Lessons Learned from the Development of Component-Based Medical Robot Systems
Lessons Learned from the Development of Component-Based Medical Robot Systems
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DOI：
10.6092/joser_2014_05_02_p25
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发表时间：
2014-10
期刊：
影响因子：
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通讯作者：
M. Jung;M. Balicki;A. Deguet;R. Taylor;P. Kazanzides
中科院分区：
文献类型：
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作者：
M. Jung;M. Balicki;A. Deguet;R. Taylor;P. Kazanzides
在过去的二十年中，已经开发了各种医疗机器人系统，并在现代手术室中积极使用商业产品。这些系统通常包括各种具有实时限制的传感器和设备，这些系统的大小和复杂性已大大增加，以达到所需的医疗功能和非功能性要求，例如安全性，完整性和可靠性。与其他机器人区域一样，医疗机器人系统已经达到了一个需要仔细考虑更有效和可维护系统开发或快速原型制作的策略的地步。我们一直在开发一个基于组件的软件框架，用于计算机辅助干预系统，称为CISST，并收集了可重复使用的组件，可以解决这些问题。本文描述了在各种医学和外科机器人系统的开发过程中我们面临的实际问题和挑战。它还讨论了我们的设计方法和可能的解决方案，并总结了经验教训。尽管主要重点是医疗机器人系统，但我们认为我们可以与其他机器人界共享基于组件的软件开发的经验。
Over the past two decades, a variety of medical robot systems have been developed and commercial products are actively used in modern operating rooms. These systems often comprise a variety of sensors and devices with the real-time constraints, and the size and complexity of these systems have significantly increased to achieve both desired medical functionality and non-functional requirements such as safety, integrity, and reliability. Medical robot systems, as in other robotics areas, have reached a point that requires careful consideration of strategies for more effective and maintainable system development or rapid prototyping. We have been developing a component-based software framework for computer-assisted intervention systems, called cisst , with a collection of reusable components, that addresses these issues. This paper describes practical problems and challenges that we have faced throughout the development of various medical and surgical robot systems. It also discusses our design approaches and possible solutions, and summarizes the lessons learned. Although the main focus is on medical robot systems, we believe our experience with component-based software development in medical robotics can be shared with the rest of the robotics community.