2016 Winter Project Week/Projects/SlicerROSIntegration

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  Projects List

Key Investigators

• Junichi Tokuda (Brigham and Women's Hospital)
• Axel Krieger (Children's National Medical Center)
• Simon Leonard (Johns Hopkins University)
• Tobias Frank (University Hannover, Germany)

Project Description

Objective

• Define requirements and system architecture for medical robotics software system based on 3D Slicer and Robot Operating System (ROS)

Approach, Plan

• Needs for 3D Slicer / ROS integration in ongoing research projects (presentations by participants)
  • Axel (Autonomous Surgery using the KUKA LWR)
  • Simon (dVRK?)
  • Junichi (OpenIGTLink and medical robotics research)
  • Tobias (OCT robot / Integration of KUKA robot and 3D Slicer
• Brainstorming 1: Requirements
  • Applications (e.g. endoscopic surgery, percutaneous interventions, catheterization, etc.)
  • Platforms -- Linux, Windows, MAC
  • Roles for 3D Slicer -- visualization, image processing, etc.
  • Roles for ROS -- vision, sensors, devices, etc.
• Brainstorming 2: Architecture for 3D Slicer-ROS integration
  • Types of data exchanged between ROS and 3D Slicer
  • Communication scheme between ROS and 3D Slicer
  • Software package to provide
    • Independent middleware?
    • 3D Slicer plug-in modules
    • ROS modules
• Brainstorming 3: Collaborative tools / teams
  • Platforms to support (ROS mainly support Linux)
  • Repository

Progress