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RAVEN – A Surgical Robot for Teleoperation

RAVEN – A Surgical Robot for Teleoperation. Mitchell Lum 1 , Jacob Rosen 1 , Timothy Broderick 2 , Mika Sinanan 1 , Blake Hannaford 1 1 University of Washington, Seattle WA 2 University of Cincinnati, Cincinnati OH American Telemedicine Association Meeting April 8, 2008. Global Telesurgery.

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RAVEN – A Surgical Robot for Teleoperation

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  1. RAVEN – A Surgical Robot for Teleoperation Mitchell Lum1, Jacob Rosen1, Timothy Broderick2, Mika Sinanan1, Blake Hannaford1 1University of Washington, Seattle WA 2University of Cincinnati, Cincinnati OH American Telemedicine Association Meeting April 8, 2008

  2. Global Telesurgery

  3. RAVEN Topology Communication Layer Surgeon Site Patient Site

  4. RAVEN Topology Surgeon Site Communication Layer Patient Site

  5. Surgeon Site

  6. Patient Site

  7. Communication Layer • Wireless (UAV) • HAPs/MRT • Wired • Real Internet • Emulated Internet • Hybrid (NEEMO)

  8. High Altitude Platforms for Mobile Robotic Telesurgery (HAPs/MRT) Collaborators: University of Cincinnati, AeroVironment (Simi Valley, CA) and HaiVision (Toronto, Canada)

  9. Telesurgery Field Experiment • Simi Valley, CA – May 2006 • Surgeon and Patient sites separated by 100m • SUAV with DDL flying 1km away

  10. NASA Extreme Environment Mission Operation (NEEMO) XII Photos Courtesy of NASA

  11. NASA Extreme Environment Mission Operation (NEEMO) XII Patient Site: Aquarius Undersea Habitat Surgeon Site: Seattle, WA maps.google.com Key Largo,FL – May 2007 Collaborators: University of Cincinnati, NASA, NOAA, NURC

  12. SAGES Fundamentals of Laparoscopic Surgery (FLS):Telerobotic FLS • Standardized task • Creating a methodology for testing the system and operators under various delay conditions

  13. Global Telesurgery • Patient Site: Seattle, WA, USA • Surgeon Site: • Cincinnati, OH, USA • Imperial College, London, England • Montpellier, France • Tokyo, Japan • Communication Layer: Commercial Internet

  14. Current Work:Emulated Telesurgery • Patient Site: Seattle, WA, USA • Surgeon Site: Seattle, WA, USA • Communication Layer • Commercial Internet with packet reflector at remote sites • Intranet with NISTNET network emulator • TeleRobotic FLS • Effects of delay on task performance

  15. Summary • RAVEN Telesurgery System • Portable / deployable • Novel network configurations • Cost effective surgeon console enables collaboration

  16. Faculty Blake Hannaford Jacob Rosen Mika Sinanan (Surgery) Andrew Wright (Surgery) Thomas Lendvay (Surgery) Electrical Engineers Mitch Lum Ken Fodero Hawkeye King Ganesh Sankanarayanan Jesse Dosher Mechanical Engineers Denny Trimble Diana Friedman Rainer Leuschke Shane Draney Brandon Martin-Anderson BioEngineer Smita De Undergraduates Gina Donlin Clint Bland Kathryn Ng Wes Paul Lauren Potter Lisa Oh RAVEN Team Members

  17. Collaborators • University of Cincinnati, Center for Surgical Innovation – Timothy Broderick, Brett Harnett, Charles Doarn • Imperial College London – Sir Ara Darzai, Julian Leong • Tokyo Institute of Technology – Kenji Kawashima

  18. Acknowledgements • Funding sources • US Army MRMC Grant number DAMD17-02-1-0202 (RAVEN Development) • US Army MRMC Grant number W81XW-05-2-0080 (HAPs/MRT) • US Army TATRC Grant number W81XWH-07-2-0039 (NEEMO XII)

  19. Questions?

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