Lessons Learned from the Development of Component-Based Medical Robot Systems

摘要: Over the past two decades, a variety of medical robot systems have been developed and commercial products are actively used in modern operating rooms. These often comprise sensors devices with real-time constraints, size complexity these significantly increased to achieve both desired functionality non-functional requirements such as safety, integrity, reliability. Medical systems, other robotics areas, reached point that requires careful consideration strategies for more effective maintainable system development or rapid prototyping. We developing component-based software framework computer-assisted intervention called cisst , collection reusable components, addresses issues. This paper describes practical problems challenges we faced throughout various surgical systems. It also discusses our design approaches possible solutions, summarizes lessons learned. Although main focus is on believe experience can be shared rest community.