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Citation:
H. Hawkeye King, Blake Hannaford, Ka-Wai Kwok, Guang-Zhong Yang, Paul Griffiths, Allison Okamura, Ildar Farkhatdinov, Jee-Hwan Ryu, Ganesh Sankaranarayanan, Venkata Arikatla, Kotaro Tadano, Kenji Kawashima, Angelika Peer, Thomas Schau, Martin Buss, Levi Miller, Daniel Glozman, Jacob Rosen, Thomas Low,
'Plugfest 2009: Global Interoperability in Telerobotics and Telemedicine,'
International Conference on Robotics and Automation, ICRA 2010, May 2010.
Abstract
Despite the great diversity of teleoperator designs and applications, their underlying control systems have many similarities. These similarities can be e
xploited 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 mas
ter 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. Furthermo
re, new paradigms for telesurgical operation and training are presented, including a networked surgery trainer and exoskeleton control of micro-manipulators.
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Updated: Fri Mar 9 17:08:13 2012