View source for LEGO IGT and Medical Robotics Tutorial

[[Image:Slicer3-IGT-LEGOTutorial-biopsy.jpg|300px|thumb]]
[[Image:Slicer3-IGT-LEGOTutoral-screenshot.png|300px|thumb]]

'''People:'''

[http://spl.harvard.edu/~dpace Danielle Pace], Surgical Planning Lab and Robarts Research Institute

[http://spl.harvard.edu/~kikinis Ron Kikinis], Surgical Planning Lab

[http://spl.harvard.edu/~noby Nobuhiko Hata], Surgical Planning Lab


'''Overview:'''

This tutorial  provides a thorough understanding of the main concepts in image-guided therapy and medical robotics, namely imaging, pre-operative planning, targetting by tracking, navigation and registration.  The tutorial is open-source and completely free for anyone to use or modify (see http://www.slicer.org for details and for the BSD style open source license).


The tutorial is:
* Hands-on:  Using a LEGO robot, a LEGO phantom (anatomical model) and a tutorial module in 3D Slicer v. 3 means that tutorial participants can use real physical equipment and software to learn about IGT and medical robotics.

* Accessible:  The tutorial software is open-source, and the cost of the materials is approximately $300 USD + shipping and taxes.


'''Tutorial Materials:'''

Provided by NA-MIC and the Surgical Planning Lab:
* 3D Slicer v. 3 tutorial module
* CT volume of the phantom
* Tutorial slides
* Assembly instructions for the robot and the phantom
* Phantom placement guide


Provided by tutorial participants:
* 1 LEGO Mindstorms NXT kit
* 1 LEGO Deluxe Brick box
* 2 pom-poms
* Linux computer with root access


'''Getting the Tutorial Materials:'''

Click on the following links to get the tutorial materials:

* Robot assembly instructions:  [[Image:LEGOIGTAndMedicalRoboticsTutorial_RobotAssemblyInstructions.pdf|Image:LEGOIGTAndMedicalRoboticsTutorial_RobotAssemblyInstructions.pdf]]

* Phantom assembly instructions:  [[Image:LEGOIGTAndMedicalRoboticsTutorial_PhantomAssemblyInstructions.pdf|Image:LEGOIGTAndMedicalRoboticsTutorial_PhantomAssemblyInstructions.pdf]]

* Phantom placement guide:  [[Image:LEGOIGTAndMedicalRoboticsTutorial_PhantomPlacementGuide.pdf|Image:LEGOIGTAndMedicalRoboticsTutorial_PhantomPlacementGuide.pdf]]

* Tutorial Slides Part 1 - Background and Materials:[[Image:LEGOIGTAndMedicalRoboticsTutorial_1_BackgroundAndMaterials.pdf|Image:LEGOIGTAndMedicalRoboticsTutorial_1_BackgroundAndMaterials.pdf]]

* Tutorial Slides Part 2 - Basic Tutorial: [[Image:LEGOIGTAndMedicalRoboticsTutorial_2_BasicTutorial.pdf|Image:LEGOIGTAndMedicalRoboticsTutorial_2_BasicTutorial.pdf]]

* Tutorial Slides Part 3 - Advanced Tutorial:  [[Image:LEGOIGTAndMedicalRoboticsTutorial_3_AdvancedTutorial.pdf|Image:LEGOIGTAndMedicalRoboticsTutorial_3_AdvancedTutorial.pdf]]

* Code to interface between the LEGO robot and a C++ program:  [[Image:NXT_USB.zip|Image:NXT_USB.zip]]

* CT volume of the LEGO phantom:  [[Image:000003.SER.zip‎|Ct volume of the Lego phantom]]

* MICCAI 2007 "Open Source and Open Data for MICCAI" workshop paper:  [[Image:AnAccessibleHandsOnTutorialSystemForIGTAndMedicalRobotics.pdf|Image:AnAccessibleHandsOnTutorialSystemForIGTAndMedicalRobotics.pdf]]


'''Notes'''
* Note that the code supplied above was modified from NXT++ (http://nxtpp.sourceforge.net) and Device::USB (http://search.cpan.org/~gwadej/Device-USB-0.21) and uses libusb (http://libusb.sourceforge.net).  See the README file within the zipped file for instructions on installation and use.

* For purchasing information for user-supplied materials, see the "Tutorial Slides Part 1 - Background and Materials" slides.


'''Questions?  Feedback?'''

Contact [http://spl.harvard.edu/~dpace Danielle Pace]