Control of mobile robot for remote medical examination: Design concepts and users' feedback from experimental studies

摘要

In this article we discuss movement control of a ReMeDi medical mobile robot from the user perspective. The control is essentially limited to the level of operator actions where the operator is a member of a nursing staff. Two working modes are the base of considerations: long distance (LD) and short distance (SD) movement. In this context two robot control techniques are the subject of study: manual with use of a gamepad and “point and click” on a map that is related to autonomous motion with use of an onboard navigation system. In the SD mode the user manually operates the robot, that is close to a laying down patient on a settee. In the LD mode the mobile base moves autonomously in a space shared with people to the desired position. Two user studies were conducted. The results show that from the perspective of LD mode the autonomous navigation is efficient and reduces the burden of the medical personnel. In the SD case, the results show that the users were able to precisely position the robot. Besides, the users perceived the manual control with the gamepad as intuitive. In all cases the medical personnel consider this technology as safe and useful. Safety is also confirmed by patients.