Raven: A Surgical Robot System for Open and Minimally Invasive Surgery
The Raven Surgical Robot is a 7-DOF cable-actuated surgical manipulator designed for use in either MIS or open surgery. The surgical robotic system is teleoperated using a single bi-directional UDP socket via a remote master device. The Raven was designed using a spherical mechanism to ensure a stationary port location for MIS, and force/torque data collected by the BlueDRAGON system allowed us to optimize the design based on surgical need. Our use of a low-cost, portable control station (which consists of two Phantom Omnis, a USB foot pedal, a computer for data transmission, and a computer for Skype/iChat) easily allows us to perform teleoperation experiments around the globe.
Raven - The University of Washington Surgical Robot
HAPs/MRT, June 2006
First knot tied with the Raven, June 2006
NEEMO XII, May 2007
(*) Note: Most of the BRL publications are available on-line in a PDF format. Click on the publication's reference number or title to link to the individual manuscript.
 H. Hawkeye King, Blake Hannaford, Ka-Wai Kwok, Guang-Zhong Yang, Paul Griffiths, Allison Okamura, Ildar Farkhatdinov, Jee-Hwan Ryu, Ganesh Sankaranarayanan, Venkata Arikatla, Kotaro Tadano, Kenji Kawashima, Angelika Peer, Thomas Schau, Martin Buss, Levi Miller, Daniel Glozman, Jacob Rosen, Thomas Low, 'Plugfest 2009: Global Interoperability in Telerobotics and Telemedicine,' International Conference on Robotics and Automation, ICRA 2010, May 2010.
 H.H. King, K. Tadano, R. Donlin, D. Friedman, M.J.H. Lum, V. Asch, C. Wang, K. Kawashima, B. Hannaford, 'Preliminary protocol for interoperable telesurgery,' Advanced Robotics, 2009. ICAR 2009. International Conference on, pp. 1-6, 22-26 June 2009.
 M.J.H. Lum, J. Rosen, H. H. King, D.W. Friedman, T.S. Lendvay, A. S. Wright, M.N. Sinanan, B. Hannaford, 'Teleoperation in Surgical Robotics - Network Latency Effects on Surgical Performance,' Proceedings,31st Annual International Conference of the IEEE EMBS, Minneapolis, Minnesota, USA, September 2-6, 2009.
 M.J.H. Lum, J. Rosen, T.S. Lendvay, M.N. Sinanan, B. Hannaford, 'Effect of Time Delay on TeleSurgical Performance,' IEEE International Conference on Robotics and Automation (ICRA), 2009.
 M.J.H. Lum, D.C.W. Friedman, G. Sankaranarayanan, H. King, A. Wright, M. Sinanan, T. Lendvay, J. Rosen, B. Hannaford, 'Objective Assessment of Telesurgical Robot Systems: Telerobotic FLS,' Proceedings, Medicine Meets Virtual Reality (MMVR), Long Beach, CA, 29-Jan --- 1-Feb, 2008.
 M.J.H Lum, J. Rosen, H. King, D.C.W. Friedman, G. Donlin, G. Sankaranarayanan, B. Harnett, L. Huffnam, C. Doarn, T. Broderick, B. Hannaford, 'Telesurgery Via Unmanned Aerial Vehicle (UAV) with a Field Deployable Surgical Robot,' Proceedings, Medicine Meets Virtual Reality (MMVR), Long Beach, CA, 2007.
 G. Sankaranarayanan, H. King, S.Y. Ko, M.J.H Lum, D.C.W. Friedman, J. Rosen, B. Hannaford, 'Portable Surgery Master Station for Mobile Robotic Telesurgery,' Proceedings of Robocom 2007, Athens, Greece, October 2007.
 M.H. Lum, D.C.W. Friedman, H.H. King, T. Broderick, M.N. Sinanan, J. Rosen, B. Hannaford, 'Field Operation of a Surgical Robot via Airborne Wireless Radio Link,' IEEE Int. Conf. on Field and Service Robotics, 2007.
M.J.H. Lum, J. Rosen, M.N. Sinanan, B. Hannaford, 'Optimization of a Spherical Mechanism for a Minimally Invasive Surgical Robot: Theoretical and Experimental Approaches,' IEEE Transactions on Biomedical Engineering, Vol. 53, No. 7, pp. 1440-1445, July 2006.
 M.J.H. Lum, D. Trimble, J. Rosen, H. King, G. Sankarayanaranan, J. Dosher, R. Leuschke, B Martin-Anderson, M.N. Sinanan, B. Hannaford, 'Multidisciplinary approach for developing a new minimally invasive surgical robot system,' Proceedings of the 2006 BioRob Conference, Pisa, Italy, February, 2006.
 K. Fodero, H. King, M. J.H. Lum, C. Bland, J. Rosen, M.N. Sinanan, B. Hannaford, 'Control System Architecture for a Minimally Invasive Surgical Robot,' Proceedings of Medicine Meets Virtual Reality, pp. 156-158, Long Beach, CA, January 2006.
 M.J.H. Lum, D. Warden, J. Rosen, M.N. Sinanan, B. Hannaford, 'Hybrid analysis of a spherical mechanism for a minimally invasive surgical (MIS) robot - design concepts for multiple optimizations,' Proceedings of Medicine Meets Virtual Reality, pp. 349-354, Long Beach, CA, January 2006.
 M.J.H. Lum, J. Rosen, M. N. Sinanan, B. Hannaford, 'Kinematic Optimization of Serial and Parallel Spherical Mechanism for a Minimally Invasive Surgical Robot,' IEEE Transactions on Biomedical Engineering, vol. 53, pp. 1440-1445, July 2006.
 J. Rosen, M. Lum, D. Trimble, B. Hannaford, M. Sinanan, 'Spherical Mechanism Analysis of a Surgical Robot for Minimally Invasive Surgery - Analytical and Experimental Approaches,' Medicine Meets Virtual Reality, (MMVR05), vol. 111, pp. 422-428, IOS Press, January, 2005.
 M.J.H. Lum, J. Rosen, M. Sinanan, B. Hannaford, 'Kinematic optimization of a spherical mechanism for a minimally invasive surgical robot.,' Proc. IEEE International Conference on Robotics and Automation, New Orleans, La, May 2004.