Serveur d'exploration sur l'opéra

Attention, ce site est en cours de développement !
Attention, site généré par des moyens informatiques à partir de corpus bruts.
Les informations ne sont donc pas validées.

Study of the noninvasive medical tele-gesture using a haptic device

Identifieur interne : 000252 ( Hal/Curation ); précédent : 000251; suivant : 000253

Study of the noninvasive medical tele-gesture using a haptic device

Auteurs : Agnès Guerraz [France]

Source :

RBID : Hal:tel-00005360

Descripteurs français

English descriptors

Abstract

The goal of this remote ultrasound examination project is to provide an accurate solution to practice expert examination in distant geographic areas. Starting from the statement that experts are few and far between and are located in big hospital centers, the aim of this project is to provide secure and precise scan examinations for the largest population. The high value and performance of the medical gesture are the main reasons for haptic interface use. In this goal, a haptic command station is developed to give a haptic virtual environment for the medical expert. During classical examination, the medical expert mentally rebuilds the 3D starting from the 2D echographic image and the gesture information. We must take into account physiological constraints of human gesture so that telegesture is possible. The system can be briefly described as follows: a virtual probe is mounted on the master interface device. The real probe is placed on the slave robot end-effector. Position and force information are transmitted bi-directionally (together with live visual and audio) via the tele-communication network. Then, mainly based on the echographic images and force information he receives back, the expert operator can move the virtual probe to control the real one. The slave robot executes the orders sent from the master site. A non-expert operator is located close to the patient and supervises the procedure that he can interrupt. The patient can at any time communicate with him or with the expert. From clinician side, the haptic control station is developed to give more realistic environment and finer command of what remotely occurs. From patient side, the slave robot is remotely controlled by the medical expert, who handles his virtual probe via the force feedback robot. The slave robot is an uncoupled parallel robot, composed of two independent parallel structures using artificial muscles McKibben as actuators. This robot is equipped with a force sensor that makes it possible to control the force exerted in probe axis. This tele-robotic system is not only a telemedicine system; it acts as robot-like system with haptic interface enabling the medical expert to control and feel the force exerted by the robot. Thus, more realistic immersion and finer command are achieved that make possible tele-palpation of the patient for instance. Compared to the tele- medicine systems, this system uses robotics for robot tele-operation and haptic for “rendering” the force exerted by the robot. Having a haptic virtual environment for tele-echography will enable the medical expert with faster adaptation and especially facilitated immersion in what we could call a “virtual echographic examination cabinet”. The innovation of this haptic control is to preserve medical expert proprioception and gesture feelings, which provide the users with indications that are synchronized with the echographic images. Key-words: haptic, medical proprioception, scan examination, tele-medicine, tele-com-munication network, predictive coding, physical and geometrical modelisation.

Url:

Links toward previous steps (curation, corpus...)


Links to Exploration step

Hal:tel-00005360

Le document en format XML

<record>
<TEI>
<teiHeader>
<fileDesc>
<titleStmt>
<title xml:lang="en">Study of the noninvasive medical tele-gesture using a haptic device</title>
<title xml:lang="fr">Etude du télégeste médical non invasif utilisant un transducteur gestuel à retour d'efforts</title>
<author>
<name sortKey="Guerraz, Agnes" sort="Guerraz, Agnes" uniqKey="Guerraz A" first="Agnès" last="Guerraz">Agnès Guerraz</name>
<affiliation wicri:level="1">
<hal:affiliation type="researchteam" xml:id="struct-25978" status="OLD">
<orgName>Tools for Electronic Documents, Research and applications</orgName>
<orgName type="acronym">OPERA</orgName>
<desc>
<address>
<country key="FR"></country>
</address>
<ref type="url">http://www.inria.fr/equipes/opera</ref>
</desc>
<listRelation>
<relation active="#struct-441569" type="direct"></relation>
<relation active="#struct-2497" type="direct"></relation>
<relation active="#struct-300009" type="indirect"></relation>
</listRelation>
<tutelles>
<tutelle active="#struct-441569" type="direct">
<org type="institution" xml:id="struct-441569" status="VALID">
<idno type="IdRef">02636817X</idno>
<idno type="ISNI">0000000122597504</idno>
<orgName>Centre National de la Recherche Scientifique</orgName>
<orgName type="acronym">CNRS</orgName>
<date type="start">1939-10-19</date>
<desc>
<address>
<country key="FR"></country>
</address>
<ref type="url">http://www.cnrs.fr/</ref>
</desc>
</org>
</tutelle>
<tutelle active="#struct-2497" type="direct">
<org type="laboratory" xml:id="struct-2497" status="VALID">
<orgName>Inria Grenoble - Rhône-Alpes</orgName>
<desc>
<address>
<addrLine>Inovallée655 avenue de l'Europe38330 Montbonnot</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.inria.fr/centre/grenoble</ref>
</desc>
<listRelation>
<relation active="#struct-300009" type="direct"></relation>
</listRelation>
</org>
</tutelle>
<tutelle active="#struct-300009" type="indirect">
<org type="institution" xml:id="struct-300009" status="VALID">
<orgName>Institut National de Recherche en Informatique et en Automatique</orgName>
<orgName type="acronym">Inria</orgName>
<desc>
<address>
<addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.inria.fr/en/</ref>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
</affiliation>
</author>
</titleStmt>
<publicationStmt>
<idno type="wicri:source">HAL</idno>
<idno type="RBID">Hal:tel-00005360</idno>
<idno type="halId">tel-00005360</idno>
<idno type="halUri">https://tel.archives-ouvertes.fr/tel-00005360</idno>
<idno type="url">https://tel.archives-ouvertes.fr/tel-00005360</idno>
<date when="????">????</date>
<idno type="wicri:Area/Hal/Corpus">000252</idno>
<idno type="wicri:Area/Hal/Curation">000252</idno>
</publicationStmt>
<sourceDesc>
<biblStruct>
<analytic>
<title xml:lang="en">Study of the noninvasive medical tele-gesture using a haptic device</title>
<title xml:lang="fr">Etude du télégeste médical non invasif utilisant un transducteur gestuel à retour d'efforts</title>
<author>
<name sortKey="Guerraz, Agnes" sort="Guerraz, Agnes" uniqKey="Guerraz A" first="Agnès" last="Guerraz">Agnès Guerraz</name>
<affiliation wicri:level="1">
<hal:affiliation type="researchteam" xml:id="struct-25978" status="OLD">
<orgName>Tools for Electronic Documents, Research and applications</orgName>
<orgName type="acronym">OPERA</orgName>
<desc>
<address>
<country key="FR"></country>
</address>
<ref type="url">http://www.inria.fr/equipes/opera</ref>
</desc>
<listRelation>
<relation active="#struct-441569" type="direct"></relation>
<relation active="#struct-2497" type="direct"></relation>
<relation active="#struct-300009" type="indirect"></relation>
</listRelation>
<tutelles>
<tutelle active="#struct-441569" type="direct">
<org type="institution" xml:id="struct-441569" status="VALID">
<idno type="IdRef">02636817X</idno>
<idno type="ISNI">0000000122597504</idno>
<orgName>Centre National de la Recherche Scientifique</orgName>
<orgName type="acronym">CNRS</orgName>
<date type="start">1939-10-19</date>
<desc>
<address>
<country key="FR"></country>
</address>
<ref type="url">http://www.cnrs.fr/</ref>
</desc>
</org>
</tutelle>
<tutelle active="#struct-2497" type="direct">
<org type="laboratory" xml:id="struct-2497" status="VALID">
<orgName>Inria Grenoble - Rhône-Alpes</orgName>
<desc>
<address>
<addrLine>Inovallée655 avenue de l'Europe38330 Montbonnot</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.inria.fr/centre/grenoble</ref>
</desc>
<listRelation>
<relation active="#struct-300009" type="direct"></relation>
</listRelation>
</org>
</tutelle>
<tutelle active="#struct-300009" type="indirect">
<org type="institution" xml:id="struct-300009" status="VALID">
<orgName>Institut National de Recherche en Informatique et en Automatique</orgName>
<orgName type="acronym">Inria</orgName>
<desc>
<address>
<addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine>
<country key="FR"></country>
</address>
<ref type="url">http://www.inria.fr/en/</ref>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
</affiliation>
</author>
</analytic>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc>
<textClass>
<keywords scheme="mix" xml:lang="en">
<term>haptic</term>
<term>medical proprioception</term>
<term>physical and geometrical modelisation</term>
<term>predictive coding</term>
<term>scan examination</term>
<term>tele-com-munication network</term>
<term>tele-medicine</term>
</keywords>
<keywords scheme="mix" xml:lang="fr">
<term>geste médical</term>
<term>haptique</term>
<term>maillage</term>
<term>modélisation mécanique et géométrique</term>
<term>prédicteur</term>
<term>réseau de télé-communication</term>
<term>télé-médecine</term>
<term>échographie</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front>
<div type="abstract" xml:lang="en">The goal of this remote ultrasound examination project is to provide an accurate solution to practice expert examination in distant geographic areas. Starting from the statement that experts are few and far between and are located in big hospital centers, the aim of this project is to provide secure and precise scan examinations for the largest population. The high value and performance of the medical gesture are the main reasons for haptic interface use. In this goal, a haptic command station is developed to give a haptic virtual environment for the medical expert. During classical examination, the medical expert mentally rebuilds the 3D starting from the 2D echographic image and the gesture information. We must take into account physiological constraints of human gesture so that telegesture is possible. The system can be briefly described as follows: a virtual probe is mounted on the master interface device. The real probe is placed on the slave robot end-effector. Position and force information are transmitted bi-directionally (together with live visual and audio) via the tele-communication network. Then, mainly based on the echographic images and force information he receives back, the expert operator can move the virtual probe to control the real one. The slave robot executes the orders sent from the master site. A non-expert operator is located close to the patient and supervises the procedure that he can interrupt. The patient can at any time communicate with him or with the expert. From clinician side, the haptic control station is developed to give more realistic environment and finer command of what remotely occurs. From patient side, the slave robot is remotely controlled by the medical expert, who handles his virtual probe via the force feedback robot. The slave robot is an uncoupled parallel robot, composed of two independent parallel structures using artificial muscles McKibben as actuators. This robot is equipped with a force sensor that makes it possible to control the force exerted in probe axis. This tele-robotic system is not only a telemedicine system; it acts as robot-like system with haptic interface enabling the medical expert to control and feel the force exerted by the robot. Thus, more realistic immersion and finer command are achieved that make possible tele-palpation of the patient for instance. Compared to the tele- medicine systems, this system uses robotics for robot tele-operation and haptic for “rendering” the force exerted by the robot. Having a haptic virtual environment for tele-echography will enable the medical expert with faster adaptation and especially facilitated immersion in what we could call a “virtual echographic examination cabinet”. The innovation of this haptic control is to preserve medical expert proprioception and gesture feelings, which provide the users with indications that are synchronized with the echographic images. Key-words: haptic, medical proprioception, scan examination, tele-medicine, tele-com-munication network, predictive coding, physical and geometrical modelisation.</div>
</front>
</TEI>
<hal api="V3">
<titleStmt>
<title xml:lang="en">Study of the noninvasive medical tele-gesture using a haptic device</title>
<title xml:lang="fr">Etude du télégeste médical non invasif utilisant un transducteur gestuel à retour d'efforts</title>
<author role="aut">
<persName>
<forename type="first">Agnès</forename>
<surname>Guerraz</surname>
</persName>
<email></email>
<idno type="halauthor">68953</idno>
<affiliation ref="#struct-25978"></affiliation>
</author>
<editor role="depositor">
<persName>
<forename>Agnès</forename>
<surname>Guerraz</surname>
</persName>
<email>agnes_guerraz@yahoo.fr</email>
</editor>
</titleStmt>
<editionStmt>
<edition n="v1">
<date type="whenSubmitted">2004-03-17 10:51:41</date>
</edition>
<edition n="v2">
<date type="whenSubmitted">2005-04-12 11:56:23</date>
</edition>
<edition n="v3" type="current">
<date type="whenSubmitted">2005-04-12 13:31:33</date>
<date type="whenModified">2010-04-22 16:26:03</date>
<date type="whenReleased">2005-04-12 14:08:01</date>
<date type="whenProduced">2002-04-22</date>
<date type="whenEndEmbargoed">2005-04-12</date>
<ref type="file" target="https://tel.archives-ouvertes.fr/tel-00005360v3/document">
<date notBefore="2005-04-12"></date>
</ref>
<ref type="file" n="1" target="https://tel.archives-ouvertes.fr/tel-00005360/file/tel-00005360.pdf">
<date notBefore="2005-04-12"></date>
</ref>
<ref type="annex" subtype="other" n="0" target="https://tel.archives-ouvertes.fr/tel-00005360/file/tel-00008998.pdf">
<date notBefore="2005-04-12"></date>
</ref>
</edition>
<respStmt>
<resp>contributor</resp>
<name key="105403">
<persName>
<forename>Agnès</forename>
<surname>Guerraz</surname>
</persName>
<email>agnes_guerraz@yahoo.fr</email>
</name>
</respStmt>
</editionStmt>
<publicationStmt>
<distributor>CCSD</distributor>
<idno type="halId">tel-00005360</idno>
<idno type="halUri">https://tel.archives-ouvertes.fr/tel-00005360</idno>
<idno type="halBibtex">guerraz:tel-00005360</idno>
<idno type="halRefHtml">Interface homme-machine [cs.HC]. Université Joseph-Fourier - Grenoble I, 2002. Français</idno>
<idno type="halRef">Interface homme-machine [cs.HC]. Université Joseph-Fourier - Grenoble I, 2002. Français</idno>
</publicationStmt>
<seriesStmt>
<idno type="stamp" n="UJF">Thèses de l'Université Joseph Fourier</idno>
<idno type="stamp" n="INRIA">INRIA - Institut National de Recherche en Informatique et en Automatique</idno>
<idno type="stamp" n="INRIA-RHA">INRIA Grenoble - Rhône-Alpes</idno>
</seriesStmt>
<notesStmt>
<note type="commentary">Nicholas Ayache Directeur de recherche à l'INRIA Sophia Antipolis Philippe Cinquin Médecin et chercheur au CHU, CNRS de Grenoble Bernard Hennion Ingénieur au centre FT R&D de Grenoble co-directeur Jacques Lemordant Maître de Conférence à l'Université J. Fourier (IMAG) directeur Christian Roux Professeur à l'ENST Bretagne rapporteur Peter Sander Professeur à l'Ecole d'informatique ISI Sophia Antipolis rapporteur Jocelyne Troccaz Directeur de recherche au CNRS de Grenoble</note>
</notesStmt>
<sourceDesc>
<biblStruct>
<analytic>
<title xml:lang="en">Study of the noninvasive medical tele-gesture using a haptic device</title>
<title xml:lang="fr">Etude du télégeste médical non invasif utilisant un transducteur gestuel à retour d'efforts</title>
<author role="aut">
<persName>
<forename type="first">Agnès</forename>
<surname>Guerraz</surname>
</persName>
<idno type="halAuthorId">68953</idno>
<affiliation ref="#struct-25978"></affiliation>
</author>
</analytic>
<monogr>
<imprint>
<date type="dateDefended">2002-04-22</date>
</imprint>
<authority type="institution">Université Joseph-Fourier - Grenoble I</authority>
<authority type="supervisor">Lemordant Jacques(jacques.lemordant@inrialpes.fr)</authority>
<authority type="jury">Hennion Bernard (co-directeur)</authority>
</monogr>
</biblStruct>
</sourceDesc>
<profileDesc>
<langUsage>
<language ident="fr">French</language>
</langUsage>
<textClass>
<keywords scheme="author">
<term xml:lang="en">haptic</term>
<term xml:lang="en">medical proprioception</term>
<term xml:lang="en">scan examination</term>
<term xml:lang="en">tele-medicine</term>
<term xml:lang="en">tele-com-munication network</term>
<term xml:lang="en">predictive coding</term>
<term xml:lang="en">physical and geometrical modelisation</term>
<term xml:lang="fr">haptique</term>
<term xml:lang="fr">geste médical</term>
<term xml:lang="fr">échographie</term>
<term xml:lang="fr">télé-médecine</term>
<term xml:lang="fr">réseau de télé-communication</term>
<term xml:lang="fr">maillage</term>
<term xml:lang="fr">prédicteur</term>
<term xml:lang="fr">modélisation mécanique et géométrique</term>
</keywords>
<classCode scheme="halDomain" n="info.info-hc">Computer Science [cs]/Human-Computer Interaction [cs.HC]</classCode>
<classCode scheme="halTypology" n="THESE">Theses</classCode>
</textClass>
<abstract xml:lang="en">The goal of this remote ultrasound examination project is to provide an accurate solution to practice expert examination in distant geographic areas. Starting from the statement that experts are few and far between and are located in big hospital centers, the aim of this project is to provide secure and precise scan examinations for the largest population. The high value and performance of the medical gesture are the main reasons for haptic interface use. In this goal, a haptic command station is developed to give a haptic virtual environment for the medical expert. During classical examination, the medical expert mentally rebuilds the 3D starting from the 2D echographic image and the gesture information. We must take into account physiological constraints of human gesture so that telegesture is possible. The system can be briefly described as follows: a virtual probe is mounted on the master interface device. The real probe is placed on the slave robot end-effector. Position and force information are transmitted bi-directionally (together with live visual and audio) via the tele-communication network. Then, mainly based on the echographic images and force information he receives back, the expert operator can move the virtual probe to control the real one. The slave robot executes the orders sent from the master site. A non-expert operator is located close to the patient and supervises the procedure that he can interrupt. The patient can at any time communicate with him or with the expert. From clinician side, the haptic control station is developed to give more realistic environment and finer command of what remotely occurs. From patient side, the slave robot is remotely controlled by the medical expert, who handles his virtual probe via the force feedback robot. The slave robot is an uncoupled parallel robot, composed of two independent parallel structures using artificial muscles McKibben as actuators. This robot is equipped with a force sensor that makes it possible to control the force exerted in probe axis. This tele-robotic system is not only a telemedicine system; it acts as robot-like system with haptic interface enabling the medical expert to control and feel the force exerted by the robot. Thus, more realistic immersion and finer command are achieved that make possible tele-palpation of the patient for instance. Compared to the tele- medicine systems, this system uses robotics for robot tele-operation and haptic for “rendering” the force exerted by the robot. Having a haptic virtual environment for tele-echography will enable the medical expert with faster adaptation and especially facilitated immersion in what we could call a “virtual echographic examination cabinet”. The innovation of this haptic control is to preserve medical expert proprioception and gesture feelings, which provide the users with indications that are synchronized with the echographic images. Key-words: haptic, medical proprioception, scan examination, tele-medicine, tele-com-munication network, predictive coding, physical and geometrical modelisation.</abstract>
<abstract xml:lang="fr">Le but de la télé-échographie est de fournir une solution précise à l'examen expert dans des zones géographiques éloignées. Partant du constat que les experts sont peu nombreux et situés dans des grands centres hospitaliers, l'objectif de ce projet est de fournir des examens de qualité pour la plus grande population. La valeur et la précision du geste médical sont les raisons principales amenant à l'usage d'une interface haptique. Dans ce but, une station de commande haptique est développée pour donner un environnement virtuel haptique pour l'expert médical éloigné de son patient. Au cours de l'examen classique, l'expert médical reconstruit mentalement la 3D à partir des images échographiques et de sa proprioception. Nous devons tenir compte des contraintes physiologiques liées au geste humain de sorte que le télé-geste soit possible. Le système peut être brièvement décrit comme suit: une sonde virtuelle est montée sur le dispositif principal d'interface. La vraie sonde est placée sur le robot du site esclave. Les informations de position et de force sont transmises de manière bi-directionnelle (ainsi que le visuel et l'auditif) par le réseau de télé-communication. L'opérateur expert peut déplacer la sonde virtuelle pour contrôler la vraie sonde distante, action principalement basée sur les images échographiques et l'information de force qu'il reçoit en retour. Le robot esclave exécute les commandes envoyées du site maître. Un opérateur non-expert est situé près du patient et surveille le procédé qu'il peut interrompre. Le patient peut à tout moment communiquer avec lui ou avec l'expert. Du côté du praticien, la station de commande haptique est développée pour donner un environnement plus réaliste et une commande plus fine de ce qui se produit à distance. Du côté patient, le robot esclave est contrôlé à distance par l'expert médical, qui manipule sa sonde virtuelle par l'intermédiaire du robot à retour d'efforts. Le robot esclave est un robot parallèle découplé, composé de deux structures parallèles indépendantes faites des muscles artificiels McKibben comme actionneurs. Ce robot est équipé d'un capteur de force et il est possible de contrôler la force exercée sur l'axe de la sonde. Ce système de télérobotique est non seulement un système de télé-médecine, mais il agit aussi comme un robot avec une interface haptique permettant à l'expert médical de contrôler et sentir la force exercée par le robot. Ainsi, on réalise une immersion plus réaliste et une commande plus fine qui rendent possible le télé-palper du patient. Comparé aux systèmes de télé-médecine, ce système utilise la robotique pour télé-contrôler le robot porte sonde et l'haptique pour le rendu de la force exercée par le robot. Un environnement virtuel haptique pour la télé-échographie permet à l'expert médical de s'adapter plus rapidement et cela permet une immersion facilitée dans ce que nous pourrions appeler un cabinet virtuel d'examens échographiques. L'innovation de cette commande haptique est de préserver la proprioception des experts médicaux ainsi que leurs gestes synchronisés avec les images échographiques. Mots-clefs: haptique, geste médical, échographie, télé-médecine, réseau de télé-communication, maillage, prédicteur, modélisation mécanique et géométrique.</abstract>
</profileDesc>
</hal>
</record>

Pour manipuler ce document sous Unix (Dilib)

EXPLOR_STEP=$WICRI_ROOT/Wicri/Musique/explor/OperaV1/Data/Hal/Curation
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000252 | SxmlIndent | more

Ou

HfdSelect -h $EXPLOR_AREA/Data/Hal/Curation/biblio.hfd -nk 000252 | SxmlIndent | more

Pour mettre un lien sur cette page dans le réseau Wicri

{{Explor lien
   |wiki=    Wicri/Musique
   |area=    OperaV1
   |flux=    Hal
   |étape=   Curation
   |type=    RBID
   |clé=     Hal:tel-00005360
   |texte=   Study of the noninvasive medical tele-gesture using a haptic device
}}

Wicri

This area was generated with Dilib version V0.6.21.
Data generation: Thu Apr 14 14:59:05 2016. Site generation: Thu Oct 8 06:48:41 2020