HybridProbe

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Timeline

Task Status Deadline
Connect EM and Optical tracking system to Slicer -
Create HybridProbe Module to register them -
Install and switch to BrainLab system (OpenIGTLink included version) -
Design and create HybridProbe with Sam -
Test and validate HybridProbe -

Development

Connect EM and optical system to Slicer

  • Use NDI Toolkit to connect and calibrate Aurora and Polaris systems
  • Only one pivot calibration to calibrate both systems

Create HybridProbe Module to register them

  • Select several points, record values of each system, and calculate a rigid registration using pair points registration
  • Drop EM sensor under transformation to register it to the optical one

Install and switch to Brainlab system

  • BrainLab has been updated in AMIGO to the version including OpenIGTLink
  • Switching to BrainLab include bringing Aurora in OR. Are we allowed to ?
  • How to synchronize EM and Optical values ?

Tips

  • Orientation of EM and Optical system are different because coordinate system are different (not possible to "fix it"), so I created a model flipped, and use it to display EM tracker
  • Aurora configuration (from IGSTK):
 communication->SetBaudRate(SerialCommunication::BaudRate9600);                   // Baud: 9600
 communication->SetDataBits(SerialCommunication::DataBits8);                      // DataBits: 8
 communication->SetParity(SerialCommunication::NoParity);                         // Parity: 0
 communication->SetStopBits(SerialCommunication::StopBits1);                      // StopBits: 1
 communication->SetHardwareHandshake(SerialCommunication::HandshakeOff);          // HandShake: 0