This Article Full Text Full Text (PDF) Alert me when this article is cited Alert me if a correction is posted Services Similar articles in this journal Similar articles in PubMed Alert me to new issues of the journal Download to citation manager Citing Articles Citing Articles via HighWire Citing Articles via Google Scholar Google Scholar Articles by Martinelli, T. Articles by Cinquin, P. Search for Related Content PubMed PubMed Citation Articles by Martinelli, T. Articles by Cinquin, P.

Robot-Based Tele-Echography

Clinical Evaluation of the TER System in Abdominal Aortic Exploration

Departments of Radiology (T.M.) and Information and Informatics (P.C.) and Clinical Research Center (J.-L.B.), Grenoble University Hospital, Grenoble, France; Department of Vascular Medicine, Brest University Hospital, Brest, France (L.B.); France Telecom Research and Development, Grenoble, France (F.P.); and Techniques de l’Ingénierie Médicale et de la Complexité–Informatique, Mathématiques et Applications de Grenoble, Unité Mixte de Recherche, Centre National de la Recherche Scientifique–Université Joseph Fourier, Grenoble, France (J.-L.B., E.B., J.T., P.C.).

Address correspondence to Thomas Martinelli, MD, Service Central de Radiologie et Imagerie Médicale, Centre Hospitalier Universitaire de Grenoble, BP 217, 38043 Grenoble Cedex 9, France. E-mail: tmartinelli{at}chu-grenoble.fr

Objective. The TER system is a robot-based tele-echography system allowing remote ultrasound examination. The specialist moves a mock-up of the ultrasound probe at the master site, and the robot reproduces the movements of the real probe, which sends back ultrasound images and force feedback. This tool could be used to perform ultrasound examinations in small health care centers or from isolated sites. The objective of this study was to prove, under real conditions, the feasibility and reliability of the TER system in detecting abdominal aortic and iliac aneurysms. Methods. Fifty-eight patients were included in 2 centers in Brest and Grenoble, France. The remote examination was compared with the reference standard, the bedside examination, for aorta and iliac artery diameter measurement, detection and description of aneurysms, detection of atheromatosis, the duration of the examination, and acceptability. Results. All aneurysms (8) were detected by both techniques as intramural thrombosis and extension to the iliac arteries. The interobserver correlation coefficient was 0.982 (P < .0001) for aortic diameters. The rate of concordance between 2 operators in evaluating atheromatosis was 84% ± 11% (95% confidence interval). Conclusions. Our study on 58 patients suggests that the TER system could be a reliable, acceptable, and effective robot-based system for performing remote abdominal aortic ultrasound examinations. Research is continuing to improve the equipment for general abdominal use.

Key Words: abdominal cavity • aorta • remote operations • ultrasound

Abbreviations: AAA, abdominal aortic aneurysm

This article has been cited by other articles:

				A. Krupa, G. Fichtinger, and G. D. Hager Real-time Motion Stabilization with B-mode Ultrasound Using Image Speckle Information and Visual Servoing The International Journal of Robotics Research, October 1, 2009; 28(10): 1334 - 1354. [Abstract] [PDF]