Abstract
Teleoperated medical robotic systems allow procedures such as surgeries, treatments, and diagnoses to be conducted across short or long distances while utilizing wired and/or wireless communication networks. This study presents a systematic review of the relevant literature between the years 2004 and 2015, focusing on medical teleoperated robotic systems which have witnessed tremendous growth over the examined period. A thorough insight of telerobotics systems discussing design concepts, enabling technologies (namely robotic manipulation, telecommunications, and vision systems), and potential applications in clinical practice is provided, while existing limitations and future trends are also highlighted. A representative paradigm of the short-distance case is the da Vinci Surgical System which is described in order to highlight relevant issues. The long-distance telerobotics concept is exemplified through a case study on diagnostic ultrasound scanning. Moreover, the present review provides a classification into short- and long-distance telerobotic systems, depending on the distance from which they are operated. Telerobotic systems are further categorized with respect to their application field. For the reviewed systems are also examined their engineering characteristics and the employed robotics technology. The current status of the field, its significance, the potential, as well as the challenges that lie ahead are thoroughly discussed.
Highlights
Telerobotics is considered to be an integral part of the wider field of telemedicine
The primary objective of this study is to present a systematic review of telerobotic systems and highlight their challenges and their potential
Medical telerobotic is an emerging field expected to have a significant impact on healthcare
Summary
Telerobotics is considered to be an integral part of the wider field of telemedicine. Medical videos dominate over robot control data and other biosignals, both in terms of bandwidth requirements as well as processing needs Given that this is a crucial component—central to the success of telerobotic systems—used for guiding teleoperated processes and providing remote diagnosis, an optimum trade-off that both satisfies the medical video quality requirements while not compromising the teleoperation process via over flooding available bandwidth, is the primary objective of such systems and services. Linked with significant upgrades in available data transfer rates in the uplink and lower latencies in 4G systems and beyond, responsive telerobotic systems in clinical practice, facilitating wireless medical video communication that will rival the quality of in-hospital examinations, are envisioned. Real-time adaptation to varying bandwidth availability while conforming to medical video clinical requirements and securing low-delay robot controls communication is critical to the success of telerobotic systems. Needle-delivered therapies and diagnostic procedures such as biopsies, aspirations, local drug delivery, implantation of radioactive brachytherapy seeds at a tumour site and ablations (e.g., RF ablation, cryoablation) for the treatment of tumours can be
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