
A Surgical Assistant Workstation (SAW) Application for Teleoperated Surgical Robot System
Please use this identifier to cite or link to this publication: http://hdl.handle.net/10380/3079 |
Submitted by Min Yang Jung on 07-10-2009.
The Surgical Assistant Workstation (SAW) modular software framework provides integrated support
for robotic devices, imaging sensors, and a visualization pipeline for rapid prototyping of telesurgical
research systems. Subsystems of a telesurgical system, such as the master and slave robots and the visualization
engine, form a distributed environment that requires an efficient inter-process communication
(IPC) mechanism. This paper describes the extension of the component-based framework provided by
the cisst libraries, on which the SAW depends, from a multi-threaded (local) to a multi-process (networked)
environment. The current implementation uses the Internet Communication Engine (ICE) middleware
package, but the design does not depend on ICE and can accomodate other middleware choices.
A telesurgical robot system based on the da Vinci hardware platform is used as a test case, with a research
application that requires coordination between the left and right robot arms (a bimanual knot tying task).
Performance measurements on this platform indicate minimal overhead due to the networking.
for robotic devices, imaging sensors, and a visualization pipeline for rapid prototyping of telesurgical
research systems. Subsystems of a telesurgical system, such as the master and slave robots and the visualization
engine, form a distributed environment that requires an efficient inter-process communication
(IPC) mechanism. This paper describes the extension of the component-based framework provided by
the cisst libraries, on which the SAW depends, from a multi-threaded (local) to a multi-process (networked)
environment. The current implementation uses the Internet Communication Engine (ICE) middleware
package, but the design does not depend on ICE and can accomodate other middleware choices.
A telesurgical robot system based on the da Vinci hardware platform is used as a test case, with a research
application that requires coordination between the left and right robot arms (a bimanual knot tying task).
Performance measurements on this platform indicate minimal overhead due to the networking.
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Categories: | Data, IO, Objects, Programming |
Keywords: | Surgical Assistant Workstation (SAW), Inter-process communication, telesurgical systems, Internet Communication Engine (ICE), CISST, Proxy Pattern, teleoperated surgical robot system |
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