Résumé
This paper presents a novel architecture applied to a mobile teleoperated medical robotic system: OTELO2 (MObile Tele-Echography using an Ultra-Light RObot); OTELO2 performs a tele-echography at a distance for the benefit of medically isolated sites. First, this paper presents an overview of the OTELO2 teleoperated system. Then, it describes the modular control architecture used and the integration of the teleoperated layer on this multi level architecture. Finally, it presents the communication links used to control this system, as well as some experimental results.