The goal of this remote ultrasound examination project is to provide an accurate solution to practice expert examination in distant geographic areas. Starting from the statement that experts are few and far between and are located in big hospital centers, the aim of this project is to provide secure and precise scan examinations for the largest population. The high value and performance of the medical gesture are the main reasons for haptic interface use. In this goal, a haptic command station is developed to give a haptic virtual environment for the medical expert. During classical examination, the medical expert mentally rebuilds the 3D starting from the 2D echographic image and the gesture information. We must take into account physiological constraints of human gesture so that telegesture is possible. The system can be briefly described as follows: a virtual probe is mounted on the master interface device. The real probe is placed on the slave robot end-effector. Position and force information are transmitted bi-directionally (together with live visual and audio) via the tele-communication network. Then, mainly based on the echographic images and force information he receives back, the expert operator can move the virtual probe to control the real one. The slave robot executes the orders sent from the master site. A non-expert operator is located close to the patient and supervises the procedure that he can interrupt. The patient can at any time communicate with him or with the expert. From clinician side, the haptic control station is developed to give more realistic environment and finer command of what remotely occurs. From patient side, the slave robot is remotely controlled by the medical expert, who handles his virtual probe via the force feedback robot. The slave robot is an uncoupled parallel robot, composed of two independent parallel structures using artificial muscles McKibben as actuators. This robot is equipped with a force sensor that makes it possible to control the force exerted in probe axis. This tele-robotic system is not only a telemedicine system; it acts as robot-like system with haptic interface enabling the medical expert to control and feel the force exerted by the robot. Thus, more realistic immersion and finer command are achieved that make possible tele-palpation of the patient for instance. Compared to the tele- medicine systems, this system uses robotics for robot tele-operation and haptic for “rendering” the force exerted by the robot. Having a haptic virtual environment for tele-echography will enable the medical expert with faster adaptation and especially facilitated immersion in what we could call a “virtual echographic examination cabinet”. The innovation of this haptic control is to preserve medical expert proprioception and gesture feelings, which provide the users with indications that are synchronized with the echographic images. Key-words: haptic, medical proprioception, scan examination, tele-medicine, tele-com-munication network, predictive coding, physical and geometrical modelisation.

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   |texte=   Study of the noninvasive medical tele-gesture using a haptic device
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