Software Library for Real-Time Control of Medical Devices

Ankur Kapoor 1 and Peter Kazanzides 1
1 {kapoor, peter}@cs.jhu.edu


THE PROBLEM

Medical devices that interact with the real world generally have requirements for:
  • Real-time performance
  • Proven reliability and safety
Most available software packages do not satisfy these requirements.
ERC devices with real-time requirements include:
  • Robots
  • Tracking systems
  • Intraoperative imaging systems

Block Diagram of Typical Robot Controller Software


Modularity: Examples of "Steady Hand" and "Steady Hand - II"

THE SOLUTION

Real time operating systems (e.g., RTAI-Linux)
Software libraries for real-time support:
  • Real-time tasks
  • Device interfaces
Medical Robot Controller (MRC-II)
  • Real time task or device interface for servo control
  • Real time task for trajectory control
  • Interactive Robot Environment (IRE)
Other device software being developed.

THE IMPACT

Uniform interface between devices and tasks supports:
  • Intelligent hardware, such as:
    • Motion controllers (MEI, Galil, etc.)
    • Tracking systems (Polaris, Optotrak, etc.)
    • Force sensors (ATI-ISA)
  • Non-intelligent I/O boards, such as:
    • Servo To Go
    • Low Power Motor Controller (LoPoMoCo)
    • Force sensors (ATI-DAQ)


Class Collaboration Diagram
 

Overview of CISST Libraries

THE FUTURE

Expanded device support, including:
  • Tracking systems
  • Micron system at CMU
Provide software under open source license
MRC-II architecture to provide core framework and allow dynamic loading of “plug-in” extensions

PUBLICATIONS

Comming Soon...
Software Library for Real-Time Control of Medical Devices Robot Control Trajectory Code Servo Code ATI Force Sensor Code ATI F/T Code NiDAQ Code Servo To Go Code STG Code
Software Library for Real-Time Control of Medical Devices Robot Control Trajectory Code Servo Code ATI Force Sensor Code ATI F/T Code NiDAQ Code Servo To Go Code STG Code
Software Library for Real-Time Control of Medical Devices Robot Control Trajectory Code Servo Code ATI Force Sensor Code ATI F/T Code NiDAQ Code Servo To Go Code STG Code
Software Library for Real-Time Control of Medical Devices Robot Control Trajectory Code Servo Code ATI Force Sensor Code ATI F/T Code NiDAQ Code Servo To Go Code STG Code
Software Library for Real-Time Control of Medical Devices Robot Control Trajectory Code Servo Code ATI Force Sensor Code ATI F/T Code NiDAQ Code Servo To Go Code STG Code
Software Library for Real-Time Control of Medical Devices Robot Control Trajectory Code Servo Code ATI Force Sensor Code ATI F/T Code NiDAQ Code Servo To Go Code STG Code
Software Library for Real-Time Control of Medical Devices Robot Control Trajectory Code Servo Code ATI Force Sensor Code ATI F/T Code NiDAQ Code Servo To Go Code STG Code
Software Library for Real-Time Control of Medical Devices Robot Control Trajectory Code Servo Code ATI Force Sensor Code ATI F/T Code NiDAQ Code Servo To Go Code STG Code
Software Library for Real-Time Control of Medical Devices Robot Control Trajectory Code Servo Code ATI Force Sensor Code ATI F/T Code NiDAQ Code Servo To Go Code STG Code