Raven-II: An Open Platform for Surgical Robotics Research

Author

Hannaford, Blake ; Rosen, Jacob ; Friedman, D.W. ; King, H. ; Roan, P. ; Lei Cheng ; Glozman, D. ; Ji Ma ; Kosari, S.N. ; White, L.

Author_Institution

Biorobotics Lab., Univ. of Washington, Seattle, WA, USA

Volume

60

Issue

4

fYear

2013

fDate

Apr-13

Firstpage

954

Lastpage

959

Abstract

The Raven-II is a platform for collaborative research on advances in surgical robotics. Seven universities have begun research using this platform. The Raven-II system has two 3-DOF spherical positioning mechanisms capable of attaching interchangeable four DOF instruments. The Raven-II software is based on open standards such as Linux and ROS to maximally facilitate software development. The mechanism is robust enough for repeated experiments and animal surgery experiments, but is not engineered to sufficient safety standards for human use. Mechanisms in place for interaction among the user community and dissemination of results include an electronic forum, an online software SVN repository, and meetings and workshops at major robotics conferences.

Keywords

computerised instrumentation; medical computing; medical robotics; position control; public domain software; surgery; 3-DOF spherical positioning mechanisms; DOF instruments; Raven-II software; Raven-II system; animal surgery experiments; electronic forum; online software SVN repository; open platform; open standards; safety standards; software development; surgical robotics; user community; Animals; Educational institutions; Hardware; Instruments; Robots; Software; Surgery; Open source; research platform; surgical robot; Biomedical Research; Equipment Design; Humans; Internet; Robotics; Software; Surgery, Computer-Assisted;

fLanguage

English

Journal_Title

Biomedical Engineering, IEEE Transactions on

Publisher

ieee

ISSN

0018-9294

Type

jour

DOI

10.1109/TBME.2012.2228858

Filename

6363574