用视觉触觉同步模型缓解远程超声操作延迟问题
Visual-Haptic Model Mediated Teleoperation for Remote Ultrasound
- 本地预存超声数据实时重切片，预览延迟图像
- 1000毫秒延迟下操作效率与无延迟相当
- 适合远程医疗、超声操作培训场景
远程超声有望显著提升众多偏远社区的医疗公平性。然而，实际应用中存在较大时间延迟，导致现有遥操作超声系统失效。利用本地对远端环境的模型提供触觉反馈可降低遥操作不稳定性，但延迟的视觉反馈仍成问题。本文提出一种机器人遥超声系统，其中本地模型不仅提供触觉反馈，还通过实时重切片和渲染预先获取的超声扫描数据，为操作者提供延迟图像的预览。构建原型系统并由15名志愿者测试，结果表明：在往返延迟达1000毫秒时，视觉-触觉模型中介遥操作（MMT）完全补偿了延迟对操作者努力和完成时间的影响，而传统MMT则不能；在更长延迟下，视觉-触觉MMT在运动精度和力控方面也显著优于传统方法。该概念验证研究提示，视觉-触觉MMT或可推动远程机器人遥超声的发展。
原文摘要 · Abstract (English)
Tele-ultrasound has the potential greatly to improve health equity for countless remote communities. However, practical scenarios involve potentially large time delays which cause current implementations of telerobotic ultrasound (US) to fail. Using a local model of the remote environment to provide haptics to the expert operator can decrease teleoperation instability, but the delayed visual feedback remains problematic. This paper introduces a robotic tele-US system in which the local model is not only haptic, but also visual, by re-slicing and rendering a pre-acquired US sweep in real time to provide the operator a preview of what the delayed image will resemble. A prototype system is presented and tested with 15 volunteer operators. It is found that visual-haptic model-mediated teleoperation (MMT) compensates completely for time delays up to 1000 ms round trip in terms of operator effort and completion time while conventional MMT does not. Visual-haptic MMT also significantly outperforms MMT for longer time delays in terms of motion accuracy and force control. This proof-of-concept study suggests that visual-haptic MMT may facilitate remote robotic tele-US.
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