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A distributed framework for relaying stereo vision for telerobotics

Al-Mouhamed, M. and Toker, O. and Iqbal, A. and Nazeeruddin, M. (2004) A distributed framework for relaying stereo vision for telerobotics. Pervasive Services, 2004. ICPS 2004. Proceedings. The IEEE/ACS International conference, 1.

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Abstract

Stereo vision is one critical tool in minimally invasive surgery (MIS) for enhancing perception of depth of organs which greatly improves the operation efficiency. Augmented stereo views results from superimposing 3D anatomical models with real organ views. A reliable distributed framework for relaying stereoscopic visual feedbacks between a telerobotic server and a client station is proposed. The distributed components are based on DirectX, Visual C#, and Window sockets. We used a multi-threaded execution to promote concurrency in grabbing, transmitting, receiving, processing, and displaying image data using head-mounted display (HMD) technology. The client station provides components that support augmented reality (AR), i.e. superimposing animated graphic model with real views from the operating site. Design and performance issues of proposed multi-threaded execution for streaming of stereo data in a distributed and modular framework is presented.



Item Type:Article
Date:July 2004
Date Type:Publication
Subjects:Computer
Divisions:College Of Computer Sciences and Engineering > Systems Engineering Dept
Creators:Al-Mouhamed, M. and Toker, O. and Iqbal, A. and Nazeeruddin, M.
ID Code:14704
Deposited By:KFUPM ePrints Admin
Deposited On:24 Jun 2008 16:46
Last Modified:12 Apr 2011 13:16

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