OP:Sense — An integrated rapid development environment in the context of robot assisted surgery and operation room sensing

摘要

In this video we show the capabilities of the OP:Sense system. OP:Sense is an integrated rapid application development environment for robot assisted surgery. It mainly aims on MIRS and on open head neurosurgery as OP:Sense is developed for the EU Projects FP7 SAFROS and FP7 ACTIVE that aim on these use-cases. Besides the framework, OP:Sense also integrates applications. Thus it is not only the framework itself but also a system that demonstrates how robots can be used for surgical interventions. Core of the system is the ACE TAO framework [1] [2] that implements realtime CORBA for communication between distributed systems. We built interfaces based on CORBA for use in Matlab and Simulink. Also there are modules for 3D Slicer and applications for the control of devices like robots, or surgical tools. As Matlab is a mighty tool for rapid application development it can be used to develop applications in a faster way compared to using C++ or similar programming languages. We use Matlab for setting up our environment and for tasks and computations that does not need to run in realtime. For Realtime tasks like telemanipulation we use Simulink models.