{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,25]],"date-time":"2026-05-25T20:06:37Z","timestamp":1779739597702,"version":"3.53.1"},"reference-count":151,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"6","license":[{"start":{"date-parts":[[2026,6,1]],"date-time":"2026-06-01T00:00:00Z","timestamp":1780272000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0\/"}],"funder":[{"name":"Fondazione Cassa Risparmio di Lucca"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Biomed. Eng."],"published-print":{"date-parts":[[2026,6]]},"DOI":"10.1109\/tbme.2025.3628169","type":"journal-article","created":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T18:52:19Z","timestamp":1762455139000},"page":"2266-2290","source":"Crossref","is-referenced-by-count":0,"title":["Teleoperation Architectures for Remote Ultrasound Diagnostic Imaging: A Systematic Review"],"prefix":"10.1109","volume":"73","author":[{"ORCID":"https:\/\/orcid.org\/0009-0005-0269-3239","authenticated-orcid":false,"given":"Eleonora","family":"Storto","sequence":"first","affiliation":[{"name":"Scuola Superiore Sant&#x0027;Anna, IIM Institute, PERCRO Laboratory, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9053-2814","authenticated-orcid":false,"given":"Massimiliano","family":"Solazzi","sequence":"additional","affiliation":[{"name":"Scuola Superiore Sant&#x0027;Anna, IIM Institute, PERCRO Laboratory, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mario","family":"Meola","sequence":"additional","affiliation":[{"name":"Scuola Superiore Sant&#x0027;Anna, Interdisciplinary Research Center Health Science, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7126-4113","authenticated-orcid":false,"given":"Antonio","family":"Frisoli","sequence":"additional","affiliation":[{"name":"Scuola Superiore Sant&#x0027;Anna, IIM Institute, PERCRO Laboratory, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9263-9423","authenticated-orcid":false,"given":"Francesco","family":"Porcini","sequence":"additional","affiliation":[{"name":"Scuola Superiore Sant&#x0027;Anna, IIM Institute, PERCRO Laboratory, Pisa, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.20965\/jrm.2004.p0513"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TUFFC.2013.2593"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1186\/s12938-016-0217-7"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TMRB.2021.3072190"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.2660"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TMRB.2022.3201651"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2023.126790"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1108\/IR-01-2014-0304"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.3389\/fpubh.2019.00244"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0194840"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/JBHI.2022.3181205"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1002\/jum.15525"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1155\/2022\/1072642"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.jcmg.2022.07.018"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.1992.371336"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067471"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1989.100162"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-1021-7_22"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1108\/02602280410515815"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1994.351077"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.862487"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.1988.754257"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/48.64895"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/70.988969"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/8727.003.0037"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907084590"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981371"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/Telepresence63209.2024.10841771"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981162"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10160958"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.7863\/jum.2013.32.4.573"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.7863\/ultra.15.02036"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2011.03.002"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4650901"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TITB.2004.840062"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ITAB.2003.1222409"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.2214\/AJR.07.3555"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/EMBC.2013.6609457"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844822"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/70.988970"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-45468-3_39"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-45786-0_18"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTIC.2002.998945"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.3233\/978-1-60750-939-4-212"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.817509"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.7863\/jum.2007.26.11.1611"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.3233\/978-1-60750-942-4-231"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2001.976317"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-45786-0_17"},{"issue":"1","key":"ref50","first-page":"24","article-title":"Development of a tele-echography system by using an echographic diagnosis robot","volume":"23","author":"Masuda","year":"2003","journal-title":"Jpn. J. Med. Phys. (Igakubutsuri)"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)33556-5"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2001.932834"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1013432"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.20965\/jrm.2004.p0146"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/RAMECH.2006.252681"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.282046"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2008.918530"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2019785"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.20965\/jrm.2014.p0396"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1108\/01439910310457742"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1002\/uog.1987"},{"key":"ref62","article-title":"Realtime or delayed tele-echography using (A) a robotic arm, ISDN or satellite lines, (B) a volumic echographic capture mode and internet (application to abdomen and fetus)","volume":"553","author":"Arbeille","year":"2008","journal-title":"Life Space Life Earth"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/IEMBS.2004.1404499"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1049\/cp:20040647"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/TITB.2004.840064"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1258\/1357633054461552"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2005.1545492"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.2006.1632654"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.3182\/20060522-3-FR-2904.00059"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354366"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.5220\/0001627600520058"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/ISIE.2007.4375118"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.2214\/AJR.05.0469"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2008.05.013"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574711001305"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1007\/s11465-012-0326-3"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224974"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1051\/meca\/2014022"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2013.861368"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1109\/JSYST.2014.2314773"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1115\/ESDA2012-82744"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.4028\/www.scientific.net\/AMM.162.384"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1016\/j.ultrasmedbio.2014.05.015"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139600"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139600"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2018.2790900"},{"key":"ref87","doi-asserted-by":"publisher","DOI":"10.1166\/jmihi.2015.1628"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.14313\/jamris\/2-2019\/18"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1109\/MMAR.2017.8046811"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.14313\/JAMRIS_2-2017\/20"},{"key":"ref91","doi-asserted-by":"publisher","DOI":"10.1007\/s12553-019-00399-0"},{"key":"ref92","doi-asserted-by":"publisher","DOI":"10.1109\/ICCAS.2015.7364834"},{"key":"ref93","doi-asserted-by":"publisher","DOI":"10.1109\/URAI.2017.7992679"},{"key":"ref94","doi-asserted-by":"publisher","DOI":"10.1109\/URAI.2018.8441922"},{"key":"ref95","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2015-46826"},{"key":"ref96","doi-asserted-by":"publisher","DOI":"10.1089\/tmj.2015.0100"},{"key":"ref97","doi-asserted-by":"publisher","DOI":"10.1016\/j.carj.2016.08.002"},{"key":"ref98","doi-asserted-by":"publisher","DOI":"10.1049\/htl.2016.0043"},{"key":"ref99","doi-asserted-by":"publisher","DOI":"10.1002\/jum.14619"},{"key":"ref100","doi-asserted-by":"publisher","DOI":"10.1109\/HealthCom.2018.8531194"},{"key":"ref101","doi-asserted-by":"publisher","DOI":"10.1177\/1357633X20965422"},{"key":"ref102","doi-asserted-by":"publisher","DOI":"10.21037\/tp-22-569"},{"key":"ref103","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2016.00001"},{"key":"ref104","doi-asserted-by":"publisher","DOI":"10.3390\/jcm5060058"},{"key":"ref105","doi-asserted-by":"publisher","DOI":"10.1089\/tmj.2015.0186"},{"key":"ref106","doi-asserted-by":"publisher","DOI":"10.1109\/ICCIS.2017.8274821"},{"key":"ref107","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968481"},{"key":"ref108","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794196"},{"key":"ref109","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794152"},{"key":"ref110","doi-asserted-by":"publisher","DOI":"10.1016\/j.bspc.2019.101606"},{"key":"ref111","doi-asserted-by":"publisher","DOI":"10.1177\/8756479320917107"},{"key":"ref112","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2022.3201322"},{"key":"ref113","doi-asserted-by":"publisher","DOI":"10.1109\/TUFFC.2020.3020721"},{"key":"ref114","doi-asserted-by":"publisher","DOI":"10.37015\/audt.2020.200023"},{"issue":"14","key":"ref115","first-page":"7796","article-title":"Role of 5 G-powered remote robotic ultrasound during the COVID-19 outbreak: Insights from two cases","volume":"24","author":"Yu","year":"2020","journal-title":"Eur. Rev. Med. Pharmacol. Sci."},{"key":"ref116","doi-asserted-by":"publisher","DOI":"10.1002\/jum.15406"},{"key":"ref117","doi-asserted-by":"publisher","DOI":"10.1016\/j.bspc.2021.102900"},{"key":"ref118","doi-asserted-by":"publisher","DOI":"10.1016\/j.chest.2020.06.068"},{"key":"ref119","doi-asserted-by":"publisher","DOI":"10.1186\/s13054-021-03563-z"},{"key":"ref120","doi-asserted-by":"publisher","DOI":"10.3389\/fpubh.2022.915071"},{"key":"ref121","doi-asserted-by":"publisher","DOI":"10.1007\/s12020-022-03011-0"},{"key":"ref122","doi-asserted-by":"publisher","DOI":"10.3390\/diagnostics13030362"},{"key":"ref123","doi-asserted-by":"publisher","DOI":"10.1002\/jum.16041"},{"key":"ref124","doi-asserted-by":"publisher","DOI":"10.3389\/fpubh.2023.1149964"},{"key":"ref125","doi-asserted-by":"publisher","DOI":"10.1007\/s00261-023-04123-5"},{"key":"ref126","doi-asserted-by":"publisher","DOI":"10.1002\/jum.16638"},{"key":"ref127","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-024-76441-7"},{"key":"ref128","doi-asserted-by":"publisher","DOI":"10.1109\/ITNEC48623.2020.9084796"},{"key":"ref129","doi-asserted-by":"publisher","DOI":"10.1109\/ISMR48346.2021.9661578"},{"key":"ref130","doi-asserted-by":"publisher","DOI":"10.1007\/s12217-020-09850-8"},{"key":"ref131","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3068702"},{"key":"ref132","doi-asserted-by":"publisher","DOI":"10.1186\/s41747-021-00227-z"},{"key":"ref133","doi-asserted-by":"publisher","DOI":"10.3390\/s23208438"},{"key":"ref134","doi-asserted-by":"publisher","DOI":"10.3390\/s24072368"},{"key":"ref135","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO55434.2022.10011778"},{"key":"ref136","doi-asserted-by":"publisher","DOI":"10.1515\/cdbme-2022-0021"},{"key":"ref137","doi-asserted-by":"publisher","DOI":"10.1109\/TMRB.2024.3422608"},{"key":"ref138","doi-asserted-by":"publisher","DOI":"10.3390\/robotics13110164"},{"key":"ref139","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2024.1474077"},{"key":"ref140","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2024.3350524"},{"key":"ref141","doi-asserted-by":"publisher","DOI":"10.1109\/IEMBS.2003.1280953"},{"key":"ref142","doi-asserted-by":"publisher","DOI":"10.1109\/MELCON.2008.4618460"},{"key":"ref143","doi-asserted-by":"publisher","DOI":"10.1177\/0954406214530598"},{"key":"ref144","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714001805"},{"key":"ref145","doi-asserted-by":"publisher","DOI":"10.1109\/HSI.2016.7529612"},{"key":"ref146","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-540-30301-5","volume-title":"Springer Handbook of Robotics","volume":"200","author":"Siciliano","year":"2008"},{"key":"ref147","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2024.3353836"},{"key":"ref148","doi-asserted-by":"publisher","DOI":"10.1016\/B978-0-443-13271-1.00007-8"},{"key":"ref149","doi-asserted-by":"publisher","DOI":"10.1016\/j.bspc.2023.105430"},{"key":"ref150","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2025.3574464"},{"key":"ref151","doi-asserted-by":"publisher","DOI":"10.1109\/ISMAR62088.2024.00070"}],"container-title":["IEEE Transactions on Biomedical Engineering"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/10\/11533655\/11230576.pdf?arnumber=11230576","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,25]],"date-time":"2026-05-25T19:52:59Z","timestamp":1779738779000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11230576\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,6]]},"references-count":151,"journal-issue":{"issue":"6"},"URL":"https:\/\/doi.org\/10.1109\/tbme.2025.3628169","relation":{},"ISSN":["0018-9294","1558-2531"],"issn-type":[{"value":"0018-9294","type":"print"},{"value":"1558-2531","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,6]]}}}