2008 IGT Project Week Prostate Robotics

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Team: Noby Hata, Clif Burdette, Jack Blevins, Clare Tempany, Sam Song, Bong Joon Cho, Greg Fisher, Roland Goerlitz, Junichi Tokuda

Goals

• Mock-up biopsy and therapy session
• Discuss robot control through OpenIGTLink

Place

Map to 221 Longwood

Approach

Schedule

8 Monday	AM	AMS and JHU teams travel to Boston
	PM	Workshop 3:30pm-4:30pm Prostate breakout session = "planning for the week"
	7:20pm - 12:00am	MRI @ 221 Longwood: Experiments. Goal all interface are up running. Checking communication with MRI and interdependent communication. Robot registration.
9 Tuesday	AM	Workshop: Junici-Jack realtime image transfer
	PM	Workshop: Jack-JHU definition of the IGT formats.
10 Wednesday	AM	Workshop : experiment design?
	PM	Workshop
	7:20pm - 12:00am	MRI @ 221 Longwood: Experiments "slow mock-up MRg biopsy and accuracy assessment -- Phantom -- rehearsal for Thursday"
11 Thursday	AM	Workshop: Discussion for 2nd generation Robot.
	PM	Workshop
	7:20pm - 12:00am	MRI @ 221 Longwood: Experiments "mock-up Slicer-based biopsy AND RadVision-based brachy"
12 Friday	AM	Workshop
	PM	--

http://wiki.ncigt.org/index.php/U41:Prostate:BRP:MRI_Robot_Experiment_2008_December

Results

• Results of the experiments
  • Communications using OpenIGTLink

Function	Slicer	RadVision
Workphase command	OK	OK
"SET_Z_FRAME" command	OK	OK
"MOVE_TO" command	OK	OK
"GET_COORDINATE" command	OK	OK
"GET_STATUS" command	not implemented	OK
"HOME" command	not implemented	not tested
"INSERT" command	not implemented	not implemented
"BIOPSY" command	not implemented	not implemented
Real-time image transfer	OK	OK
Real-time image control	OK	OK (orientation is not supported)
Z-frame calibration	implemented (with visualization)	implemented (not integrated with comunication)

• Plan for the next

File:2008 IGT Project Week Prostate Robotics Slide.ppt