Latency Analysis of a Haptically-Enabled Robot for Teleoperated Echocardiography

Advancements in ultrasound examination have improved diagnostic accessibility; however, access to this technology and medical expertise in remote regions remains a significant challenge. This thesis explores the use of collaborative robots and haptic technology to facilitate teleoperated echocardiography in remote locations. A comprehensive literature review identified the absence of haptic feedback and the reliance on high-quality network connections in previously developed systems. This research assesses lightweight communication protocols and the impact of network latency on a newly developed Haptically Enabled Robot for Teleoperated Echocardiography (HERTEC). A pilot study with five echocardiographers demonstrated the system's feasibility for future clinical applications.