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
Contents
Goals
- Mock-up biopsy and therapy session
- Discuss robot control through OpenIGTLink
Place
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
Software development
| Features | 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 | OK* (with visualization) | OK (not integrated with comunication) |
* ... implemented during the IGT Week
Experiments
- Results
- Followed clinical procedures
- All communications (based on OpenIGTLink) went well.
- Performed needle insertion into prostate phantom
- Confirmed that the needle is inserted around the targeted position on the real-time image
- Issues
- Robot actuator was not used due to minor mechanical trouble. (robot was moved manually)
- Pulse sequence and parameters should be carefully chosen for Z-frame calibration
- Sudden stop of robot control software, while changing workphase rigorously from Slicer
- A minor problem in the definition of OpenIGTLink message (GET_COORDINATE message violate limitation of type string length)
Screenshots
Photos from the workshop
