2013 Project Week:AgileMedicalRobot

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  Projects List

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  Sequence Diagram for MRI-guided liver ablation robot (the beginning part)

Key Investigators

• BWH: Atsushi Yamada, Nobuhiko Hata
• Canon: Taka Kato, Onuma

Objective

To develop a system architecture for MRI-guided liver ablation robot, and identify the critical software modules in Slicer, OpenIGTLink, NITRO

Approach, Plan

• Identify system components in the robot
• Identify clinical workflow in the target clinical application
• List system "phases" for each workflow items
• Discuss the tasks for each components at each phase
• Identify information to be exchanged to accomplish the tasks
• Identify the information to be logged for recovery from crash and emergency stop
• Design incremental development phases with test and validation
• Identify virtual and real system components to be developed
• Identify resource sharing mechanism among component developpers

Progress

• Created the repository
  • AgileMedicalRoboticsDevelopment
• Created sequence diagram by using ArgoUML
  • Diagrams version control; export XMI file from ArgoUML -> repository at GitHub
• Identified clinical workflow, system components and tasks
• Identified states and information to be exchanged
• Planned incremental development phase
• Designed igtlRobot (OpenIGTLink extension) based on the workflow and implemented parts of the extension message classes.
• Created simulators for Robot control unit, Slicer and MRI scanner to perform the communication of each device virtually by using igtlRobot.

Delivery Mechanism

• The documentation to be contained in NCIGT wiki site.

References

• [1]