2016 Winter Project Week/Projects/SlicerROSIntegration

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  Projects List

Key Investigators

• Junichi Tokuda (Brigham and Women's Hospital)
• Axel Krieger (Children's National Medical Center)
• Simon Leonard (Johns Hopkins University)
• Tobias Frank (University Hannover, Germany)
• Jayender Jagadeesan (BWH)
• Niravkumar Patel(Worcester Polytechnic Institute)

Project Description

Objective	Approach and Plan	Progress and Next Steps
Define requirements and system architecture for medical robotics software system based on 3D Slicer and Robot Operating System (ROS)	Needs for 3D Slicer / ROS integration in ongoing research projects (presentations by participants) (See Breakout session) Axel (Autonomous Surgery using the KUKA LWR) Simon (dVRK?) Junichi (OpenIGTLink and medical robotics research) Tobias (OCT robot / Integration of KUKA robot and 3D Slicer Brainstorming 1: Requirements Applications (e.g. endoscopic surgery, percutaneous interventions, catheterization, etc.) Platforms -- Linux, Windows, MAC Roles for 3D Slicer -- visualization, image processing, etc. Roles for ROS -- vision, sensors, devices, etc. Brainstorming 2: Architecture for 3D Slicer-ROS integration Types of data exchanged between ROS and 3D Slicer Communication scheme between ROS and 3D Slicer Software package to provide Independent middleware? 3D Slicer plug-in modules ROS modules Brainstorming 3: Collaborative tools / teams Platforms to support (ROS mainly support Linux) Repository	Considered the following clinical scenario: Obtain preoperative 3D image of the patient Create 3D surface model of the patient from the 3D image on 3D Slicer 3D Slicer send the 3D surface model to ROS through OpenIGTLink as POLYDATA Set up the patient on the OR table Scan the patient with a surface scanner. The point cloud data is imported to ROS (NOTE: This can be 3D Slicer, and then transferred to ROS through OpenIGTLink)