OpenIGTLink/Protocol/JHUBRP
Contents
- 1 System Diagram
- 2 Workflow
- 3 Set Workphase (Slicer -> Robot)
- 4 Query / Command (Slicer -> Robot)
- 4.1 Command: INITIALIZE
- 4.2 Command: SET_Z_FRAME
- 4.3 Command: MOVE_TO
- 4.4 Query: GET_COORDINATE
- 4.5 Query: GET_STATUS
- 4.6 Command: INSERT
- 4.7 Command: BIOPSY
- 4.8 Query: GET_BIOPSY
- 4.9 Command: HOME
- 4.10 Command: STOP
- 4.11 Command: E_STOP
- 4.12 Command: SET_JOINT
- 4.13 Command: SET_VELOCITY
- 4.14 Query: GET_NR_JOINT
- 4.15 Query: GET_JOINT
- 4.16 Query: GET_VELOCITY
- 4.17 Query: GET_AIR_PRESSURE
- 4.18 Query: GET_JOINT_TRACK
- 4.19 Query: GET_BRAKE
- 4.20 Query: GET_MOVING
- 4.21 Command: LOCK
- 4.22 Command: UNLOCK
- 4.23 Command: LIMIT_VELOCITY
- 5 Responses sent by the robot (Robot -> Slicer)
System Diagram
Workflow
- Scanner: Scout image acquisition with the landmark close to the prostate
- Navigation soft and scanner: Calculate Z-frame position, scan a slice through the Z-frame
- Repeat previous step if the Z-frame is not visible enough to register the robot
- Scanner: 3D volume acquisition of the prostate
- Navigation soft: Select (or import) the targets, show needle path, allow modification
- Navigation soft: Calculate the target and path, send it to the robot
- Robot: Execute command
- [Optional] Navigation soft: send current robot coordinates to the Real Time scanner IO for needle tracking, display image
- Navigation soft: Display robot position and status
- Scanner: Confirm robot location before biopsy
- Manual: Insert biopsy needle
- [Optional] Navigation soft: show Real time images of the needle insertion
- Manual: Fire biopsy gun
Set Workphase (Slicer -> Robot)
START_UP
Slicer: Send "START_UP" Workphase command
Robot: Initialize robot and respond with status message
PLANNING
Robot: Do nothing, respond with status
CALIBRATION
Robot: Do nothing, respond with status. Waiting for SET_Z_FRAME command (Z-Frame transformation).
TARGETING
Robot: Fail if Z-Frame was not set. Respond with status. Waiting for targets (MOVE command).
MANUAL
Robot: Engage breaks, responds with status.
Slicer sends "GetCoordinate" query periodically to update the display.
EMERGENCY
Robot: Responds with status
Query / Command (Slicer -> Robot)
Command: INITIALIZE
Robot: Initialize, set the encoders, remember this position as "HOME". Respond with status.
Command: SET_Z_FRAME
Robot: Store Z-frame position and orientation (global RAS coordinate system) - respond with status.
Command: MOVE_TO
Robot: Go to this coordinate - position, orientation (later: speed?) (global RAS coordinate system). Respond with status.
Query: GET_COORDINATE
Robot: Respond with current coordinate (position and orientation in global RAS coordinate system)
Query: GET_STATUS
Robot: Respond with status
Command: INSERT
Robot: Insert the needle to this depth - float (in mm)
Command: BIOPSY
Robot: Take biopsy (Retract Cannula)
Query: GET_BIOPSY
Robot: Respond with Actual Insertion Depth
Command: HOME
Robot: Go to Home (collapses the robot to remove/replace needle)
Command: STOP
Robot: Stop moving
Command: E_STOP
Robot: Emergency Stop (stop + purges the air lines)
Command: SET_JOINT
Robot: Set Joint Positions - float[max.16] - move joint here
Command: SET_VELOCITY
Robot: Set Joint Velocities - float[max.16] - move joint with this speed
Query: GET_NR_JOINT
Robot: Get Number of Joints - integer
Query: GET_JOINT
Robot: Get Actual Joint Positions
Query: GET_VELOCITY
Robot: Get Actual Joint Velocities
Query: GET_AIR_PRESSURE
Robot: Get Actual Air Pressures
Query: GET_JOINT_TRACK
Robot: Get Actual Joint Tracking Errors
Query: GET_BRAKE
Robot: Get Brakes status
Query: GET_MOVING
Robot: Get Joint Moving status
Command: LOCK
Robot: Engage brakes - all of them
Command: UNLOCK
Robot: Unlock - disengage the brakes so it can be moved manually
Command: LIMIT_VELOCITY
Robot: Set entire robot velocity limit in Robot Coords. - float (like 10 mm/s)
Responses sent by the robot (Robot -> Slicer)
Value: COORDINATES
Response from Robot: Actual coordinates and insertion depth - 6DOF in global RAS coordinate system
Status: STATUS
Response from Robot: Robot done moving, Error message, Emergency stop
Response: JOINTS
Response from Robot: Number of Joints - integer
Response: JOINT_POS
Response from Robot: Actual joint positions - float[max.16] (joint positions in mm)
Response: JOINT_VEL
Response from Robot: Actual joint velocities - float[max.16] (joint velocities in mm/s)
Response: JOINT_TRACK
Response from Robot: Actual joint tracking error - float[max.16] - "actual joint position" - "set joint position"
Response: AIR_PRESSURE
Response from Robot: Actual air pressures - float[max.32] - two per joint! (PSI for each valve)
Status: BRAKES
Response from Robot: Brake status - float[max.16] - true(locked)/false(loose) for each joint
Status: DONE_MOVING
Response from Robot: Done moving/joint - float[max.16] - true/false for each joint
