Tele-operation

Arbeille P, Ruiz J, Ayoub J et al (2004) The robot and the satellite for tele-operating echographic examination in Earth isolated sites, or onboard ISS. J Gravit Physiol 11 233-234... 

R. Vieyres et al, "A tele-operated robotic system for mobile tele-echography The OTELO project," in M-Health Emerging Mobile Health Systems, R.H. Istepanian, S. Laxminarayan, and C.S. Rattichis, Eds. Springer, New York, pp. 461-473,2006. 

Figure 5.3 EyeRobot 2.0 (right) and EyeRobot 2.1 (left) in tele-operation mode. (Used with the permission of the Laboratory for Computational Sensing and Robotics, Johns Hopkins University.)...

A tele-operated surgical system for ophthalmic microsurgery has been reported previously [36]. The system has two robotic arms, and each arm is composed of an exterior portion, that is basically a Stewart platform enabling 6 DOFs, and a 2-DOF arm that is 0.9 mm in diameter. This system can be considered as an extension of the systems originally reported previously [37,38] that had a single arm and used four-Unk mechanisms instead of the Stewart platform. 

Sensei X (Figure 5.10) and Magellan from Flansen Medical Inc [39,40] are tele-operated robotic catheters that are approved for use in percutaneous vascular procedures. The catheters consist of two steerable (actuated) concentric sheaths (Figure 5.11) to reach tight curvatures. Using... 

RAVEN [43,44], designed by University of Washington and University of California Santa Cruz, is a tele-operated surgical robot for laparoscopic procedures (Figure 5.14). The system consists of two slave RCM arms that are mounted by roU-pitch-yaw cable-driven surgical tools delivering a total of 6 DOFs. The RCM arms are spherical mechanisms that create a mechanically locked RCM at the port location. The tool has a roll-pitch-yaw mechanism and is 10 mm in diameter. 

Shown in Figure 5.19, our MR-compatible bone biopsy robot has two modes of operation tele-operative and autonomous. The system has 5 DOFs (linear, turret, elbow roU, wrist pitch, and penetration) in addition to the drilling joint. The tool is equipped with force sensors to send drilling forces as haptic feedback to the operator. The system allows the surgeon to tele-operatively control the drilling process during the bone biopsy procedure by means of force and vision feedbacks. 

Akce, A., M. Johnson, and T. Bretl. 2010. Remote Tele-operation of an Unmanned Aircraft with a Brain-Machine Interace Theory and Preliminary Results. Presentation at 2010 International Robotics and Automation Conference. Available online at http //www.akce.mme/presentations/ ICRA2010.pdf. 

Mode of control is the means by which a UMS receives instructions governing its actions and feeds back information to the operator. Modes of control include remote control, tele-operation, semiautonomous, and fully autonomous. 

A UMS requiring continuous operator input for mission performance is considered remotely guided. The control input may originate from any source outside of the UMS itself. This mode includes remote control and tele-operation. 

Tele-operation is a mode of operation of a UMS wherein the (remote) human operator, using video feedback and/or other sensory feedback, either directly controls the actuators or assigns incremental goals, waypoints in mobility situations, on a continuous basis, from off the vehicle and via a tethered or radio-linked control device. In this mode, the UMS may take limited initiative in reaching the assigned incremental goals. 

Mitsuishi M, Watanabe T, Nakanishi H, Hoti T, Watanabe H, Kramer B. A tele-microsurgery system with co-located view and operation points and a rotational-force-feedback-free master manipulator. In Proceedings 2nd International Symposium medical robotics and computer assisted surgery 1995. p. 111-8. 

Sides of the implementation of the proposed integrated safety solution have been explained to show how the solution may work in the real plants. This has been shown in the integration with RCM-based CMMS, operation interface system, and the Fault detection system (using tele-robotics technologies). 

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