Distributed Modular Computer-Integrated Surgical Robotic Systems: Architecture for Intelligent Object Distribution

Schorr, Oliver; Hata, Nobuhiko; Bzostek, Andrew; Kumar, Rajesh; Burghart, Catherina; Taylor, Russell H.; Kikinis, Ron

doi:10.1007/978-3-540-40899-4_102

Cited by 11 publications

(7 citation statements)

References 5 publications

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“…Schorr et al reported the application of a CORBA-based system to control an image guided surgical robot. They controlled an MRI-compatible biopsy robot by sending its control information using CORBA [3,4]. Considering the nature of an MRI scanner, it seems that the required bandwidth for communicating navigation data in that case is not as high as the bandwidth requirements for communicating to our master-arms and slave-manipulators or for the dynamic motion control of our robotic manipulators.…”

Section: Resultsmentioning

confidence: 99%

“…In addition, the components of a CORBA-based system can be implemented and run independently to implement the application, and can be easily integrated into new systems. Schorr et al reported on the application of a CORBA system to control an imageguided surgical robot, where they controlled an MRI-compatible biopsy robot by sending the control information using CORBA [3,4]. However, there have been several reports that CORBA is not always an effective, flexible, and robust technique for Internet-based robotics systems.…”

Section: Introductionmentioning

confidence: 99%

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System Design for Implementing Distributed Modular Architecture to Reliable Surgical Robotic System

Aoki¹,

Suzuki²,

Kobayashi³

et al. 2004

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2004

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Abstract.A method that resolves the two competing requirements for a surgical robotic system (reliability and scalability) is discussed, along with its preliminary implementation in a master-slave system. The proposed method enables an architecture that can be scaled without impairing the performance of the surgical robotic system. Our method uses an optimized architecture consisting of two components: a common object request broker architecture (CORBA) and a master-slave system that typically operates using two-way communication links between a client and a remote server (the dedicated system architecture). In this new architecture, the surgical robotic system can maintain a reliable performance and can integrate with various systems in a transparent manner, regardless of the hardware, operating system, or programming language. Our method was evaluated by recording all the available surgical information, and shows a reliable scalability for a surgical robotic system requiring real-time operation, regardless of the condition of the components of a CORBA-based system.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

System Design for Implementing Distributed Modular Architecture to Reliable Surgical Robotic System

Aoki¹,

Suzuki²,

Kobayashi³

et al. 2004

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2004

Self Cite

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show abstract

“…Cooperation between the robot control, MRI, and 3D position tracking is implemented by the object distributed, server-client model [12]. Currently there are three modules: (i) a robot hardware module; (ii) a Modular Robot Control (MRC) developed at Johns Hopkins University; and (iii) Slicer3D modules (Image processing/surgical planning) [13].…”

Section: Designmentioning

confidence: 99%

MR Compatible Surgical Assist Robot: System Integration and Preliminary Feasibility Study

Chinzei¹,

Hata

Jólesz

et al. 2000

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2000

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145

117

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Abstract.A magnetic resonance (MR) compatible surgical assist robot system under preclinical evaluation is described. It is designed to coexist, and cooperate, with a surgeon, and to position and direct an axisymmetric tool, such as a laser pointer or a biopsy catheter. The main mechanical body is located above the head of the surgeon, and two rigid arms extend to the workspace. This configuration contributes to a small occupancy in the surgeon's workspace, and good MR compatibility. The design of the robot is described. The MR compatibility is examined, and shows that there is no adverse effect on the imaging, even when the robot is in motion. Any heating effect was not evaluated, because a published study has revealed any effect is quite small. This robot system is carefully designed for safety and sterilization issues.

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“…Thus, several groups have experimented with standardized network communication between IGT devices and software. Schorr et al proposed an application of the common object request broker architecture (CORBA) framework to IGT (17). Defined by the Object Management Group consortium, CORBA is a remote procedure call standard to achieve independence of programming languages and operating systems (OSs).…”

Section: Introductionmentioning

confidence: 99%

OpenIGTLink: an open network protocol for image‐guided therapy environment

Tokuda

Fischer

Papademetris

et al. 2009

Robotics Computer Surgery

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281

168

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Background With increasing research on system integration for image-guided therapy (IGT), there has been a strong demand for standardized communication among devices and software to share data such as target positions, images and device status. Method We propose a new, open, simple and extensible network communication protocol for IGT, named OpenIGTLink, to transfer transform, image and status messages. We conducted performance tests and use-case evaluations in five clinical and engineering scenarios. Results The protocol was able to transfer position data with submillisecond latency up to 1024 fps and images with latency of <10 ms at 32 fps. The use-case tests demonstrated that the protocol is feasible for integrating devices and software. Conclusion The protocol proved capable of handling data required in the IGT setting with sufficient time resolution and latency. The protocol not only improves the interoperability of devices and software but also promotes transitions of research prototypes to clinical applications..

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Distributed Modular Computer-Integrated Surgical Robotic Systems: Architecture for Intelligent Object Distribution

Cited by 11 publications

References 5 publications

System Design for Implementing Distributed Modular Architecture to Reliable Surgical Robotic System

System Design for Implementing Distributed Modular Architecture to Reliable Surgical Robotic System

MR Compatible Surgical Assist Robot: System Integration and Preliminary Feasibility Study

OpenIGTLink: an open network protocol for image‐guided therapy environment

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