LEGO IGT and Medical Robotics Tutorial

The LEGO robot and phantom

Example tutorial screenshot

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LEGO Image Guided Therapy and Medical Robotics Tutorial

Overview:

This tutorial provides a thorough understanding of the main concepts in image-guided therapy and medical robotics, namely imaging, pre-operative planning, targeting by tracking, navigation and registration. The tutorial is open-source and completely free for anyone to use or modify (see http://www.slicer.org for details and for the BSD style open source license).

The tutorial is:

• Hands-on: Using a LEGO robot, a LEGO phantom (anatomical model) and a tutorial module in 3D Slicer v. 3 means that tutorial participants can use real physical equipment and software to learn about IGT and medical robotics.

• Accessible: The tutorial software is open-source, and the cost of the materials is approximately $300 USD + shipping and taxes.

Tutorial Materials:

Provided by NA-MIC and the Surgical Planning Lab:

• 3D Slicer v. 3 tutorial module
• CT volume of the phantom
• Tutorial slides
• Assembly instructions for the robot and the phantom
• Phantom placement guide

Provided by tutorial participants:

• 1 LEGO Mindstorms NXT kit
• 1 LEGO Deluxe Brick box
• 2 pom-poms
• Linux computer with root access or Windows with administrator privileges

For purchasing information for user-supplied materials, see the "Tutorial Slides Part 1 - Background and Materials" slides.

Getting the Tutorial Materials:

Click on the following links to get the tutorial materials:

• Robot assembly instructions: LEGOIGTAndMedicalRoboticsTutorial_RobotAssemblyInstructions.pdf

• Phantom assembly instructions: LEGOIGTAndMedicalRoboticsTutorial_PhantomAssemblyInstructions.pdf

• Phantom placement guide: LEGOIGTAndMedicalRoboticsTutorial_PhantomPlacementGuide.pdf

• Tutorial Slides Part 1 - Background and Materials: LEGOIGTAndMedicalRoboticsTutorial_1_BackgroundAndMaterials.pdf

• Tutorial Slides Part 2 - Basic Tutorial: LEGOIGTAndMedicalRoboticsTutorial_2_BasicTutorial.pdf

• Tutorial Slides Part 3 - Advanced Tutorial: LEGOIGTAndMedicalRoboticsTutorial_3_AdvancedTutorial.pdf

• CT volume of the LEGO phantom: 000003.SER.zip

• 3D Slicer LEGO tutorial module (including code to interface between a LEGO robot and a C++ program): Available on the NA-MIC Sandbox - access online or through the NA-MIC subversion system

• MICCAI 2007 "Open Source and Open Data for MICCAI" workshop paper: File:AnAccessibleHandsOnTutorialSystemForIGTAndMedicalRobotics.pdf

Software Installation Instructions

• Installing Slicer: go to the Slicer3 Install site.
• Compiling the LegoTutorial

Notes

• Note that the code supplied above was modified from NXT++ (http://nxtpp.sourceforge.net) and Device::USB (http://search.cpan.org/~gwadej/Device-USB-0.21) and uses libusb (http://libusb.sourceforge.net). See the README file included with the source code for instructions on installation and use.

People:

Danielle Pace, Surgical Planning Lab and Robarts Research Institute

Ron Kikinis, Surgical Planning Lab

Nobuhiko Hata, Surgical Planning Lab

Questions? Feedback?

Contact Danielle Pace