Abstract
A method that resolves the two competing requirements for a surgical robotic system (reliability and scalability) is discussed, along with its preliminary implementation in a master-slave system. The proposed method enables an architecture that can be scaled without impairing the performance of the surgical robotic system. Our method uses an optimized architecture consisting of two components: a common object request broker architecture (CORBA) and a master-slave system that typically operates using two-way communication links between a client and a remote server (the dedicated system architecture). In this new architecture, the surgical robotic system can maintain a reliable performance and can integrate with various systems in a transparent manner, regardless of the hardware, operating system, or programming language. Our method was evaluated by recording all the available surgical information, and shows a reliable scalability for a surgical robotic system requiring real-time operation, regardless of the condition of the components of a CORBA-based system.
Chapter PDF
Similar content being viewed by others
References
JIA, S., TAKASE, K.: Internet-based robotic system using corba as communication architecture. Journal of Intelligent and Robotic Systems 34, 121–134 (2002)
Pernozzoli, A., Burghart, C., Brief, J., Habfeld, S., Raczkowsky, J., Muhling, J., Rembold, U., Worn, H.: A Real-time CORBA Based System Architecture for Robot Assisted Craniofacial Surgery. In: Westwood, J.D., et al. (eds.) Medicine Meets Virtual Reality 2000, IOS Press, Amsterdam (2000)
Bzostek, A., Kumar, R., Hata, N., Schorr, O., Kikinis, R., Taylor, R.H.: Distributed Modular Computar-Integrated Surgical Robotic Systems: Implementation using modular software and network systems. In: Delp, S.L., DiGoia, A.M., Jaramaz, B. (eds.) MICCAI 2000. LNCS, vol. 1935, pp. 969–978. Springer, Heidelberg (2000)
Schorr, O., Hata, N., Bzostek, A., Kumar, R., Burghart, C., Taylor, R.H., Kikinis, R.: Distributed Modular Computar- Integrated Surgical Robotic Systems:Architecture for Intelligent Object Distribution. In: Delp, S.L., DiGoia, A.M., Jaramaz, B. (eds.) MICCAI 2000. LNCS, vol. 1935, pp. 979–987. Springer, Heidelberg (2000)
Ballantyne, G.H.: Robotic surgery, telerobotic surgery, telepresence, and telementoring, pp. 1389–1402. Springer, New York (2002)
Suzuki, T., Aoki, E., Kobayashi, E., Tsuji, T., Konishi, K., Hashizume, M., Sakuma, I.: Development of forceps manipulator fo rassisting laparoscopic surgery. In: proc of CARS, p.1338 (2004)
Hashimoto, T., Kobayashi, E., Sakuma, I., Shinohara, K., Hashizume, M., Dohi, T.: Development of wide-angle view laparoscope using wedge prisms. Journal of Robotics and Mechatronics, 129–137 (2004)
Levine, D., Mungee, S.: The design and performance of real-time object request brokers. Computer Communications 21 (1998)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2004 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Aoki, E. et al. (2004). System Design for Implementing Distributed Modular Architecture to Reliable Surgical Robotic System. In: Barillot, C., Haynor, D.R., Hellier, P. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2004. MICCAI 2004. Lecture Notes in Computer Science, vol 3217. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30136-3_24
Download citation
DOI: https://doi.org/10.1007/978-3-540-30136-3_24
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-22977-3
Online ISBN: 978-3-540-30136-3
eBook Packages: Springer Book Archive