Difference between revisions of "2011 Summer Project Week Patient Mounted Robot"

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Back to [[NA-MIC_Collaborations|NA-MIC_Collaborations]], [[Algorithm:Site1|Site1 Algorithms]], [[DBP1:Site2|Site2 DBP 1]]
 
 
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= Patient-mounted Robot Control using OpenIGTLink =
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<gallery>
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Image:PW-MIT2011.png|[[2011_Summer_Project_Week#Projects|Projects List]]
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Image:YourPictureHere.png|Your caption here
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</gallery>
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= Key Investigators =
  
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The aim of this project is to port existing robot control software for Robopsy and integrate it into 3D slicer using OpenIGTLink.
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* Massachusetts General Hospital: Conor James Walsh, Maryam Shokri
  
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= Description =
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* MIT: Faye Wu
  
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Descriptions and progress go here.  Here is where you write the bulk of your project.  The details given in this Template Project page represent the minimal amount of information that should be included for each project.  By housing all of the Project information on a single page, Wiki maintanence is reduced.  Now we can link to this page from several other places in the Wiki, such as each site's Site Page, the NA-MIC Collaborations page, Project Week pages, and from the externally visible NA-MIC webpage.
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<div style="margin: 20px;">
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<div style="width: 27%; float: left; padding-right: 3%;">
  
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''A Special Note:  Dashed Boxes''
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<h3>Objective</h3>
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The goal of this project is to port existing robot control software for Robopsy and integrate it into 3D slicer using OpenIGTLink.
  
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If a blank space is the first character for a Wiki line, the following text will be listed in a dashed box, such as the one appearing at the top of each Site and Project Page containing the links to go back to previous pages.  Note, that if you entered the edit mode via any of the subheading edit links, upon a "Save page" the blank space at the top of the Wiki page will be removed.  Therefore, you will need to manually add the blank space to maintain the dashed text box at the top of the page.  Dashed boxes are also used at the bottom of the Project Pages to link to applicable Project Week pages.
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</div>
  
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''A Special Note about Publications''
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<div style="width: 27%; float: left; padding-right: 3%;">
  
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"In Press" publications will be listed in two places on the Wiki (in the "In Press" sections on the Publications page and on the appropriate Project page(s)).  "In Press" publications will not be added to the Publications DB.
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<h3>Approach, Plan</h3>
  
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"In Print" publications will be added to the Publications DB with the appropriate Grant number (linking it to the search on the Publications DB) and with the appropriate Project page URL added as a keyword (linking it into the Project page). Once the publication is added to the DB, it will be removed from it's listing in the two "In Press" sections mentioned above.
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The method performs robot/image registration using fiducial markers and robot control. The following modifications will be performed:
  
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Write access for the publications database will be given out to a few select individuals.  If you do not currently have write access to the publications database, please send the following information to John Melonakos at (jmelonak at ece.gatech.edu), for "In Print" publications only:  1) the final printed version of the PDF, 2) the bibtex entry for the publication, 3) the NA-MIC Project URLs against which this publication should be linked, and 4) any other files that you would like to add to the publication database for this publication.
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* The controller code will be modified and connected to the OpenIGTLink.
  
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= Key Investigators =
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* The module will be modified to add widgets for performing the registration and robot control tasks.
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</div>
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<div style="width: 40%; float: left;">
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<h3>Progress</h3>
  
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* Site1: Person 1, Person 2, Person 3
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* Have used Skeleton Generator to generate template code for 3D Slicer module to collect fiducials. The registration algorithm was modified. The location of each fiducial marker on the robot was determined. The registration algorithm employs the position of markers on the robot and the fiducial positions which are collected from the image. The initial position for the needle holder was determined for the registration. The possibilities of adding GUI widgets to the registration module in the 3D slicer were discussed with collaborators.
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* Site2: Person 1
 
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* Site3: Person 1, Person 2, Person 3, Person 4
 
  
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= Publications =
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* Discussed employing of other available modules like segmentation in our module for generating semi-automatic registration technique. This technique incorporates user feedback and image segmentation for more accurate registration.
  
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''In Print''
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* Installed the controller software on Linux and modified the C++ code to send the commands to the robot.  
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* [http://www.na-mic.org/Special:Publications?text=Projects:MultiscaleShapeSegmentation&submit=Search&keywords=checked NA-MIC Publications Database].
 
  
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''In Press''
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* Discussed connecting the controller to the 3D slicer using OpenIGTLink.  
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* Author1, Author2. "Title1". Publisher Info, etc.
 
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* Author1, Author2. "Title2". Publisher Info, etc.
 
  
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= Links =
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* IGTLoadableModules will be employed to integrate the controller code.
  
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* Link1
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</div>
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* Link2
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</div>
  
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Project Week Results: [[blah|Jan 2006]], [[blah|Jun 2007]]
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<div style="width: 97%; float: left;">

Latest revision as of 15:17, 25 June 2011

Home < 2011 Summer Project Week Patient Mounted Robot

Key Investigators

  • Massachusetts General Hospital: Conor James Walsh, Maryam Shokri
  • MIT: Faye Wu

Objective

The goal of this project is to port existing robot control software for Robopsy and integrate it into 3D slicer using OpenIGTLink.

Approach, Plan

The method performs robot/image registration using fiducial markers and robot control. The following modifications will be performed:

  • The controller code will be modified and connected to the OpenIGTLink.
  • The module will be modified to add widgets for performing the registration and robot control tasks.

Progress

  • Have used Skeleton Generator to generate template code for 3D Slicer module to collect fiducials. The registration algorithm was modified. The location of each fiducial marker on the robot was determined. The registration algorithm employs the position of markers on the robot and the fiducial positions which are collected from the image. The initial position for the needle holder was determined for the registration. The possibilities of adding GUI widgets to the registration module in the 3D slicer were discussed with collaborators.
  • Discussed employing of other available modules like segmentation in our module for generating semi-automatic registration technique. This technique incorporates user feedback and image segmentation for more accurate registration.
  • Installed the controller software on Linux and modified the C++ code to send the commands to the robot.
  • Discussed connecting the controller to the 3D slicer using OpenIGTLink.
  • IGTLoadableModules will be employed to integrate the controller code.
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