The Raven I and the Raven II surgical robots, as open research platforms, have been serving the robotic surgery research community for ten years. The paper 1) briefly presents the Raven I and the Raven II robots, 2) reviews the recent publications that are built upon the Raven robots, aim to be applied to the Raven robots, or are directly compared with the Raven robots, and 3) uses the Raven robots as a case study to discuss the popular research problems in the research community and the trend of robotic surgery study. Instead of being a thorough literature review, this work only reviews the works formally published in the past three years and uses these recent publications to analyze the research interests, the popular open research problems, and opportunities in the topic of robotic surgery.
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