Difference between revisions of "2008 IGT Project Week Prostate Robotics"
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+ | Back to [[2008_IGT_Project_Week#Projects]] | ||
− | + | Team: Noby Hata, Clif Burdette, Jack Blevins, Clare Tempany, Sam Song, Bong Joon Cho, Greg Fisher, Roland Goerlitz, Junichi Tokuda | |
− | + | =Goals= | |
+ | *Mock-up biopsy and therapy session | ||
+ | *Discuss robot control through OpenIGTLink | ||
− | |||
− | + | =Place= | |
− | + | [http://maps.google.com/maps?f=q&hl=en&geocode=&q=221+Longwood+Ave,+Boston,+MA+02115&sll=37.0625,-95.677068&sspn=36.778911,54.404297&ie=UTF8&ll=42.33742,-71.102464&spn=0.008391,0.013282&z=16&g=221+Longwood+Ave,+Boston,+MA+02115&iwloc=addr Map to 221 Longwood] | |
− | Results: | + | =Approach= |
+ | |||
+ | [[Image:OpenIGTLink_Diagram_JHURobot.png]] | ||
+ | |||
+ | ==Schedule== | ||
+ | {| border="1" cellpadding="5" cellspacing="0" align="center" | ||
+ | |- | ||
+ | | rowspan=3 align="left style="background:#e0e0e0;" | 8 Monday | ||
+ | ||AM|| align="left" |AMS and JHU teams travel to Boston | ||
+ | |- | ||
+ | ||PM|| align="left" |Workshop 3:30pm-4:30pm Prostate breakout session = "planning for the week" | ||
+ | |- | ||
+ | ||7:20pm - 12:00am|| align="left" | MRI @ 221 Longwood: Experiments. Goal all interface are up running. Checking communication with MRI and interdependent communication. Robot registration. | ||
+ | |- | ||
+ | | rowspan=2 align="left" style="background:#e0e0e0;" | 9 Tuesday | ||
+ | ||AM|| align="left" | Workshop: Junici-Jack realtime image transfer | ||
+ | |- | ||
+ | ||PM|| align="left" | Workshop: Jack-JHU definition of the IGT formats. | ||
+ | |- | ||
+ | | rowspan=3 align="left" style="background:#e0e0e0;" | 10 Wednesday | ||
+ | ||AM|| align="left" | Workshop : experiment design? | ||
+ | |- | ||
+ | ||PM|| align="left" | Workshop | ||
+ | |- | ||
+ | ||7:20pm - 12:00am|| align="left" | MRI @ 221 Longwood: Experiments "slow mock-up MRg biopsy and accuracy assessment -- Phantom -- rehearsal for Thursday" | ||
+ | |- | ||
+ | | rowspan=3 align="left" style="background:#e0e0e0;" | 11 Thursday | ||
+ | ||AM|| align="left" | Workshop: Discussion for 2nd generation Robot. | ||
+ | |- | ||
+ | ||PM|| align="left" | Workshop | ||
+ | |- | ||
+ | ||7:20pm - 12:00am|| align="left" | MRI @ 221 Longwood: Experiments "mock-up Slicer-based biopsy AND RadVision-based brachy" | ||
+ | |- | ||
+ | | rowspan=2 align="left" style="background:#e0e0e0;" | 12 Friday | ||
+ | ||AM|| align="left" | Workshop | ||
+ | |- | ||
+ | ||PM|| align="left" | -- | ||
+ | |- | ||
+ | |} | ||
+ | <br> | ||
+ | |||
+ | http://wiki.ncigt.org/index.php/U41:Prostate:BRP:MRI_Robot_Experiment_2008_December | ||
+ | |||
+ | |||
+ | =Results= | ||
+ | |||
+ | *Results of the experiments | ||
+ | |||
+ | [[Image:2008_IGT_Project_Week_PR_006.jpg]] | ||
+ | |||
+ | |||
+ | Software development | ||
+ | |||
+ | {| border="1" cellpadding="5" cellspacing="0" align="center" | ||
+ | |- | ||
+ | |align="left style="background:#e0e0e0;" | Features ||align="left style="background:#e0e0e0;" |Slicer || align="left style="background:#e0e0e0;" | RadVision | ||
+ | |- | ||
+ | |align="left style="background:#e0e0e0;" | Workphase command || OK || OK | ||
+ | |- | ||
+ | |align="left style="background:#e0e0e0;" | "SET_Z_FRAME" command || <font color="red">OK* </font>|| OK | ||
+ | |- | ||
+ | |align="left style="background:#e0e0e0;" | "MOVE_TO" command || <font color="red">OK*</font> || OK | ||
+ | |- | ||
+ | |align="left style="background:#e0e0e0;" | "GET_COORDINATE" command || <font color="red">OK*</font> || OK | ||
+ | |- | ||
+ | |align="left style="background:#e0e0e0;" | "GET_STATUS" command || not implemented || OK | ||
+ | |- | ||
+ | |align="left style="background:#e0e0e0;" | "HOME" command || not implemented || not tested | ||
+ | |- | ||
+ | |align="left style="background:#e0e0e0;" | "INSERT" command || not implemented || not implemented | ||
+ | |- | ||
+ | |align="left style="background:#e0e0e0;" | "BIOPSY" command || not implemented || not implemented | ||
+ | |- | ||
+ | |align="left style="background:#e0e0e0;" | Real-time image transfer || OK || <font color="red">OK* </font> | ||
+ | |- | ||
+ | |align="left style="background:#e0e0e0;" | Real-time image control || OK || <font color="red"> OK*(orientation is not supported)</font> | ||
+ | |- | ||
+ | |align="left style="background:#e0e0e0;" | Z-frame calibration || <font color="red">OK* (with visualization)</font> || OK (not integrated with comunication) | ||
+ | |- | ||
+ | |} | ||
+ | <font color="red">* ... implemented during the IGT Week </font> | ||
+ | |||
+ | Experiments | ||
+ | *Results | ||
+ | **Followed clinical procedures | ||
+ | **All communications (based on OpenIGTLink) went well. | ||
+ | **Performed needle insertion into prostate phantom | ||
+ | **Confirmed that the needle is inserted around the targeted position on the real-time image | ||
+ | *Issues | ||
+ | **Robot actuator was not used due to minor mechanical trouble. (robot was moved manually) | ||
+ | **Pulse sequence and parameters should be carefully chosen for Z-frame calibration | ||
+ | **Sudden stop of robot control software, while changing workphase rigorously from Slicer | ||
+ | **A minor problem in the definition of OpenIGTLink message (GET_COORDINATE message violate limitation of type string length) | ||
+ | |||
+ | Screenshots | ||
+ | |||
+ | [[Image:2008_IGT_Project_Week_PR_slicer_prostate.png]] | ||
+ | |||
+ | [[Image:2008_IGT_Project_Week_PR_slicer_zframe.png]] | ||
+ | |||
+ | [[Image:2008_IGT_Project_Week_PR_slicer_zframe2.png]] | ||
+ | [[Image:2008_IGT_Project_Week_zframe.jpg]] | ||
+ | |||
+ | [[Image:2008_IGT_Project_Week_PR_slicer_RadVision.jpg]] | ||
+ | |||
+ | |||
+ | |||
+ | |||
+ | Photos from the workshop | ||
+ | |||
+ | [[Image:2008_IGT_Project_Week_PR_001.jpg]] | ||
+ | |||
+ | [[Image:2008_IGT_Project_Week_PR_002.jpg]] | ||
+ | |||
+ | [[Image:2008_IGT_Project_Week_PR_003.jpg]] | ||
+ | |||
+ | [[Image:2008_IGT_Project_Week_PR_004.jpg]] | ||
+ | |||
+ | [[Image:2008_IGT_Project_Week_PR_005.jpg]] | ||
+ | |||
+ | =Slides= | ||
+ | [[Image:2008_IGT_Project_Week_Prostate_Robotics_Slide.ppt]] |
Latest revision as of 15:46, 12 December 2008
Home < 2008 IGT Project Week Prostate RoboticsBack to 2008_IGT_Project_Week#Projects
Team: Noby Hata, Clif Burdette, Jack Blevins, Clare Tempany, Sam Song, Bong Joon Cho, Greg Fisher, Roland Goerlitz, Junichi Tokuda
Contents
Goals
- Mock-up biopsy and therapy session
- Discuss robot control through OpenIGTLink
Place
Approach
Schedule
8 Monday | AM | AMS and JHU teams travel to Boston |
PM | Workshop 3:30pm-4:30pm Prostate breakout session = "planning for the week" | |
7:20pm - 12:00am | MRI @ 221 Longwood: Experiments. Goal all interface are up running. Checking communication with MRI and interdependent communication. Robot registration. | |
9 Tuesday | AM | Workshop: Junici-Jack realtime image transfer |
PM | Workshop: Jack-JHU definition of the IGT formats. | |
10 Wednesday | AM | Workshop : experiment design? |
PM | Workshop | |
7:20pm - 12:00am | MRI @ 221 Longwood: Experiments "slow mock-up MRg biopsy and accuracy assessment -- Phantom -- rehearsal for Thursday" | |
11 Thursday | AM | Workshop: Discussion for 2nd generation Robot. |
PM | Workshop | |
7:20pm - 12:00am | MRI @ 221 Longwood: Experiments "mock-up Slicer-based biopsy AND RadVision-based brachy" | |
12 Friday | AM | Workshop |
PM | -- |
http://wiki.ncigt.org/index.php/U41:Prostate:BRP:MRI_Robot_Experiment_2008_December
Results
- Results of the experiments
Software development
Features | Slicer | RadVision |
Workphase command | OK | OK |
"SET_Z_FRAME" command | OK* | OK |
"MOVE_TO" command | OK* | OK |
"GET_COORDINATE" command | OK* | OK |
"GET_STATUS" command | not implemented | OK |
"HOME" command | not implemented | not tested |
"INSERT" command | not implemented | not implemented |
"BIOPSY" command | not implemented | not implemented |
Real-time image transfer | OK | OK* |
Real-time image control | OK | OK*(orientation is not supported) |
Z-frame calibration | OK* (with visualization) | OK (not integrated with comunication) |
* ... implemented during the IGT Week
Experiments
- Results
- Followed clinical procedures
- All communications (based on OpenIGTLink) went well.
- Performed needle insertion into prostate phantom
- Confirmed that the needle is inserted around the targeted position on the real-time image
- Issues
- Robot actuator was not used due to minor mechanical trouble. (robot was moved manually)
- Pulse sequence and parameters should be carefully chosen for Z-frame calibration
- Sudden stop of robot control software, while changing workphase rigorously from Slicer
- A minor problem in the definition of OpenIGTLink message (GET_COORDINATE message violate limitation of type string length)
Screenshots
Photos from the workshop