The RAVEN: Design and validation of a telesurgery system

Mitchell J.H. Lum, Diana C.W. Friedman, Ganesh Sankaranarayanan, Hawkeye King, Kenneth Fodero, Rainer Leuschke, Blake Hannaford, Jacob Rosen, Mika N. Sinanan

Research output: Contribution to journalArticlepeer-review

201 Scopus citations


The collaborative effort between fundamental science, engineering and medicine provides physicians with improved tools and techniques for delivering effective health care. Minimally invasive surgery (MIS) techniques have revolutionized the way a number of surgical procedures are performed. Recent advances in surgical robotics are once again revolutionizing MIS interventions and open surgery. In an earlier research endeavor, 30 surgeons performed 7 different MIS tasks using the Blue Dragon system to collect measurements of position, force, and torque on a porcine model. This data served as the foundation for a kinematic optimization of a spherical surgical robotic manipulator. Following the optimization, a seven-degree-of-freedom cable-actuated surgical manipulator was designed and integrated, providing all degrees of freedom present in manual MIS as well as wrist joints located at the surgical end-effector. The RAVEN surgical robot system has the ability to teleoperate utilizing a single bi-directional UDP socket via a remote master device. Preliminary telesurgery experiments were conducted using the RAVEN. The experiments illustrated the system's ability to operate in extreme conditions using a variety of network settings.

Original languageEnglish (US)
Pages (from-to)1183-1197
Number of pages15
JournalInternational Journal of Robotics Research
Issue number9
StatePublished - Sep 2009
Externally publishedYes


  • FLS
  • Human machine interface
  • Kinematic optimization
  • Minimally invasive surgery
  • Mobile robotic telesurgery
  • Surgical robot
  • Surgical stills
  • Task performance
  • Teleoperation
  • Telesurgery
  • Time delay

ASJC Scopus subject areas

  • Software
  • Modeling and Simulation
  • Mechanical Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Applied Mathematics


Dive into the research topics of 'The RAVEN: Design and validation of a telesurgery system'. Together they form a unique fingerprint.

Cite this