Integration of a Robotic Endoscope Holder with the Surgical Assistant Workstation Software Framework
logo

Please use this identifier to cite or link to this publication: http://hdl.handle.net/10380/3277
We have integrated the Philips Research robot arm with the Johns Hopkins cisst library, an open-source platform for computer assisted surgical intervention, for assistance during minimally invasive cardiac surgery using image-based steering of an endoscope. The development of a Matlab to C++ wrapper to abstract away servo-level details facilitates the rapid development of a component-based framework with “plug and play” features. This allows the user to easily exchange the robot with an alternative manipulator while maintaining the same overall functionality.

Reviews
There is no review at this time. Be the first to review this publication!

Quick Comments


Resources
backyellow
Download All
Download Paper , View Paper

Statistics more
backyellow
Global rating: starstarstarstarstar
Review rating: starstarstarstarstar [review]
Paper Quality: plus minus

Information more
backyellow
Categories: Data, Objects, Optimization
Keywords: minimally-invasive surgery, cisst, surgical assistant workstation, component based software engineering
Export citation:

Share
backyellow
Share

Linked Publications more
backyellow
Diffeomorphic Demons Using ITK's Finite Difference Solver Hierarchy Diffeomorphic Demons Using ITK's Finite Difference Solver Hierarchy
by Vercauteren T., Pennec X., Perchant A., Ayache N.
Importing Contours from DICOM-RT Structure Sets Importing Contours from DICOM-RT Structure Sets
by Dowling J., Malaterre M., Greer P.B., Salvado O.

View license
Loading license...

Send a message to the author
main_flat
Powered by Midas