Difference between revisions of "2009 Summer Project Week Prostate Robotics"

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__NOTOC__
 
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<gallery>
 
<gallery>
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Image:PW2009-v3.png|[[2009_Summer_Project_Week|Project Week Main Page]]
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Image:PW2009-v3.png|[[2009_Summer_Project_Week#Projects|Projects List]]
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Image:genuFAp.jpg|Scatter plot of the original FA data through the genu of the corpus callosum of a normal brain.
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Image:OpenIGTLink_JHUProstateRobot.jpg|MRI-compatible pneumatic manipulator for needle placement
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Image:genuFA.jpg|Regression of FA data; solid line represents the mean and dotted lines the standard deviation.
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Image:OpenIGTLink_Diagram_JHURobot.png|System diagram for the MRI-guided robotic prostate intervention.
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Image:SummerProjectWeek2009_ZFrameScreenshot.png|Confirmation screen for Z-frame robot-to-image registration on 3D Slicer.
 
</gallery>
 
</gallery>
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Information about the experiment at BWH
 +
=============================================
 +
 +
If you are interested in joining us, please do:
 +
  1. Ask Noby or Junichi if you can attend.
 +
  2. Be at the place around 7pm on Monday or Tuesday. The place is Brigham and Women's Hospital, 221 Longwood, Boston MA 02115.
 +
    Please call Junichi at 617-459-2680 at the entrance of the building.
 +
    http://maps.google.com/maps?f=q&source=s_q&hl=en&geocode=&q=221+Longwood+Ave,+Boston,+MA+02115&sll=37.0625,-95.677068&sspn=44.25371,54.755859&ie=UTF8&ll=42.337135,-71.103044&spn=0.020271,0.026736&z=15&iwloc=A
 +
 +
  
 
==Key Investigators==
 
==Key Investigators==
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* BWH: Junichi Tokuda, Nobuhiko Hata
+
* BWH: Junichi Tokuda, Haiying Liu, Nobuhiko Hata, Clare Tempany
−
* JHU: Sam Song, Nathan Cho
+
* JHU: Sam Song, Nathan Cho, Iulian Iordachita
 
* AMS: Jack Blevins, Clif Burdette
 
* AMS: Jack Blevins, Clif Burdette
 
* WPI: Gregory Fischer
 
* WPI: Gregory Fischer
−
* Queen's: Andras Lasso
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* Queen's: Andras Lasso, Gabor Fichtinger
  
 
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<h3>Approach, Plan</h3>
 
<h3>Approach, Plan</h3>
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The software system consists of three sub-components: a) control software for the needle placement robot, b) software to control a closed-bore whole body 3T MRI scanner (GE Excite HD 3T, GE Healthcare), and c) open-source surgical navigation software (3D Slicer, http://www.slicer.org/). The core component of the software system is 3D Slicer, running on a Linux-based workstation, that serves as an integrated environment for calibration, surgical planning, image guidance and device monitoring and control. The 3D Slicer communicates with the other components through 100 Base-T Ethernet to exchange data and commands using an open network communication protocol, OpenIGTLink. We developed a software module in 3D Slicer that offers all features uniquely required for MR-guided robotic prostate intervention, as follows: 1) management of the ‘workphase’ of the all components in the system; 2) treatment planning by placing target points on the pre-operative 3D images loaded on the 3D Slicer and robot control based on the plan; 3) registration of the robot and patient coordinate systems; 4) integrated visualization of real-time 2D image, preoperative 3D image, and visualization of the current needle position on the 3D viewer of 3D Slicer.  
+
The software system consists of three sub-components: a) control software for the needle placement robot, b) software to control a closed-bore whole body 3T MRI scanner (GE Excite HD 3T, GE Healthcare), and c) open-source surgical navigation software (3D Slicer, http://www.slicer.org/) and RadVision (AcousticMed Systems). The navigation software serves as an integrated environment for calibration, surgical planning, image guidance and device monitoring and control. The 3D Slicer communicates with the other components through Ethernet to exchange data and commands using an open network communication protocol, [[OpenIGTLink]].  
 
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<h3>Progress</h3>
 
<h3>Progress</h3>
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During IGT Workshop in 2008 (Boston, December 2008), we successfully tested communication among the navigation software (3D Slicer / RadVision), robot control software, and 3T MRI at BWH. Since then, we have been working on two tasks: improvement of the pneumatic mechanism at JHU and volunteer studies to analyze the workspace in the 3T MRI at BWH.
+
During IGT Workshop in 2008 (Boston, December 2008), we successfully tested communication among the navigation software (3D Slicer / RadVision), robot control software, and 3T MRI at BWH. Since then, we have been working primarily on two tasks: improvement of the pneumatic mechanism at JHU and volunteer studies to analyze the workspace in the 3T MRI at BWH.
  
 
</div>
 
</div>
 
</div>
 
</div>
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<div style="width: 97%; float: left;">
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==Logistics for MRI Experiment at Brigham and Women's Hospital==
 +
*Date / place
 +
**Date: 22, 23 and 25 June 2009, from 6:00pm -
 +
**Place: Brigham and Women's Hospital, LMRC 3T Shortbore MRI Scanner Room, 221 Longwood Ave. Boston, MA
 +
*Participants
 +
**BWH: Clare, Noby, Junichi, Haiying
 +
**JHU: Iulian, Sam, Nathan,
 +
**AMS: Clif, Jack
 +
**Queen's: Gabor
 +
**WPI: Greg
 +
*Note:
 +
**We might not have enough room for visitors. Please ask [[User:Tokuda|Junichi Tokuda]], if you are interested in participating.
 +
 +
 +
==Photos==
 +
[[Image:SummerProjectWeek2009_ProstateRobot1.jpg]]
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[[Image:SummerProjectWeek2009_ProstateRobot2.jpg]]
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[[Image:SummerProjectWeek2009_ProstateRobot3.jpg]]
  
 
==References==
 
==References==

Latest revision as of 14:30, 26 June 2009

Home < 2009 Summer Project Week Prostate Robotics

  • MRI-compatible pneumatic manipulator for needle placement

  • System diagram for the MRI-guided robotic prostate intervention.

  • Confirmation screen for Z-frame robot-to-image registration on 3D Slicer. 

Information about the experiment at BWH
=============================================

If you are interested in joining us, please do:
 1. Ask Noby or Junichi if you can attend.
 2. Be at the place around 7pm on Monday or Tuesday. The place is Brigham and Women's Hospital, 221 Longwood, Boston MA 02115.
    Please call Junichi at 617-459-2680 at the entrance of the building.
    http://maps.google.com/maps?f=q&source=s_q&hl=en&geocode=&q=221+Longwood+Ave,+Boston,+MA+02115&sll=37.0625,-95.677068&sspn=44.25371,54.755859&ie=UTF8&ll=42.337135,-71.103044&spn=0.020271,0.026736&z=15&iwloc=A


Key Investigators

  • BWH: Junichi Tokuda, Haiying Liu, Nobuhiko Hata, Clare Tempany
  • JHU: Sam Song, Nathan Cho, Iulian Iordachita
  • AMS: Jack Blevins, Clif Burdette
  • WPI: Gregory Fischer
  • Queen's: Andras Lasso, Gabor Fichtinger

Objective

We will perform a mock-up procedure to validate our software / hardware system for MRI-guided transperineal prostate intervention.


Approach, Plan

The software system consists of three sub-components: a) control software for the needle placement robot, b) software to control a closed-bore whole body 3T MRI scanner (GE Excite HD 3T, GE Healthcare), and c) open-source surgical navigation software (3D Slicer, http://www.slicer.org/) and RadVision (AcousticMed Systems). The navigation software serves as an integrated environment for calibration, surgical planning, image guidance and device monitoring and control. The 3D Slicer communicates with the other components through Ethernet to exchange data and commands using an open network communication protocol, OpenIGTLink.

Progress

During IGT Workshop in 2008 (Boston, December 2008), we successfully tested communication among the navigation software (3D Slicer / RadVision), robot control software, and 3T MRI at BWH. Since then, we have been working primarily on two tasks: improvement of the pneumatic mechanism at JHU and volunteer studies to analyze the workspace in the 3T MRI at BWH.

Logistics for MRI Experiment at Brigham and Women's Hospital

  • Date / place
    • Date: 22, 23 and 25 June 2009, from 6:00pm -
    • Place: Brigham and Women's Hospital, LMRC 3T Shortbore MRI Scanner Room, 221 Longwood Ave. Boston, MA
  • Participants
    • BWH: Clare, Noby, Junichi, Haiying
    • JHU: Iulian, Sam, Nathan,
    • AMS: Clif, Jack
    • Queen's: Gabor
    • WPI: Greg
  • Note:
    • We might not have enough room for visitors. Please ask Junichi Tokuda, if you are interested in participating.


Photos

SummerProjectWeek2009 ProstateRobot1.jpg SummerProjectWeek2009 ProstateRobot2.jpg SummerProjectWeek2009 ProstateRobot3.jpg

References

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