2016 Winter Project Week/Projects/SlicerROSIntegration

2015-11-24T21:49:58Z

Axel:

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Image:PW-MIT2016.png|[[2016_Winter_Project_Week#Projects|Projects List]]
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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)

==Project Description==
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<h3>Objective</h3>
* Define requirements and system architecture for medical robotics software system based on 3D Slicer and Robot Operating System (ROS)

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<h3>Approach, Plan</h3>
* Needs for 3D Slicer / ROS integration in ongoing research projects (presentations by participants)
** 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

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<h3>Progress</h3>
*
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2016 Winter Project Week/Projects/SlicerROSIntegration