1. Bio Robotics Lab RAVEN – A Surgical Robot for Teleoperation Mitchell Lum 1, Jacob Rosen 1, Timothy Broderick 2, Mika Sinanan 1, Blake Hannaford 1 1 University of Washington, Seattle WA 2 University of Cincinnati, Cincinnati OH American Telemedicine Association Meeting April 8, 2008

2. Bio Robotics Lab Global Telesurgery

3. Bio Robotics Lab RAVEN Topology Surgeon Site Patient Site Communication Layer

4. Bio Robotics Lab RAVEN Topology Surgeon SiteCommunication LayerPatient Site

5. Bio Robotics Lab Surgeon Site

6. Bio Robotics Lab Patient Site

7. Bio Robotics Lab Communication Layer Wireless (UAV) –HAPs/MRT Wired –Real Internet –Emulated Internet Hybrid (NEEMO)

8. Bio Robotics Lab High Altitude Platforms for Mobile Robotic Telesurgery (HAPs/MRT) Collaborators: University of Cincinnati, AeroVironment (Simi Valley, CA) and HaiVision (Toronto, Canada)

9. Bio Robotics Lab Telesurgery Field Experiment Simi Valley, CA – May 2006 Surgeon and Patient sites separated by 100m SUAV with DDL flying 1km away

10. Bio Robotics Lab NASA Extreme Environment Mission Operation (NEEMO) XII Photos Courtesy of NASA

11. Bio Robotics Lab NASA Extreme Environment Mission Operation (NEEMO) XII Key Largo,FL – May 2007 Collaborators: University of Cincinnati, NASA, NOAA, NURC Surgeon Site: Seattle, WA Patient Site: Aquarius Undersea Habitat maps.google.com

12. Bio Robotics Lab SAGES Fundamentals of Laparoscopic Surgery (FLS): Telerobotic FLS Standardized task Creating a methodology for testing the system and operators under various delay conditions

13. Bio Robotics Lab Global Telesurgery Patient Site: Seattle, WA, USA Surgeon Site: –Cincinnati, OH, USA –Imperial College, London, England –Montpellier, France –Tokyo, Japan Communication Layer: Commercial Internet

14. Bio Robotics Lab Current Work: Emulated Telesurgery Patient Site: Seattle, WA, USA Surgeon Site: Seattle, WA, USA Communication Layer –Commercial Internet with packet reflector at remote sites –Intranet with NISTNET network emulator TeleRobotic FLS –Effects of delay on task performance

15. Bio Robotics Lab Summary RAVEN Telesurgery System Portable / deployable Novel network configurations Cost effective surgeon console enables collaboration

16. Bio Robotics Lab RAVEN Team Members Faculty –Blake Hannaford –Jacob Rosen –Mika Sinanan (Surgery) –Andrew Wright (Surgery) –Thomas Lendvay (Surgery) Electrical Engineers –Mitch Lum –Ken Fodero –Hawkeye King –Ganesh Sankanarayanan –Jesse Dosher Mechanical Engineers –Denny Trimble –Diana Friedman –Rainer Leuschke –Shane Draney –Brandon Martin-Anderson BioEngineer –Smita De Undergraduates –Gina Donlin –Clint Bland –Kathryn Ng –Wes Paul –Lauren Potter –Lisa Oh

17. Bio Robotics Lab Collaborators University of Cincinnati, Center for Surgical Innovation – Timothy Broderick, Brett Harnett, Charles Doarn Imperial College London – Sir Ara Darzai, Julian Leong Tokyo Institute of Technology – Kenji Kawashima

18. Bio Robotics Lab Acknowledgements Funding sources –US Army MRMC Grant number DAMD17-02-1-0202 (RAVEN Development) –US Army MRMC Grant number W81XW-05-2-0080 (HAPs/MRT) –US Army TATRC Grant number W81XWH-07-2-0039 (NEEMO XII)

19. Bio Robotics Lab Questions?