Najdovski, Zoran, Pedrammehr, Siamak, Chalak Qazani, Mohamad Reza, Abdi, Hamid, Deshpande, Sameer, Liu, Taoming, Mullins, James, Fielding, Michael, Hilton, Stephen, and Asadi, Houshyar (2024) HaptiScan: A Haptically-Enabled Robotic Ultrasound System for Remote Medical Diagnostics. Robotics, 13. p. 164.

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Abstract

Medical ultrasound is a widely used diagnostic imaging modality that provides real-time imaging at a relatively low cost. However, its widespread application is hindered by the need for expert operation, particularly in remote regional areas where trained sonographers are scarce. This paper presents the development of HaptiScan, a state-of-the-art telerobotic ultrasound system equipped with haptic feedback. The system utilizes a commercially available robotic manipulator, the UR5 robot from Universal Robots, integrated with a force/torque sensor and the Phantom Omni haptic device. This configuration enables skilled sonographers to remotely conduct ultrasound procedures via an internet connection, addressing both the geographic and ergonomic limitations faced in traditional sonography. Key innovative features of the system include real-time force feedback, ensuring that sonographers can precisely control the ultrasound probe from a remote location. The system is further enhanced by safety measures such as over-force sensing, patient discomfort monitoring, and emergency stop mechanisms. Quantitative indicators of the system’s performance include successful teleoperation over long distances with time delays, as demonstrated in simulations. These simulations validate the system’s control methodologies, showing stable performance with force feedback under varying time delays and distances. Additionally, the UR5 manipulator’s precision, kinematic, and dynamic models are mathematically formulated to optimize teleoperation. The results highlight the effectiveness of the proposed system in overcoming the technical challenges of remote ultrasound procedures, offering a viable solution for real-world telemedicine applications.

Item ID:	86699
Item Type:	Article (Research - C1)
ISSN:	2218-6581
Keywords:	telerobotic ultrasound system; safety; teleoperation control; haptics; dynamics; force sensing; Phantom Omni; UR5
Copyright Information:	© 2024 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
Date Deposited:	28 Aug 2025 01:20
FoR Codes:	40 ENGINEERING > 4007 Control engineering, mechatronics and robotics > 400701 Assistive robots and technology @ 60% 46 INFORMATION AND COMPUTING SCIENCES > 4608 Human-centred computing > 460806 Human-computer interaction @ 15% 40 ENGINEERING > 4006 Communications engineering > 400604 Network engineering @ 25%
SEO Codes:	28 EXPANDING KNOWLEDGE > 2801 Expanding knowledge > 280110 Expanding knowledge in engineering @ 35% 28 EXPANDING KNOWLEDGE > 2801 Expanding knowledge > 280115 Expanding knowledge in the information and computing sciences @ 65%
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