Difference between revisions of "2011 Summer Project Week Patient Mounted Robot"
From NAMIC Wiki
| Line 18: | Line 18: | ||
The method performs robot/image registration using fiducial markers. The following modifications will be performed: | The method performs robot/image registration using fiducial markers. The following modifications will be performed: | ||
| + | |||
#The controller code will be modified and connected to the OpenIGTLink. | #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. | #The module will be modified to add widgets for performing the registration and robot control tasks. | ||
| Line 27: | Line 29: | ||
<h3>Progress</h3> | <h3>Progress</h3> | ||
#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. | #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. | #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. | #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. | #Discussed connecting the controller to the 3D slicer using OpenIGTLink. | ||
| + | |||
#IGTLoadableModules will be employed to integrate the controller code. | #IGTLoadableModules will be employed to integrate the controller code. | ||
Revision as of 20:22, 24 June 2011
Home < 2011 Summer Project Week Patient Mounted RobotContents
Patient-mounted Robot Control using OpenIGTLink
Key Investigators
Massachusetts General Hospital and MIT: Conor James Walsh, Maryam Shokri, 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. 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.
