Computer assisted intervention (CAI) systems require the integration of an increasing number of devices, including medical monitors, sensors, tracking devices and robots. This complexity makes applications harder to develop, more difficult to debug and the [...]

At the Johns Hopkins University’s Engineering Research Center for Computer-Integrated Surgical Systems and Technology (ERC-CISST) laboratory, we have designed and developed a platformindependent C++ software package, called the nArray library, that provides [...]

We are developing open source software for computer assisted intervention systems. Our primary experience has been with medical robots, but the concepts (and software) apply to many physical devices that interact with the real world. The real-time [...]

We present our work to develop a telerobotics research platform that provides complete access to all levels of control via open-source custom electronics and software. The electronics employs an FPGA to enable a centralized computation and distributed I/O [...]

Teleoperation is currently the dominant form of instrument control for surgical robotics. For example, the mechanical masters in the da Vinci surgical system provides a stable, precise interface for teleoperation, allowing execution of delicate tasks in [...]

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, [...]

This paper presents the rationale for the use of a component-based architecture for computer-assisted intervention (CAI) systems, including the ability to reuse components and to easily develop distributed systems. We introduce three additional capabilities, [...]

This paper presents the design of a tele-robotic microsurgical platform designed for development of cooperative and tele-operative control schemes, sensor based smart instruments, user interfaces and new surgical techniques with eye surgery as the driving [...]

We present preliminary results of our work to develop an augmented display for improved visualization of the prostate and surrounding critical anatomy for robot-assisted prostate surgery. Prostate cancer is the second leading cause of cancer-related deaths in [...]

The Surgical Assistant Workstation (SAW) provides a modular, open-source software framework to support rapid prototyping of computer-assisted surgery systems, especially those that benefit from enhanced 3D visualization and user interaction. The framework [...]