Figure 1: CIS System Architecture: elements and evolution

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Figure 1 CIS System Architecture elements and
evolution
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Preoperative Image/Model
Robot 1
Collaborative Robot
Robot System (e.g., daVinci)
. . .
Volume Viewer
Robot N
Buttons
Tool Tracking
Stereo Image Capture
Rectification
Stereo Proc. 2D to 3D
Cameras
US Image Capture
Image Fusion
LapUS
Display Hardware
Overlay
Render
Figure 2 Representative SAW data flow
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Figure 3 Component-based design for task
interfaces
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Figure 4 Low Power Motor Controller (LoPoMoCo)
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Build Environment
CMake
CMake Build Instructions
(e.g., VC, gcc/make)
LaTeX
Formatted Documentation (e.g., pdf, html)
Documentation
Doxygen
Libraries
Wrapped Source
SWIG
Library Binaries (static dynamic, e.g.,
cisstVector, cisstCommon)
CVS Repository (source control)
Dart2 (dashboard)
CTest
Compile
Test App
Test Programs
Applications
Applications
Compile
Link
Optional Interpreter (IRE)
Scripts
CVSTrac (bug/feature requests)
Figure 5 Development process and tools
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Figure 6 Presentation of Information System to
ERC directors, Morgan State University, April
2006