A modular architecture for biomanipulation
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Please use this identifier to cite or link to this publication: http://hdl.handle.net/10380/3195
The Johns Hopkins University Surgical Assistant Workstation (SAW) modular software framework provides support for robotic devices, imaging sensors and a visualization pipeline for rapid prototyping, primarily for surgical research systems. We extend the SAW architecture for "steady hand" micromanipulation in biomanipulation laboratory tasks. The proposed system integrates direct "steady-hand" manipulation, teleoperation, and automated manipulation in a single two-handed system. System architecture, implementation and initial performance measurement experiments are detailed.

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Categories: Data Representation, IO
Keywords: biomanipulation, SAW, cisst
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