Portable Surgery Master Station for Mobile Robotic Telesurgery

Ganesh Sankaranarayanan; Hawkeye I King; Seong-Young Ko; Mitchell J.H. Lum; Diana C.W. Friedman; Jacob Rosen; Blake Hannaford

1st International ICST Conference on Robot Communication and Coordination

Research Article

Portable Surgery Master Station for Mobile Robotic Telesurgery

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@INPROCEEDINGS{10.4108/ICST.ROBOCOMM2007.2217,
    author={Ganesh Sankaranarayanan and Hawkeye I King and Seong-Young Ko and Mitchell J.H. Lum and Diana C.W. Friedman and Jacob Rosen and Blake Hannaford},
    title={Portable Surgery Master Station for Mobile Robotic Telesurgery},
    proceedings={1st International ICST Conference on Robot Communication and Coordination},
    proceedings_a={ROBOCOMM},
    year={2010},
    month={5},
    keywords={},
    doi={10.4108/ICST.ROBOCOMM2007.2217}
}

Ganesh Sankaranarayanan
Hawkeye I King
Seong-Young Ko
Mitchell J.H. Lum
Diana C.W. Friedman
Jacob Rosen
Blake Hannaford
Year: 2010
Portable Surgery Master Station for Mobile Robotic Telesurgery
ROBOCOMM
ICST
DOI: 10.4108/ICST.ROBOCOMM2007.2217

Ganesh Sankaranarayanan¹^,*, Hawkeye I King¹^,*, Seong-Young Ko²^,*, Mitchell J.H. Lum¹^,*, Diana C.W. Friedman¹^,*, Jacob Rosen¹^,*, Blake Hannaford¹^,*

1: BioRobotics Laboratory Department of Electrical Engineering University of Washington Seattle, Washington 98195
2: Human-Robot Interaction Research Center Korea Advanced Institute of Science and Technology Seoul, South Korea

*Contact email: ganeshs@u.washington.edu, hawkeye1@u.washington.edu, kosy@robot.kaist.ac.kr, mitchlum@u.washington.edu, dwarden@u.washington.edu, rosen@u.washington.edu, blake@u.washington.edu

Abstract

We describe a system that provides a low-cost, portable control station for experimentation in mobile robotic telesurgery. The software and hardware implementation of our system are described in detail. The device mapping between the Haptic Interface Devices (HID) and the surgical robot that enable the surgeon to effectively teleoperate the surgical robot are explained along with our communication protocols for telesurgery. We have also provided our initial results from extensive field testing of our system in different hardware and software configurations and challenging locations. We focus on working under sub-optimal network conditions for field operation in remote environments, and the importance of interoperability and distribution among networked surgical technologies.

Published: 2010-05-16
Modified: 2010-05-16

: http://dx.doi.org/10.4108/ICST.ROBOCOMM2007.2217