Development of graphical user interface to control remote probe by reflecting contact force on body surface for tele-echography system

Abstract

We have developed an interface for teleechography system to control a remote diagnosis robot via network. In the conventional system there was problems in the operability by communicating the signal and image between the robot and controller. Through the remote monitor, not only the position of the ultrasound probe but also the positional relationship between the probe and the body surface was difficult to understand. Therefore we have reconstructed all the environment of the patient’s body shape and the probe to be visualized as computer graphics (CG). To evaluate delay time, the both positions of the probe and the handle were visualized on the same GUI frame. Then precise shape of the body surface was measured and reconstructed by introducing Delaunay triangulation method. We have also designed the console window including echogram, patient scene and CG with the quality control between images automatically by reflecting the contact force. We have confirmed the effectiveness by using the interface.