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An Open-Source Hardware and Software Platform for Telesurgical Robotics Research
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We present our work to develop a telerobotics research platform that provides complete access to all levels of control via open-source custom electronics and software. The electronics employs an FPGA to enable a centralized computation and distributed I/O [...]

A Surgical Assistant Workstation (SAW) Application for Teleoperated Surgical Robot System
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The Surgical Assistant Workstation (SAW) modular software framework provides integrated support for robotic devices, imaging sensors, and a visualization pipeline for rapid prototyping of telesurgical research systems. Subsystems of a telesurgical system, [...]

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. [...]


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