Difference between revisions of "2016 Summer Project Week/MRI Manipulator"

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==Key Investigators==
 
==Key Investigators==
 
* Scheherazade Kraß
 
* Scheherazade Kraß
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*  
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* Longquan Chen
  
 
==Project Description==
 
==Project Description==
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<h3>Objective</h3>
 
<h3>Objective</h3>
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* Integrating/Using OpenIGTLink for the communications of robotic devices:
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* Obtaining a better understanding of OpenIGTLink:
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# The <b>MRI_Manipulator</b>, a 5 DoF robot for performing transrectal prostate biopsies.
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# How to use and integrate it in different robotic devices
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# The Kuka LBR robot in <b>MITIGATE</b>, a MeVislab based research project.
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# How to use it in MeVisLab applications
 
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<h3>Approach, Plan</h3>
 
<h3>Approach, Plan</h3>
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#<b>MRI_Manipulator</b>: The system is based on MeVisLab, the robot is controlled with a pneumatic motor via PLC controller, the movement commands are transferred through an Emulator. The goal is making this system working with OpenIGTLink.
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# The <b>MRI_Manipulator</b>, a 5 DoF robot for performing transrectal prostate biopsies.
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#<b>MITIGATE</b>: The overall objective of the EU-project MITIGATE is to develop and validate an integrated closed-loop process to effectively treat metastatic gastrointestinal stromal tumour (GIST) patients resistant to the currently available class of medication. We are involved in WP7 "Minimally Invasive Therapy" and will develop a control software for robot-assisted minimally invasive interventions. There we have to deal with DynaCT images from an interventional Artis Zeego External Link and steer a Kuka LBR External Link robot that holds the interventional device. The gola is to define workflows for robot communications and implement this via OpenIGTLink.
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# The Kuka LBR robot in <b>MITIGATE</b>, a MeVislab based research project.
 
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<div style="width: 27%; float: left; padding-right: 3%;">
 
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Latest revision as of 14:26, 7 June 2016

Home < 2016 Summer Project Week < MRI Manipulator

Key Investigators

  • Scheherazade Kraß
  • Longquan Chen

Project Description

Objective

  • Obtaining a better understanding of OpenIGTLink:
  1. How to use and integrate it in different robotic devices
  2. How to use it in MeVisLab applications

Approach, Plan

  1. The MRI_Manipulator, a 5 DoF robot for performing transrectal prostate biopsies.
  2. The Kuka LBR robot in MITIGATE, a MeVislab based research project.

Progress

  • to be started in the project week.
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