Implementation and evaluation of a bilateral teleoperation with use of wave variables in the ReMeDi system for remote medical examination

摘要

The article presents a bilateral teleoperation architecture with wave variables that has been applied in a new robotic system for remote medical examination. First we discuss specificity of requirements of the ReMeDi medical system with respect to teleoperation architecture and the process of its selection. Then we discuss implementation issues concerning the architecture. Finally we present evaluation results.