Plugfest 2009: Global Interoperability in Telerobotics and Telemedicine
Identifieur interne : 003605 ( Main/Exploration ); précédent : 003604; suivant : 003606Plugfest 2009: Global Interoperability in Telerobotics and Telemedicine
Auteurs : H. Hawkeye King [États-Unis] ; Blake Hannaford [États-Unis] ; Ka-Wai Kwok [Royaume-Uni] ; Guang-Zhong Yang [Royaume-Uni] ; Paul Griffiths [États-Unis] ; Allison Okamura [États-Unis] ; Ildar Farkhatdinov [Corée du Sud] ; Jee-Hwan Ryu [Corée du Sud] ; Ganesh Sankaranarayanan [États-Unis] ; Venkata Arikatla [États-Unis] ; Kotaro Tadano [Japon] ; Kenji Kawashima [Japon] ; Angelika Peer [Allemagne] ; Thomas Schau [Allemagne] ; Martin Buss [Allemagne] ; Levi Miller [États-Unis] ; Daniel Glozman [États-Unis] ; Jacob Rosen [États-Unis] ; Thomas Low [États-Unis]Source :
- IEEE International Conference on Robotics and Automation : ICRA : [proceedings] IEEE International Conference on Robotics and Automation [ 2152-4092 ] ; 2010.
Abstract
Despite the great diversity of teleoperator designs and applications, their underlying control systems have many similarities. These similarities can be exploited to enable inter-operability between heterogeneous systems. We have developed a network data specification, the Interoperable Telerobotics Protocol, that can be used for Internet based control of a wide range of teleoperators.
In this work we test interoperable telerobotics on the global Internet, 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 upper-limb exoskeleton control of micro-manipulators.
Url:
PubMed: 24748993
PubMed Central: 3988879
Affiliations:
- Allemagne, Corée du Sud, Japon, Royaume-Uni, États-Unis
- Angleterre, Bavière, Californie, District de Haute-Bavière, Grand Londres, Maryland, Washington (État), État de New York
- Londres, Munich
- Université de Washington, Université technique de Munich
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Le document en format XML
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Hawkeye King</name><affiliation wicri:level="4"><nlm:aff id="A1">University of Washington, Seattle, WA, USA</nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea>University of Washington, Seattle, WA</wicri:regionArea><placeName><region type="state">Washington (État)</region></placeName><orgName type="university">Université de Washington</orgName></affiliation></author><author><name sortKey="Hannaford, Blake" sort="Hannaford, Blake" uniqKey="Hannaford B" first="Blake" last="Hannaford">Blake Hannaford</name><affiliation wicri:level="4"><nlm:aff id="A1">University of Washington, Seattle, WA, USA</nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea>University of Washington, Seattle, WA</wicri:regionArea><placeName><region type="state">Washington (État)</region></placeName><orgName type="university">Université de Washington</orgName></affiliation></author><author><name sortKey="Kwok, Ka Wai" sort="Kwok, Ka Wai" uniqKey="Kwok K" first="Ka-Wai" last="Kwok">Ka-Wai Kwok</name><affiliation wicri:level="3"><nlm:aff id="A2">Imperial College London, London, UK</nlm:aff><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>Imperial College London, London</wicri:regionArea><placeName><settlement type="city">Londres</settlement><region type="country">Angleterre</region><region type="région" nuts="1">Grand Londres</region></placeName></affiliation></author><author><name sortKey="Yang, Guang Zhong" sort="Yang, Guang Zhong" uniqKey="Yang G" first="Guang-Zhong" last="Yang">Guang-Zhong Yang</name><affiliation wicri:level="3"><nlm:aff id="A2">Imperial College London, London, UK</nlm:aff><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>Imperial College London, London</wicri:regionArea><placeName><settlement type="city">Londres</settlement><region type="country">Angleterre</region><region type="région" nuts="1">Grand Londres</region></placeName></affiliation></author><author><name sortKey="Griffiths, Paul" sort="Griffiths, Paul" uniqKey="Griffiths P" first="Paul" last="Griffiths">Paul Griffiths</name><affiliation wicri:level="2"><nlm:aff id="A3">Johns Hopkins University, Baltimore, MD, USA</nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea>Johns Hopkins University, Baltimore, MD</wicri:regionArea><placeName><region type="state">Maryland</region></placeName></affiliation></author><author><name sortKey="Okamura, Allison" sort="Okamura, Allison" uniqKey="Okamura A" first="Allison" last="Okamura">Allison Okamura</name><affiliation wicri:level="2"><nlm:aff id="A3">Johns Hopkins University, Baltimore, MD, USA</nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea>Johns Hopkins University, Baltimore, MD</wicri:regionArea><placeName><region type="state">Maryland</region></placeName></affiliation></author><author><name sortKey="Farkhatdinov, Ildar" sort="Farkhatdinov, Ildar" uniqKey="Farkhatdinov I" first="Ildar" last="Farkhatdinov">Ildar 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Hawkeye" last="King">H. Hawkeye King</name><affiliation wicri:level="4"><nlm:aff id="A1">University of Washington, Seattle, WA, USA</nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea>University of Washington, Seattle, WA</wicri:regionArea><placeName><region type="state">Washington (État)</region></placeName><orgName type="university">Université de Washington</orgName></affiliation></author><author><name sortKey="Hannaford, Blake" sort="Hannaford, Blake" uniqKey="Hannaford B" first="Blake" last="Hannaford">Blake Hannaford</name><affiliation wicri:level="4"><nlm:aff id="A1">University of Washington, Seattle, WA, USA</nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea>University of Washington, Seattle, WA</wicri:regionArea><placeName><region type="state">Washington (État)</region></placeName><orgName type="university">Université de Washington</orgName></affiliation></author><author><name sortKey="Kwok, Ka Wai" sort="Kwok, Ka Wai" uniqKey="Kwok K" first="Ka-Wai" last="Kwok">Ka-Wai Kwok</name><affiliation wicri:level="3"><nlm:aff id="A2">Imperial College London, London, UK</nlm:aff><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>Imperial College London, London</wicri:regionArea><placeName><settlement type="city">Londres</settlement><region type="country">Angleterre</region><region type="région" nuts="1">Grand Londres</region></placeName></affiliation></author><author><name sortKey="Yang, Guang Zhong" sort="Yang, Guang Zhong" uniqKey="Yang G" first="Guang-Zhong" last="Yang">Guang-Zhong Yang</name><affiliation wicri:level="3"><nlm:aff id="A2">Imperial College London, London, UK</nlm:aff><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>Imperial College London, London</wicri:regionArea><placeName><settlement type="city">Londres</settlement><region type="country">Angleterre</region><region type="région" nuts="1">Grand Londres</region></placeName></affiliation></author><author><name sortKey="Griffiths, Paul" sort="Griffiths, Paul" uniqKey="Griffiths P" first="Paul" last="Griffiths">Paul Griffiths</name><affiliation wicri:level="2"><nlm:aff id="A3">Johns Hopkins University, Baltimore, MD, USA</nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea>Johns Hopkins University, Baltimore, MD</wicri:regionArea><placeName><region type="state">Maryland</region></placeName></affiliation></author><author><name sortKey="Okamura, Allison" sort="Okamura, Allison" uniqKey="Okamura A" first="Allison" last="Okamura">Allison Okamura</name><affiliation wicri:level="2"><nlm:aff id="A3">Johns Hopkins University, Baltimore, MD, USA</nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea>Johns Hopkins University, Baltimore, MD</wicri:regionArea><placeName><region type="state">Maryland</region></placeName></affiliation></author><author><name sortKey="Farkhatdinov, Ildar" sort="Farkhatdinov, Ildar" uniqKey="Farkhatdinov I" first="Ildar" last="Farkhatdinov">Ildar Farkhatdinov</name><affiliation wicri:level="1"><nlm:aff id="A4">Korea University of Technology and Education, Cheonan, Korea</nlm:aff><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Korea University of Technology and Education, Cheonan</wicri:regionArea><wicri:noRegion>Cheonan</wicri:noRegion></affiliation></author><author><name sortKey="Ryu, Jee Hwan" sort="Ryu, Jee Hwan" uniqKey="Ryu J" first="Jee-Hwan" last="Ryu">Jee-Hwan Ryu</name><affiliation wicri:level="1"><nlm:aff id="A4">Korea University of Technology and Education, Cheonan, Korea</nlm:aff><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Korea University of Technology and Education, Cheonan</wicri:regionArea><wicri:noRegion>Cheonan</wicri:noRegion></affiliation></author><author><name sortKey="Sankaranarayanan, Ganesh" sort="Sankaranarayanan, Ganesh" uniqKey="Sankaranarayanan G" first="Ganesh" last="Sankaranarayanan">Ganesh Sankaranarayanan</name><affiliation wicri:level="2"><nlm:aff id="A5">Rensselaer Polytechnic Institute, Troy, NY, USA</nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea>Rensselaer Polytechnic Institute, Troy, NY</wicri:regionArea><placeName><region type="state">État de New York</region></placeName></affiliation></author><author><name sortKey="Arikatla, Venkata" sort="Arikatla, Venkata" uniqKey="Arikatla V" first="Venkata" last="Arikatla">Venkata Arikatla</name><affiliation wicri:level="2"><nlm:aff id="A5">Rensselaer Polytechnic Institute, Troy, NY, USA</nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea>Rensselaer Polytechnic Institute, Troy, NY</wicri:regionArea><placeName><region type="state">État de New York</region></placeName></affiliation></author><author><name sortKey="Tadano, Kotaro" sort="Tadano, Kotaro" uniqKey="Tadano K" first="Kotaro" last="Tadano">Kotaro Tadano</name><affiliation wicri:level="1"><nlm:aff id="A6">Tokyo Institute of Technology, Yokohama, Japan</nlm:aff><country xml:lang="fr">Japon</country><wicri:regionArea>Tokyo Institute of Technology, Yokohama</wicri:regionArea><wicri:noRegion>Yokohama</wicri:noRegion></affiliation></author><author><name sortKey="Kawashima, Kenji" sort="Kawashima, Kenji" uniqKey="Kawashima K" first="Kenji" last="Kawashima">Kenji Kawashima</name><affiliation wicri:level="1"><nlm:aff id="A6">Tokyo Institute of Technology, Yokohama, Japan</nlm:aff><country xml:lang="fr">Japon</country><wicri:regionArea>Tokyo Institute of Technology, Yokohama</wicri:regionArea><wicri:noRegion>Yokohama</wicri:noRegion></affiliation></author><author><name sortKey="Peer, Angelika" sort="Peer, Angelika" uniqKey="Peer A" first="Angelika" last="Peer">Angelika Peer</name><affiliation wicri:level="4"><nlm:aff id="A7">Technische Universität München, Munich, Germany</nlm:aff><country xml:lang="fr">Allemagne</country><wicri:regionArea>Technische Universität München, Munich</wicri:regionArea><placeName><region type="land" nuts="1">Bavière</region><region type="district" nuts="2">District de Haute-Bavière</region><settlement type="city">Munich</settlement></placeName><orgName type="university">Université technique de Munich</orgName></affiliation></author><author><name sortKey="Schau, Thomas" sort="Schau, Thomas" uniqKey="Schau T" first="Thomas" last="Schau">Thomas Schau</name><affiliation wicri:level="4"><nlm:aff id="A7">Technische Universität München, Munich, Germany</nlm:aff><country xml:lang="fr">Allemagne</country><wicri:regionArea>Technische Universität München, Munich</wicri:regionArea><placeName><region type="land" nuts="1">Bavière</region><region type="district" nuts="2">District de Haute-Bavière</region><settlement type="city">Munich</settlement></placeName><orgName type="university">Université technique de Munich</orgName></affiliation></author><author><name sortKey="Buss, Martin" sort="Buss, Martin" uniqKey="Buss M" first="Martin" last="Buss">Martin Buss</name><affiliation wicri:level="4"><nlm:aff id="A7">Technische Universität München, Munich, Germany</nlm:aff><country xml:lang="fr">Allemagne</country><wicri:regionArea>Technische Universität München, Munich</wicri:regionArea><placeName><region type="land" nuts="1">Bavière</region><region type="district" nuts="2">District de Haute-Bavière</region><settlement type="city">Munich</settlement></placeName><orgName type="university">Université technique de Munich</orgName></affiliation></author><author><name sortKey="Miller, Levi" sort="Miller, Levi" uniqKey="Miller L" first="Levi" last="Miller">Levi Miller</name><affiliation wicri:level="2"><nlm:aff id="A8">University of California, Santa Cruz, CA, USA</nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea>University of California, Santa Cruz, CA</wicri:regionArea><placeName><region type="state">Californie</region></placeName></affiliation></author><author><name sortKey="Glozman, Daniel" sort="Glozman, Daniel" uniqKey="Glozman D" first="Daniel" last="Glozman">Daniel Glozman</name><affiliation wicri:level="2"><nlm:aff id="A8">University of California, Santa Cruz, CA, USA</nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea>University of California, Santa Cruz, CA</wicri:regionArea><placeName><region type="state">Californie</region></placeName></affiliation></author><author><name sortKey="Rosen, Jacob" sort="Rosen, Jacob" uniqKey="Rosen J" first="Jacob" last="Rosen">Jacob Rosen</name><affiliation wicri:level="2"><nlm:aff id="A8">University of California, Santa Cruz, CA, USA</nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea>University of California, Santa Cruz, CA</wicri:regionArea><placeName><region type="state">Californie</region></placeName></affiliation></author><author><name sortKey="Low, Thomas" sort="Low, Thomas" uniqKey="Low T" first="Thomas" last="Low">Thomas Low</name><affiliation wicri:level="2"><nlm:aff id="A9">SRI International, Menlo Park, CA, USA</nlm:aff><country xml:lang="fr">États-Unis</country><wicri:regionArea>SRI International, Menlo Park, CA</wicri:regionArea><placeName><region type="state">Californie</region></placeName></affiliation></author></analytic><series><title level="j">IEEE International Conference on Robotics and Automation : ICRA : [proceedings] IEEE International Conference on Robotics and Automation</title><idno type="ISSN">2152-4092</idno><imprint><date when="2010">2010</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p id="P1">Despite the great diversity of teleoperator designs and applications, their underlying control systems have many similarities. These similarities can be exploited to enable inter-operability between heterogeneous systems. We have developed a network data specification, the Interoperable Telerobotics Protocol, that can be used for Internet based control of a wide range of teleoperators.</p><p id="P2">In this work we test interoperable telerobotics on the global Internet, 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 upper-limb exoskeleton control of micro-manipulators.</p></div></front></TEI><affiliations><list><country><li>Allemagne</li><li>Corée du Sud</li><li>Japon</li><li>Royaume-Uni</li><li>États-Unis</li></country><region><li>Angleterre</li><li>Bavière</li><li>Californie</li><li>District de Haute-Bavière</li><li>Grand Londres</li><li>Maryland</li><li>Washington (État)</li><li>État de New York</li></region><settlement><li>Londres</li><li>Munich</li></settlement><orgName><li>Université de Washington</li><li>Université technique de Munich</li></orgName></list><tree><country name="États-Unis"><region name="Washington (État)"><name sortKey="King, H Hawkeye" sort="King, H Hawkeye" uniqKey="King H" first="H. Hawkeye" last="King">H. Hawkeye King</name></region><name sortKey="Arikatla, Venkata" sort="Arikatla, Venkata" uniqKey="Arikatla V" first="Venkata" last="Arikatla">Venkata Arikatla</name><name sortKey="Glozman, Daniel" sort="Glozman, Daniel" uniqKey="Glozman D" first="Daniel" last="Glozman">Daniel Glozman</name><name sortKey="Griffiths, Paul" sort="Griffiths, Paul" uniqKey="Griffiths P" first="Paul" last="Griffiths">Paul Griffiths</name><name sortKey="Hannaford, Blake" sort="Hannaford, Blake" uniqKey="Hannaford B" first="Blake" last="Hannaford">Blake Hannaford</name><name sortKey="Low, Thomas" sort="Low, Thomas" uniqKey="Low T" first="Thomas" last="Low">Thomas Low</name><name sortKey="Miller, Levi" sort="Miller, Levi" uniqKey="Miller L" first="Levi" last="Miller">Levi Miller</name><name sortKey="Okamura, Allison" sort="Okamura, Allison" uniqKey="Okamura A" first="Allison" last="Okamura">Allison Okamura</name><name sortKey="Rosen, Jacob" sort="Rosen, Jacob" uniqKey="Rosen J" first="Jacob" last="Rosen">Jacob Rosen</name><name sortKey="Sankaranarayanan, Ganesh" sort="Sankaranarayanan, Ganesh" uniqKey="Sankaranarayanan G" first="Ganesh" last="Sankaranarayanan">Ganesh Sankaranarayanan</name></country><country name="Royaume-Uni"><region name="Angleterre"><name sortKey="Kwok, Ka Wai" sort="Kwok, Ka Wai" uniqKey="Kwok K" first="Ka-Wai" last="Kwok">Ka-Wai Kwok</name></region><name sortKey="Yang, Guang Zhong" sort="Yang, Guang Zhong" uniqKey="Yang G" first="Guang-Zhong" last="Yang">Guang-Zhong Yang</name></country><country name="Corée du Sud"><noRegion><name sortKey="Farkhatdinov, Ildar" sort="Farkhatdinov, Ildar" uniqKey="Farkhatdinov I" first="Ildar" last="Farkhatdinov">Ildar Farkhatdinov</name></noRegion><name sortKey="Ryu, Jee Hwan" sort="Ryu, Jee Hwan" uniqKey="Ryu J" first="Jee-Hwan" last="Ryu">Jee-Hwan Ryu</name></country><country name="Japon"><noRegion><name sortKey="Tadano, Kotaro" sort="Tadano, Kotaro" uniqKey="Tadano K" first="Kotaro" last="Tadano">Kotaro Tadano</name></noRegion><name sortKey="Kawashima, Kenji" sort="Kawashima, Kenji" uniqKey="Kawashima K" first="Kenji" last="Kawashima">Kenji Kawashima</name></country><country name="Allemagne"><region name="Bavière"><name sortKey="Peer, Angelika" sort="Peer, Angelika" uniqKey="Peer A" first="Angelika" last="Peer">Angelika Peer</name></region><name sortKey="Buss, Martin" sort="Buss, Martin" uniqKey="Buss M" first="Martin" last="Buss">Martin Buss</name><name sortKey="Schau, Thomas" sort="Schau, Thomas" uniqKey="Schau T" first="Thomas" last="Schau">Thomas Schau</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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