{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,27]],"date-time":"2026-05-27T18:07:36Z","timestamp":1779905256767,"version":"3.53.1"},"reference-count":48,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2024,11,10]],"date-time":"2024-11-10T00:00:00Z","timestamp":1731196800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Telstra Group Limited, VIC, Australia"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Medical ultrasound is a widely used diagnostic imaging modality that provides real-time imaging at a relatively low cost. However, its widespread application is hindered by the need for expert operation, particularly in remote regional areas where trained sonographers are scarce. This paper presents the development of HaptiScan, a state-of-the-art telerobotic ultrasound system equipped with haptic feedback. The system utilizes a commercially available robotic manipulator, the UR5 robot from Universal Robots, integrated with a force\/torque sensor and the Phantom Omni haptic device. This configuration enables skilled sonographers to remotely conduct ultrasound procedures via an internet connection, addressing both the geographic and ergonomic limitations faced in traditional sonography. Key innovative features of the system include real-time force feedback, ensuring that sonographers can precisely control the ultrasound probe from a remote location. The system is further enhanced by safety measures such as over-force sensing, patient discomfort monitoring, and emergency stop mechanisms. Quantitative indicators of the system\u2019s performance include successful teleoperation over long distances with time delays, as demonstrated in simulations. These simulations validate the system\u2019s control methodologies, showing stable performance with force feedback under varying time delays and distances. Additionally, the UR5 manipulator\u2019s precision, kinematic, and dynamic models are mathematically formulated to optimize teleoperation. The results highlight the effectiveness of the proposed system in overcoming the technical challenges of remote ultrasound procedures, offering a viable solution for real-world telemedicine applications.<\/jats:p>","DOI":"10.3390\/robotics13110164","type":"journal-article","created":{"date-parts":[[2024,11,11]],"date-time":"2024-11-11T03:52:07Z","timestamp":1731297127000},"page":"164","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["HaptiScan: A Haptically-Enabled Robotic Ultrasound System for Remote Medical Diagnostics"],"prefix":"10.3390","volume":"13","author":[{"given":"Zoran","family":"Najdovski","sequence":"first","affiliation":[{"name":"Institute for Intelligent Systems Research and Innovation, Deakin University, Waurn Ponds 3216, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2974-1801","authenticated-orcid":false,"given":"Siamak","family":"Pedrammehr","sequence":"additional","affiliation":[{"name":"Faculty of Design, Tabriz Islamic Art University, Tabriz 5164736931, Iran"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1839-029X","authenticated-orcid":false,"given":"Mohammad Reza","family":"Chalak Qazani","sequence":"additional","affiliation":[{"name":"Faculty of Computing and Information Technology (FoCIT), Sohar University, Sohar 311, Oman"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hamid","family":"Abdi","sequence":"additional","affiliation":[{"name":"School of Engineering, Deakin University, Waurn Ponds 3216, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sameer","family":"Deshpande","sequence":"additional","affiliation":[{"name":"ManuFutures, Deakin University, Waurn Ponds 3216, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Taoming","family":"Liu","sequence":"additional","affiliation":[{"name":"Superior Swift Technologies Pty Ltd., Melbourne 3122, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"James","family":"Mullins","sequence":"additional","affiliation":[{"name":"Institute for Intelligent Systems Research and Innovation, Deakin University, Waurn Ponds 3216, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Michael","family":"Fielding","sequence":"additional","affiliation":[{"name":"Institute for Intelligent Systems Research and Innovation, Deakin University, Waurn Ponds 3216, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Stephen","family":"Hilton","sequence":"additional","affiliation":[{"name":"Telstra Group Limited, Melbourne 3000, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Houshyar","family":"Asadi","sequence":"additional","affiliation":[{"name":"Institute for Intelligent Systems Research and Innovation, Deakin University, Waurn Ponds 3216, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,11,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"733","DOI":"10.2214\/AJR.16.16780","article-title":"Robotic arm-assisted sonography: Review of technical developments and potential clinical applications","volume":"208","author":"Swerdlow","year":"2017","journal-title":"Am. 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