Development of a mobile platform for a remote medical teleoperation robot

The paper presents a development of a mobile platform for a robot dedicated for remote USG examination. The design process uses a component based approach for system development and platform functions are implemented within the Xenomai-OROCOS-ROS (XOR) software framework. The paper presents how the testbed platform Carol evolved to the new ReMeDi platform prototype and elaborates the new low level controller and changes in mechanical and sensory systems.