2015 Summer Project Week:LightWeightRobotIGT

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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, Leibniz Universitaet Hannover, Institute of Mechatronic Systems
  • Junichi Tokuda, Brigham and Women's Hospital, SPL

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
  • Definition of target point and target orientation

Progress

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