Plugfest 2009: Global Interoperability in Telerobotics and Telemedicine

King, H. Hawkeye and Hannaford, Blake and Kwok, Ka-Wai and Yang, Guang-Zhong and Griffiths, Paul and Okamura, Allison and Farkhatdinov, Ildar and Ryu, Jee-Hwan and Sankaranarayanan, Ganesh and Arikatla, Venkata and Tadano, Kotaro and Kawashima, Kenji and Peer, Angelika and Schau, Thomas and Buss, Martin and Miller, Levi and Glozman, Daniel and Rosen, Jacob and Low, Thomas (2010) Plugfest 2009: Global Interoperability in Telerobotics and Telemedicine. In: International Conference on Robotics and Automation, ICRA 2010.

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Despite the great diversity of teleoperator designs and applications, their underlying control systems have many similarities. These similarities can be exploited 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. <p> In this work we explore Internet based interoperable telerobotics, 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 exoskeleton control of micro-manipulators.

Item Type: Conference or Workshop Item (Paper)
Subjects: B Teleoperation > B Teleoperation (General)
C Surgical Robots > C Surgical Robots(General)
Depositing User: Katherine Pratt
Date Deposited: 13 Jul 2015 09:15
Last Modified: 13 Jul 2015 09:15

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