TY - GEN
T1 - Portable Surgery Master Station for Mobile Robotic Telesurgery
AU - Sankaranarayanan, Ganesh
AU - King, Hawkeye I.
AU - Ko, Seong Young
AU - Lum, Mitchell J.H.
AU - Friedman, Diana C.W.
AU - Rosen, Jacob
AU - Hannaford, Blake
N1 - Funding Information:
The HAPs/MRT project was a collaboration with the University of Cinncinati, and HaiVision Systems Inc (Montral, Quebec) and AeroVironment Inc (Simi Valley, CA). The goal of this experiment was to explore the field deployment of mobile surgical robots and surgical master consoles [13]. For three consecutive days in June 2006 the portable surgeon console was set up under a tent in a semi-desert pastureland in Southern California. The RAVEN surgical robot was set up about 100 meters away in another tent. Portable generators powered both systems. The last-mile Internet connection was provided by a 3MB/sec wireless link supported by the AeroVi-ronment PUMA unmanned aerial vehicle. Usable bandwidth for the prototype data link was limited to around 1MB/s with an average latency of 15ms. Field setup of the surgical robot was straightforward, however operation over limited bandwidth was challenging.
Publisher Copyright:
Copyright © 2011-2012 ICST
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
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U2 - 10.4108/ICST.ROBOCOMM2007.2217
DO - 10.4108/ICST.ROBOCOMM2007.2217
M3 - Conference contribution
AN - SCOPUS:85134079884
T3 - ACM International Conference Proceeding Series
BT - Proceedings of the 1st International Conference on Robot Communication and Coordination, RoboComm 2007
PB - Association for Computing Machinery
T2 - 1st International Conference on Robot Communication and Coordination, RoboComm 2007
Y2 - 15 October 2007 through 17 October 2007
ER -