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

Software functions

Function 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 implemented* (with visualization) implemented (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 deaths 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)

Slides

File:2008 IGT Project Week Prostate Robotics Slide.ppt