OBJECTIVE. The purpose of this study was to design and validate a method of performing sonography between an expert center and an isolated site. A sonography probe is held on the patient by a robotic arm and remotely controlled from the expert's center. The robotic arm reproduces all the movements of the expert's dummy probe on the patient probe. The system was tested on 87 patients at our hospital.CONCLUSION. Robotic telesonography can be used for reliable diagnosis without moving the patient. No false diagnoses were made in this study. A bandwidth of 250 Kbps via integrated services digital network or satellite is required for reliable diagnosis. Such a system can provide diagnostic information that is currently unavailable in isolated or inaccessible areas and on rescue vehicles.

Ultrasound examinations represent one of the major diagnostic modalities of future healthcare. They are currently used to support medical space research but require a high skilled operator for both probe positioning on the patient's skin and image interpretation. TERESA is a tele‐echography project that proposes a solution to bring astronauts and remotely located patients on ground quality ultrasound examinations despite the lack of a specialist at the location of the wanted medical act.

In this paper, we provide a new generalized kinematic formulation of the Remote Center of Motion (RCM) constraint for serial robotic arms to be useful for implementation in torque-controlled robots. A minimally invasive surgery assisted by a serial robot could be used for inserting a surgical tool through a desired insertion position, i.e. trocar position. The restricted movement caused by the trocar, i.e. the RCM constraint, must be guaranteed by the robotic system in order to avoid injury to the patient. The generalized formulation, presented in this paper, associates the task-space with the RCM constraint coordinates, which are described by the minimum distance between the surgical tool and the trocar position. In order to simultaneously achieve the surgical tool-tip trajectory and the RCM constraint, two control methods are proposed and compared, one using a projection in the null-space, the other by combining both tasks using a task-space augmentation method. Moreover, when additional lower priority tasks have to be implemented in the null-space of the two higher priority tasks, the kinematic formulation simplifies the calculation of the null-space projectors. Furthermore, unlike the previous studies, the formulation represented can be applied not only in a kinematic control but also in a dynamic control approach. Simulations were conducted to validate effectiveness of the proposed formulation, using a planar 4-DOF system as well as the dynamic model of a Kuka LBR 7 iiwa R800 robot arm.