Much of the software development in this grant is based on pre-existing software repositories. This includes libraries for the Computer Integrated Surgical Systems and Technology (CISST), in particular the Surgical Assistant Workstation (SAW), and extenstions to CISST to allow integration with the Robot Operating System (ROS). 

The repositories for these code-bases have accompanying documentations for better introduction to their inner workings.

External Repositories

- cisst: https://github.com/jhu-cisst/cisst

  This link provides access to the cisst libraries used for portability across operating systems and compilers, logging functionalities, dynamic creation, basic linear algebra, numerical routines and the component based multithreading support.

- cisst-ros: https://github.com/jhu-cisst/cisst-ros

   This link provides access to base routines to implement a bridge between the cisst component based libraries and ROS (the Robotic Operating System).

- Constraint controller: https://github.com/jhu-saw/sawConstraintController 

- ROS (not developed on this project, but used as a base) http://www.ros.org/ 

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