Adding a locally rendered ultrasound preview to haptic model-mediated teleoperation removes the effect of up to 1000 ms round-trip delay on operator effort and completion time in a phantom study.
Robotic ultrasound imaging: State-of-the-art and future perspectives,
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Visual-Haptic Model Mediated Teleoperation for Remote Ultrasound
Adding a locally rendered ultrasound preview to haptic model-mediated teleoperation removes the effect of up to 1000 ms round-trip delay on operator effort and completion time in a phantom study.