TY - GEN
T1 - Distributed modular computer-integrated surgical robotic systems
T2 - 3rd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2000
AU - Schorr, Oliver
AU - Hata, Nobuhiko
AU - Bzostek, Andrew
AU - Kumar, Rajesh
AU - Burghart, Catherina
AU - Taylor, Russel H.
AU - Kikinis, Ron
N1 - Publisher Copyright:
© Springer-Verlag Berlin Heidelberg 2000.
PY - 2000
Y1 - 2000
N2 - This paper presents intelligent object distribution architecture to maximize the performance and intelligence of a distributed surgical robotics system and its preliminary implementation in an MR-guided surgical robot system in an open-configuration MR! scanner. The method enables networked integration of a robot control server and multiple clients with minimum engineering overhead but maximum flexibility and performance. The clients in this study include an intraoperative imager, high-performance image processing computers), and surgical navigation host. The first contribution of the paper is to propose the use of object distribution by common object request broker architecture (CORBA), in which a robot control object on the robot control server can be remotely but transparently invoked from the clients regardless of their hardware, operating systems, or programming language. Second, we propose a technique to achieve additional flexibility by reporting the robot configuration information, i.e. geometry and kinematics of the robot, to the clients upon connection. Third, we ensure protection against an unauthorized entity by introducing a security control host that authorized the clients’ access to the robot server. In a prototype implementation of an MR-guided surgical robot system, the robot was controlled by surgical navigation software (the 3D Slicer) on a UNIX client by invoking the distributed control object on a robot control server on a PC. The method was evaluated in performance studies; and the result indicated 3.6 milliseconds for retrieving positions of the robot stages and 25.5 milliseconds to send a frame-based motion command, which are satisfactory for surgical robot control. In conclusion, the proposed method shows the potential usefulness of flexibly integrating the legacy software to a surgical robot system with minimum engineering overhead, thereby achieving highly complex and intelligent tasks in robot-assisted surgery.
AB - This paper presents intelligent object distribution architecture to maximize the performance and intelligence of a distributed surgical robotics system and its preliminary implementation in an MR-guided surgical robot system in an open-configuration MR! scanner. The method enables networked integration of a robot control server and multiple clients with minimum engineering overhead but maximum flexibility and performance. The clients in this study include an intraoperative imager, high-performance image processing computers), and surgical navigation host. The first contribution of the paper is to propose the use of object distribution by common object request broker architecture (CORBA), in which a robot control object on the robot control server can be remotely but transparently invoked from the clients regardless of their hardware, operating systems, or programming language. Second, we propose a technique to achieve additional flexibility by reporting the robot configuration information, i.e. geometry and kinematics of the robot, to the clients upon connection. Third, we ensure protection against an unauthorized entity by introducing a security control host that authorized the clients’ access to the robot server. In a prototype implementation of an MR-guided surgical robot system, the robot was controlled by surgical navigation software (the 3D Slicer) on a UNIX client by invoking the distributed control object on a robot control server on a PC. The method was evaluated in performance studies; and the result indicated 3.6 milliseconds for retrieving positions of the robot stages and 25.5 milliseconds to send a frame-based motion command, which are satisfactory for surgical robot control. In conclusion, the proposed method shows the potential usefulness of flexibly integrating the legacy software to a surgical robot system with minimum engineering overhead, thereby achieving highly complex and intelligent tasks in robot-assisted surgery.
UR - http://www.scopus.com/inward/record.url?scp=84945536255&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84945536255&partnerID=8YFLogxK
U2 - 10.1007/978-3-540-40899-4_102
DO - 10.1007/978-3-540-40899-4_102
M3 - Conference contribution
AN - SCOPUS:84945536255
SN - 3540411895
SN - 9783540411895
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 979
EP - 987
BT - Medical Image Computing and Computer-Assisted Intervention - MICCAI 2000 - 3rd International Conference, Proceedings
A2 - Delp, Scott L.
A2 - DiGoia, Anthony M.
A2 - Jaramaz, Branislav
PB - Springer Verlag
Y2 - 11 October 2000 through 14 October 2000
ER -