2017 Winter Project Week/ROS Surface Scan

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  Projects List

Key Investigators

• Tobias Frank (

Institute of Mechatronic Systems, Leibniz University of Hannover, Germany)

• Junichi Tokuda (SPL, Boston)
• Longquan Chen (SPL, Boston)

Project Description

Objective	Approach and Plan	Progress and Next Steps
Transmission of poly data ( from surface scan ) between ROS environment and Slicer via ROS-OpenIGTLink-bridge Registration of segmented model data with the real time surface scan data. Ask a 2 DOF Lego robot to perform targeting based on the registration.	Transmission of the poly data could be directly using the PolydataMessage, or compress the data first and send via VideoMessage. A 3D printed organ will be used for surface scan, and 3d model of the organ is also available. Under the 3d model, a 2D flat desktop model is attached. This 2D flat desktop model is the working space of the robot Registration of the robot and Slicer could be done by manually by matching the points from surface scan and a 3D robot model. Perform ICP registration on the surface scan data and the 3d organ model, (corse-to-fine registration maybe be needed) Targets are selected from the desk model in Slicer. The robot is asked to perform targeting on the these targets.