Abstract
This paper focuses on robotic tele-ultrasound (TER) slave system. A demonstrator for obstetrical tele-ultrasound applications based on the use of a tele-operated robot controlled by a distant medical expert is developed. Based on the analysis of a typical ultrasound examination and the requirements of medical doctors, the tele-ultrasound system architecture is defined, in particular that of the tele-operated robot. The master-slave configuration allows to control the ultrasound probe with 6 degrees of freedom (DOF). Slave robot inverse kinematics, control approaches and numerical results are presented.
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