Plugfest 2009: Global interoperability in Telerobotics and telemedicine

— Despite the great diversity of teleoperator designs and applications, their underlying control systems have many similarities. These similarities can be exploited to enable interoperability between heterogeneous systems. We have developed a network data specification that can be used for Internet based control of a wide range of teleoperators. In this work we explore Internet based interoperable telerobotics, 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 exoskeleton control of micro-manipulators.

• Type: Journal
• Year: 2010
• Where: ICRA
• Authors: Hawkeye H. I. King, Blake Hannaford, Ka-Wai Kwok, Guang-Zhong Yang, Paul Griffiths, Allison M. Okamura, Ildar Farkhatdinov, Jee-Hwan Ryu, Ganesh Sankaranarayanan, Venkata Sreejanth Arikatla, Kotaro Tadano, Kenji Kawashima, Angelika Peer, Thomas Schauß, Martin Buss, Levi Makaio Miller, Daniel Glozman, Jacob Rosen, Thomas Low
• Keywords: ICRA 2010, Robotics, Telerobotic, Telesurgery Application Domain, Underlying Control Systems