Table 1.

Comparison of different complete systems for tele-operated ultrasound scan procedures.

Reference	Main features	Limitations	Clinical/medical applications
Tang et al. [6]	Coordination of heterogeneous master-slave structure	Delays not included in the control law	General applications
Masuda et al. [7]	Wireless tele-echography	Specialized personnel needed to place the robot	General applications
Krebs et al. [8]	Therapy optimization	Specific rehabilitation task	Stroke rehabilitation
Gourdon et al. [9]	High-precision slave system with pneumatic artificial muscles	Limited speed	General applications
Salcudean et al. [11, 12]	Ergonomic interfaces	Lack of 3D image reconstruction	Carotid artery
Mathiasen et al. [13]	Force, haptic, and position control; high real-time performance	Preliminary user interface	General applications
Vilchis et al. [14]	Light-weight autonomous robot	Lack of force feedback	Abdomen
Fjellin et al. [15]	Haptic feedback	No in vivo testing	General applications
Arbeille et al. [16]	Good real-time performance over slower teleconnections	Longer examination sessions	Fetal analysis
Bruyere et al. [17]	Reliable remote operations	Discomfortable setup for the operator	Renal biopsy
Huang et al. [20]	Imitation learning of clinical procedures	Environment scanning performed off-line	Carotid artery