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Raven-II: an open platform for surgical robotics research
Blake Hannaford1, Jacob Rosen, Diana W Friedman
1Biorobotics Laboratory, University of Washington, Seattle, WA 98195, USA. blake@uw.edu
IEEE Transactions on Bio-Medical Engineering
|December 4, 2012
Summary
The Raven-II is an open-source surgical robotics platform enabling collaborative research across seven universities. It features robust mechanisms for experimental use, but requires further safety development for human clinical applications.
Area of Science:
- Robotics
- Surgical Technology
- Biomedical Engineering
Background:
- Collaborative research platforms are crucial for advancing surgical robotics.
- The Raven-II system offers a foundation for multi-institutional research initiatives.
Purpose of the Study:
- To introduce the Raven-II platform as a tool for surgical robotics research.
- To detail the system's technical specifications and collaborative infrastructure.
Main Methods:
- The Raven-II system utilizes two 3-DOF spherical positioning mechanisms.
- It supports interchangeable 4-DOF instruments and is built on open-source Linux and ROS.
- Robustness for experimental and animal surgery was prioritized.
Main Results:
- Seven universities are actively engaged in research using the Raven-II platform.
- The open-source software architecture facilitates development and collaboration.
- The system is validated for experimental and animal studies.
Conclusions:
- The Raven-II platform effectively supports collaborative surgical robotics research.
- Further safety engineering is necessary for human clinical trials.
- Community interaction mechanisms promote knowledge dissemination.
