Difference between revisions of "2016 Winter Project Week/Projects/SlicerROSIntegration"

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<gallery>
 
<gallery>
 
Image:PW-MIT2016.png|[[2016_Winter_Project_Week#Projects|Projects List]]
 
Image:PW-MIT2016.png|[[2016_Winter_Project_Week#Projects|Projects List]]
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Image:2016WinterProjectWeek_SlicerROS_1.jpg|Our engineering team
 +
Image:2016WinterProjectWeek_SlicerROS_2.jpg|Sharing polygon data between ROS (left) and 3D Slicer (right)
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Image:2016WinterProjectWeek_SlicerROS_3.jpg|Our "robot" prototype
 
</gallery>
 
</gallery>
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 +
Visit [https://goo.gl/photos/DTx6NwCtcZ673BfG9 our album] for more photos!
  
 
==Key Investigators==
 
==Key Investigators==
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* Tobias Frank (University Hannover, Germany)
 
* Tobias Frank (University Hannover, Germany)
 
* Jayender Jagadeesan (BWH)
 
* Jayender Jagadeesan (BWH)
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*Niravkumar Patel(Worcester Polytechnic Institute)
  
 
==Project Description==
 
==Project Description==
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<!-- Objective bullet points -->
 
<!-- Objective bullet points -->
 
* Define requirements and system architecture for medical robotics software system based on 3D Slicer and Robot Operating System (ROS)
 
* 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 [[2016_Winter_Project_Week/Breakout_Sessions/SlicerForMedicalRoboticsResearch|Breakout session]])
 
* Needs for 3D Slicer / ROS integration in ongoing research projects (presentations by participants) (See [[2016_Winter_Project_Week/Breakout_Sessions/SlicerForMedicalRoboticsResearch|Breakout session]])
 
** Axel (Autonomous Surgery using the KUKA LWR)
 
** Axel (Autonomous Surgery using the KUKA LWR)
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** Repository
 
** Repository
 
|
 
|
−
*
+
* Considered the following clinical scenario:
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** Obtain preoperative 3D image of the patient
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** Create 3D surface model of the patient from the 3D image on 3D Slicer
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** Set up the patient on the OR table
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** 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)
 +
** 3D Slicer send the 3D surface model to ROS through OpenIGTLink as POLYDATA
 +
** Perform surface matching on ROS and send the result registration transform to 3D Slicer
 +
** Define target on the original image (or the model) on 3D Slicer
 +
** Send the target to ROS
 +
** Move the robot to the target
 +
* Achievements:
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** ROS-OpenIGTLink interface to synchronize data between Slicer and ROS including
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*** Points
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*** Transforms
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*** Polydata
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*** Image
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** Installed Debian Linux for Lego Mindstroms ([http://www.ev3dev.org Linux for EV3 ])
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** Installed ROS on Ev3 Linux
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** Built printer robot
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** Implemented a proof-of-concept system using LEGO MINDSTORMS and ROS.
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*** [[File:WinterProjectWeek_2016_ROS_Slicer_Integration_ProjectOutcomePresentation.pptx]]
 
|}
 
|}
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 +
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=Future Plan=
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* Immediate action items
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** Upload all software components to Github
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** Create a complete tutorial
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* Generalize ROS-Slicer bridge
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** Synchronize MRML node with ROS message
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** Support
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*** Transform (4x4 matrix and quaternion)
 +
*** Image (2D / 3D)
 +
*** Polygon / point cloud
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** Research application

Latest revision as of 14:53, 8 January 2016

Home < 2016 Winter Project Week < Projects < SlicerROSIntegration

  • Our engineering team

  • Sharing polygon data between ROS (left) and 3D Slicer (right)

  • Our "robot" prototype

Visit our album for more photos!

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
    • 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)
    • 3D Slicer send the 3D surface model to ROS through OpenIGTLink as POLYDATA
    • Perform surface matching on ROS and send the result registration transform to 3D Slicer
    • Define target on the original image (or the model) on 3D Slicer
    • Send the target to ROS
    • Move the robot to the target
  • Achievements:


Future Plan

  • Immediate action items
    • Upload all software components to Github
    • Create a complete tutorial
  • Generalize ROS-Slicer bridge
    • Synchronize MRML node with ROS message
    • Support
      • Transform (4x4 matrix and quaternion)
      • Image (2D / 3D)
      • Polygon / point cloud
    • Research application
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