Name
Abstract | ||
|---|---|---|
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 application domain. Fourteen globally dispersed telerobotic master and slave systems were connected in thirty trials in one twenty four hour period. Users performed common manipulation tasks to demonstrate effective master-slave operation. With twenty eight (93%) successful, unique connections the results show a high potential for standardizing telerobotic operation. Furthermore, new paradigms for telesurgical operation and training are presented, including a networked surgery trainer and upper-limb exoskeleton control of micro-manipulators. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/ROBOT.2010.5509422 | Robotics and Automation |
Keywords | Field | DocType |
Internet,control engineering computing,medical robotics,micromanipulators,open systems,surgery,telerobotics,Internet based control,Plugfest 2009,interoperability,interoperable telerobotics protocol,micromanipulators,network data specification,networked surgery trainer,telemedicine,telerobotic master-and-slave systems,telerobotics,telesurgery application domain,upper-limb exoskeleton control | Telemedicine,Trainer,Interoperability,Control engineering,Application domain,Control system,Engineering,Open system (systems theory),Telerobotics,The Internet | Conference |
Volume | Issue | ISSN |
2010 | 1 | 1050-4729 E-ISBN : 978-1-4244-5040-4 |
ISBN | Citations | PageRank |
978-1-4244-5040-4 | 9 | 1.35 |
References | Authors | |
12 | 19 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| H Hawkeye King | 1 | 193 | 17.58 |
| Blake Hannaford | 2 | 2527 | 516.26 |
| Ka Wai Kwok | 3 | 167 | 27.10 |
| Guang-Zhong Yang | 4 | 2812 | 297.66 |
| Paul Griffiths | 5 | 9 | 1.35 |
| Allison M. Okamura | 6 | 2759 | 273.54 |
| Ildar Farkhatdinov | 7 | 68 | 13.48 |
| Jee-Hwan Ryu | 8 | 617 | 66.11 |
| Ganesh Sankaranarayanan | 9 | 175 | 24.85 |
| Venkata S. Arikatla | 10 | 15 | 3.84 |
| Kotaro Tadano | 11 | 57 | 10.05 |
| Kenji Kawashima | 12 | 72 | 10.24 |
| Angelika Peer | 13 | 406 | 40.39 |
| Thomas Schauss | 14 | 41 | 6.27 |
| Martin Buss | 15 | 1799 | 159.02 |
| Levi Miller | 16 | 33 | 3.66 |
| Daniel Glozman | 17 | 154 | 16.87 |
| J Rosen | 18 | 405 | 43.54 |
| Thomas Low | 19 | 9 | 2.03 |