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Safety Analysis of a Medical Robot for Tele-echography

Among many types of medical equipment, ultrasound diagnostic 
systems are widely used because of their convenience and safety. 
Performing an ultrasound examination involves good eye-hand 
coordination and the ability to integrate the acquired information 
over time and space. Some of these specialized skills may lack in 
some healthcare centers or for emergency situations. 
Tele-consultation is therefore an interesting alternative to 
conventional care. Development of a high performance remote 
diagnostic system, which enables an expert operator at the 
hospital to examine a patient at home, in an emergency vehicle or 
in a remote clinic, may have a very significant added value. 
Therefore a robotic tele-ultrasound system is proposed in order to 
realize the examination in small towns or cities without needing 
highly qualified medical staff. This system for Robotic 
Tele-Echography (TER) is designed and developed by a French 
consortium composed of universities, hospitals and industrials 
companies. In such systems safety is critical. The robot share its 
working area with the operator and have a close interaction with 
the patient. Safe behavior in all circumstances is guaranteed by 
complete management of hazards (their identification, evaluation, 
and control) throughout the life cycle of the system, particularly 
in the early stages. Hence, system safety activities are 
multi-disciplinary and entirely linked with systems theory and 
systems engineering. In this context, pieces of information are 
usually corrupted because of the great number of experts using 
various languages. To handle this issue we studied a safety 
analysis process integrated with one modeling language used for 
systems specification and design. The size, complexity and 
criticality of many of today's robotic applications led us to 
choose object-oriented development and the industrial standard UML 
(Unified Modeling Language) as the language. We also chose UML for 
its fault prevention characteristics, and for its expression power 
in the robotics field.