Predictor Display in Robotic Teleoperation over Internet

A robotic tele-drill system is constructed based on a robotic telesurgery system. The system is in client/server structure. Client part includes main control interface and video, audio interface and predictive display interface. Server part includes robot control server and video, audio server. For applying into teleoperation, a virtual reality environment of robotic system developed by using JAVA, JAVA 3D and PRO/E etc is finished. The geometry and kinematics model of serial robot MOTOMAN sv3x, parallel robot, C-type arm and X-ray machine, surgery bed and its work environment are fulfilled in it. Simulation engine and its simulation syntax are finished, which made the environment controllable. This environment is used as a new type predictive display interface in the telerobotics in order to tackle the problem in visual feedback as ambiguous or time delay. Experiments that verified feasible of the system have been done