Quantitative performance assessment of surgical robot systems: telerobotic fls

Abstract

Robot assisted surgery is revolutionizing the way in which many surgical interventions are performed. Increased dexterity allows surgeons to perform procedures that were otherwise impossible. TeleSurgery will allow expert care to be distributed anywhere in the world that medical intervention is required. The development of the University of Washington, RAVEN Surgical Robot, was a collaborative effort between surgeons and engineers from multiple disciplines. Initial validation testing included, (1) operating through a digital-data-link on an unmanned aerial vehicle, (2) long-distance teleoperation collaborations with researchers in other countries, and (3) participation in a NASA training mission during which the RAVEN was placed in an undersea habitat off the Florida Keys and teleoperated from Seattle, WA. Based on the current standard in surgical skills evaluation, a method for objective assessment of surgical robotic systems was developed. The effect of time delay in telesurgery using the RAVEN and the effect of 3D vision using the ISI da Vinci® robot were evaluated. The results of these studies will guide further development of the RAVEN and stimulate new ideas for telesurgery.