We present our development of a supermedia interface for telediagnostics of breast pathology via the Internet. Supermedia is the incorporation of multiple media and data streams, such as audio, video, ultrasound images, and tactile and haptic sensor data for enhanced telepresence capabilities. Our supermedia interface comprises an anthropomorphic arm/hand equipped with haptic and tactile sensing, ultrasound imaging capabilities, a physician interface capable of rendering both haptic and tactile information, and two-way audio and video. The supermedia interface was tested via the Internet and enables telediagnostics. Preliminary experiments with silicone breast models have demonstrated the e fectiveness of the supermedia interface for telediagnostics. The interface is expected to enhance and improve the diagnostic performance of breast pathology as well as promote telediagnostics in remote areas and for patients with cultural barriers.
Abe, N. ( 1996). Practical stability and disturbance rejection of internal model control for time-delay systems . Proceedings of 35th IEEE Conference on Decision and Control, vol. 2, pp. 1621—1622 .
2.
Andersen, D. et al. (2001). Resilient overlay networks . Proceedings of the 18th ACM Symposium OSP, Banff, Canada, pp. 131—145.
3.
Begej, S. (1988). Planar and finger-shaped optical tactile sensors for robotic applications . IEEE Journal of Robotics and Automation4/5: 472—484 .
4.
Bejczy, A.K. et al. (1995). Toward integrated operator interface for advanced teleoperation under time-delay . Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems , pp. 327—348.
5.
Brady, K. and Tarn, T.J. (1998). Internet-based remote teleoperation . Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium.
6.
Charles, S. , Williams, R.E. , and Hamel, B. (1989). Design of a surgeon—machine interface for teleoperated microsurgery . Proceedings of the 11th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Seattle, WA, pp. 883—884.
7.
Dana, K.J. and Nayar, S.K. (2000). 3D textured surface modeling. Technical Report , Columbia University, Computer Science Department .
8.
Elhajj, I. et al. (2001). Supermedia in Internet-based telerobotic operations . Proceedings of 4th IFIP/IEEE International Conference on Management of Multimedia Networks and Services, Chicago, IL.
9.
Goldberg, K. et al. (1995). Desktop tele-operation via the World Wide Web . Proceedings of the IEEE International Conference on Robotics and Automation, pp. 654—659.
10.
Heywong-Kobrunner, S.H. (1993). Contrast-enhanced MRI of the breast overview after 1250 patient examinations . Electromedica2: 43—52 .
11.
Hill, J.W. and Jensen, J. (1998). Telepresence technology in medicine: principles and applications . Proceedings of the IEEE86(3): 569—580 .
12.
Jiar, Y. , Li, K. and Shi, G. (1993). A high resolution and high compliance tactile sensing system for robotic manipulators . Proceedings of 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems ,Pittsburgh, PA, pp. 1005—1009.
13.
Kaczmarek, K.A. et al. (1991). Electrotactile and vibrotactile displays for sensory substitution systems . IEEE Transactions on Biomedical Engineering38: 1—15 .
14.
Kerlikowske, K. et al. (1995). Efficacy of screening mammography. A meta-analysis . JAMA273: 149—154 .
15.
Koizumi, N. et al. (2003). Impedance controller and its clinical use of the remote ultrasound diagnostic system . Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, pp. 676—683.
16.
Liu, Y.-H. et al. (1999). Integrated sensing, task teaching, and control for dextrous manipulation of multifingered robot hands . Proceedings of the 14th World Congress of International Federation of Automatic Control, Beijing, China.
17.
Lo, W.-T. et al. (2004). Cooperative teleoperation of multi-robot systems with force reflection via the internet . IEEE/ASME Transactions on Mechantronics9(4): 661— 669 .
18.
Maekawa, H. et al. (1992). Development of a finger-shaped tactile sensor and its evaluation by active touch . Proceedings of the 1992 IEEE International Conference on Robotics and Automation, Nice, France, pp. 1327—1334.
19.
Methil, N.S. et al. (2006). Development of supermedia interface for telediagnostics of breast pathology . Proceedings of IEEE International Conference on Robotics and Automation, Orlando, FL, pp. 3911—3916.
20.
Moskowitz, M. et al. (1976). Lack of efficacy of thermography as a screening tool for minimal and stage I breast cancer . New England Journal of Medicine295: 249— 252 .
21.
Nudehi, S. , Mukherjee, R. and Ghodoussi, M. (2005). A shared approach to haptic interface design for minimally invasive telesurgical training . IEEE Transactions on Control Systems Technology13(4): 588—592 .
22.
Poletto, C.J. and Van Doren, C.L. (1999). A high voltage, constant current stimulator for electrocuttaneous stimulation through small electrodes . IEEE Transactions on Biomedical Engineering46(8): 929—936 .
23.
Sabatini, M. , Bergamasco, M. and Dario, P. (1989). Force feedback-based telemicromanipulation for robot surgery on soft tissues . Proceedings of the 11th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Seattle, WA, pp. 890—891.
24.
Schulzrinne, H. (1994). Issues in designing a transport protocol for audio and video conferences and other multiparticipant real-time applications. Internet Draft, Internet Engineering Task Force .
25.
Schulzrinne, H. et al. (1996). RTP: a transport protocol for real-time applications. Request for Comments 1889, Internet Engineering Task Force .
26.
Shen, Y. et al. (2003). Haptic feedback in teleoperation of multi-fingered robot hands . International Journal of Intelligent Automation and Soft Computing9(3): 1—12 .
27.
Smart, C. et al. (1995). Benefit of mammography screening in women ages 40 to 49 years . Cancer75: 1619—1625 .
28.
Stavros, A. et al. (1995). Solid breast nodules: use of sonography to distinguish between benign and malignant lesions . Radiology196: 123—134 .
29.
Suenaga, T. et al. (1999). A tele-instruction system for ultrasound tele-diagnosis . Proceedings of the International Conference Artificial Reality and Tele-existence, Tokyo , Japan, pp. 84—91.
30.
Taylor, R. et al. (1999). A steady-hand robotic system for microsurgical augmentation . Proceedings of the 2nd International Conference on Medical Image Computing and Computer-Assisted Interventions (MICCAI99), Cambridge, UK.
31.
Vilchis, A. et al. (2003). A new robot architecture for teleechography . IEEE Transactions on Robotics and Automation19(5): 922—926 .
32.
Wang, Y. et al. (1999). Tactile mapping of palpable abnormalities for breast cancer diagnosis . Proceedings of the 1999 IEEE International Conference on Robotics and Automation, Detroit, MI, pp. 1305—1309.
33.
Zhu, W.H. et al. (2000). Motion/force/image control of a diagnostic ultrasound robot . Proceedings of 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA , pp. 1580—1585.
