Ultrasound Robotic-Assisted Teleoperation Over Networks: Performance Evaluation of Commercial 5G, Wi-Fi, and Ethernet

摘要

This study aims to address the challenges of delivering adequate ultrasound examinations in remote areas. It focuses on developing a long-distance teleoperation system for ultrasound examinations using commercially available 5G networks. This is achieved by enhancing a previously developed short-distance teleoperation system. The upgrade involves shifting from a centralized to a distributed architecture, making it suitable for long-distance teleoperation over networks. The performance of the upgraded system was evaluated over commercial 5G, Wi-Fi, and Ethernet networks, with Ethernet serving as the benchmark. An experienced echocardiographer conducted evaluations using these network protocols blindly, assessing the system's bidirectional transparency and dexterity. The results demonstrate that the distributed architecture, combined with 5G technology, can successfully facilitate long-distance teleoperation, allowing smooth manipulation of the robotic system with acceptable transparency over the 5G network. The developed system shows potential for use in remote areas, mobile platforms such as ambulances, and emergency departments of regional healthcare facilities.