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BioRobotics Lab

Raven

Google 13-Sept-2013 Blake Hannaford, University of WashingtonCMU Summer School 7.2014 Blake Hannaford, University of Washington 1BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington

RAVEN Goals

(2002)

Portable and robust surgical telerobot research platform

Minimize mechanism size

Maximize (workspace/total volume)

Enable field use

Support open software development

Support Interoperable Teleoperation

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BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington 3

BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington 4

BioRobotics Lab

Raven Adventures

CMU Summer School 7.2014 Blake Hannaford, University of Washington 5BioRobotics Lab

HAP/sMRT

•Tim Broderick MD, U. of

Cinncinnatti/TATRC

•University of Washington Biorobotics Lab

•AeroVironment Inc.

•HaiVision Inc.

•June 5-9, 2006

CMU Summer School 7.2014 Blake Hannaford, University of Washington 6

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BioRobotics Lab

Goals

•Demonstrate Field operation of a surgical

robot

-Generator Power

-Radio Internet Links

-Desert Conditions

•Demonstrate Internet + UAV local link for

telesurgery.

CMU Summer School 7.2014 Blake Hannaford, University of Washington 7BioRobotics Lab

HapSmrt Project

Surgical User

Interface

Ground Station(Surgical User Interface)

SurgicalRobot

Internet

Seattle

Simi Valley, CA

5 mi.

Aerovironment UAV

CMU Summer School 7.2014 Blake Hannaford, University of Washington 8

BioRobotics Lab

HapSmrt Project

Seattle

Simi Valley, CA

x

CMU Summer School 7.2014 Blake Hannaford, University of Washington 9BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington

Mobilization!

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BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington 11

BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington

Site and UAV photos

(panorama)

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BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington 13

BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington 14

BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington 15

BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington

Console

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BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington 17

BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington 18

Project Neemo-12

May 2007

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BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington

People

●Univ of Cincinnati: Tim Broderick, MD /

Chuck Doarn PI

●Mitch Lum, Diana Friedman

●Tom Lendvay MD

●SRI – Pablo Garcia, Tom Low19

BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington

Goals

●Test RAVEN in extreme environment.

●Measure performance of telesurgery over

Internet.

●Further harden RAVEN for field conditions and experimental use.

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BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington

Aquarius Underwater Habitat

●20m under water

●5 mi off Key Largo

●2 atm pressure

●NASA/NOAA

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CMU Summer School 7.2014 Blake Hannaford, University of Washington

Down goes the RAVEN

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BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington 23

BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington 24

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BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington 25

BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington

Raven II

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BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington

Raven II Project

(2010-12)

● UW and U.C. Santa Cruz (Rosen)

● National Science Foundation

● Harvard,Hopkins, Nebraska, UCLA,

Berkeley

27BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington

U.C. Santa CruzProf. Jacob Rosen

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BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington

Goals

Set up a network of open research telerobots

for medical applications

Build seven “Raven-II” systems

Improve the electronics

Adapt software for easy collaborative

development.

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Kinematics Analysis

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BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington

Raven II Software APIs

Linux Kernel (RT-Prempt Config)

1000 Hz real time control

Linux Kernel (RT-Prempt Config)

UDPTeleop.

ROS

User / Research Applications

Network

ROS SimulatorVisualizer

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CMU Summer School 7.2014 Blake Hannaford, University of Washington

V

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BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington

e

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CMU Summer School 7.2014 Blake Hannaford, University of Washington

Power/Safety

Computer

Amplifiers

Amplifiers

USB 2.0

+48VDCState I/OE-Stop

Rear of Amplifiers

USB 2.0+48VSafety

ArmEncoders

ArmMotors

Electronics Stack

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BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington

Power/Safety

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CMU Summer School 7.2014 Blake Hannaford, University of Washington 36

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BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington 37

BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington

Completed Electronics

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BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington 39

BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington

University of

Washington

Prof. Blake

Hannaford

U.C. Santa Cruz Prof. Jacob

Rosen

2012 Harvard Prof. Rob

Howe

Beating Heart Surgery

Hopkins Prof. Greg

Hager

Human-Machine Cooperation

Nebraska Prof. Shane

Farritor

Deployable surgical robots

UCLA Prof. Warren

Grundfest

Tactile feedback to surgeon

U.C. Berkeley Prof. Ken

Goldberg &

Pieter Abbeel

Machine Learning of surgical autonomy

2013 Stanford University Prof. Allison

Okamura

NRI Large Project

Montpellier University (Fr) Prof. Philipe

Poignet

U. of Central Florida Prof. Xu

U. of Western Ontario

(Canada)

Prof. Rajni

Patel

(four-arm system)

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BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington

Raven Sites

NSF CRI Sites(installed 2012)

Harvard

Hopkins

Nebraska

UCLA

Berkeley

UCSC

Washington

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CMU Summer School 7.2014 Blake Hannaford, University of Washington

Raven Sites

NSF CRI Sites

Additional Sites (2013)

(2)

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BioRobotics LabCMU Summer School 7.2014 Blake Hannaford, University of Washington

Raven Sites

NSF CRI Sites

Final Negotiation Sites

Discussion Sites

(2)

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