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

Elhawary, Haytham, Popovic, Aleksandra, Young, Jessie
Johns Hopkins University
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Please use this identifier to cite or link to this publication: http://hdl.handle.net/10380/3277
Published in The MIDAS Journal - MICCAI 2011 Workshop: Systems and Architectures for Computer Assisted Interventions.
Submitted by Jessie Young on 2011-07-22 00:17:47.

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.