Zobrazit v EDS

The IoRT-in-Hand: Tele-Robotic Echography and Digital Twins on Mobile Devices

Uloženo v:
Podrobná bibliografie
Název: The IoRT-in-Hand: Tele-Robotic Echography and Digital Twins on Mobile Devices
Autoři: Juan Bravo-Arrabal, Zhuoqi Cheng, J. J. Fernández-Lozano, Jose Antonio Gomez-Ruiz, Christian Schlette, Thiusius Rajeeth Savarimuthu, Anthony Mandow, Alfonso García-Cerezo
Zdroj: RIUMA. Repositorio Institucional de la Universidad de Málaga
Universidad de Málaga
Informace o vydavateli: MDPI AG, 2025.
Rok vydání: 2025
Témata: Android, Tele-operation, Cloud robotics, Internet de los objetos, Medicina - Material y equipo, Informática en la nube, Ingeniería biomédica, Robótica, Simulación por ordenador, Digital Twins, Medical instruments
Popis: The integration of robotics and mobile networks (5G/6G) through the Internet of Robotic Things (IoRT) is revolutionizing telemedicine, enabling remote physician participation in scenarios where specialists are scarce, where there is a high risk to them, such as in conflicts or natural disasters, or where access to a medical facility is not possible. Nevertheless, touching a human safely with a robotic arm in non-engineered or even out-of-hospital environments presents substantial challenges. This article presents a novel IoRT approach for healthcare in or from remote areas, enabling interaction between a specialist’s hand and a robotic hand. We introduce the IoRT-in-hand: a smart, lightweight end-effector that extends the specialist’s hand, integrating a medical instrument, an RGB camera with servos, a force/torque sensor, and a mini-PC with Internet connectivity. Additionally, we propose an open-source Android app combining MQTT and ROS for real-time remote manipulation, alongside an Edge–Cloud architecture that links the physical robot with its Digital Twin (DT), enabling precise control and 3D visual feedback of the robot’s environment. A proof of concept is presented for the proposed tele-robotic system, using a 6-DOF manipulator with the IoRT-in-hand to perform an ultrasound scan. Teleoperation was conducted over 2300 km via a 5G NSA network on the operator side and a wired network in a laboratory on the robot side. Performance was assessed through human subject feedback, sensory data, and latency measurements, demonstrating the system’s potential for remote healthcare and emergency applications. The source code and CAD models of the IoRT-in-hand prototype are publicly available in an open-access repository to encourage reproducibility and facilitate further developments in robotic telemedicine.
Druh dokumentu: Article
Jazyk: English
ISSN: 1424-8220
DOI: 10.3390/s25164972
Přístupová URL adresa: https://hdl.handle.net/10630/39813
Rights: CC BY
Přístupové číslo: edsair.doi.dedup.....d4841fb79624436e5ed4c1eead50f7b8
Databáze: OpenAIRE
Popis
Abstrakt:The integration of robotics and mobile networks (5G/6G) through the Internet of Robotic Things (IoRT) is revolutionizing telemedicine, enabling remote physician participation in scenarios where specialists are scarce, where there is a high risk to them, such as in conflicts or natural disasters, or where access to a medical facility is not possible. Nevertheless, touching a human safely with a robotic arm in non-engineered or even out-of-hospital environments presents substantial challenges. This article presents a novel IoRT approach for healthcare in or from remote areas, enabling interaction between a specialist’s hand and a robotic hand. We introduce the IoRT-in-hand: a smart, lightweight end-effector that extends the specialist’s hand, integrating a medical instrument, an RGB camera with servos, a force/torque sensor, and a mini-PC with Internet connectivity. Additionally, we propose an open-source Android app combining MQTT and ROS for real-time remote manipulation, alongside an Edge–Cloud architecture that links the physical robot with its Digital Twin (DT), enabling precise control and 3D visual feedback of the robot’s environment. A proof of concept is presented for the proposed tele-robotic system, using a 6-DOF manipulator with the IoRT-in-hand to perform an ultrasound scan. Teleoperation was conducted over 2300 km via a 5G NSA network on the operator side and a wired network in a laboratory on the robot side. Performance was assessed through human subject feedback, sensory data, and latency measurements, demonstrating the system’s potential for remote healthcare and emergency applications. The source code and CAD models of the IoRT-in-hand prototype are publicly available in an open-access repository to encourage reproducibility and facilitate further developments in robotic telemedicine.
ISSN:14248220
DOI:10.3390/s25164972