System design for implementing distributed modular architecture to reliable surgical robotic system

Eisuke Aoki, Takashi Suzuki, Etsuko Kobayashi, Nobuhiko Hata, Takeyoshi Dohi, Makoto Hashizume, Ichiro Sakuma

Research output: Contribution to journalConference articlepeer-review

1 Citation (Scopus)


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.

Original languageEnglish
Pages (from-to)184-191
Number of pages8
JournalLecture Notes in Computer Science
Issue number1 PART 2
Publication statusPublished - 2004
EventMedical Image Computing and Computer-Assisted Intervention, MICCAI 2004 - 7th International Conference, Proceedings - Saint-Malo, France
Duration: Sept 26 2004Sept 29 2004

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)


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