics and Automation
Despite the great diversity of teleoperator designs and applications, their underlying control systems have many similarities. These similarities can be exploited to enable inter-operability between heterogeneous systems. We have developed a network data specification, the Interoperable Telerobotics Protocol, that can be used for Internet based control of a wide range of teleoperators. In this work we test interoperable telerobotics on the global Internet, focusing on the telesurgery… Expand
Human-Machine Collaborative Telerobotics: Computer Assistance for Manually Controlled Telesurgery and Teleoperation
Teleoperated robots are controlled by human operators and allow us to act in environments that are inaccessible for reasons of safety, scale, or remoteness. Unfortunately, due to lack of tactileExpand
Position and Velocity Control for Telemanipulation with Interoperability Protocol
This paper proposes the general framework of hybrid position and rate control modes with interoperability protocol and demonstrates experimentally that the framework is suitable for robotics teleoperation systems in which a human-operator can switch between position-position and position-speed master and slave robots’ workspace mapping. Expand
Internet-based Bilateral Teleoperation Using a Revised Time-Domain Passivity Controller
This study presents a teleoperation system for remote control of mobile manipulators over the Internet. A bilateral control algorithm is proposed that can assure both stability and proper forceExpand
44 Telerobotics : Its Future in Clinical Application
Telerobotic surgery was initially developed for the management of injured soldiers in American conflict theaters. The need was for rapidly deployable, remotely controlled, complex patient careExpand
A Study of Telerobotic Surgery and Telementoring in Space Missions
Several nations are actively seeking to achieve human space exploration beyond the Earth's orbit and the need to improve current surgical treatment during spaceflight is critical. Starting with theExpand
Cyberphysical systems security applied to telesurgical robotics
The Secure ITP uses open source software tools and follows guidelines in Federal Information Processing Standards documents published by the National Institute of Standards and Technology (NIST) to create a security enhancement prototype for demonstration purposes and to facilitate the development of new security technologies which addressthe stringent requirements of telesurgery. Expand
Establishing multimodal telepresence sessions using the Session Initiation Protocol (SIP) and advanced haptic codecs
This work applies the session paradigm to the creation and negotiation of haptic telepresence sessions and proposes to extend this framework to work with the haptic modality. Expand
Models for force control in telesurgical robot systems
Surgical robotics is one of the most rapidly developing fields within robotics. Besides general motion control issues, control engineers often find it challenging to design robotic telesurgeryExpand
Hybrid Rate—Admittance Control With Force Reflection for Safe Teleoperated Surgery
Teleoperated surgical systems have great potential to improve the performance of surgeons, and their use has spread worldwide in recent years. However, there are some issues that need to be resolvedExpand
Hubot: A three state Human-Robot collaborative framework for bimanual surgical tasks based on learned models
Hubot; a Human-Robot collaborative framework which combines the strengths of the surgeon, the advantages of robotics and learning from demonstration into a single system showed promising results in comparison to fully manual task execution, including reduced completion time, fewer movements for the operator and improved efficiency. Expand


A Design and Control Environment for Internet-Based Telerobotics
An environment for the design, simulation, and control of Internet-based force-reflecting telerobotic systems as using a segment of the computer network to connect the master to the slave is described. Expand
Real-time Remote Robotics-Toward Networked Telexistence
  • S. Tachi
  • Computer Science
  • IEEE Computer Graphics and Applications
  • 1998
This Japanese national R&D scheme is moving toward the realization of mutual telexistence through various kinds of networks, including the Internet, which is called R/sup 3. Expand
Development of a telerobotic system for exploration of hazardous environments
  • Bartlomiej Stanczyk, M. Buss
  • Computer Science
  • 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
  • 2004
This work addresses the manipulation and control problems of a teleoperated redundant manipulator with 6 degrees of freedom kinesthetic feedback, issues regarding kinematic control, compliant motion, transparency, and intuitiveness of teleoperation are discussed. Expand
Remote telepresence surgery: the Canadian experience
This article describes the important lessons learned, including the telecommunication requirements, the impact from lack of haptic feedback, surgeons’ adaptation to latency, and ethical and medicolegal issues, which will help guide the future design and development of telesurgical robotic platforms. Expand
Acceleration compensation for vehicle based telesurgery on earth or in space
Experimental results from vehicular operation show how induced motion can be reduced by introduction of dynamic electronic balancing of the master manipulator device and the addition of variable damping proportional to vehicle acceleration. Expand
The Mercury Project: a feasibility study for Internet robots
The article focuses on the interface design, robot hardware, and architecture of the system that allows a robot manipulator to be teleoperated via the Internet. Expand
Transatlantic robot-assisted telesurgery
It is shown that robot-assisted remote telesurgery can be safely carried out across transoceanic distances and will eliminate geographical constraints and make surgical expertise available throughout the world, improving patient treatment and surgical training. Expand
The RAVEN: Design and Validation of a Telesurgery System
The collaborative effort between fundamental science, engineering and medicine provides physicians with improved tools and techniques for delivering effective health care and illustrated the RAVEN surgical robot system’s ability to operate in extreme conditions using a variety of network settings. Expand
Objective Assessment of Telesurgical Robot Systems: Telerobotic FLS
The use of FLS Block Transfer task is used to evaluate the performance of surgeons' teleoperating the University of Washington Surgical robot. Expand
Development of a pneumatically driven forceps manipulator IBIS IV
In the teleoperated minimally invasive surgery systems, measurement and display of sense of force to the operator is a problem. We have proposed a pneumatic surgical manipulator that is capable ofExpand