Difference between revisions of "2017 Winter Project Week/ROS Surface Scan"
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==Key Investigators== | ==Key Investigators== | ||
<!-- Add a bulleted list of investigators and their institutions here --> | <!-- Add a bulleted list of investigators and their institutions here --> | ||
| − | *Tobias Frank ( | + | *Tobias Frank (Institute of Mechatronic Systems, Leibniz University of Hannover, Germany) |
| − | Institute of Mechatronic Systems, Leibniz University of Hannover, Germany) | ||
*Junichi Tokuda (SPL, Boston) | *Junichi Tokuda (SPL, Boston) | ||
*Longquan Chen (SPL, Boston) | *Longquan Chen (SPL, Boston) | ||
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<!-- Objective bullet points --> | <!-- Objective bullet points --> | ||
* Transmission of poly data ( from surface scan ) between ROS environment and Slicer via ROS-OpenIGTLink-bridge | * Transmission of poly data ( from surface scan ) between ROS environment and Slicer via ROS-OpenIGTLink-bridge | ||
| − | * | + | * Tracking of 3D print model data with the real time surface scan data. |
| − | * Ask a 2 DOF Lego robot to perform targeting | + | * Ask a 2 DOF Lego robot to perform targeting after registration of the robot to slicer(ROS). |
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<!-- Approach and Plan bullet points --> | <!-- Approach and Plan bullet points --> | ||
| − | * Transmission of the poly data could be directly using the PolydataMessage, or compress the data first and send via VideoMessage. | + | * For objective 1 |
| − | * A 3D printed organ will be used for surface scan, and 3d model of the organ is also available. | + | ** Transmission of the poly data could be directly using the PolydataMessage, or compress the data first and send via VideoMessage. |
| − | * Registration of the robot and Slicer could be done by manually by matching the points from surface scan and a 3D robot model. | + | * For objective 2 |
| − | + | ** A 3D printed organ will be used for surface scan, and 3d model of the organ is also available. | |
| − | * Targets are selected from the desk model in Slicer. The robot is asked to perform targeting on the these targets. | + | ** Perform real time particle filter registration on the surface scan data and the 3d organ model. |
| + | * For objective 3 | ||
| + | ** Registration of the robot and Slicer(or ROS) could be done by manually by matching the points from surface scan and a 3D robot model. Under the 3d model, a 2D flat desktop model is attached. This 2D flat desktop model is the working space of the robot | ||
| + | ** Targets are selected from the desk model in Slicer. The robot is asked to perform targeting on the these targets. | ||
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<!-- Progress and Next steps bullet points (fill out at the end of project week) --> | <!-- Progress and Next steps bullet points (fill out at the end of project week) --> | ||
| − | * | + | * New 3 DOF needle placement robot with remote-center-of-motion (RCM) has been developed |
| + | * New ROS-IGTL-Bridge has been installed in Lego Mindstorms EV3 | ||
| + | * "Patient"-to-tracker (Kinect) registration based on surface matching | ||
| + | * Point-based device-to-tracker registration | ||
| + | [[Image:2017WinterProjectWeekROS_Architecture.jpg]] | ||
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==Background and References== | ==Background and References== | ||
<!-- Use this space for information that may help people better understand your project, like links to papers, source code, or data --> | <!-- Use this space for information that may help people better understand your project, like links to papers, source code, or data --> | ||
Latest revision as of 15:34, 13 January 2017
Home < 2017 Winter Project Week < ROS Surface Scan
Key Investigators
- Tobias Frank (Institute of Mechatronic Systems, Leibniz University of Hannover, Germany)
- Junichi Tokuda (SPL, Boston)
- Longquan Chen (SPL, Boston)
Project Description
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