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Dual Mode pHRI-teleHRI Control System with a Hybrid Admittance-Force Controller for Ultrasound Imaging

The COVID-19 pandemic has brought unprecedented extreme pressure on the medical system due to the physical distance policy, especially for procedures such as ultrasound (US) imaging, which are usually carried out in person. Tele-operation systems are a promising way to avoid physical human–robot int...

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Detalles Bibliográficos
Autores principales: Li, Teng, Meng, Xiao, Tavakoli, Mahdi
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9185235/
https://www.ncbi.nlm.nih.gov/pubmed/35684646
http://dx.doi.org/10.3390/s22114025
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author Li, Teng
Meng, Xiao
Tavakoli, Mahdi
author_facet Li, Teng
Meng, Xiao
Tavakoli, Mahdi
author_sort Li, Teng
collection PubMed
description The COVID-19 pandemic has brought unprecedented extreme pressure on the medical system due to the physical distance policy, especially for procedures such as ultrasound (US) imaging, which are usually carried out in person. Tele-operation systems are a promising way to avoid physical human–robot interaction (pHRI). However, the system usually requires another robot on the remote doctor side to provide haptic feedback, which makes it expensive and complex. To reduce the cost and system complexity, in this paper, we present a low-cost, easy-to-use, dual-mode pHRI- [Formula: see text] HRI control system with a custom-designed hybrid admittance-force controller for US imaging. The proposed system requires only a tracking camera rather than a sophisticated robot on the remote side. An audio feedback is designed for replacing haptic feedback on the remote side, and its sufficiency is experimentally verified. The experimental results indicate that the designed hybrid controller can significantly improve the task performance in both modes. Furthermore, the proposed system enables the user to conduct US imaging while complying with the physical distance policy, and allows them to seamlessly switch modes from one to another in an online manner. The novel system can be easily adapted to other medical applications beyond the pandemic, such as tele-healthcare, palpation, and auscultation.
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spelling pubmed-91852352022-06-11 Dual Mode pHRI-teleHRI Control System with a Hybrid Admittance-Force Controller for Ultrasound Imaging Li, Teng Meng, Xiao Tavakoli, Mahdi Sensors (Basel) Article The COVID-19 pandemic has brought unprecedented extreme pressure on the medical system due to the physical distance policy, especially for procedures such as ultrasound (US) imaging, which are usually carried out in person. Tele-operation systems are a promising way to avoid physical human–robot interaction (pHRI). However, the system usually requires another robot on the remote doctor side to provide haptic feedback, which makes it expensive and complex. To reduce the cost and system complexity, in this paper, we present a low-cost, easy-to-use, dual-mode pHRI- [Formula: see text] HRI control system with a custom-designed hybrid admittance-force controller for US imaging. The proposed system requires only a tracking camera rather than a sophisticated robot on the remote side. An audio feedback is designed for replacing haptic feedback on the remote side, and its sufficiency is experimentally verified. The experimental results indicate that the designed hybrid controller can significantly improve the task performance in both modes. Furthermore, the proposed system enables the user to conduct US imaging while complying with the physical distance policy, and allows them to seamlessly switch modes from one to another in an online manner. The novel system can be easily adapted to other medical applications beyond the pandemic, such as tele-healthcare, palpation, and auscultation. MDPI 2022-05-26 /pmc/articles/PMC9185235/ /pubmed/35684646 http://dx.doi.org/10.3390/s22114025 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/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/).
spellingShingle Article
Li, Teng
Meng, Xiao
Tavakoli, Mahdi
Dual Mode pHRI-teleHRI Control System with a Hybrid Admittance-Force Controller for Ultrasound Imaging
title Dual Mode pHRI-teleHRI Control System with a Hybrid Admittance-Force Controller for Ultrasound Imaging
title_full Dual Mode pHRI-teleHRI Control System with a Hybrid Admittance-Force Controller for Ultrasound Imaging
title_fullStr Dual Mode pHRI-teleHRI Control System with a Hybrid Admittance-Force Controller for Ultrasound Imaging
title_full_unstemmed Dual Mode pHRI-teleHRI Control System with a Hybrid Admittance-Force Controller for Ultrasound Imaging
title_short Dual Mode pHRI-teleHRI Control System with a Hybrid Admittance-Force Controller for Ultrasound Imaging
title_sort dual mode phri-telehri control system with a hybrid admittance-force controller for ultrasound imaging
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9185235/
https://www.ncbi.nlm.nih.gov/pubmed/35684646
http://dx.doi.org/10.3390/s22114025
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