Professor Gregory Fishcer
Professor Loris Fichera
Professor William Michalson
Software used in medical settings operate in complex and variable environments. Programs need to integrate well not only with their electrical and mechanical components, but also within the socio-technological setting they participate in. In this Master's Thesis, a modular software architecture for controlling surgical robot systems within magnetic resonance scanners is designed and implemented. The C++ program runs on a sbRIO 9651 real-time operating system and an object oriented design is taken. Robot kinematics and controls are put into effect in software and validated. Communication with up to ten daughter cards occurs via SPI and external information is exchanged via OpenIGTLink. A web-based engineering console made with ReactJS is also constructed to provide a visual interface for actuating motor axes and executing robot functionality. Documentation of the code is provided and the program was validated quantitatively with software tests and qualitatively through experimentation in MRI suites.
Worcester Polytechnic Institute
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Gandomi-Bernal, Katie, "Implementation of a Modular Software Architecture on a Real-Time Operating System for Generic Control over MRI Compatible Surgical Robots" (2018). Masters Theses (All Theses, All Years). 1227.
MRI, real time, robotics, software architecture
Available for download on Saturday, April 25, 2020