{"version":1,"kind":"Article","sha256":"","slug":"810","location":"","dependencies":[],"doi":"10.54294/3n1tqr","frontmatter":{"title":"Integration of a Robotic Endoscope Holder with the Surgical Assistant Workstation Software Framework","abstract":"We have integrated the Philips Research robot arm with the Johns Hopkins cisst library, an open-source platform for computer assisted surgical intervention, for assistance during minimally invasive cardiac surgery using image-based steering of an endoscope. The development of a Matlab to C++ wrapper to abstract away servo-level details facilitates the rapid development of a component-based framework with “plug and play” features. This allows the user to easily exchange the robot with an alternative manipulator while maintaining the same overall functionality.","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","minimally-invasive surgery","surgical assistant workstation","component based software engineering"],"authors":[{"name":"Young, Jessie","email":"jyoung73@jhu.edu","affiliations":["Johns Hopkins University "],"corresponding":true},{"name":"Elhawary, Haytham","email":"haytham.elhawary@philips.com","affiliations":[]},{"name":"Popovic, Aleksandra","email":"popovic@hia.rwth-aachen.de","affiliations":[]}],"date_submitted":"2011-07-22 00:17:47","external_publication_id":810,"revision_cids":["bafkreicrj5axztjyo4wze5mckacgvcpiotvlupmuiicfjocbzwcbmzpg34"]},"mdast":{"type":"root"},"downloads":[{"url":"https://ipfs.desci.com/ipfs/bafkreiew6zw7akvedr4xtehhuolfzw6loh5cwizhbjnqu7i6jq36ld7qcu","title":"root/insight-journal-metadata.json","filename":"insight-journal-metadata.json","extra":{"size_bytes":5228,"type":"file"}},{"url":"https://dweb.link/ipfs/bafkreih54enn57qrreemutcov5tiuqlyfu37uhmvhiupabxrn3xnonjgq4","title":"root/article.pdf","filename":"article.pdf","extra":{"size_bytes":781877,"type":"file"}}],"references":{"cite":{"order":["ref1","ref2","ref3","ref4","ref5","ref6","ref7","ref8"]},"data":{"ref1":{"label":"ref1","enumerator":"1","url":"https://doi.org/10.1109/70.499826","html":"Constrained Cartesian Motion Control for Teleoperated Surgical Robots+In IEEE Transactions on Robotics and Automation+12+453+466+1996+J. Funda+R. Taylor+S. Eldridge+K. Gomory+Gruben"},"ref2":{"label":"ref2","enumerator":"2","url":"https://doi.org/10.1109/51.391776","html":"A telerobotic assistant for laparoscopic surgery+In IEEE Engineering in Medicine and Biology+14+279+288+1995+R. H. Taylor+B. Funda+S. Eldgridge+K. Gomory+M. Gruben+L. Talamini+J. Kavoussi+Anderson"},"ref3":{"label":"ref3","enumerator":"3","html":"Teleoperation of the LARS Robot+2009+E. Basafa+S. Billings"},"ref4":{"label":"ref4","enumerator":"4","html":"Johns Hopkins University+LCSR"},"ref5":{"label":"ref5","enumerator":"5","html":"Documentation for Robotics Toolbox for Matlab Version 8+2008+P. Corke"},"ref6":{"label":"ref6","enumerator":"6","html":"The Surgical Assistant Workstation (SAW) in Minimally-Invasive Surgery and Microsurgery+In MICCAI Workshop on Systems and Arch+2010+P. Kazanzides+A. Deguet+B. Vagvolgyi+M. Balicki+C. Schneider+R. Kumar+A. Jog+B. Itkowitz+C. Hasser+R. Taylor"},"ref7":{"label":"ref7","enumerator":"7","html":"Matlab To Robotarm Interface User Manual, v 1.0+2010+R. Beekmans"},"ref8":{"label":"ref8","enumerator":"8","url":"https://doi.org/10.1109/tro.2006.886838","html":"Spatial Motion Constraints Using Virtual Fixtures Generated by Anatomy+In IEEE Transactions on Robotics+23+4+19+2007+M. Li+M. Ishii+R.H. Taylor"}}}}