LEGO IGT and Medical Robotics Tutorial

People:

Danielle Pace, Surgical Planning Lab and Robarts Research Institute

Ron Kikinis, Surgical Planning Lab

Nobuhiko Hata, Surgical Planning Lab

Overview:

This tutorial provides a thorough understanding of the main concepts in image-guided therapy and medical robotics, namely imaging, pre-operative planning, targetting by tracking, navigation and registration. The tutorial is open-source and completely free for anyone to use or modify (see http://www.slicer.org for details and for the BSD style open source license).

The tutorial is:

• Hands-on: Using a LEGO robot, a LEGO phantom (anatomical model) and a tutorial module in 3D Slicer v. 3 means that tutorial participants can use real physical equipment and software to learn about IGT and medical robotics.

• Accessible: The tutorial software is open-source, and the cost of the materials is approximately $300 USD + shipping and taxes.

Tutorial Materials:

Provided by NA-MIC and the Surgical Planning Lab:

• 3D Slicer v. 3 tutorial module
• CT volume of the phantom
• Tutorial slides
• Assembly instructions for the robot and the phantom
• Phantom placement guide

Provided by tutorial participants:

• 1 LEGO Mindstorms NXT kit
• 1 LEGO Deluxe Brick box
• 2 pom-poms
• Linux computer with root access

Getting the Tutorial Materials:

Robot assembly instructions: File:LEGOIGTAndMedicalRoboticsTutorial RobotAssemblyInstructions.pdf

Phantom assembly instructions: File:LEGOIGTAndMedicalRoboticsTutorial PhantomAssemblyInstructions.pdf

Phantom placement guide: Robot assembly instructions: File:LEGOIGTAndMedicalRoboticsTutorial PhantomPlacementGuide.pdf

Tutorial Slides Part 1 - Background and Materials:File:LEGOIGTAndMedicalRoboticsTutorial 1 BackgroundAndMaterials.pdf

Tutorial Slides Part 2 - Basic Tutorial: File:LEGOIGTAndMedicalRoboticsTutorial 2 BasicTutorial.pdf

Tutorial Slides Part 3 - Advanced Tutorial: File:LEGOIGTAndMedicalRoboticsTutorial 3 AdvancedTutorial.pdf

Code to interface between the LEGO robot and a C++ program File:NXT USB.zip

Note that the above code was modified from NXT++ (http://nxtpp.sourceforge.net) and Device::USB (http://search.cpan.org/~gwadej/Device-USB-0.21) and uses libusb (http://libusb.sourceforge.net). See the README file for instructions on installation and use.

MICCAI 2007 "Open Source and Open Data for MICCAI" workshop paper: File:AnAccessibleHandsOnTutorialSystemForIGTAndMedicalRobotics.pdf

All supplied tutorial materials are available from the Insight Journal: http://hdl.handle.net/1926/567 (unzip the "Full Download" file)

For user-supplied materials, see the "Background and Materials" tutorial slides for purchasing information.

Questions? Feedback?

Contact Danielle Pace