In this paper, we introduce a robot-assisted medical diagnostic system that enables remote ultrasound (US) imaging to be applied to the conventional telemedicine, which has been possible only with interviewing or a visual exam. In particular, a master-slave robot system is developed that ultrasonic diagnosis specialist can control the position and orientation of US probe in the remote place. The slave robot is designed to be compact, lightweight, and hand-held so that it can easily transfer to the remote healthcare center. Moreover, 6-degree-of-freedom (DOF) probe motion is possible by the robot design based on Stewart platform. The master device is also based on a similar structure of the slave robot. To connect master and slave system in the wide area network (WAN) environment, a hardware CODEC was developed. In this paper, we introduce the detail of each component and the results of the recent experiments conducted in the remote sites by the developed robotic ultrasound imaging system.

1. 서 론
 2. 로봇 지원 원격초음파 영상진단 시스템
  2.1 시스템 구성
  2.2 슬레이브 로봇
  2.3 마스터 로봇
  2.4 Tele-echography 코덱
 3. 실험결과
  3.1 실험환경
  3.2 원격 로봇제어 및 초음파 영상전송실험
  3.3 마스터-슬레이브 위치추종오차
 4. 고 찰
 5. 결 론
 References

• 서준호(Medical Device Lab. KIMM, Daegu, Korea) | Joonho Seo Corresponding author
• 조장호(Medical Assistive Robot Lab., KIMM. Korea) | Jang Ho Cho
• 권오원(Medical Device Lab. KIMM, Daegu, Korea) | Ohwon Kwon