{"id":"https://openalex.org/W4415968365","doi":"https://doi.org/10.1109/tbme.2025.3628169","title":"Teleoperation Architectures for Remote Ultrasound Diagnostic Imaging: A Systematic Review","display_name":"Teleoperation Architectures for Remote Ultrasound Diagnostic Imaging: A Systematic Review","publication_year":2025,"publication_date":"2025-11-06","ids":{"openalex":"https://openalex.org/W4415968365","doi":"https://doi.org/10.1109/tbme.2025.3628169","pmid":"https://pubmed.ncbi.nlm.nih.gov/41196781"},"language":"en","primary_location":{"id":"doi:10.1109/tbme.2025.3628169","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2025.3628169","pdf_url":null,"source":{"id":"https://openalex.org/S5240358","display_name":"IEEE Transactions on Biomedical Engineering","issn_l":"0018-9294","issn":["0018-9294","1558-2531"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Biomedical Engineering","raw_type":"journal-article"},"type":"review","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5119688971","display_name":"Eleonora Storto","orcid":null},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Eleonora Storto","raw_affiliation_strings":["Scuola Superiore Sant'Anna, IIM Institute, PERCRO Laboratory, Italy","IIM Institute, PERCRO Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy"],"raw_orcid":"https://orcid.org/0009-0005-0269-3239","affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant'Anna, IIM Institute, PERCRO Laboratory, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"IIM Institute, PERCRO Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089138290","display_name":"Massimiliano Solazzi","orcid":"https://orcid.org/0000-0002-9053-2814"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Massimiliano Solazzi","raw_affiliation_strings":["Scuola Superiore Sant'Anna, IIM Institute, PERCRO Laboratory, Italy","IIM Institute, PERCRO Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-9053-2814","affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant'Anna, IIM Institute, PERCRO Laboratory, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"IIM Institute, PERCRO Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004669992","display_name":"Mario Meola","orcid":"https://orcid.org/0000-0002-1330-2820"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mario Meola","raw_affiliation_strings":["Scuola Superiore Sant'Anna, Interdisciplinary Research Center Health Science, Italy","Interdisciplinary Research Center Health Science, Scuola Superiore Sant'Anna, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant'Anna, Interdisciplinary Research Center Health Science, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Interdisciplinary Research Center Health Science, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090204404","display_name":"Antonio Frisoli","orcid":"https://orcid.org/0000-0002-7126-4113"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Frisoli","raw_affiliation_strings":["Scuola Superiore Sant'Anna, IIM Institute, PERCRO Laboratory, Italy","IIM Institute, PERCRO Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-7126-4113","affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant'Anna, IIM Institute, PERCRO Laboratory, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"IIM Institute, PERCRO Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056421977","display_name":"Francesco Porcini","orcid":"https://orcid.org/0000-0001-9263-9423"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Porcini","raw_affiliation_strings":["Scuola Superiore Sant'Anna, IIM Institute, PERCRO Laboratory, Pisa, Italy","IIM Institute, PERCRO Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-9263-9423","affiliations":[{"raw_affiliation_string":"Scuola Superiore Sant'Anna, IIM Institute, PERCRO Laboratory, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"IIM Institute, PERCRO Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13157895,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"73","issue":"6","first_page":"2266","last_page":"2290"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.5995000004768372,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.5995000004768372,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.1875,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.040300000458955765,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9839000105857849},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.6409000158309937},{"id":"https://openalex.org/keywords/remote-control","display_name":"Remote control","score":0.6252999901771545},{"id":"https://openalex.org/keywords/enabling","display_name":"Enabling","score":0.5918999910354614},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.5737000107765198},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.43470001220703125},{"id":"https://openalex.org/keywords/situation-awareness","display_name":"Situation awareness","score":0.3693000078201294}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9839000105857849},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.6409000158309937},{"id":"https://openalex.org/C557691694","wikidata":"https://www.wikidata.org/wiki/Q185091","display_name":"Remote control","level":2,"score":0.6252999901771545},{"id":"https://openalex.org/C22607594","wikidata":"https://www.wikidata.org/wiki/Q5375150","display_name":"Enabling","level":2,"score":0.5918999910354614},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.5737000107765198},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5023999810218811},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.43470001220703125},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42649999260902405},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3824999928474426},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.37220001220703125},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.3693000078201294},{"id":"https://openalex.org/C2778697102","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Remote operation","level":2,"score":0.35749998688697815},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.3407999873161316},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3127000033855438},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29910001158714294},{"id":"https://openalex.org/C2779433544","wikidata":"https://www.wikidata.org/wiki/Q1435226","display_name":"Focal point","level":3,"score":0.2743000090122223},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.265500009059906},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.25529998540878296}],"mesh":[{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D014463","descriptor_name":"Ultrasonography","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D017216","descriptor_name":"Telemedicine","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D017216","descriptor_name":"Telemedicine","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/tbme.2025.3628169","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2025.3628169","pdf_url":null,"source":{"id":"https://openalex.org/S5240358","display_name":"IEEE Transactions on Biomedical Engineering","issn_l":"0018-9294","issn":["0018-9294","1558-2531"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Biomedical Engineering","raw_type":"journal-article"},{"id":"pmid:41196781","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41196781","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on bio-medical engineering","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":147,"referenced_works":["https://openalex.org/W109134981","https://openalex.org/W141080641","https://openalex.org/W348184174","https://openalex.org/W1490889509","https://openalex.org/W1495680117","https://openalex.org/W1497649814","https://openalex.org/W1505970144","https://openalex.org/W1514115716","https://openalex.org/W1545056519","https://openalex.org/W1560270123","https://openalex.org/W1616774381","https://openalex.org/W1828942287","https://openalex.org/W1844544975","https://openalex.org/W1864642745","https://openalex.org/W1915660912","https://openalex.org/W1981497699","https://openalex.org/W1982413096","https://openalex.org/W1984343324","https://openalex.org/W1991430373","https://openalex.org/W1991609752","https://openalex.org/W1993187570","https://openalex.org/W2001852229","https://openalex.org/W2010468633","https://openalex.org/W2017526676","https://openalex.org/W2021188950","https://openalex.org/W2039066312","https://openalex.org/W2040432936","https://openalex.org/W2040782467","https://openalex.org/W2040921290","https://openalex.org/W2044932992","https://openalex.org/W2047607111","https://openalex.org/W2049091883","https://openalex.org/W2049665714","https://openalex.org/W2062234424","https://openalex.org/W2068466196","https://openalex.org/W2068959882","https://openalex.org/W2084497846","https://openalex.org/W2088494991","https://openalex.org/W2093421175","https://openalex.org/W2102478729","https://openalex.org/W2105327045","https://openalex.org/W2105846955","https://openalex.org/W2107207454","https://openalex.org/W2108248639","https://openalex.org/W2112412672","https://openalex.org/W2112445935","https://openalex.org/W2116479304","https://openalex.org/W2116485977","https://openalex.org/W2120415087","https://openalex.org/W2124237013","https://openalex.org/W2136570877","https://openalex.org/W2153000091","https://openalex.org/W2153152017","https://openalex.org/W2153631465","https://openalex.org/W2157998325","https://openalex.org/W2160889368","https://openalex.org/W2161006934","https://openalex.org/W2161169257","https://openalex.org/W2163460068","https://openalex.org/W2166093761","https://openalex.org/W2167751982","https://openalex.org/W2168660446","https://openalex.org/W2170375828","https://openalex.org/W2170920199","https://openalex.org/W2234489554","https://openalex.org/W2254101695","https://openalex.org/W2257714808","https://openalex.org/W2313149896","https://openalex.org/W2331581852","https://openalex.org/W2399346363","https://openalex.org/W2413660198","https://openalex.org/W2418276022","https://openalex.org/W2505182285","https://openalex.org/W2509798008","https://openalex.org/W2519306777","https://openalex.org/W2574693611","https://openalex.org/W2576925929","https://openalex.org/W2578665077","https://openalex.org/W2585532967","https://openalex.org/W2615362058","https://openalex.org/W2622521812","https://openalex.org/W2744328197","https://openalex.org/W2757200099","https://openalex.org/W2785994810","https://openalex.org/W2793044430","https://openalex.org/W2800804068","https://openalex.org/W2802836574","https://openalex.org/W2888498207","https://openalex.org/W2900971800","https://openalex.org/W2964934958","https://openalex.org/W2967172566","https://openalex.org/W2967896911","https://openalex.org/W2968479145","https://openalex.org/W2972913398","https://openalex.org/W3003690254","https://openalex.org/W3011402831","https://openalex.org/W3017340315","https://openalex.org/W3018732852","https://openalex.org/W3020896116","https://openalex.org/W3045712631","https://openalex.org/W3082132120","https://openalex.org/W3092780268","https://openalex.org/W3092867968","https://openalex.org/W3094155404","https://openalex.org/W3108053057","https://openalex.org/W3121663886","https://openalex.org/W3149045941","https://openalex.org/W3157010837","https://openalex.org/W3184995551","https://openalex.org/W3185513125","https://openalex.org/W3196889839","https://openalex.org/W4206199244","https://openalex.org/W4211115048","https://openalex.org/W4213060782","https://openalex.org/W4235959777","https://openalex.org/W4252590972","https://openalex.org/W4282918440","https://openalex.org/W4282935917","https://openalex.org/W4285730963","https://openalex.org/W4288738263","https://openalex.org/W4293173904","https://openalex.org/W4293704400","https://openalex.org/W4306827115","https://openalex.org/W4312244152","https://openalex.org/W4312398179","https://openalex.org/W4317383781","https://openalex.org/W4317517871","https://openalex.org/W4366968055","https://openalex.org/W4383108658","https://openalex.org/W4384132543","https://openalex.org/W4386797365","https://openalex.org/W4386873889","https://openalex.org/W4387618024","https://openalex.org/W4389778127","https://openalex.org/W4390787987","https://openalex.org/W4390873692","https://openalex.org/W4394570857","https://openalex.org/W4400275476","https://openalex.org/W4400473067","https://openalex.org/W4403111614","https://openalex.org/W4404247107","https://openalex.org/W4404467056","https://openalex.org/W4404849586","https://openalex.org/W4406707204","https://openalex.org/W4406729815","https://openalex.org/W4407101313","https://openalex.org/W4410808733"],"related_works":[],"abstract_inverted_index":{"Teleultrasound":[0],"is":[1,61,87],"a":[2,30,47,110,157],"promising":[3],"application":[4],"of":[5,33,38,50,65,84,90,114,125,144],"telemedicine,":[6],"enabling":[7],"remote":[8,39,145,167],"diagnostic":[9],"imaging":[10],"through":[11],"teleoperated":[12],"systems.":[13],"While":[14],"previous":[15],"reviews":[16],"have":[17],"addressed":[18],"various":[19],"aspects":[20],"such":[21],"as":[22],"clinical":[23],"applications,":[24],"autonomy":[25],"levels,":[26],"or":[27],"assistive":[28],"functionalities,":[29],"systematic":[31],"analysis":[32],"teleoperation":[34,57],"architectures-the":[35],"core":[36],"enabler":[37],"manipulation":[40],"and":[41,67,79,93,104,142,150,162],"feedback-remains":[42],"lacking.":[43],"This":[44],"paper":[45],"presents":[46],"comprehensive":[48,111],"review":[49,86,133],"thirty-nine":[51],"teleultrasound":[52],"systems,":[53],"focusing":[54],"specifically":[55,108],"on":[56,165],"architectures.":[58],"Each":[59],"system":[60,91],"examined":[62],"in":[63,98],"terms":[64],"leader":[66],"follower":[68],"design,":[69],"control":[70,105],"strategies,":[71],"force-feedback":[72],"implementation,":[73,106],"time":[74],"delay":[75],"handling,":[76],"communication":[77],"infrastructure,":[78],"anatomical":[80],"targets.":[81],"The":[82],"aim":[83],"this":[85,130],"the":[88,117,123,126,132,140],"evaluation":[89,118],"transparency":[92],"stability,":[94],"analyzed":[95],"not":[96],"only":[97],"relation":[99],"to":[100],"devices'":[101],"mechanical":[102],"design":[103],"but":[107],"from":[109],"architectural":[112,136],"point":[113],"view.":[115],"Also,":[116],"critically":[119,138],"takes":[120],"into":[121],"account":[122],"realism":[124],"test":[127],"conditions.":[128],"Through":[129],"lens,":[131],"shows":[134],"how":[135],"choices":[137],"shape":[139],"performance":[141],"safety":[143],"ultrasound":[146,168],"interactions.":[147],"Open":[148],"challenges":[149],"future":[151],"directions":[152],"are":[153],"also":[154],"discussed,":[155],"offering":[156],"reference":[158],"framework":[159],"for":[160],"researchers":[161],"developers":[163],"working":[164],"next-generation":[166],"technologies.":[169]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-06T00:00:00"}