Difference between revisions of "LEGO IGT and Medical Robotics Tutorial"

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[[Image:Slicer3-IGT-LEGOTutorial-biopsy.jpg|300px|thumb]]
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[[Image:Slicer3-IGT-LEGOTutorial-biopsy.jpg|300px|thumb|The LEGO robot and phantom]]
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[[Image:Slicer3-IGT-LEGOTutoral-screenshot.png|300px|thumb]]
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[[Image:Slicer3-IGT-LEGOTutoral-screenshot.png|300px|thumb|Example tutorial screenshot]]
  
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'''People:'''
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Back to [[IGT:ToolKit|IGT:ToolKit]]
  
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[http://spl.harvard.edu/~dpace Danielle Pace], Surgical Planning Lab and Robarts Research Institute
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=LEGO Image Guided Therapy and Medical Robotics Tutorial=
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[http://spl.harvard.edu/~kikinis Ron Kikinis], Surgical Planning Lab
 
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[http://spl.harvard.edu/~noby Nobuhiko Hata], Surgical Planning Lab
 
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'''Overview:'''
 
  
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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).
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==Overview:==
  
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This tutorial  provides a thorough understanding of the main concepts in image-guided therapy and medical robotics, namely imaging, pre-operative planning, targeting 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:
 
The tutorial is:
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* Accessible:  The tutorial software is open-source, and the cost of the materials is approximately $300 USD + shipping and taxes.
 
* Accessible:  The tutorial software is open-source, and the cost of the materials is approximately $300 USD + shipping and taxes.
  
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==Tutorial Materials:==
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'''Tutorial Materials:'''
 
  
 
Provided by NA-MIC and the Surgical Planning Lab:
 
Provided by NA-MIC and the Surgical Planning Lab:
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* 1 LEGO Deluxe Brick box
 
* 1 LEGO Deluxe Brick box
 
* 2 pom-poms
 
* 2 pom-poms
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* Linux computer with root access
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* Linux computer with root access or Windows with administrator privileges
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For purchasing information for user-supplied materials, see the "Tutorial Slides Part 1 - Background and Materials" slides.
  
  
 
'''Getting the Tutorial Materials:'''
 
'''Getting the Tutorial Materials:'''
  
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Robot assembly instructions:  [[Image:LEGOIGTAndMedicalRoboticsTutorial_RobotAssemblyInstructions.pdf|Image:LEGOIGTAndMedicalRoboticsTutorial_RobotAssemblyInstructions.pdf]]
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Click on the following links to get the tutorial materials:
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* Robot assembly instructions:  [http://wiki.na-mic.org/Wiki/images/8/81/LEGOIGTAndMedicalRoboticsTutorial_RobotAssemblyInstructions.pdf LEGOIGTAndMedicalRoboticsTutorial_RobotAssemblyInstructions.pdf]
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* Phantom assembly instructions:  [http://wiki.na-mic.org/Wiki/images/0/0d/LEGOIGTAndMedicalRoboticsTutorial_PhantomAssemblyInstructions.pdf LEGOIGTAndMedicalRoboticsTutorial_PhantomAssemblyInstructions.pdf]
  
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Phantom assembly instructions:  [[Image:LEGOIGTAndMedicalRoboticsTutorial_PhantomAssemblyInstructions.pdf|Image:LEGOIGTAndMedicalRoboticsTutorial_PhantomAssemblyInstructions.pdf]]
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* Phantom placement guide:  [http://wiki.na-mic.org/Wiki/images/6/64/LEGOIGTAndMedicalRoboticsTutorial_PhantomPlacementGuide.pdf LEGOIGTAndMedicalRoboticsTutorial_PhantomPlacementGuide.pdf]
  
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Phantom placement guide:
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* Tutorial Slides Part 1 - Background and Materials:  [http://wiki.na-mic.org/Wiki/images/d/d1/LEGOIGTAndMedicalRoboticsTutorial_1_BackgroundAndMaterials.pdf LEGOIGTAndMedicalRoboticsTutorial_1_BackgroundAndMaterials.pdf]
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Robot assembly instructions:  [[Image:LEGOIGTAndMedicalRoboticsTutorial_PhantomPlacementGuide.pdf|Image:LEGOIGTAndMedicalRoboticsTutorial_PhantomPlacementGuide.pdf]]
 
  
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Tutorial Slides Part 1 - Background and Materials:[[Image:LEGOIGTAndMedicalRoboticsTutorial_1_BackgroundAndMaterials.pdf|Image:LEGOIGTAndMedicalRoboticsTutorial_1_BackgroundAndMaterials.pdf]]
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* Tutorial Slides Part 2 - Basic Tutorial: [http://wiki.na-mic.org/Wiki/images/a/ab/LEGOIGTAndMedicalRoboticsTutorial_2_BasicTutorial.pdf LEGOIGTAndMedicalRoboticsTutorial_2_BasicTutorial.pdf]
  
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Tutorial Slides Part 2 - Basic Tutorial: [[Image:LEGOIGTAndMedicalRoboticsTutorial_2_BasicTutorial.pdf|Image:LEGOIGTAndMedicalRoboticsTutorial_2_BasicTutorial.pdf]]
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* Tutorial Slides Part 3 - Advanced Tutorial: [http://wiki.na-mic.org/Wiki/images/f/f4/LEGOIGTAndMedicalRoboticsTutorial_3_AdvancedTutorial.pdf LEGOIGTAndMedicalRoboticsTutorial_3_AdvancedTutorial.pdf]
  
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Tutorial Slides Part 3 - Advanced Tutorial:  [[Image:LEGOIGTAndMedicalRoboticsTutorial_3_AdvancedTutorial.pdf|Image:LEGOIGTAndMedicalRoboticsTutorial_3_AdvancedTutorial.pdf]]
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* CT volume of the LEGO phantom:  [http://wiki.na-mic.org/Wiki/images/6/69/000003.SER.zip 000003.SER.zip]
  
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Code to interface between the LEGO robot and a C++ program
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* 3D Slicer LEGO tutorial module (including code to interface between a LEGO robot and a C++ program): Available on the NA-MIC Sandbox - access [http://viewvc.na-mic.org/viewvc.cgi/NAMICSandBox/trunk/LegoTutorial/ online] or through the [http://wiki.na-mic.org/Wiki/index.php/Engineering:SandBox NA-MIC subversion system]
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[[Image:NXT_USB.zip|Image:NXT_USB.zip]]
 
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Note that the above code 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 for instructions on installation and use.
 
  
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MICCAI 2007 "Open Source and Open Data for MICCAI" workshop paper:  [[Image:AnAccessibleHandsOnTutorialSystemForIGTAndMedicalRobotics.pdf|Image:AnAccessibleHandsOnTutorialSystemForIGTAndMedicalRobotics.pdf]]
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* MICCAI 2007 "Open Source and Open Data for MICCAI" workshop paper:  [[Image:AnAccessibleHandsOnTutorialSystemForIGTAndMedicalRobotics.pdf|Image:AnAccessibleHandsOnTutorialSystemForIGTAndMedicalRobotics.pdf]]
  
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==Software Installation Instructions==
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* Installing Slicer: go to the [http://wiki.na-mic.org/Wiki/index.php/IGT:ToolKit/Install-Slicer3 Slicer3 Install] site.
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* [http://wiki.na-mic.org/Wiki/index.php/LEGO_IGT_Compilation Compiling the LegoTutorial]
  
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==Notes==
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* 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 included with the source code for instructions on installation and use.
  
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==People:==
  
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All supplied tutorial materials are available from the Insight Journal:
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[http://spl.harvard.edu/~dpace Danielle Pace], Surgical Planning Lab and Robarts Research Institute
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http://hdl.handle.net/1926/567 (unzip the "Full Download" file)
 
  
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For user-supplied materials, see the "Background and Materials" tutorial slides for purchasing information.
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[http://spl.harvard.edu/~kikinis Ron Kikinis], Surgical Planning Lab
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[http://spl.harvard.edu/~noby Nobuhiko Hata], Surgical Planning Lab
  
  

Latest revision as of 02:52, 15 August 2013

Home < LEGO IGT and Medical Robotics Tutorial
The LEGO robot and phantom
Example tutorial screenshot

Back to IGT:ToolKit

LEGO Image Guided Therapy and Medical Robotics Tutorial

Overview:

This tutorial provides a thorough understanding of the main concepts in image-guided therapy and medical robotics, namely imaging, pre-operative planning, targeting 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 or Windows with administrator privileges

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


Getting the Tutorial Materials:

Click on the following links to get the tutorial materials:

  • 3D Slicer LEGO tutorial module (including code to interface between a LEGO robot and a C++ program): Available on the NA-MIC Sandbox - access online or through the NA-MIC subversion system

Software Installation Instructions

Notes

People:

Danielle Pace, Surgical Planning Lab and Robarts Research Institute

Ron Kikinis, Surgical Planning Lab

Nobuhiko Hata, Surgical Planning Lab


Questions? Feedback?

Contact Danielle Pace

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