Fig. 2.

Performance of robot-assisted teleultrasound based on the 5G network. (a) Doctors on the doctor side are manipulating a handheld controller, which can control the robotic arm. The duplicate control panel is used to adjust all the settings such as gain, depth, focus, and so on, as is performed on a real-ultrasound instrument. The screen is displaying ultrasonic images, and is monitoring the activities of the robotic arm and the probe. (b) Patient is receiving robotic lung ultrasound in the isolation ward, where there is no ultrasound specialist.