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手中的 IoRT:移动设备上的电机音响和数字双胞胎

Juan Bravo-Arrabal¹, Zhuoqi Cheng², J J Fernández-Lozano¹

¹Institute for Mechatronics Engineering and Cyber-Physical Systems (IMECH.UMA), University of Malaga, 29071 Malaga, Spain.

Sensors (Basel, Switzerland)

|August 28, 2025

概括

这项研究介绍了 IoRT-in-hand,一个用于远程医疗的新型机器人系统. 它使专家能够远距离进行超声波扫描等程序, 克服地理和安全障碍.

科学领域:

机器人技术
远程医疗
机器人物联网 (IoRT)
5G/6G网络

背景情况:

远程医疗在偏远地区,冲突和灾难中面临挑战,因为专家稀缺和安全风险.
在非临床环境中与机器人系统进行安全的物理交互是远程医疗保健的一个重大障碍.

研究的目的:

为远程医疗提供一种新的IoRT方法,使专家与机器人手的互动成为可能.
推出IoRT手持端效应器和相关的开源安卓应用程序,用于实时远程操作.

主要方法:

开发了手中的 IoRT:一个集成传感器,摄像头和连接的智能终端效应器.
使用MQTT和ROS进行远程控制创建了一个开源的Android应用程序.
实现了带有数字双胞胎的边缘云架构,用于精确控制和3D反.
通过5G网络在2300公里范围内进行了远程机器人超声波扫描.

主要成果:

证明了使用手持系统的6DOF操纵器的成功操作.
在远程超声波程序中实现了精确的控制和3D视觉反.
通过人类反,感官数据和延迟测量来验证性能.

结论:

在远程医疗和应急应用中,手持式IORT系统具有显著的潜力.
开源代码和模型的可用性鼓励机器人远程医疗的可复制性和进一步发展.

关键词:

安卓系统数字双胞胎云计算机器人医疗器械远程操作

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