NAMIC Wiki - User contributions [en]

2013 Summer Project Week:Robot Control

2013-06-21T14:55:30Z

Adrianna:

==Key Investigators==
*Autonomous University of the State of Mexico : Adriana Vilchis-Gonzalez, Juan-Carlos Avila-Vilchis
*Brigham and Women's Hospital/Harvard Medical School: Sonia Pujol

<div style="margin: 20px;">
<div style="width: 27%; float: left; padding-right: 3%;">

<h3>Objective</h3>

The purpose of this project is to explore the use of 3D-Slicer libraries to control the orientation of a puncture robot that is compatible with MR or CT (Magnetic Resonance or Computed Tomography) environments. The purpose of the robot concerns the orientation of a needle holder and to reach an internal organ to perform therapies or biopsies, for instance. The robot can perform puncture on the human thoracic and abdominal regions and is made of materials that allow its use in RM or CT environments. In this context, a mathematical model that represents the puncture process has been developed and can be used to define new control strategies that, in combination with 3D-Slicer medical images, will perform a puncture under minimal invasion criteria.

</div>

<div style="width: 27%; float: left; padding-right: 3%;">

<h3>Approach, Plan</h3>

The approach in this context concerns the application of OpenIGTLink to send:
(1) From the robot controller to the 3D Slicer scene, the real needle tip position and needle holder orientation values (rectangular coordinates and Eulers angles, for instance) defined by a homogeneous transformation matrix associated to the puncture robot configuration to visualize in the 3D Slicer scene, the needle inside the body and (2) From the 3D Slicer scene to the robot controller, the difference between the target position and the needle tip position (feedback error) to perform a predefined robot control strategy.

</div>

<div style="width: 40%; float: left;">

<h3>Progress</h3>

After discussions with some people (Sonia pujol, Junichi Tokuda, Sebastian Tauscher) a better understanding of how 3D Slicer and, in particular, OpenIGTLink can be related to a physical device to perform tracking tasks and a list of tasks to do: coordinate systems definition and associated transformations (LPS vs. RAS), calibration, code writing and maybe the modification of the first idea by the use of a haptic component to perform control tasks that will be operated by the physician. The definition of reachable/accessible zones could be considered to be part of the control strategy through bounded neighborhoods where the robot will be allowed to place the needle.

</div>
<h3>Progress</h3>

2013 Summer Project Week:Biomedical Image Computing Teaching Modules

2013-06-21T14:21:37Z

Adrianna:

__NOTOC__

==Key Investigators==
*Autonomous University of the State of Mexico : Adriana Vilchis-Gonzalez, Juan-Carlos Avila-Vilchis
*Brigham and Women's Hospital/Harvard Medical School: Sonia Pujol

<div style="margin: 20px;">
<div style="width: 27%; float: left; padding-right: 3%;">

<h3>Objective</h3>
This idea focuses on the use of 3D-Slicer as a teaching support on medical images treatment comparing it with other software as Matlab, JImage, OpenCV, ImageMagic or with some programming languages as Java or C#. The first interest is to use 3D-Slicer to perform image processing tasks for the development of medical image analysis applications. At this stage, the use of libraries is preferred to the high level programming process. Some of the topics that will be reviewed and worked are acquisition, compression and image storage, as well as, transformations and filtering. The use of 3D-Slicer for medical images analysis will be promoted with medical bioengineering students to perform segmentation and organ recognition or 3D organ modelling and visualization. In the virtual reality area we will explore the use of 3D-Slicer with surgical simulators or augmented reality. Another point that is considered in this context is the use of 3D-Slicer libraries to solve particular problems in hospitals.

</div>

<div style="width: 27%; float: left; padding-right: 3%;">

<h3>Approach, Plan</h3>

First of all we need to know 3D Slicer to identify the software modules and their function as well as the programming languages that are used to develop specific modules (C++ and Phyton) and particular libraries as VTK or ITK. The use of tutorials to understand 3D Slicer is necessary. Finally, we will define the scope of the courses where 3D Slicer will be used.

</div>

<div style="width: 40%; float: left;">

<h3>Progress</h3>

Talking with Hans Johnson, Sonia Pujol and Josh Cates we find out a way to used 3D slicer for teaching, biomedical enginnering students and to use it in clinical applications. We understand how 3D Slicer works and we have defined the scope of the medical image treatment course that will be given at the Autonomous University of the State of Mexico. We know now how we can use 3D-slicer as a tool for biomedical engineering students.

</div>

2013 Summer Project Week:Robot Control

2013-06-21T14:08:52Z

Adrianna:

==Key Investigators==
*Autonomous University of the State of Mexico : Adriana Vilchis-Gonzalez, Juan-Carlos Avila-Vilchis
*Brigham and Women's Hospital/Harvard Medical School: Sonia Pujol

<div style="margin: 20px;">
<div style="width: 27%; float: left; padding-right: 3%;">

<h3>Objective</h3>

The purpose of this project is to explore the use of 3D-Slicer libraries to control the orientation of a puncture robot that is compatible with MR or CT (Magnetic Resonance or Computed Tomography) environments. The purpose of the robot concerns the orientation of a needle holder and to reach an internal organ to perform therapies or biopsies, for instance. The robot can perform puncture on the human thoracic and abdominal regions and is made of materials that allow its use in RM or CT environments. In this context, a mathematical model that represents the puncture process has been developed and can be used to define new control strategies that, in combination with 3D-Slicer medical images, will perform a puncture under minimal invasion criteria.

</div>

<div style="width: 27%; float: left; padding-right: 3%;">

<h3>Approach, Plan</h3>

The approach in this context concerns the application of OpenIGTLink to send:
(1) From the robot controller to the 3D Slicer scene, the real needle tip position and needle holder orientation values (rectangular coordinates and Eulers angles, for instance) defined by a homogeneous transformation matrix associated to the puncture robot configuration to visualize in the 3D Slicer scene, the needle inside the body and (2) From the 3D Slicer scene to the robot controller, the difference between the target position and the needle tip position (feedback error) to perform a predefined robot control strategy.

</div>

<div style="width: 40%; float: left;">

<h3>Progress</h3>

After discussions with some people (Ron Kikinis, Sonia pujol, Junichi Tokuda, Sebastian Tauscher) a better understanding of how 3D Slicer and, in particular, OpenIGTLink can be related to a physical device to perform tracking tasks and a list of tasks to do: coordinate systems definition and associated transformations (LPS vs. RAS), calibration, code writing and maybe the modification of the first idea by the use of a haptic component to perform control tasks that will be operated by the physician. The definition of reachable/accessible zones could be considered to be part of the control strategy through bounded neighborhoods where the robot will be allowed to place the needle.

</div>
<h3>Progress</h3>

2013 Summer Project Week:Biomedical Image Computing Teaching Modules

2013-06-21T14:01:49Z

Adrianna:

__NOTOC__

==Key Investigators==
*Autonomous University of the State of Mexico : Adriana Vilchis-Gonzalez, Juan-Carlos Avila-Vilchis
*Brigham and Women's Hospital/Harvard Medical School: Sonia Pujol

<div style="margin: 20px;">
<div style="width: 27%; float: left; padding-right: 3%;">

<h3>Objective</h3>
This idea focuses on the use of 3D-Slicer as a teaching support on medical images treatment comparing it with other software as Matlab, JImage, OpenCV, ImageMagic or with some programming languages as Java or C#. The first interest is to use 3D-Slicer to perform image processing tasks for the development of medical image analysis applications. At this stage, the use of libraries is preferred to the high level programming process. Some of the topics that will be reviewed and worked are acquisition, compression and image storage, as well as, transformations and filtering. The use of 3D-Slicer for medical images analysis will be promoted with medical bioengineering students to perform segmentation and organ recognition or 3D organ modelling and visualization. In the virtual reality area we will explore the use of 3D-Slicer with surgical simulators or augmented reality. Another point that is considered in this context is the use of 3D-Slicer libraries to solve particular problems in hospitals.

</div>

<div style="width: 27%; float: left; padding-right: 3%;">

<h3>Approach, Plan</h3>

First of all we need to know 3D Slicer to identify the software modules and their function as well as the programming languages that are used to develop specific modules (C++ and Phyton) and particular libraries as VTK or ITK. The use of tutorials to understand 3D Slicer is necessary. Finally, we will define the scope of the courses where 3D Slicer will be used.

</div>

<div style="width: 40%; float: left;">

<h3>Progress</h3>

We are knowing 3D Slicer and we have defined the scope of the medical image treatment course that will be given at the Autonomous University of the State of Mexico.

</div>

2013 Summer Project Week:Robot Control

2013-06-21T13:58:43Z

Adrianna:

==Key Investigators==
*Autonomous University of the State of Mexico : Adriana Vilchis-Gonzalez, Juan-Carlos Avila-Vilchis
*Brigham and Women's Hospital/Harvard Medical School: Sonia Pujol

<div style="margin: 20px;">
<div style="width: 27%; float: left; padding-right: 3%;">

<h3>Objective</h3>

The purpose of this project is to explore the use of 3D-Slicer libraries to control the orientation of a puncture robot that is compatible with MR or CT (Magnetic Resonance or Computed Tomography) environments. The purpose of the robot concerns the orientation of a needle holder and to reach an internal organ to perform therapies or biopsies, for instance. The robot can perform puncture on the human thoracic and abdominal regions and is made of materials that allow its use in RM or CT environments. In this context, a mathematical model that represents the puncture process has been developed and can be used to define new control strategies that, in combination with 3D-Slicer medical images, will perform a puncture under minimal invasion criteria.

</div>

<div style="width: 27%; float: left; padding-right: 3%;">

<h3>Approach, Plan</h3>

The approach in this context concerns the application of OpenIGTLink to send:
(1) From the robot controller to the 3D Slicer scene, the real needle tip position and needle holder orientation values (rectangular coordinates and Eulers angles, for instance) defined by a homogeneous transformation matrix associated to the puncture robot configuration to visualize in the 3D Slicer scene, the needle inside the body and (2) From the 3D Slicer scene to the robot controller, the difference between the target position and the needle tip position (feedback error) to perform a predefined robot control strategy.

</div>

<div style="width: 40%; float: left;">

<h3>Progress</h3>

A better understanding of how 3D Slicer and, in particular, OpenIGTLink can be related to a physical device to perform tracking tasks and a list of tasks to do: coordinate systems definition and associated transformations (LPS vs. RAS), calibration, code writing and maybe the modification of the first idea by the use of a haptic component to perform control tasks that will be operated by the physician. The definition of reachable/accessible zones could be considered to be part of the control strategy through bounded neighborhoods where the robot will be allowed to place the needle.

</div>
<h3>Progress</h3>

2013 Summer Project Week:Robot Control

2013-06-21T13:56:20Z

Adrianna:

2013 Summer Project Week:Robot Control

2013-06-21T13:55:10Z

Adrianna: