BioRobotics Lab

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

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Global Telesurgery

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RAVEN Topology

Surgeon Site

Patient Site

Communication Layer

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RAVEN Topology

Surgeon Site Communication Layer Patient Site

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Surgeon Site

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Patient Site

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Communication Layer

• Wireless (UAV)– HAPs/MRT

• Wired– Real Internet– Emulated Internet

• Hybrid (NEEMO)

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High Altitude Platforms for Mobile Robotic Telesurgery (HAPs/MRT)

Collaborators: University of Cincinnati, AeroVironment (Simi Valley, CA) and HaiVision (Toronto, Canada)

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Telesurgery Field Experiment

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

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NASA Extreme Environment Mission Operation (NEEMO) XII

Photos Courtesy of NASA

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NASA Extreme Environment Mission Operation (NEEMO) XII

Key Largo,FL – May 2007Collaborators: University of Cincinnati, NASA, NOAA, NURC

Surgeon Site: Seattle, WA

Patient Site:

Aquarius

Undersea Habitat

maps.google.com

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SAGES Fundamentals of Laparoscopic Surgery (FLS):

Telerobotic FLS

• Standardized task• Creating a methodology

for testing the system and operators under various delay conditions

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Global Telesurgery

• Patient Site: Seattle, WA, USA• Surgeon Site:

– Cincinnati, OH, USA– Imperial College, London, England– Montpellier, France– Tokyo, Japan

• Communication Layer: Commercial Internet

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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

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Summary

• RAVEN Telesurgery System• Portable / deployable• Novel network configurations• Cost effective surgeon console enables

collaboration

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RAVEN Team Members

• 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

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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

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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)

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Questions?