{"version":1,"kind":"Article","sha256":"","slug":"744","location":"","dependencies":[],"doi":"10.54294/efac8i","frontmatter":{"title":"A modular architecture for biomanipulation","abstract":"The Johns Hopkins University Surgical Assistant Workstation (SAW) modular software framework provides support for robotic devices, imaging sensors and a visualization pipeline for rapid prototyping, primarily for surgical research systems. We extend the SAW architecture for \"steady hand\" micromanipulation in biomanipulation laboratory tasks. The proposed system integrates direct \"steady-hand\" manipulation, teleoperation, and automated manipulation in a single two-handed system. System architecture, implementation and initial performance measurement experiments are detailed.","license":"You are licensing your work to Kitware Inc. under the\nCreative Commons Attribution License Version 3.0.\n\nKitware Inc. agrees to the following:\n\nKitware is free\n * to copy, distribute, display, and perform the work\n * to make derivative works\n * to make commercial use of the work\n\nUnder the following conditions:\n\\\"by Attribution\\\" - Kitware must attribute the work in the manner specified by the author or licensor.\n\n * For any reuse or distribution, they must make clear to others the license terms of this work.\n * Any of these conditions can be waived if they get permission from the copyright holder.\n\nYour fair use and other rights are in no way affected by the above.\n\nThis is a human-readable summary of the Legal Code (the full license) available at\nhttp://creativecommons.org/licenses/by/3.0/legalcode","keywords":["cisst","biomanipulation","SAW"],"authors":[{"name":"Gao, Yixin","email":"ygao20@jhu.edu","affiliations":["The Johns Hopkins University"],"corresponding":true},{"name":"Taylor, Russell","affiliations":[]},{"name":"Kumar, Rajesh","email":"rajesh@jhu.edu","affiliations":[]}],"date_submitted":"2010-08-15 20:39:20","external_publication_id":744,"revision_cids":["bafkreiaownh4wyusc6ybt42uj77bdscs5sphm6wsxe4xl26phgsnhjmr6i"]},"mdast":{"type":"root"},"downloads":[{"url":"https://ipfs.desci.com/ipfs/bafkreicdul25saoo3mjpsgt6tjcdx2s63rrgnk5dvjea4sirdme4rcf7gy","title":"root/insight-journal-metadata.json","filename":"insight-journal-metadata.json","extra":{"size_bytes":5959,"type":"file"}},{"url":"https://dweb.link/ipfs/bafybeif4ruiy5n5epiylndsex3ol7vf5h7ywbsco7oyiambsrthqzufkh4","title":"root/article.pdf","filename":"article.pdf","extra":{"size_bytes":4189691,"type":"file"}}],"references":{"cite":{"order":["ref1","ref2","ref3","ref4","ref5","ref6","ref7","ref8","ref9","ref10"]},"data":{"ref1":{"label":"ref1","enumerator":"1","url":"https://doi.org/10.1007/978-3-540-39899-8_18","html":"Simple Biomanipulation Tasks with Steady Hand Cooperative Manipulator+In MICCAI+3+148+2003+1+A. 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