Home < 2017 Winter Project Week < ROS Surface Scan
Key Investigators
Institute of Mechatronic Systems, Leibniz University of Hannover, Germany)
- Junichi Tokuda (SPL, Boston)
- Longquan Chen (SPL, Boston)
Project Description
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Approach and Plan
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Progress and Next Steps
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- Transmission of poly data ( from surface scan ) between ROS environment and Slicer via ROS-OpenIGTLink-bridge
- Registration of segmented model data with the real time surface scan data.
- Ask a 2 DOF Lego robot to perform targeting based on the registration.
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- Transmission of the poly data could be directly using the PolydataMessage, or compress the data first and send via VideoMessage.
- A 3D printed organ will be used for surface scan, and 3d model of the organ is also available. Under the 3d model, a 2D flat desktop model is attached. This 2D flat desktop model is the working space of the robot
- Registration of the robot and Slicer could be done by manually by matching the points from surface scan and a 3D robot model.
- Perform ICP registration on the surface scan data and the 3d organ model, (corse-to-fine registration maybe be needed)
- Targets are selected from the desk model in Slicer. The robot is asked to perform targeting on the these targets.
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Background and References
