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.