2016 Winter Project Week/Projects/SlicerROSIntegration

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Key Investigators

  • Junichi Tokuda (Brigham and Women's Hospital)
  • Axel Krieger (Children's National Medical Center)
  • Simon Leonard (Johns Hopkins University)
  • Tobias Frank (University Hannover, Germany)
  • Jayender Jagadeesan (BWH)
  • Niravkumar Patel(Worcester Polytechnic Institute)

Project Description

Objective Approach and Plan Progress and Next Steps
  • Define requirements and system architecture for medical robotics software system based on 3D Slicer and Robot Operating System (ROS)
  • Needs for 3D Slicer / ROS integration in ongoing research projects (presentations by participants) (See Breakout session)
    • Axel (Autonomous Surgery using the KUKA LWR)
    • Simon (dVRK?)
    • Junichi (OpenIGTLink and medical robotics research)
    • Tobias (OCT robot / Integration of KUKA robot and 3D Slicer
  • Brainstorming 1: Requirements
    • Applications (e.g. endoscopic surgery, percutaneous interventions, catheterization, etc.)
    • Platforms -- Linux, Windows, MAC
    • Roles for 3D Slicer -- visualization, image processing, etc.
    • Roles for ROS -- vision, sensors, devices, etc.
  • Brainstorming 2: Architecture for 3D Slicer-ROS integration
    • Types of data exchanged between ROS and 3D Slicer
    • Communication scheme between ROS and 3D Slicer
    • Software package to provide
      • Independent middleware?
      • 3D Slicer plug-in modules
      • ROS modules
  • Brainstorming 3: Collaborative tools / teams
    • Platforms to support (ROS mainly support Linux)
    • Repository
  • Considered the following clinical scenario:
    • Obtain preoperative 3D image of the patient
    • Create 3D surface model of the patient from the 3D image on 3D Slicer
    • Set up the patient on the OR table
    • Scan the patient with a surface scanner. The point cloud data is imported to ROS (NOTE: This can be 3D Slicer, and then transferred to ROS through OpenIGTLink)
    • 3D Slicer send the 3D surface model to ROS through OpenIGTLink as POLYDATA
    • Perform surface matching on ROS and send the result registration transform to 3D Slicer
    • Define target on the original image (or the model) on 3D Slicer
    • Send the target to ROS
    • Move the robot to the target
  • Achievements:

Future Plan

  • Immediate action items
    • Upload all software components to Github
    • Create a complete tutorial
  • Generalize ROS-Slicer bridge
    • Synchronize MRML node with ROS message
    • Support
      • Transform (4x4 matrix and quaternion)
      • Image (2D / 3D)
      • Polygon / point cloud
    • Research application