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Development of open source software for computer-assisted intervention systems
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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 [...]

The cisst libraries for computer assisted intervention systems
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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 [...]

The da Vinci Research Interface
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The da Vinci research interface allows third party developers and research collaborators to retrieve a real-time stream of kinematic and user event data from the da Vinci Surgical System during clinical use. This data includes the motion of all master and [...]

Kinematics Based Safety Operation Mechanism for Robotic Surgery extending the JHU SAW Framework
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As robotic surgery gains popularity [1, 2, 3], methods for improving situational awareness during tele- operation have become an active area of research. Literature has attempted to incorporate haptic feedback displays to enhance and improve user performance. [...]

Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery
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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 [...]


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ISSN 2327-770X
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