2014 Summer Project Week:Robot Control With OpenIGTLink

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  Projects List

Key Investigators

• Greg Fischer (WPI)
• Nirav Patel (WPI)
• Junichi Tokuda (BWH/SPL)
• Andras Lasso

Project Description

• This Project is to further develop a workflow and communication protocol for interfacing robots with image-guided therapy systems using OpenIGTLink.
• Also, we would like to enhance JAVA implementation of IGTLink and support more message types.

Objective

• Some of the supported standard messages in OpenIGTLink for JAVA are Position, Status, String and Transform. During this week we would like to add support for other message types like NDArray, Sensor and any other useful messages for controlling the robot using IGTLink.
• Also, would like to collaborate with team working on MATLAB interface for IGTLink and test it with JAVA implementation.

Approach, Plan

• Taking BRP Robot Application as base and extending it for any other robot applications.
• Testing it for MATLAB and standard C++ implementation.

Progress

• We have tested IGTLink communication with the clinical workflow described at http://www.na-mic.org/Wiki/index.php/ProstateBRP_OpenIGTLink_Communication_June_2013 which was implemented during 2013 Summer Project Week.
• NDArray is being implemented but not yet tested.
• Sensor message yet to be implemented.