Plugfest 2009: Global interoperability in telerobotics and telemedicine

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 Schauß; Martin Buss; Levi Miller; Daniel Glozman; Jacob Rosen; Thomas Low

doi:10.1109/ROBOT.2010.5509422

Plugfest 2009: Global interoperability in telerobotics and telemedicine

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 Schauß, Martin Buss, Levi Miller, Daniel Glozman, Jacob Rosen, Thomas Low

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

32 Scopus citations

Abstract

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, the Interoperable Telerobotics Protocol, that can be used for Internet based control of a wide range of teleoperators. In this work we test interoperable telerobotics on the global Internet, 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 upper-limb exoskeleton control of micro-manipulators.

Original language	English (US)
Title of host publication	2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages	1733-1738
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2010.5509422
State	Published - 2010
Externally published	Yes
Event	2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States Duration: May 3 2010 → May 7 2010

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Country/Territory	United States
City	Anchorage, AK
Period	5/3/10 → 5/7/10

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2010.5509422

Cite this

King, H. H., Hannaford, B., Kwok, K. W., Yang, G. Z., Griffiths, P., Okamura, A., Farkhatdinov, I., Ryu, J. H., Sankaranarayanan, G., Arikatla, V., Tadano, K., Kawashima, K., Peer, A., Schauß, T., Buss, M., Miller, L., Glozman, D., Rosen, J., & Low, T. (2010). Plugfest 2009: Global interoperability in telerobotics and telemedicine. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 1733-1738). Article 5509422 (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2010.5509422

Plugfest 2009: Global interoperability in telerobotics and telemedicine. / King, H. Hawkeye; Hannaford, Blake; Kwok, Ka Wai et al.
2010 IEEE International Conference on Robotics and Automation, ICRA 2010. 2010. p. 1733-1738 5509422 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

King, HH, Hannaford, B, Kwok, KW, Yang, GZ, Griffiths, P, Okamura, A, Farkhatdinov, I, Ryu, JH, Sankaranarayanan, G, Arikatla, V, Tadano, K, Kawashima, K, Peer, A, Schauß, T, Buss, M, Miller, L, Glozman, D, Rosen, J & Low, T 2010, Plugfest 2009: Global interoperability in telerobotics and telemedicine. in 2010 IEEE International Conference on Robotics and Automation, ICRA 2010., 5509422, Proceedings - IEEE International Conference on Robotics and Automation, pp. 1733-1738, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, United States, 5/3/10. https://doi.org/10.1109/ROBOT.2010.5509422

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abstract = "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, the Interoperable Telerobotics Protocol, that can be used for Internet based control of a wide range of teleoperators. In this work we test interoperable telerobotics on the global Internet, 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 upper-limb exoskeleton control of micro-manipulators.",

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AU - Okamura, Allison

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AU - Tadano, Kotaro

AU - Kawashima, Kenji

AU - Peer, Angelika

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AU - Buss, Martin

AU - Miller, Levi

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Plugfest 2009: Global interoperability in telerobotics and telemedicine

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ASJC Scopus subject areas

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