2017 Winter Project Week/ROS Surface Scan

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Home < 2017 Winter Project Week < ROS Surface Scan

Key Investigators

  • Tobias Frank (Institute of Mechatronic Systems, Leibniz University of Hannover, Germany)
  • Junichi Tokuda (SPL, Boston)
  • Longquan Chen (SPL, Boston)

Project Description

Objective Approach and Plan Progress and Next Steps
  • Transmission of poly data ( from surface scan ) between ROS environment and Slicer via ROS-OpenIGTLink-bridge
  • Tracking of 3D print model data with the real time surface scan data.
  • Ask a 2 DOF Lego robot to perform targeting after registration of the robot to slicer(ROS).
  • For objective 1
    • Transmission of the poly data could be directly using the PolydataMessage, or compress the data first and send via VideoMessage.
  • For objective 2
    • A 3D printed organ will be used for surface scan, and 3d model of the organ is also available.
    • Perform real time particle filter registration on the surface scan data and the 3d organ model.
  • For objective 3
    • Registration of the robot and Slicer(or ROS) could be done by manually by matching the points from surface scan and a 3D robot model. Under the 3d model, a 2D flat desktop model is attached. This 2D flat desktop model is the working space of the robot
    • Targets are selected from the desk model in Slicer. The robot is asked to perform targeting on the these targets.
  • New 3 DOF needle placement robot with remote-center-of-motion (RCM) has been developed
  • New ROS-IGTL-Bridge has been installed in Lego Mindstorms EV3
  • "Patient"-to-tracker (Kinect) registration based on surface matching
  • Point-based device-to-tracker registration

2017WinterProjectWeekROS Architecture.jpg

Background and References