Difference between revisions of "2008 IGT Project Week Prostate Robotics"
From NAMIC Wiki
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*Results of the experiments | *Results of the experiments | ||
| − | ** | + | |
| + | **Software functions | ||
| + | |||
{| border="1" cellpadding="5" cellspacing="0" align="center" | {| border="1" cellpadding="5" cellspacing="0" align="center" | ||
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|align="left style="background:#e0e0e0;" | Workphase command || OK || OK | |align="left style="background:#e0e0e0;" | Workphase command || OK || OK | ||
|- | |- | ||
| − | |align="left style="background:#e0e0e0;" | "SET_Z_FRAME" command || <font color="red"> OK </font>|| OK | + | |align="left style="background:#e0e0e0;" | "SET_Z_FRAME" command || <font color="red">OK* </font>|| OK |
|- | |- | ||
| − | |align="left style="background:#e0e0e0;" | "MOVE_TO" command || <font color="red">OK</font> || OK | + | |align="left style="background:#e0e0e0;" | "MOVE_TO" command || <font color="red">OK*</font> || OK |
|- | |- | ||
| − | |align="left style="background:#e0e0e0;" | "GET_COORDINATE" command || <font color="red">OK</font> || OK | + | |align="left style="background:#e0e0e0;" | "GET_COORDINATE" command || <font color="red">OK*</font> || OK |
|- | |- | ||
|align="left style="background:#e0e0e0;" | "GET_STATUS" command || not implemented || OK | |align="left style="background:#e0e0e0;" | "GET_STATUS" command || not implemented || OK | ||
| Line 81: | Line 83: | ||
|align="left style="background:#e0e0e0;" | "BIOPSY" command || not implemented || not implemented | |align="left style="background:#e0e0e0;" | "BIOPSY" command || not implemented || not implemented | ||
|- | |- | ||
| − | |align="left style="background:#e0e0e0;" | Real-time image transfer || OK || <font color="red">OK </font> | + | |align="left style="background:#e0e0e0;" | Real-time image transfer || OK || <font color="red">OK* </font> |
|- | |- | ||
| − | |align="left style="background:#e0e0e0;" | Real-time image control || OK || <font color="red"> OK (orientation is not supported)</font> | + | |align="left style="background:#e0e0e0;" | Real-time image control || OK || <font color="red"> OK*(orientation is not supported)</font> |
|- | |- | ||
| − | |align="left style="background:#e0e0e0;" | Z-frame calibration || <font color="red">implemented (with visualization)</font> || implemented (not integrated with comunication) | + | |align="left style="background:#e0e0e0;" | Z-frame calibration || <font color="red">implemented* (with visualization)</font> || implemented (not integrated with comunication) |
|- | |- | ||
|} | |} | ||
| + | <font color="red">* ... implemented during the IGT Week </font> | ||
| + | |||
| + | *Experiments | ||
| + | **We followed clinical procedures | ||
| + | **We performed needle insertion into prostate phantom | ||
| + | **We confirmed that the needle is inserted around the targeted position on the real-time image | ||
| + | **Robot actuator was not used due to minor mechanical trouble. (robot was moved manually) | ||
| + | **Pulse sequence and parameters should be carefully chosen for Z-frame calibration | ||
| + | |||
*Plan for the next | *Plan for the next | ||
| + | =Slides= | ||
[[Image:2008_IGT_Project_Week_Prostate_Robotics_Slide.ppt]] | [[Image:2008_IGT_Project_Week_Prostate_Robotics_Slide.ppt]] | ||
Revision as of 05:33, 12 December 2008
Home < 2008 IGT Project Week Prostate RoboticsBack to 2008_IGT_Project_Week#Projects
Team: Noby Hata, Clif Burdette, Jack Blevins, Clare Tempany, Sam Song, Bong Joon Cho, Greg Fisher, Roland Goerlitz, Junichi Tokuda
Contents
Goals
- Mock-up biopsy and therapy session
- Discuss robot control through OpenIGTLink
Place
Approach
Schedule
| 8 Monday | AM | AMS and JHU teams travel to Boston |
| PM | Workshop 3:30pm-4:30pm Prostate breakout session = "planning for the week" | |
| 7:20pm - 12:00am | MRI @ 221 Longwood: Experiments. Goal all interface are up running. Checking communication with MRI and interdependent communication. Robot registration. | |
| 9 Tuesday | AM | Workshop: Junici-Jack realtime image transfer |
| PM | Workshop: Jack-JHU definition of the IGT formats. | |
| 10 Wednesday | AM | Workshop : experiment design? |
| PM | Workshop | |
| 7:20pm - 12:00am | MRI @ 221 Longwood: Experiments "slow mock-up MRg biopsy and accuracy assessment -- Phantom -- rehearsal for Thursday" | |
| 11 Thursday | AM | Workshop: Discussion for 2nd generation Robot. |
| PM | Workshop | |
| 7:20pm - 12:00am | MRI @ 221 Longwood: Experiments "mock-up Slicer-based biopsy AND RadVision-based brachy" | |
| 12 Friday | AM | Workshop |
| PM | -- |
http://wiki.ncigt.org/index.php/U41:Prostate:BRP:MRI_Robot_Experiment_2008_December
Results
- Results of the experiments
- Software functions
| Function | Slicer | RadVision |
| Workphase command | OK | OK |
| "SET_Z_FRAME" command | OK* | OK |
| "MOVE_TO" command | OK* | OK |
| "GET_COORDINATE" command | OK* | OK |
| "GET_STATUS" command | not implemented | OK |
| "HOME" command | not implemented | not tested |
| "INSERT" command | not implemented | not implemented |
| "BIOPSY" command | not implemented | not implemented |
| Real-time image transfer | OK | OK* |
| Real-time image control | OK | OK*(orientation is not supported) |
| Z-frame calibration | implemented* (with visualization) | implemented (not integrated with comunication) |
* ... implemented during the IGT Week
- Experiments
- We followed clinical procedures
- We performed needle insertion into prostate phantom
- We confirmed that the needle is inserted around the targeted position on the real-time image
- Robot actuator was not used due to minor mechanical trouble. (robot was moved manually)
- Pulse sequence and parameters should be carefully chosen for Z-frame calibration
- Plan for the next
