A Surgical Assistant Workstation (SAW) Application for Teleoperated Surgical Robot System
A Surgical Assistant Workstation (SAW) Application for Teleoperated Surgical Robot System
复制标题
遥控手术机器人系统的手术辅助工作站 (SAW) 应用
DOI：
10.54294/xn9yxu
复制
发表时间：
2009
期刊：
影响因子：
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通讯作者：
P. Kazanzides
中科院分区：
文献类型：
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作者：
M. Jung;Tian Xia;A. Deguet;Rajesh Kumar;Russell Taylor;P. Kazanzides
手术助理工作站 (SAW) 模块化软件框架为机器人设备、成像传感器和可视化管道提供集成支持，用于远程外科研究系统的快速原型设计。远程手术系统的子系统，例如主从机器人以及可视化引擎，形成了一个分布式环境，需要高效的进程间通信（IPC）机制。本文描述了 SAW 所依赖的 cisst 库提供的基于组件的框架从多线程（本地）到多进程（网络）环境的扩展。当前的实现使用互联网通信引擎 (ICE) 中间件包，但设计不依赖于 ICE，并且可以容纳其他中间件选择。以基于达芬奇硬件平台的远程手术机器人系统作为测试用例，研究应用需要左右机械臂之间的协调（双手打结任务）。该平台上的性能测量表明网络造成的开销最小。
The Surgical Assistant Workstation (SAW) modular software framework provides integrated support for robotic devices, imaging sensors, and a visualization pipeline for rapid prototyping of telesurgical research systems. Subsystems of a telesurgical system, such as the master and slave robots and the visualization engine, form a distributed environment that requires an efficient inter-process communication (IPC) mechanism. This paper describes the extension of the component-based framework provided by the cisst libraries, on which the SAW depends, from a multi-threaded (local) to a multi-process (networked) environment. The current implementation uses the Internet Communication Engine (ICE) middleware package, but the design does not depend on ICE and can accomodate other middleware choices. A telesurgical robot system based on the da Vinci hardware platform is used as a test case, with a research application that requires coordination between the left and right robot arms (a bimanual knot tying task). Performance measurements on this platform indicate minimal overhead due to the networking.