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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* Massachusetts General Hospital: Conor James Walsh, Maryam Shokri
  
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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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* MIT: Faye Wu
  
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= Description =
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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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<h3>Objective</h3>
 
The goal of this project is to port existing robot control software for Robopsy and integrate it into 3D slicer using OpenIGTLink.
 
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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= Key Investigators =
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</div>
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<div style="width: 27%; float: left; padding-right: 3%;">
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<h3>Approach, Plan</h3>
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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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* The controller code will be modified and connected to the OpenIGTLink.
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* The module will be modified to add widgets for performing the registration and robot control tasks.
  
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Conor James Walsh, Maryam Shokri, Faye Wu
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</div>
  
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= Progress =
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<div style="width: 40%; float: left;">
  
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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 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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<h3>Progress</h3>
  
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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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* 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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-Installed the controller software on Linux and modified the C++ code to send the commands to the robot.  
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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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-Discussed connecting the controller to the 3D slicer using OpenIGTLink.  
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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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-IGTLoadableModules will be employed to integrate the controller code.
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* Discussed connecting the controller to the 3D slicer using OpenIGTLink.  
  
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= Publications =
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* IGTLoadableModules will be employed to integrate the controller code.
  
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''In Print''
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</div>
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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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</div>
  
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''In Press''
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<div style="width: 97%; float: left;">
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* Author1, Author2. "Title1". Publisher Info, etc.
 
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* Author1, Author2. "Title2". Publisher Info, etc.
 

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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