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.

 

The Raven has been used in two significant field experiments (HAPs/MRT and NEEMO XII), one animal experiment, and several teleoperation experiments (including PlugFest 2009).

 

 

Images

 

Raven

Raven - The University of Washington Surgical Robot

 

HAPs/MRT

HAPs/MRT, June 2006

 

First suture

First knot tied with the Raven, June 2006

 

NEEMO

NEEMO XII, May 2007

 

 

 

 

Publications (*)

 

(*) 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.

 

[232]  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.

 

[227]  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.

 

[226]  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.

 

[224]  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.

 

[216]  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.

 

[215]  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.

 

[213]  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.

 

[206]  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.

 

[203]  J. Rosen, B. Hannaford, 'Doc at a Distance,' IEEE Spectrum, pp. 34-39, October 2006.

 

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.

 

[193]  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.

 

[191]  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.

 

[190]  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.

 

[189]  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.

 

[188]  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.

 

[175]  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.