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Building An Open-source Robotic Stereotaxic Instrument
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Published on: October 29, 2013

Open core control software for surgical robots.

Jumpei Arata1, Hiroaki Kozuka, Hyung Wook Kim

  • 1Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya 466-8555, Japan. jumpei@nitech.ac.jp

International Journal of Computer Assisted Radiology and Surgery
|December 25, 2009
PubMed
Summary
This summary is machine-generated.

This study introduces Open Core Control software, an open-source platform enabling surgical robots to collaborate with other medical devices. It demonstrated stable performance and enhanced surgical precision through virtual fixtures, promoting wider adoption and integration in operating rooms.

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Area of Science:

  • Robotics
  • Surgical Technology
  • Medical Device Integration

Background:

  • Modern operating rooms feature numerous independent medical devices, hindering collaborative potential for complex procedures.
  • Existing surgical robots lack open architectures for seamless integration with external systems like navigation and imaging.

Purpose of the Study:

  • To develop an open-source control software, Open Core Control, facilitating collaboration among surgical robots and other medical devices.
  • To enable intelligent surgical robots capable of integrating with sensors, navigation systems, and diverse hardware.

Main Methods:

  • Designed Open Core Control with an abstract, hardware-agnostic structure for reusability across different robot types.
  • Integrated OpenIGTLink for network communication and implemented virtual fixtures as force guides for enhanced precision and safety.

Main Results:

  • Successfully implemented Open Core Control on a master-slave surgical robot, demonstrating stable operation and motion control.
  • Integrated a 3D position sensor to display the robot's tip on a navigation system, enabling pre-defined accessible areas and force feedback.

Conclusions:

  • Open Core Control provides a stable platform for high-level collaboration in surgical robotics.
  • The software is developed as an open-source project to foster wider adoption and adherence to safety regulations like FDA and IEC62304.