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)
• Jayender Jagadeesan (BWH)

Project Description

Objective	Approach and Plan	Progress and Next Steps
Define requirements and system architecture for medical robotics software system based on 3D Slicer and Robot Operating System (ROS)	Needs for 3D Slicer / ROS integration in ongoing research projects (presentations by participants) (See Breakout session) 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