Difference between revisions of "2016 Summer Project Week/MRI Manipulator"
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<h3>Objective</h3> | <h3>Objective</h3> | ||
* Integrating/Using OpenIGTLink for the communications of robotic devices: | * Integrating/Using OpenIGTLink for the communications of robotic devices: | ||
| − | # The | + | # The <b>MRI_Manipulator</b>, a 5 DoF robot for performing transrectal prostate biopsies. |
| − | # The Kuka LBR robot | + | # The Kuka LBR robot in <b>MITIGATE</b>, a MeVislab based research project. |
</div> | </div> | ||
<div style="width: 27%; float: left; padding-right: 3%;"> | <div style="width: 27%; float: left; padding-right: 3%;"> | ||
<h3>Approach, Plan</h3> | <h3>Approach, Plan</h3> | ||
| − | + | #<b>MRI_Manipulator</b>: The system is based on MeVisLab, the robot is controlled with a pneumatic motor via PLC controller, the movement commands are transferred through an Emulator. The goal is making this system working with OpenIGTLink. | |
| + | #<b>MITIGATE</b>: The overall objective of the EU-project MITIGATE is to develop and validate an integrated closed-loop process to effectively treat metastatic gastrointestinal stromal tumour (GIST) patients resistant to the currently available class of medication. We are involved in WP7 "Minimally Invasive Therapy" and will develop a control software for robot-assisted minimally invasive interventions. There we have to deal with DynaCT images from an interventional Artis Zeego External Link and steer a Kuka LBR External Link robot that holds the interventional device. The gola is to define workflows for robot communications and implement this via OpenIGTLink. | ||
</div> | </div> | ||
<div style="width: 27%; float: left; padding-right: 3%;"> | <div style="width: 27%; float: left; padding-right: 3%;"> | ||
Revision as of 08:28, 13 May 2016
Home < 2016 Summer Project Week < MRI Manipulator
Key Investigators
- Scheherazade Kraß
Project Description
Objective
- Integrating/Using OpenIGTLink for the communications of robotic devices:
- The MRI_Manipulator, a 5 DoF robot for performing transrectal prostate biopsies.
- The Kuka LBR robot in MITIGATE, a MeVislab based research project.
Approach, Plan
- MRI_Manipulator: The system is based on MeVisLab, the robot is controlled with a pneumatic motor via PLC controller, the movement commands are transferred through an Emulator. The goal is making this system working with OpenIGTLink.
- MITIGATE: The overall objective of the EU-project MITIGATE is to develop and validate an integrated closed-loop process to effectively treat metastatic gastrointestinal stromal tumour (GIST) patients resistant to the currently available class of medication. We are involved in WP7 "Minimally Invasive Therapy" and will develop a control software for robot-assisted minimally invasive interventions. There we have to deal with DynaCT images from an interventional Artis Zeego External Link and steer a Kuka LBR External Link robot that holds the interventional device. The gola is to define workflows for robot communications and implement this via OpenIGTLink.
Progress
- to be started in the project week.
