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

OpenIGTLink Diagram JHURobot.png

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

2008 IGT Project Week PR 006.jpg


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

2008 IGT Project Week PR slicer prostate.png

2008 IGT Project Week PR slicer zframe.png

2008 IGT Project Week PR slicer zframe2.png 2008 IGT Project Week zframe.jpg

2008 IGT Project Week PR slicer RadVision.jpg



Photos from the workshop

2008 IGT Project Week PR 001.jpg

2008 IGT Project Week PR 002.jpg

2008 IGT Project Week PR 003.jpg

2008 IGT Project Week PR 004.jpg

2008 IGT Project Week PR 005.jpg

Slides

File:2008 IGT Project Week Prostate Robotics Slide.ppt