{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,9]],"date-time":"2026-04-09T20:23:41Z","timestamp":1775766221378,"version":"3.50.1"},"reference-count":55,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2024,10,9]],"date-time":"2024-10-09T00:00:00Z","timestamp":1728432000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:sec><jats:title>Objectives<\/jats:title><jats:p>With the increasing application of 5G remote ultrasound robots in healthcare, robust methods are in critical demand to assess participant satisfaction and identify its influencing factors. At present, there is limited empirical research on multi-parametric and multidimensional satisfaction evaluation of participants with 5G remote ultrasound robot examination. Previous studies have demonstrated that structural equation modeling (SEM) effectively integrates various statistical techniques to examine the relationships among multiple variables. Therefore, this study aimed to evaluate the satisfaction of participants with 5G remote ultrasound robot examination and its influencing factors using SEM.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>Between April and June 2022, 213 participants from Wuhan Automobile Manufacturing Company underwent remote ultrasound examinations using the MGIUS-R3 remote ultrasound robot system. After these examinations, the participants evaluated the performance of the 5G remote ultrasound robot based on their personal experiences and emotional responses. They completed a satisfaction survey using a self-developed questionnaire, which included 19 items across five dimensions: examination efficiency, examination perception, communication perception, value perception, and examination willingness. A SEM was established to assess the satisfaction of participants with the 5G remote ultrasound robot examinations and the influencing factors.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>A total of 201 valid questionnaires were collected. The overall satisfaction of participants with the 5G remote ultrasound robot examination was 45.43 \u00b1 11.60, with 169 participants (84%) expressing satisfaction. In the path hypothesis relationship test, the dimensions of examination efficiency, examination perception, communication perception, and value perception had positive effects on satisfaction, with standardized path coefficients of 0.168, 0.170, 0.175, and 0.191. Satisfaction had a direct positive effect on examination willingness, with a standardized path coefficient of 0.260. Significant differences were observed across different educational levels in the dimensions of examination perception, communication perception, value perception, and examination willingness. Participants with different body mass indices also showed significant differences in examination perception; all <jats:italic>p<\/jats:italic>-values were less than 0.05.<\/jats:p><\/jats:sec><jats:sec><jats:title>Conclusion<\/jats:title><jats:p>In this study, value perception was identified as the most significant factor influencing satisfaction. It could be improved by enhancing participants\u2019 understanding of the accuracy and safety of 5G remote ultrasound robot examinations. This enhances satisfaction and the willingness to undergo examinations. Such improvements not only facilitate the widespread adoption of this technology but also promote the development of telemedicine services.<\/jats:p><\/jats:sec>","DOI":"10.3389\/frobt.2024.1413065","type":"journal-article","created":{"date-parts":[[2024,10,9]],"date-time":"2024-10-09T04:10:15Z","timestamp":1728447015000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":2,"title":["Satisfaction analysis of 5G remote ultrasound robot for diagnostics based on a structural equation model"],"prefix":"10.3389","volume":"11","author":[{"given":"Zhi-Li","family":"Han","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu-Meng","family":"Lei","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jing","family":"Yu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bing-Song","family":"Lei","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hua-Rong","family":"Ye","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ge","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1965","published-online":{"date-parts":[[2024,10,9]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"162","DOI":"10.1016\/j.jacr.2021.07.023","article-title":"A telerobotic ultrasound clinic model of ultrasound service delivery to improve access to imaging in rural and remote communities","volume":"19","author":"Adams","year":"","journal-title":"J. Am. Coll. Radiology"},{"key":"B2","doi-asserted-by":"publisher","first-page":"568","DOI":"10.1177\/1357633X20965422","article-title":"Telerobotic ultrasound to provide obstetrical ultrasound services remotely during the COVID-19 pandemic","volume":"28","author":"Adams","year":"","journal-title":"J. Telemed. Telecare"},{"key":"B3","doi-asserted-by":"publisher","first-page":"1287","DOI":"10.1002\/jum.15525","article-title":"Telerobotic sonography for remote diagnostic imaging: narrative review of current developments and clinical applications","volume":"40","author":"Adams","year":"2021","journal-title":"J. Ultrasound Med."},{"key":"B4","doi-asserted-by":"publisher","first-page":"308","DOI":"10.1016\/j.carj.2016.08.002","article-title":"Initial experience using a telerobotic ultrasound system for adult abdominal sonography","volume":"68","author":"Adams","year":"2017","journal-title":"Can. Assoc. Radiol. J."},{"key":"B5","doi-asserted-by":"publisher","first-page":"38","DOI":"10.1089\/tmj.2022.0045","article-title":"Older adults' satisfaction with telemedicine during the COVID-19 pandemic: a systematic review","volume":"29","author":"Alsabeeha","year":"2023","journal-title":"Telemed. J. E Health."},{"key":"B6","doi-asserted-by":"publisher","first-page":"869","DOI":"10.1080\/09544120050135425","article-title":"Foundations of the American customer satisfaction index","volume":"11","author":"Anderson","year":"2010","journal-title":"Total Qual. Manag."},{"key":"B7","doi-asserted-by":"publisher","first-page":"465","DOI":"10.1016\/j.mcna.2017.12.008","article-title":"The outpatient physical examination","volume":"102","author":"Artandi","year":"2018","journal-title":"Med. Clin. North Am."},{"key":"B8","doi-asserted-by":"publisher","first-page":"1079","DOI":"10.1097\/phm.0000000000001600","article-title":"Implementation and patient satisfaction of telemedicine in spine physical medicine and rehabilitation patients during the COVID-19 shutdown","volume":"99","author":"Bhuva","year":"2020","journal-title":"Am. J. Phys. Med. & Rehabilitation"},{"key":"B9","doi-asserted-by":"publisher","first-page":"107854","DOI":"10.1016\/j.chb.2023.107854","article-title":"Are we ready for hotel robots after the pandemic? A profile analysis","volume":"147","author":"Binesh","year":"2023","journal-title":"Comput. Hum. Behav."},{"key":"B10","doi-asserted-by":"publisher","first-page":"102769","DOI":"10.1016\/j.ssresearch.2022.102769","article-title":"Fifty years of structural equation modeling: a history of generalization, unification, and diffusion","volume":"107","author":"Bollen","year":"2022","journal-title":"Soc. Sci. Res."},{"key":"B11","doi-asserted-by":"publisher","first-page":"244","DOI":"10.3389\/fpubh.2019.00244","article-title":"Tele-ultrasound in resource-limited settings: a systematic review","volume":"7","author":"Britton","year":"2019","journal-title":"Front. Public Health"},{"key":"B12","doi-asserted-by":"publisher","first-page":"915071","DOI":"10.3389\/fpubh.2022.915071","article-title":"Successful use of a 5G-based robot-assisted remote ultrasound system in a care center for disabled patients in rural China","volume":"10","author":"Chai","year":"2022","journal-title":"Front. Public Health"},{"key":"B13","doi-asserted-by":"publisher","first-page":"101","DOI":"10.12865\/CHSJ.44.02.01","article-title":"Recent developments in tele-ultrasonography","volume":"44","author":"Constantinescu","year":"2018","journal-title":"Curr. Health Sci. J."},{"key":"B14","doi-asserted-by":"publisher","first-page":"816","DOI":"10.21037\/tp-22-569","article-title":"Comparison of telerobotic and conventional ultrasonography in children: a crossover bicentric pilot study","volume":"12","author":"Delestrain","year":"2023","journal-title":"Transl. Pediatr."},{"key":"B15","doi-asserted-by":"publisher","first-page":"370","DOI":"10.1177\/8756479320917107","article-title":"Sonography of the lungs: diagnosis and surveillance of patients with COVID-19","volume":"36","author":"Evans","year":"2020","journal-title":"J. Diagnostic Med. Sonogr."},{"key":"B16","doi-asserted-by":"publisher","first-page":"1","DOI":"10.4103\/eus.eus_69_18","article-title":"Robotic ultrasound and ultrasonic robot","volume":"8","author":"Guo","year":"2019","journal-title":"Endosc. Ultrasound"},{"key":"B17","doi-asserted-by":"publisher","first-page":"e000440","DOI":"10.1136\/wjps-2022-000440","article-title":"Perceptions of telemedicine at a pediatric otolaryngology-head and neck surgery program","volume":"5","author":"Gwilt","year":"2022","journal-title":"World J. Pediatr. Surg."},{"key":"B18","doi-asserted-by":"publisher","first-page":"1239","DOI":"10.1016\/s0301-5629(01)00420-3","article-title":"Telemedicine in ultrasound: new solutions","volume":"27","author":"Heer","year":"2001","journal-title":"Ultrasound Med. & Biol."},{"key":"B19","doi-asserted-by":"publisher","first-page":"239","DOI":"10.1016\/j.jcmg.2022.07.018","article-title":"Current applications of robot-assisted ultrasound examination","volume":"16","author":"Hidalgo","year":"2023","journal-title":"JACC Cardiovasc. Imaging"},{"key":"B20","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1080\/10705519909540118","article-title":"Cutoff criteria for fit indexes in covariance structure analysis: conventional criteria versus new alternatives","volume":"6","author":"Hu","year":"1999","journal-title":"Struct. Equ. Model. A Multidiscip. J."},{"key":"B21","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s12574-021-00540-x","article-title":"Cardiovascular examination using hand-held cardiac ultrasound","volume":"20","author":"Jenkins","year":"2022","journal-title":"J. Echocardiogr."},{"key":"B22","doi-asserted-by":"publisher","first-page":"554","DOI":"10.1186\/s12859-020-03893-9","article-title":"Analysis of associations between emotions and activities of drug users and their addiction recovery tendencies from social media posts using structural equation modeling","volume":"21","author":"Jha","year":"2020","journal-title":"BMC Bioinforma."},{"key":"B23","doi-asserted-by":"publisher","first-page":"595","DOI":"10.1002\/jum.16041","article-title":"Application of a tele-ultrasound robot during COVID-19 pandemic: a feasibility study","volume":"42","author":"Jiang","year":"2023","journal-title":"J. Ultrasound Med."},{"key":"B24","doi-asserted-by":"publisher","first-page":"e0291196","DOI":"10.1371\/journal.pone.0291196","article-title":"Turning to religion as a mediator of the relationship between hopelessness and job satisfaction during the COVID-19 pandemic among individuals representing the uniformed services or working in professions of public trust in Poland","volume":"18","author":"Jurek","year":"2023","journal-title":"PloS one"},{"key":"B25","doi-asserted-by":"publisher","first-page":"113151D","DOI":"10.1117\/12.2551118","article-title":"Feasibility of robot-assisted ultrasound imaging with force feedback for assessment of thyroid diseases","volume":"11315","author":"Kaminski","year":"2020","journal-title":"Proc. SPIE Int. Soc. Opt. Eng."},{"key":"B26","doi-asserted-by":"publisher","first-page":"85","DOI":"10.4997\/JRCPE.2021.122","article-title":"The value of physical examination in the era of telemedicine","volume":"51","author":"Lee","year":"2021","journal-title":"J. R. Coll. Physicians Edinb"},{"key":"B27","doi-asserted-by":"publisher","first-page":"1971","DOI":"10.3390\/ijerph18041971","article-title":"How to improve the public trust of the intelligent aging community: an empirical study based on the ACSI model","volume":"18","author":"Li","year":"2021","journal-title":"Int. J. Environ. Res. Public Health"},{"key":"B28","doi-asserted-by":"publisher","first-page":"650","DOI":"10.14366\/usg.21204","article-title":"Synchronous tele-ultrasonography is helpful for a naive operator to perform high-quality thyroid ultrasound examinations","volume":"41","author":"Li","year":"2022","journal-title":"Ultrasonography"},{"key":"B29","doi-asserted-by":"publisher","first-page":"431","DOI":"10.1089\/tmj.2008.0148","article-title":"Is cardiac consultation with remote-controlled real-time echocardiography a wise use of resources?","volume":"15","author":"Lofgren","year":"2009","journal-title":"Telemed. J. E Health"},{"key":"B30","doi-asserted-by":"publisher","first-page":"e13826","DOI":"10.1016\/j.heliyon.2023.e13826","article-title":"Construction of a 5G-based, three-dimensional, and efficiently connected emergency medical management system","volume":"9","author":"Lu","year":"2023","journal-title":"Heliyon"},{"key":"B31","doi-asserted-by":"publisher","first-page":"555","DOI":"10.1016\/j.acap.2018.12.002","article-title":"The challenges of multisource feedback: feasibility and acceptability of gathering patient feedback for pediatric residents","volume":"19","author":"Mahoney","year":"2019","journal-title":"Acad. Pediatr."},{"key":"B32","doi-asserted-by":"publisher","first-page":"1528","DOI":"10.1097\/TA.0b013e318232cca7","article-title":"Simple, almost anywhere, with almost anyone: remote low-cost telementored resuscitative lung ultrasound","volume":"71","author":"McBeth","year":"2011","journal-title":"J. Trauma Inj. Infect. & Crit. Care"},{"key":"B33","doi-asserted-by":"publisher","first-page":"31","DOI":"10.21037\/mhealth-22-15","article-title":"A qualitative study of provider feedback on the feasibility and acceptability of virtual patient simulations for suicide prevention training","volume":"8","author":"O\u2019Brien","year":"2022","journal-title":"Mhealth"},{"key":"B34","doi-asserted-by":"publisher","first-page":"101","DOI":"10.5539\/ijms.v10n3p101","article-title":"Determinants of customer satisfaction in the telecommunication industry in Ghana: a study of mtn Ghana limited","volume":"10","author":"Oduro","year":"2018","journal-title":"Int. J. Mark. Stud."},{"key":"B35","doi-asserted-by":"publisher","first-page":"507","DOI":"10.1109\/tuffc.2013.2593","article-title":"Robotic ultrasound systems in medicine","volume":"60","author":"Priester","year":"2013","journal-title":"IEEE Trans. Ultrasonics, Ferroelectr. Freq. Control"},{"key":"B36","doi-asserted-by":"publisher","first-page":"1149964","DOI":"10.3389\/fpubh.2023.1149964","article-title":"The feasibility and satisfaction study of 5G-based robotic teleultrasound diagnostic system in health check-ups","volume":"11","author":"Ren","year":"2023","journal-title":"Front. Public Health"},{"key":"B37","doi-asserted-by":"publisher","first-page":"9","DOI":"10.1007\/s10916-006-9038-8","article-title":"Factors affecting inpatient satisfaction: structural equation modeling","volume":"31","author":"Sahin","year":"2006","journal-title":"J. Med. Syst."},{"key":"B38","doi-asserted-by":"publisher","first-page":"260","DOI":"10.5811\/westjem.2013.8.19080","article-title":"USEFUL: ultrasound exam for underlying lesions incorporated into physical exam","volume":"15","author":"Steller","year":"2014","journal-title":"West J. Emerg. Med."},{"key":"B39","doi-asserted-by":"publisher","first-page":"103","DOI":"10.3109\/09638288.2015.1027004","article-title":"Psychometric properties of self-reported questionnaires for the evaluation of symptoms and functional limitations in individuals with rotator cuff disorders: a systematic review","volume":"38","author":"St-Pierre","year":"2015","journal-title":"Disabil. Rehabilitation"},{"key":"B40","doi-asserted-by":"publisher","first-page":"e33380","DOI":"10.2196\/33380","article-title":"Use of robots in critical care: systematic review","volume":"24","author":"Teng","year":"2022","journal-title":"J. Med. Internet Res."},{"key":"B41","doi-asserted-by":"publisher","first-page":"905952","DOI":"10.3389\/fpubh.2022.905952","article-title":"Satisfaction with community health education among residents in China: results from a structural equation model","volume":"10","author":"Tong","year":"2022","journal-title":"Front. Public Health"},{"key":"B42","doi-asserted-by":"publisher","first-page":"1700","DOI":"10.1109\/lra.2024.3349959","article-title":"Safe contact force generation for robotic thyroid ultrasound imaging","volume":"9","author":"Tsumura","year":"2024","journal-title":"IEEE Robotics Automation Lett."},{"key":"B43","doi-asserted-by":"publisher","first-page":"165","DOI":"10.17705\/1CAIS.04513","article-title":"User satisfaction with information systems: a comprehensive model of attribute-level satisfaction","volume":"45","author":"Vaezi","year":"2019","journal-title":"Commun. Of Assoc. For Inf. Syst."},{"key":"B44","doi-asserted-by":"publisher","first-page":"33","DOI":"10.1186\/s13089-020-00180-9","article-title":"Offshore telementored ultrasound: a quality assessment study","volume":"12","author":"Vatsvag","year":"2020","journal-title":"Ultrasound J."},{"key":"B45","doi-asserted-by":"publisher","first-page":"385","DOI":"10.1002\/jum.15406","article-title":"Application of a robotic tele-echography system for COVID-19 pneumonia","volume":"40","author":"Wang","year":"2021","journal-title":"J. Ultrasound Med."},{"key":"B46","doi-asserted-by":"publisher","first-page":"557","DOI":"10.1136\/bmj.323.7312.557","article-title":"Recent advances: telemedicine","volume":"323","author":"Wootton","year":"2001","journal-title":"Bmj"},{"key":"B47","doi-asserted-by":"publisher","first-page":"270","DOI":"10.1016\/j.chest.2020.06.068","article-title":"Feasibility of a 5G-based robot-assisted remote ultrasound system for cardiopulmonary assessment of patients with coronavirus disease 2019","volume":"159","author":"Ye","year":"2021","journal-title":"Chest"},{"key":"B48","doi-asserted-by":"publisher","first-page":"1049991","DOI":"10.3389\/fonc.2022.1049991","article-title":"Ultrasound super-resolution imaging for differential diagnosis of breast masses","volume":"12","author":"Zhang","year":"","journal-title":"Front. Oncol."},{"key":"B49","doi-asserted-by":"publisher","first-page":"3294","DOI":"10.1021\/acssensors.3c00418","article-title":"Nanodroplet-based super-resolution ultrasound localization microscopy","volume":"8","author":"Zhang","year":"","journal-title":"ACS Sensors"},{"key":"B50","doi-asserted-by":"publisher","first-page":"2857","DOI":"10.1021\/acssensors.2c01468","article-title":"Ultrasound molecular imaging and its applications in cancer diagnosis and therapy","volume":"7","author":"Zhang","year":"","journal-title":"ACS Sensors"},{"key":"B51","doi-asserted-by":"publisher","first-page":"978164","DOI":"10.3389\/fonc.2022.978164","article-title":"Ultrasound super-resolution imaging for the differential diagnosis of thyroid nodules: a pilot study","volume":"12","author":"Zhang","year":"","journal-title":"Front. Oncol."},{"key":"B52","doi-asserted-by":"publisher","first-page":"91","DOI":"10.1016\/j.ceh.2022.10.001","article-title":"The influence of telemedicine on capacity development in public primary hospitals in China: a scoping review","volume":"5","author":"Zhang","year":"","journal-title":"Clin. eHealth"},{"key":"B53","doi-asserted-by":"publisher","first-page":"432","DOI":"10.1186\/s40359-023-01479-7","article-title":"Stimulating creativity in the classroom: examining the impact of sense of place on students' creativity and the mediating effect of classmate relationships","volume":"11","author":"Zhang","year":"","journal-title":"BMC Psychol."},{"key":"B54","doi-asserted-by":"publisher","first-page":"942","DOI":"10.1007\/s00261-023-04123-5","article-title":"A 5G-based telerobotic ultrasound system provides qualified abdominal ultrasound services for patients on a rural island: a prospective and comparative study of 401 patients","volume":"49","author":"Zhang","year":"","journal-title":"Abdom. Radiol."},{"key":"B55","doi-asserted-by":"publisher","first-page":"620","DOI":"10.1007\/s12020-022-03011-0","article-title":"Clinical application of a 5G-based telerobotic ultrasound system for thyroid examination on a rural island: a prospective study","volume":"76","author":"Zhang","year":"","journal-title":"Endocrine"}],"container-title":["Frontiers in Robotics and AI"],"original-title":[],"link":[{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/frobt.2024.1413065\/full","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,9]],"date-time":"2024-10-09T04:10:19Z","timestamp":1728447019000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/frobt.2024.1413065\/full"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,10,9]]},"references-count":55,"alternative-id":["10.3389\/frobt.2024.1413065"],"URL":"https:\/\/doi.org\/10.3389\/frobt.2024.1413065","relation":{},"ISSN":["2296-9144"],"issn-type":[{"value":"2296-9144","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,10,9]]},"article-number":"1413065"}}