2015 Summer Project Week Template

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  • Screenshot of the Slicer module and the current robot position in CT data of the Femur phantom

Key Investigators

  • Sebastian Tauscher
  • Junichi Tokuda

Project Description

Objective

  • The LightWeightRobotIGT [1] module allows to communicate with a light weight robot (LWR iiwa, KUKA Laboratories GmbH, Germany, Augsburg) using an open interface concept based on the OpenIGTLink protocol (LWROpenIGTIF). Therefore, a state machine example is available at Git Hub containing the necessary interface classes for the communication on the robot control.

Approach, Plan

During the project week the definition of virtaul fixtures and the definition of the target point via fiducials is planned.

  • Definition of virtual fixtures via 2 points

Progress

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