1 7/20/2014 Goals HapSmrt Project Aerovironment UAV Demonstrate - - PDF document

▶
1
SMART_READER_LITE
LIVE PREVIEW

1 7/20/2014 Goals HapSmrt Project Aerovironment UAV Demonstrate - - PDF document

Mar 29, 2023 359 likes •458 views

7/20/2014 RAVEN Goals Raven (2002) Portable and robust surgical telerobot research platform Minimize mechanism size Maximize (workspace/total volume) Enable field use Support open software development Support

slide-1
SLIDE 1

7/20/2014

1

BioRobotics Lab

Raven

Google 13-Sept-2013 Blake Hannaford, University of Washington CMU Summer School 7.2014 Blake Hannaford, University of Washington 1

BioRobotics 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 2

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington 3

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington 4

BioRobotics Lab

Raven Adventures

CMU Summer School 7.2014 Blake Hannaford, University of Washington 5

BioRobotics 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

slide-2
SLIDE 2

7/20/2014

2

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 7

BioRobotics Lab

HapSmrt Project

Surgical User Interface Ground Station (Surgical User Interface) Surgical Robot 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 9

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington

Mobilization!

10

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington 11

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington

Site and UAV photos

(panorama)

12

slide-3
SLIDE 3

7/20/2014

3

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington 13

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington 14

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington 15

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington

Console

16

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington 17

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington 18

Project Neemo-12 May 2007

slide-4
SLIDE 4

7/20/2014

4

BioRobotics Lab

CMU 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 Low

19

BioRobotics Lab

CMU 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.

20

BioRobotics Lab

CMU 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

21

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington

Down goes the RAVEN

22

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington 23

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington 24

slide-5
SLIDE 5

7/20/2014

5

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington 25

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington

Raven II

26

BioRobotics Lab

CMU 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

27

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington

U.C. Santa Cruz

  • Prof. Jacob Rosen

28

BioRobotics Lab

CMU 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.

29

BioRobotics Lab

Kinematics Analysis

CMU Summer School 7.2014 Blake Hannaford, University of Washington 30

slide-6
SLIDE 6

7/20/2014

6

BioRobotics Lab

CMU 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) UDP Teleop. ROS User / Research Applications N e t w

  • r

k ROS Simulator Visualizer

31

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington

V

32

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington

e

33

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington

Power/Safety Computer Amplifiers Amplifiers USB 2.0 +48VDC State I/O E-Stop Rear of Amplifiers USB 2.0 +48V Safety Arm Encoders Arm Motors

Electronics Stack

34

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington

Power/Safety

35

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington 36

slide-7
SLIDE 7

7/20/2014

7

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington 37

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington

Completed Electronics

38

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington 39

BioRobotics Lab

CMU 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)

40

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington

Raven Sites

NSF CRI Sites (installed 2012)

Harvard Hopkins Nebraska UCLA Berkeley UCSC Washington 41

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington

Raven Sites

NSF CRI Sites Additional Sites (2013)

(2)

42

slide-8
SLIDE 8

7/20/2014

8

BioRobotics Lab

CMU Summer School 7.2014 Blake Hannaford, University of Washington

Raven Sites

NSF CRI Sites Final Negotiation Sites Discussion Sites

(2)

43