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Use of a Robotic Arm to Perform Remote Abdominal Telesonography

Philippe Arbeille1, Arnaud Capri, Jean Ayoub, Veronique Kieffer, Monica Georgescu and Gerard Poisson

1 All authors: Spatial Medicine and Physiology Unit, Department of Nuclear Medicine and Ultrasonography, CHU Trousseau, Tours, France 37044.


Figure 1
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  		Fig. 1 —Diagram shows concept of telesonographic system based on use of robotic arm. Data and images can be transferred via satellite or terrestrial links (integrated services digital network [ISDN] telephone). Expert (MD) and patient are linked by videoconference system (audio and video). Expert receives real-time view of probe and patient (position of probe) and sonographic views, which change when expert moves dummy probe (control probe). MVT = multiplexed video traffic.

 

Figure 2
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  		Fig. 2 —Robotic arm holding curved array scan probe. Probe holder is supported by frame, bottom ring of which is held in contact with skin by nonsonographer operator at side of patient. Operator at patient site positions probe holder as indicated by expert. Expert can monitor position of probe holder by video. Expert then asks operator to move robot arm slowly (up, down, left, right) so that expert can visualize desired part of organ being examined. Expert moves dummy probe to obtain view required, scanning entire organ for longitudinal views, transverse views, and so on.

 

Figure 3
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  		Fig. 3A —Photographs show expert center and remote site. Expert center with expert manipulating dummy probe (arrow), PC for guiding robot, video sonographic image (right screen), and videoconference camera and screen (left screen) showing position of robotic arm on patient. Small box behind dummy probe determines changes in position of dummy probe. Changes in orientation (tilt, precession, rotation) are applied to patient sonographic probe by electric motors on robotic arm.

 

Figure 4
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  		Fig. 3B —Photographs show expert center and remote site. Patient site with operator holding robot on patient, PC for driving robot (left), sonographic unit (right), and videoconference camera and screen (left).

 

Figure 5
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  		Fig. 4A —Interaction between expert and patient (computerized, reconstructed images). When expert (A) pushes dummy probe to right, robotic arm (B) maintained on body by operator tilts sonographic probe to right.

 

Figure 6
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  		Fig. 4B —Interaction between expert and patient (computerized, reconstructed images). When expert (A) pushes dummy probe to right, robotic arm (B) maintained on body by operator tilts sonographic probe to right.

 

Figure 7
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  		Fig. 4C —Interaction between expert and patient (computerized, reconstructed images). When expert (C) pushes dummy probe to left, robotic arm (D) maintained on body by operator tilts sonographic probe to left.

 

Figure 8
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  		Fig. 4D —Interaction between expert and patient (computerized, reconstructed images). When expert (C) pushes dummy probe to left, robotic arm (D) maintained on body by operator tilts sonographic probe to left.

 

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