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A modular architecture for biomanipulation

Gao, Yixin, Kumar, Rajesh, Taylor, Russell
The Johns Hopkins University
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Please use this identifier to cite or link to this publication: http://hdl.handle.net/10380/3195
Published in The MIDAS Journal - MICCAI 2010 Workshop: Computer Assisted Intervention.
Submitted by Yixin Gao on 2010-08-15 20:39:20.

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.