Journal of Intelligent & Robotic Systems (2019) 96:401–418 https://doi.org/10.1007/s10846-019-00991-6 Review and Analysis of Search, Extraction, Evacuation, and Medical Field Treatment Robots Adam Williams1 · Bijo Sebastian1 · Pinhas Ben-Tzvi1 Received: 20 October 2017 / Accepted: 27 January 2019 / Published online: 1 February 2019 © Springer Nature B.V. 2019 Abstract One of the most impactful and exciting applications of robotic technology, especially autonomous and semi-autonomous systems, is in the field of search and rescue. Robots present an opportunity to go where rescuers cannot, keep responders out of danger, work indefatigably, and augment the capabilities of the humans who put their lives at risk while helping others. This paper examines the use of robotic systems in human rescue applications, with an emphasis on performing search, extraction, evacuation, and medical field treatment procedures. The work begins with a review of the various robotic systems designed to perform one or more of the above operations. The relative merits of each system are discussed along with their shortcomings. The paper also addresses the use of robotic competitions as a means of benchmarking field robotic systems. Based on the review of state of the art systems, a novel concept (Semi- Autonomous Victim Extraction Robot) designed to address the shortcomings of existing systems is described in the conclusion, along with detailed discussion on how it improves upon state of the art systems. The future research thrusts to be explored before realizing a fully integrated robotic rescue system are also detailed. Keywords Search and rescue robots · Casualty extraction · Human-robot interaction · Autonomous systems 1 Introduction potentially survivable wounds in the U.S. military, timely evacuation and transportation must be emphasized when Many fatalities in the aftermath of disasters and combat improving medical care [8]. This emphasis led to the U.S. are due to treatable traumatic injuries that can be avoided Army Medical Research and Material Command reopening by timely medical treatment [1, 2]. This notion of time- investigation in this field [9]. While rapid medical assistance sensitive treatment is represented by “The Golden Hour dominates the focus in the reduction of traumatic field of Trauma” [3–6], the theory that if medical assistance is injuries, the risks associated with first responders involved provided within a short time following traumatic injuries, in victim handling procedures must not be ignored [10]. the survival rate of the injured person rises appreciably. In disaster or combat scenarios, deployment of a medic While the debate on the exact definition and duration of or other rescue personnel into a dangerous area risks the this critical period is unresolved in the medical literature, lives of both the rescuer and the injured. Furthermore, a mandate from the Secretary of Defense in 2009 to during terror attacks or military operations there may prioritize transporting military causalities in an hour or be “leave behind” explosives or enemy troops targeting less resulted in a significant decline in mortality due first responders [11]. Moreover, manmade catastrophic to traumatic injuries, especially those requiring blood events often occur in remote locations, making it difficult transfusions [7]. As hemorrhage due to major trauma has to send qualified personnel. In the above cases, robots been found to be the cause of death in up to 80% of can make significant contributions to saving the lives of both the injured personnel and responders. A lack of a comprehensive review for robotic systems to perform or aid Pinhas Ben-Tzvi in victim extraction and evacuation was the impetus behind [email protected] this work. Even though a majority of the systems reviewed were developed for military applications the inferences 1 Robotics and Mechatronics Lab, Mechanical Engineering drawn from the review are applicable to civilian casualty Department, Virginia Tech, Blacksburg, VA 24061, USA handling from manmade and natural disasters. 402 of theDespite art systems the general as “search categorization and rescue”, ofexisting not all of state them are equipped to conduct human rescue operations independently. For better analysis of the robotics used in this area, these systems can be organized by where they fit into the medical response process: search, extraction, evacuation, and treatment [ robotic systems attempt to find and report the location of any injured personnel. Search robotics is a mature field, and robots have been actively incorporated into search procedures in numerous disasters as far back as the September 11 attacks in 2001 [ extraction phase, in which a robot physically maneuvers or carries the injured person out of the disaster zone. These ‘rescue’ robots are by necessity larger and at times, more complex, than their search-focused brethren. Compared to search, this is a less mature field. Systems such as 12 the Battlefield Extraction-Assist Robot (BEAR) and the ]. In the search stage, Robotic Extraction Vehicle (REX) are indicative of these types of robots [ evacuation of the patient to a medical assistance location. fromFollowing a dangerous the area, safe there extraction must be of safe an and injured efficient person The robots that are designed to perform this task include the Life Support for Trauma and Transport (LSTAT), a stretcher with a full set of sensory equipment and a robotic 14 13 snake-like manipulator [ , ]. Next is the 15 Vehicle (REV), a mobile patient transport robot [ ]. a better-equipped medical station, robotic surgical systems facilitate the treatment of the wounded person by allowingJ Intell Robot Syst (2019) 96:401–418 2000 a remotely located surgeon to perform advanced surgical procedures on the wounded person robotic surgical systems such as the da Vinci [ Zeus [ large for field operation. Based on the review of16 state of the art robotic18 search, extraction, evacuation, and medical], and the Robotic Evacuation treatment robots, a] future were designedresearch direction for this wouldpurpose, be they the are too Search A Timeline of Search, Extraction, Evacuation,development and of a unified system that can perform as much Foster-Miller Solem of the rescue procedures as possible. Inkutun VGTV-Extreme iRobot PackBot tems designedThis paper to will play review a rolethe in one existing or more ground of the robotic afore- sys- Inkutun Micro-Tracks mentioned stages, and will investigate the future of field Extraction Inkutun Micro-VGTV rescue robotics. Historically, a large amount of attention 2001 2004 has been devoted to the robotic systems that belong to the in situ 15 Treatment Robots ]. At Soryu III . While early Evacuation 17 ]andthe Remotec Andros 2006 iRobot Valkyrie LSTAT 2004 Fig. 1 Treatment Modular Rescue 2001 2005 Robot Timeline of implementation of robots reviewed Quince REX 2011 2012 2008 2010 NIFTi UGV DaVinci BEAR 2003 REV 2008 RAVEN 2006 cRONA Lockheed SMSS 2014 SRI M7 2011 2008 Trauma Pod 2009 Robotiq Titan HDT Protector 2016 J Intell Robot Syst (2019) 96:401–418 403 search class. This work aims to highlight previously under- Robot-human teams were deployed to probe the rubble of reported systems designed for the extraction and evacuation the World Trade Center following the attacks on September of injured personnel, culminating in the presentation of a 11th in 2001, UAVs were used to assist in the search for novel solution for such scenarios. A timeline of the imple- those trapped by the flooding resulting from Hurricane mentation and/or testing of these robots as described in the Katrina in 2005, and an AUV surveyed the damage to the literature are shown in Fig. 1. The systems are reviewed Rollover Pass Bridge caused by Hurricane Ike in 2008. in the following section in chronological order as given While in Japan, mobile robots such as Quince were utilized by Fig. 1. Section 2 of this paper contains a review of to measure the radiation in the aftermath of the Fukushima the search robots, Section 3 explores extraction systems, nuclear disaster in 2011 [20–23]. Robots have the ability Section 4 describes evacuation platforms, Section 5 exam- to play an integral part in surveying affected regions and ines surgical robotic systems, and Section 6 details the need locating people in distress during the aftermath of disasters for robotic competitions to evaluate existing state of the art or combat. Search robots are generally designed to act as system. Section 7 of the paper provides a conceptual design mobile sensory platforms that perform small crucial tasks for Semi-Autonomous Victim Extraction Robot (SAVER) which enable the use of sophisticated detection equipment that can satisfy the requirements for a combined search, in spaces that may be unsafe or unreachable for humans extraction and evacuation platform with possible treatment [24]. Furthermore, with proper design, robots can run capabilities. Section 8 concludes the paper with directions continuously, with just a momentary stop for refueling, for future research in robotic casualty handling. facilitating nonstop search efforts and allowing human team members to divide shifts more effectively. This would mitigate the risks of sleep deprivation related errors in the 2 Search Robots operation of complex technology, a major issue in search and rescue efforts [25]. In this section, we provide a brief Spurred by the close succession of the catastrophic review of some of the most notable, existing search robots to 1995 Oklahoma