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Manipulator control system for remote USG examinantion

Kurnicki Adam, Stańczyk Bartłomiej

Journal of Automation Mobile Robotics and Intelligent Systems

2019

Vol. 13, No. 2

48--59

The article presents a control algorithm of a robotic manipulator used as the main component of a system for a remote noninvasive medical ultrasound examination. This algorithm has been developed within the ReMeDi (Remote Medical Diagnostician) project. At the beginning of the article, the manipulator kiinematics, its mechanical construction and the control system structure as a part of the telemanipulation system is shown. The essential components of the control system are discussed in detail. Then problems and solutions connected with the generation and conversion of the position and orientation of the reference signals are presented. Finally, the results of the evaluations with users are discussed.

Selected topics in design and application of a robot for remote medical examination with the use of ultrasonography and ascultation from the perspective of the REMEDI project

Arent K., Cholewiński M., Chojnacki Ł., Domski W., Drwięga M., Jakubiak J., Janiak M., Kreczmer B., Kurnicki A., Stańczyk B., Szczęśniak-Stańczyk D.

Journal of Automation Mobile Robotics and Intelligent Systems

2017

Vol. 11, No. 2

82--94

This article presents a robot for remote noninvasive medical examination. In particular, this robot allows a doctor to carry out an interview, an observation, an auscultation and an ultrasound examination, including echocardiography. The robot has been developed within the ReMeDi (Remote Medical Diagnostician) project funded by the European Union’s Research and Innovation 7th Framework Programme. At the beginning of the article, we outline selected results of the user’s evaluation of the robot idea together with the requirements regarding the robot. Then the essential system components are presented and a selection of them are discussed in detail. Subsequently we present the integrated system and discuss selected topics concerning the integration. Finally, the document is completed by a description of the users evaluation process.