Manipulator control system for remote USG examinantion

The article presents a control algorithm of a robotic manipulator used as the main component of a system for a remote noninvasive medical ultrasound examination. This algorithm has been developed within the ReMeDi (Remote Medical Diagnostician) project. At the beginning of the article, the manipulator kiinematics, its mechanical construction and the control system structure as a part of the telemanipulation system is shown. The essential components of the control system are discussed in detail. Then problems and solutions connected with the generation and conversion of the position and orientation of the reference signals are presented. Finally, the results of the evaluations with users are discussed