This Article Full Text (PDF) All Versions of this Article: 0278364909101795v1 28/9/1183    most recent References Alert me when this article is cited Alert me if a correction is posted Services Email this article to a friend Similar articles in this journal Alert me to new issues of the journal Add to Saved Citations Download to citation manager Request Permissions Request Reprints Add to My Marked Citations Citing Articles Citing Articles via Scopus Google Scholar Articles by Lum, M. J. H. Articles by Sinanan, M. N. Social Bookmarking                         What's this?

The RAVEN: Design and Validation of a Telesurgery System

Department of Electrical Engineering, BioRobotics Lab University of Washington, Seattle, WA 98195, USA, mitchlum{at}u.washington.edu

Diana C. W. Friedman

Department of Electrical Engineering, BioRobotics Lab University of Washington, Seattle, WA 98195, USA, dwarden{at}u.washington.edu

Ganesh Sankaranarayanan

Department of Electrical Engineering, BioRobotics Lab University of Washington, Seattle, WA 98195, USA, ganeshs{at}u.washington.edu

Hawkeye King

Department of Electrical Engineering, BioRobotics Lab University of Washington, Seattle, WA 98195, USA, hawkeyel{at}u.washington.edu

Kenneth Fodero

Department of Electrical Engineering, BioRobotics Lab University of Washington, Seattle, WA 98195, USA, kfodero{at}u.washington.edu

Rainer Leuschke

Department of Electrical Engineering, BioRobotics Lab University of Washington, Seattle, WA 98195, USA, rainer{at}u.washington.edu

Blake Hannaford

Department of Electrical Engineering, BioRobotics Lab University of Washington, Seattle, WA 98195, USA, blake{at}u.washington.edu

Jacob Rosen

Department of Computer Engineering Baskin School of Engineering University of California Santa Cruz, CA 95064, USA, rosen{at}ucsc.edu, rosen{at}u.washington.edu

Mika N. Sinanan

Department of Surgery, Center for Video Endoscopic Surgery, University of Washington, Seattle, WA 98195, USA, mssurg{at}u.washington.edu

The collaborative effort between fundamental science, engineering and medicine provides physicians with improved tools and techniques for delivering effective health care. Minimally invasive surgery (MIS) techniques have revolutionized the way a number of surgical procedures are performed. Recent advances in surgical robotics are once again revolutionizing MIS interventions and open surgery. In an earlier research endeavor, 30 surgeons performed 7 different MIS tasks using the Blue Dragon system to collect measurements of position, force, and torque on a porcine model. This data served as the foundation for a kinematic optimization of a spherical surgical robotic manipulator. Following the optimization, a seven-degree-of-freedom cable-actuated surgical manipulator was designed and integrated, providing all degrees of freedom present in manual MIS as well as wrist joints located at the surgical end-effector. The RAVEN surgical robot system has the ability to teleoperate utilizing a single bi-directional UDP socket via a remote master device. Preliminary telesurgery experiments were conducted using the RAVEN. The experiments illustrated the system’s ability to operate in extreme conditions using a variety of network settings.

Key Words: surgical robot • telesurgery • mobile robotic telesurgery • kinematic optimization • minimally invasive surgery • teleoperation • FLS • task performance • human machine interface • time delay • surgical stills

This version was published on September 1, 2009

The International Journal of Robotics Research, Vol. 28, No. 9, 1183-1197 (2009)
DOI: 10.1177/0278364909101795


CiteULike    Complore    Connotea    Del.icio.us    Digg    Reddit    Technorati    Twitter    What's this?