NAMIC Wiki - User contributions [en]

ProstateBRP OpenIGTLink Communication June 2013

2022-01-13T18:30:50Z

Tokuda: /* Notations */

The following table shows message exchange diagram for the communication between 3D Slicer (and other navigation software) and the robot in each workhpase.

==Notations==

*STRING(NN, SS) (see http://openigtlink.org/protocols/v2_string.html)
**NN: Device name in the OpenIGTLink header. (Max. 20 bytes)
**SS: String in the message body. (Max. 65536 bytes)
*STATE(NN, CC:SS:EE:MM) (see http://openigtlink.org/protocols/v2_status.html )
**NN: Device type in the OpenIGTLink header. (Max. 20 bytes)
**CC: Code
**SS: Subcode
**EE: Error name (Max 20 bytes) -- no predefined name. It will logged or show up on navigation screen as it is.
**MM: Message -- no predefined text. It will logged or show up on navigation screen as it is.
*TRANSFORM(NN, TT) (see http://openigtlink.org/protocols/v2_transform.html)
**NN: Device type in the OpenIGTLink header. (Max. 20 bytes)
**TT: 4x4 linear transformation matrix
*IMAGE(NN, I) (see http://openigtlink.org/protocols/v2_image.html)
**NN: Device type in the OpenIGTLink header. (Max. 20 bytes)
**I: Image

==Diagram (Slicer - Robot)==


{| border="1" cellpadding="5" cellspacing="0" align="center"
|-
| align="left style=" background:#e0e0e0;" |''3D Slicer (operator)''
| align="left style=" background:#e0e0e0;" |''Message''
| align="left style=" background:#e0e0e0;" |''Robot Controller''
| align="left style=" background:#e0e0e0;" |''Radiologist''
| align="left style=" background:#e0e0e0;" |''Note''
|-
| colspan="5" align="center" style="background:#f0f0f0;" |Start-up
|-
| align="left" |The operator presses "Start-up" button
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |Send command to robot
| align="left" |>> STRING(CMD_XXXX, START_UP) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, START_UP) <<
| align="left" |Echo back an acknowledgement command was received, but not yet completed
| align="left" |
| align="left" |XXXX is the same unique query ID as the START_UP message.
|-
| align="left" style="background:#f8f8f8;" |
| align="left" style="background:#f8f8f8;;" |<< STATUS(CURRENT_STATUS, Code:0:Phase) <<
| align="left" style="background:#f8f8f8;;" |'''Code=OK:''' Confirm that the robot is transition to START_UP mode. Phase should be "START_UP". ''Code=DNR:'' Fails to transition. Phase should be the name of the current workphase
| align="left" style="background:#f8f8f8;;" |
| align="left" style="background:#f8f8f8;;" |DNR: Device not ready (13)
|-
| align="left" |
| align="left" |
| align="left" |Start up and initialize the hardware. Run the robot homing procedure if necessary (skip if already successfully completed). Move robot to home (loading) configuration.
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(START_UP, Code:??:??) <<
| align="left" |'''Code=OK:''' Confirm when robot is initialized '''Code>=2''': Error. See [http://openigtlink.org/protocols/v2_status.html error list]
| align="left" |
| align="left" |
|-
| align="left" |Display the result of start up process.
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| colspan="5" align="center" style="background:#f0f0f0;" |Planning
|-
| align="left" |The operator opens the planning panel
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> STRING(CMD_XXXX, PLANNING) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, PLANNING) <<
| align="left" |Echo back an acknowledgement command was received
| align="left" |
| align="left" |XXXX is the same unique query ID as the PLANNING message.
|-
| align="left" style="background:#f8f8f8;" |
| align="left" style="background:#f8f8f8;;" |<< STATUS(CURRENT_STATUS, Code:0:Phase) <<
| align="left" style="background:#f8f8f8;;" |'''Code=OK:''' Confirm that the robot is transition to PLANNING mode. Phase should be "PLANNING". ''Code=DNR:'' Fails to transition. Phase should be the name of the current workphase
| align="left" style="background:#f8f8f8;;" |
| align="left" style="background:#f8f8f8;;" |DNR: Device not ready (13)
|-
| align="left" |
| align="left" |
| align="left" |Do nothing except keep track of current state, robot is awaiting next workphase.
| align="left" |
| align="left" |
|-
| align="left" |Show that the robot is in PLANNING phase.
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| colspan="5" align="center" style="background:#f0f0f0;" |Calibration
|-
| align="left" |The operator opens the calibration panel
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> STRING(CMD_XXXX, CALIBRATION) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, CALIBRATION) <<
| align="left" |Echo back an acknowledgement command was received
| align="left" |
| align="left" |XXXX is the same unique query ID as the CALIBRATION message.
|-
| align="left" style="background:#f8f8f8;" |
| align="left" style="background:#f8f8f8;;" |<< STATUS(CURRENT_STATUS, Code:0:Phase) <<
| align="left" style="background:#f8f8f8;;" |'''Code=OK:''' Confirm that the robot is transition to CALIBRATION mode. Phase should be "CALIBRATION". ''Code=DNR:'' Fails to transition. Phase should be the name of the current workphase
| align="left" style="background:#f8f8f8;;" |
| align="left" style="background:#f8f8f8;;" |DNR: Device not ready (13)
|-
| align="left" |
| align="left" |
| align="left" |Do nothing except keep track of current state, robot is awaiting calibration transform
| align="left" |
| align="left" |
|-
| align="left" |Show that the robot is in CALIBRATION phase.
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |Nav Software (3D Slicer or RadVision) calculates calibration matrix
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> TRANSFORM(CLB_XXXX, 4x4 calibration matrix in RAS coordinates) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< TRANSFORM(ACK_XXXX, Calibration matrix in RAS coordinates) <<
| align="left" |Echo back an acknowledgement transform was received
| align="left" |
| align="left" |XXXX is the same unique query ID as the CLB message.
|-
| align="left" |
| align="left" |
| align="left" |Update calibration transform, set flag that registration has been set externally, reply with confirmation
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(CALIBRATION, Code:??:??) <<
| align="left" |'''Code=OK:''' Confirm that calibration was received and robot is ready for next workphase '''Code=CE''': Error.
| align="left" |
| align="left" |CE: Configuration Error (code 10)
|-
| align="left" |Show that calibration successfully sent to robot or failed.
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| colspan="5" align="center" style="background:#f0f0f0;" |Targeting
|-
| align="left" |The operator enters "Targeting" mode
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> STRING(CMD_XXXX, TARGETING) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, TARGETING) <<
| align="left" |Acknowledge receiving targeting command
| align="left" |
| align="left" |XXXX is the same unique query ID as the TARGETING message.
|-
| align="left" style="background:#f8f8f8;" |
| align="left" style="background:#f8f8f8;;" |<< STATUS(CURRENT_STATUS, Code:0:Phase) <<
| align="left" style="background:#f8f8f8;;" |'''Code=OK:''' Confirm that the robot is transition to TARGETING mode. Phase should be "TARGETING". ''Code=DNR:'' Fails to transition. Phase should be the name of the current workphase
| align="left" style="background:#f8f8f8;;" |
| align="left" style="background:#f8f8f8;;" |DNR: Device not ready (13)
|-
| align="left" |
| align="left" |
| align="left" |Confirm if robot is ready for targeting; check if calibration was received; return robot to home (loading) position, if needed.
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(TARGETING, Code:??:??) <<
| align="left" |'''Code=OK:''' Confirm robot has entered targeting mode. '''Code=DNR:''' If not able to enter targeting mode (i.e. calibration not received)
| align="left" |
| align="left" |DNR: Device Not Ready (code 13)
|-
| align="left" |The operator select a target, Nav software creates a 4x4 matrix for desired 6-DOF robot pose to reach the target
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> TRANSFORM(TGT_XXXXX, 4x4 target matrix in RAS coordinates) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes). The unique ID may be used as a human-readable target name on the robot control software. For example, TGT_LeftApex-2 is for the second targeting attempt on a lesion in the left-apex.
|-
| align="left" |
| align="left" |<< TRANSFORM(ACK_XXXXX, 4x4 target matrix) <<
| align="left" |Acknowledge receipt of target transformation by echoing back
| align="left" |
| align="left" |XXXX is the same unique query ID as the TARGETING message.
|-
| align="left" |
| align="left" |
| align="left" |Calculate if target pose is reachable based on the kinematics, reply with status and set target
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(TARGET, Code:??:??) <<
| align="left" |'''Code=OK:''' Reply with OK if target was accepted '''Code=DNR:''' Not in targeting mode '''Code=CE:''' Not a valid target (i.e. out of workspace)
| align="left" |
| align="left" |DNR: Device Not Ready (code 13) CE: Configuration Error (code 10)
|-
| align="left" |
| align="left" |<< TRANSFORM(TARGET, 4x4 target matrix) <<
| align="left" |Send actual target pose in robot controller if one was set (corresponds to when status comes back OK)
| align="left" |
| align="left" |
|-
| align="left" |Display the reachable target position set in robot controller.
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |The operator confirms the target position set in the controller, and press "MOVE"
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> STRING(CMD_XXXX, MOVE_TO_TARGET) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, MOVE_TO_TARGET) <<
| align="left" |Echo back an acknowledgement command was received (not yet completed)
| align="left" |
| align="left" |XXXX is the same unique query ID as the MOVE_TO_TARGET message. See the note below
|-
| align="left" |Alert the clinician to hold footpedal to align the robot
| align="left" |
| align="left" |
| align="left" |Clinician engages interlock (footpedal in scanner room) to enable robot motion. Robot will only move when interlock is engaged following a move command.
| align="left" |
|-
| align="left" |
| align="left" |
| align="left" |The robot moves to the target and streams its pose during motion
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< TRANSFORM(CURRENT_POSITION, Current robot pose matrix in RAS coordinates) <<
| align="left" |Stream current robot pose in RAS coords as moving. Can also be requested (see below).
| align="left" |
| align="left" |
|-
| align="left" |Display the current robot position as it moves toward the target.
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |
| align="left" |Display that the robot is at the target. Send confirmation.
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(MOVE_TO_TARGET, Code:??:??) <<
| align="left" |'''Code=OK:''' Robot reaches target '''Code >= 3:''' Return error code when the device fails to move to the target. See [http://openigtlink.org/protocols/v2_status.html error list]
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< TRANSFORM(CURRENT_POSITION, Current robot pose matrix in RAS coordinates) <<
| align="left" |Push out final robot pose in RAS coords as moving. (same format as previous stream - ensures last one is at final position)
| align="left" |
| align="left" |
|-
| align="left" |Display the current final robot position at the target.
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| colspan="5" align="center" style="background:#f0f0f0;" |Needle Insertion (Manual)
|-
| align="left" |Ask to lock the robot
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |
| align="left" |
| align="left" |The operator presses "Lock" button
| align="left" |
|-
| align="left" |
| align="left" |>> STRING (CMD_XXXX, MANUAL) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, MANUAL) <<
| align="left" |Echo back an acknowledgement command was received (not yet completed)
| align="left" |
| align="left" |XXXX is the same unique query ID as the MANUAL message.
|-
| align="left" style="background:#f8f8f8;" |
| align="left" style="background:#f8f8f8;;" |<< STATUS(CURRENT_STATUS, Code:0:Phase) <<
| align="left" style="background:#f8f8f8;;" |'''Code=OK:''' Confirm that the robot is transition to MANUAL mode. Phase should be "MANUAL". ''Code=DNR:'' Fails to transition. Phase should be the name of the current workphase
| align="left" style="background:#f8f8f8;;" |
| align="left" style="background:#f8f8f8;;" |DNR: Device not ready (13)
|-
| align="left" |
| align="left" |
| align="left" |Cut motor power to prevent motion of the robot base. This also eliminates causes of MR interference for insertion under live imaging.
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(MANUAL, OK:??:??) <<
| align="left" |Reply with OK when robot is in a safe, locked state
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |
| align="left" |
| align="left" |Insert a needle, optionally under live MR imaging. Perform intervention with the needle (biopsy or seed placement).
| align="left" |
|-
| align="left" |
| align="left" |
| align="left" |
| align="left" |Retract the needle
| align="left" |
|-
| align="left" |Ask to unlock the robot and confirm needle is retracted
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |
| align="left" |
| align="left" |The operator presses "Unlock"
| align="left" |
|-
| align="left" |
| align="left" |
| align="left" |
| align="left" |
| align="left" |Return to the TARGETING phase (Slicer sends STRING(ACK_XXXXX, TARGETING) )
|-
| colspan="5" align="center" style="background:#f0f0f0;" |All workhpases
|-
| align="left" |The operator presses "Stop" button
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> STRING(CMD_XXXX, STOP) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, STOP) <<
| align="left" |Acknowledge receiving targeting command
| align="left" |
| align="left" |XXXX is the same unique query ID as the STOP message.
|-
| align="left" style="background:#f8f8f8;" |
| align="left" style="background:#f8f8f8;;" |<< STATUS(CURRENT_STATUS, Code:0:Phase) <<
| align="left" style="background:#f8f8f8;;" |'''Code=OK:''' Confirm that the robot is transition to STOP mode. Phase should be "STOP". ''Code=DNR:'' Fails to transition. Phase should be the name of the current workphase
| align="left" style="background:#f8f8f8;;" |
| align="left" style="background:#f8f8f8;;" |DNR: Device not ready (13)
|-
| align="left" |
| align="left" |
| align="left" |The robot stops all motion. Stays in current state/workphase.
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(STOP, OK:??:??) <<
| align="left" |Reply with OK when robot stopped safely.
| align="left" |
| align="left" |
|-
| colspan="5" align="center" style="background:#f0f0f0;" |All workhpases
|-
| align="left" |The operator presses "Emergency" button
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> STRING(CMD_XXXX, EMERGENCY) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, EMERGENCY) <<
| align="left" |Acknowledge receiving targeting command
| align="left" |
| align="left" |XXXX is the same unique query ID as the STOP message.
|-
| align="left" style="background:#f8f8f8;" |
| align="left" style="background:#f8f8f8;;" |<< STATUS(CURRENT_STATUS, Code:0:Phase) <<
| align="left" style="background:#f8f8f8;;" |'''Code=OK:''' Confirm that the robot is transition to EMERGENCY mode. Phase should be "EMERGENCY". ''Code=DNR:'' Fails to transition. Phase should be the name of the current workphase
| align="left" style="background:#f8f8f8;;" |
| align="left" style="background:#f8f8f8;;" |DNR: Device not ready (13)
|-
| align="left" |
| align="left" |
| align="left" |The robot stops all motion and disables/locks motors. Switches to Emergency state/workphase. ?? IS THIS THE DESIRED ACTION
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(EMERGENCY, Emergency:??:??) <<
| align="left" |Reply with OK when robot stopped safely.
| align="left" |
| align="left" |
|-
| colspan="5" align="center" style="background:#f0f0f0;" |All workhpases
|-
| align="left" |Request current robot pose (or target or calibration transforms)
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> GET_TRANSFORM(CURRENT_POSITION) >>
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |
| align="left" |The robot transmits current pose ("CURRENT_POSITION") through IGTLink upon request. This also works for requesting "TARGET_POSITION" and "CALIBRATION" transforms stored in robot controller.
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< TRANSFORM(CURRENT_POSITION, Current robot pose matrix in RAS coordinates) <<
| align="left" |
| align="left" |
| align="left" |
|-
| colspan="5" align="center" style="background:#f0f0f0;" |All workhpases
|-
| align="left" |Request the robot status/workphase
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> GET_STATUS(CURRENT_STATUS) >> ?? CONFIRM COMMAND STRUCTURE FOR STATUS REQUEST
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |
| align="left" |Sends current state/workphase. ?? SHOULD IT SEND OTHER INFO TOO
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(CURRENT_STATUS, Code:0:Status) <<
| align="left" |Send status code. Status should be the name of the current status e.g. "TARGETING". Code is OK, when the robot is successfully determines its workphase. Otherwise, Code should be configuration error (10)
| align="left" |
| align="left" |
|-
| colspan="5" align="center" style="background:#f0f0f0;" |All workhpases
|-
| align="left" |
| align="left" |
| align="left" |Robot controller sends errors or notifications through IGTLink. Transmitted asynchronously with error text in message body. To be used with limit events, hardware failures, invalid commands, etc.
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(ERROR, Code:??:Error name) <<
| align="left" |<nowiki>| align="left" | Send status code. </nowiki>[http://openigtlink.org/protocols/v2_status.html error list]
| align="left" |
| align="left" |
|}

NOTE: Suggested modification -- Agreed on 9/5/13

Although MOVE_TO_TARGET workphase is currently part of TARGETING, Nirav suggested to make MOVE_TO_TARGET phase an independent workhpase. If we agree, the MOVE_TO_TARGET workphase should be defined as follows:

{| border="1" cellpadding="5" cellspacing="0" align="center"
|-
| align="left style=" background:#e0e0e0;" |''3D Slicer (operator)''
| align="left style=" background:#e0e0e0;" |''Message''
| align="left style=" background:#e0e0e0;" |''Robot Controller''
| align="left style=" background:#e0e0e0;" |''Radiologist''
| align="left style=" background:#e0e0e0;" |''Note''
|-
| colspan="5" align="center" style="background:#f0f0f0;" |Move to Target
|-
| align="left" |The operator confirms the target position set in the controller, and press "MOVE"
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> STRING(CMD_XXXX, MOVE_TO_TARGET) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, MOVE_TO_TARGET) <<
| align="left" |Echo back an acknowledgement command was received (not yet completed)
| align="left" |
| align="left" |XXXX is the same unique query ID as the MOVE_TO_TARGET message. See the note below
|-
| align="left" style="background:#f8f8f8;" |
| align="left" style="background:#f8f8f8;;" |<< STATUS(CURRENT_STATUS, Code:0:Phase) <<
| align="left" style="background:#f8f8f8;;" |'''Code=OK:''' Confirm that the robot is transition to MOVE_TO_TARGET mode. Phase should be "MOVE_TO_TARGET". ''Code=DNR:'' Fails to transition. Phase should be the name of the current workphase
| align="left" style="background:#f8f8f8;;" |
| align="left" style="background:#f8f8f8;;" |DNR: Device not ready (13)
|-
| align="left" |Alert the clinician to hold footpedal to align the robot
| align="left" |
| align="left" |
| align="left" |Clinician engages interlock (footpedal in scanner room) to enable robot motion. Robot will only move when interlock is engaged following a move command.
| align="left" |
|-
| align="left" |
| align="left" |
| align="left" |The robot moves to the target and streams its pose during motion
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< TRANSFORM(CURRENT_POSITION, Current robot pose matrix in RAS coordinates) <<
| align="left" |Stream current robot pose in RAS coords as moving. Can also be requested (see below).
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(MOVE_TO_TARGET, Code:??:??) <<
| align="left" |'''Code=OK:''' Robot reaches target '''Code >= 3:''' Return error code when the device fails to move to the target. See [http://openigtlink.org/protocols/v2_status.html error list]
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< TRANSFORM(CURRENT_POSITION, Current robot pose matrix in RAS coordinates) <<
| align="left" |Push out final robot pose in RAS coords as moving. (same format as previous stream - ensures last one is at final position)
| align="left" |
| align="left" |
|-
| align="left" |Display the current final robot position at the target.
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
|}

==Diagram (Slicer - MRI)==


{| border="1" cellpadding="5" cellspacing="0" align="center"
|-
| align="left style=" background:#e0e0e0;" |''3D Slicer (operator)''
| align="left style=" background:#e0e0e0;" |''Message''
| align="left style=" background:#e0e0e0;" |''MRI''
| align="left style=" background:#e0e0e0;" |''Radiologist''
| align="left style=" background:#e0e0e0;" |''Note''
|-
| align="left" |The operator presses "Start-up" button
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |Send command to robot
| align="left" |>> STRING(CMD_XXXX, START_UP) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, START_UP) <<
| align="left" |Echo back an acknowledgement command was received, but not yet completed
| align="left" |
| align="left" |XXXX is the same unique query ID as the START_UP message.
|-
| align="left" style="background:#f8f8f8;" |
| align="left" style="background:#f8f8f8;;" |<< STATUS(CURRENT_STATUS, Code:0:Phase) <<
| align="left" style="background:#f8f8f8;;" |'''Code=OK:''' Confirm that the robot is transition to START_UP mode. Phase should be "START_UP". ''Code=DNR:'' Fails to transition. Phase should be the name of the current workphase
| align="left" style="background:#f8f8f8;;" |
| align="left" style="background:#f8f8f8;;" |DNR: Device not ready (13)
|-
| align="left" |
| align="left" |>> TRANSFORM(TGT_XXXXX, 4x4 target matrix in RAS coordinates) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes). The unique ID may be used as a human-readable target name on the robot control software. For example, TGT_LeftApex-2 is for the second targeting attempt on a lesion in the left-apex.
|-
| align="left" |
| align="left" |<< TRANSFORM(ACK_XXXXX, 4x4 target matrix) <<
| align="left" |Acknowledge receipt of target transformation by echoing back
| align="left" |
| align="left" |XXXX is the same unique query ID as the TARGETING message.
|-
| align="left" |
| align="left" |
| align="left" |Calculate if target pose is reachable based on the kinematics, reply with status and set target
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(TARGET, Code:??:??) <<
| align="left" |'''Code=OK:''' Reply with OK if target was accepted '''Code=DNR:''' Not in targeting mode '''Code=CE:''' Not a valid target (i.e. out of workspace)
| align="left" |
| align="left" |DNR: Device Not Ready (code 13) CE: Configuration Error (code 10)
|-
| align="left" |
| align="left" |<< TRANSFORM(TARGET, 4x4 target matrix) <<
| align="left" |Send actual target pose in robot controller if one was set (corresponds to when status comes back OK)
| align="left" |
| align="left" |
|-
| align="left" |Display the reachable target position set in robot controller.
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |The operator confirms the target position set in the controller, and press "MOVE"
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> STRING(CMD_XXXX, MOVE_TO_TARGET) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, MOVE_TO_TARGET) <<
| align="left" |Echo back an acknowledgement command was received (not yet completed)
| align="left" |
| align="left" |XXXX is the same unique query ID as the MOVE_TO_TARGET message. See the note below
|-

|}

==Quality Assurance Protocol==
Simulator software for QA will be hosted in https://github.com/ProstateBRP.
The following tests are described as pseudo code for navigation software.
===Test 1: Normal Operation Test===
Updated on 9/10/13
# Step 1
send STRING(CMD, START_UP)
if (not receive STRING(ACK, START_UP) within 100ms) failure # Check point 1.1
if (not receive STATUS(CURRENT_STATUS, OK,0,START_UP) within 100ms) failure # Check point 1.2
if (not receive STATUS(START_UP, OK) within 10s) failure # Check point 1.3

# Step 2
send STRING(CMD, PLANNING)
if (not receive STRING(ACK, PLANNING) within 100ms) failure # Check point 2.1
if (not receive STATUS(CURRENT_STATUS, OK,0,PLANNING) within 100ms) failure # Check point 2.2

# Step 3
send STRING(CMD, CALIBRATION)
if (not receive STRING(ACK, CALIBRATION) within 100ms) failure # Check point 3.1
if (not receive STATUS(CURRENT_STATUS, OK,0,CALIBRATION) within 100ms) failure # Check point 3.2

send TRANSFORM(CLB, matrix1)
if (not receive TRANSFORM(ACK, matrix2) within 100ms) failure # Check point 3.3
if (matrix1 != matrix2) failure # Check point 3.4
if (not receive STATUS(CALIBRATION, OK) within 10s) failure #Check point 3.5

# Step 4
send STRING(CMD, TARGETING)
if (not receive STRING(ACK, TARGETING) within 100ms) failure # Check point 4.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGETING) within 100ms) failure # Check point 4.2
if (not receive STATUS(TARGETING, OK) within 10s) failure # Check point 4.3

send TRANSFORM(TGT, matrix3)
if (not receive TRANSFORM(ACK, matrix4) within 100ms) failure # Check point 4.4
if (matrix3 != matrix4) failure # Check point 4.5
if (not receive STATUS(TARGET, OK) within 10s) failure # Check point 4.6
if (not receive TRANSFORM(TARGET, matrix5) within 20s) failure # Check point 4.7
if (matrix3 != matrix5) failure # Check point 4.8

# Step 5
send STRING(CMD, MOVE_TO_TARGET)
if (not receive STRING(ACK, MOVE_TO_TARGET) within 100ms) failure # Check point 5.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGET) within 100ms) failure # Check point 5.2

if (not start receiving TRANSFORM(CURRENT_POSITION, matrix 6) in 10s) failure # Check point 5.3
if (not receive STATUS(MOVE_TO_TARGET, OK) within 100ms after the robot reaches the target) failure # Check point 5.4
if (not receive TRANSFORM(CURRENT_POSITION, matrix 7) within 100ms after the status message is received) failure # Check point 5.5
if (matrix 7 does not match the current position of the robot) failure # Check point 5.6

# Step 6
send STRING(CMD, MANUAL)
if (not receive STRING(ACK, MANUAL) within 100ms) failure # Check point 6.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGET) within 100ms) failure # Check point 6.2
if (not receive STATUS(MANUAL, OK) within 10s) failure # Check point 6.3

# Step 7
send GET_TRANSFORM(CURRENT_POSITION)
if (not receive TRANSFORM(CURRENT_POSITION, matrix8) within 10s) failure # Check point 7.1
if (matrix 8 does not match the current position of the robot) failure # Check point 7.2

# Step 8
send GET_STATUS(CURRENT_STATUS)
if (not receive STATUS(XXXXX, Code:??:??) within 10s) failure # Check point 8.1

# Step 9
send STRING(CMD, STOP)
if (not receive STRING(ACK, STOP) within 100ms) failure # Check point 9.1
if (not receive STATUS(CURRENT_STATUS, OK,0,STOP) within 100ms) failure # Check point 9.2
if (not receive STATUS(STOP, OK) within 10s) failure # Check point 9.3

# Step 10
send STRING(CMD, EMERGENCY)
if (not receive STRING(ACK, EMERGENCY) within 100ms) failure # Check point 10.1
if (not receive STATUS(CURRENT_STATUS, OK,0,EMERGENCY) within 100ms) failure # Check point 10.2
if (not receive STATUS(EMERGENCY, Emergency) within 10s) failure # Check point 10.3
This is implemented in:
https://github.com/ProstateBRP/CommunicationTest/blob/master/ClientNormalOperationTest.cxx
===Test 2: Start-up without connecting the device to the robot control computer===
Updated on 9/10/13
Check if the robot control software returns a proper error code if there is any trouble with the hardware. Before start, unplug one of the sensors or actuators from the robot control computer. The test must be repeated for all sensors and actuators.
# Step 1
send STRING(CMD, START-UP)
if (not receive STRING(ACK, START-UP) within 100ms) failure # Check point 1.1
if (not receive STATUS(CURRENT_STATUS, OK,0,START_UP) within 100ms) failure # Check point 1.2
if (not receive STATUS(DNP) within 10s) failure # Check point 1.3
DNP: Device Not Present (code 16)
===Test 3: Calibration error test===
Updated on 9/10/13
Check if the robot control software returns a proper error code if the calibration matrix is not valid e.g. non-orthogonal matrix.
# Step 1
send STRING(CMD, START_UP)
if (not receive STRING(ACK, START_UP) within 100ms) failure # Check point 1.1
if (not receive STATUS(CURRENT_STATUS, OK,0,START_UP) within 100ms) failure # Check point 1.2
if (not receive STATUS(START_UP, OK) within 10s) failure # Check point 1.3

# Step 2
send STRING(CMD, PLANNING)
if (not receive STRING(ACK, PLANNING) within 100ms) failure # Check point 2.1
if (not receive STATUS(CURRENT_STATUS, OK,0,PLANNING) within 100ms) failure # Check point 2.2

# Step 3
send STRING(CMD, CALIBRATION)
if (not receive STRING(ACK, CALIBRATION) within 100ms) failure # Check point 3.1
if (not receive STATUS(CURRENT_STATUS, OK,0,CALIBRATION) within 100ms) failure # Check point 3.2

send TRANSFORM(CLB, invalid_matrix)
if (not receive TRANSFORM(ACK, invalid_matrix) within 100ms) failure # Check point 3.3
if (not receive STATUS(CALIBRATION, CE) within 10s) failure # Check point 3.4
CE: Configuration error (code 10). Example of non-orthoganl 4x4 matrix is (1.0, 1.0, 1.0, 1.0; 1.0, 1.0, 1.0, 1.0; 1.0, 1.0, 1.0, 1.0; 1.0, 1.0, 1.0, 1.0)
===Test 4: Targeting without calibration test===
Updated on 9/10
Check if the robot control software returns a proper error code if the user attempts to run targeting before sending calibration matrix
# Step 1
send STRING(CMD, START-UP)
if (not receive STRING(ACK, START-UP) within 100ms) failure # Check point 1.1
if (not receive STATUS(CURRENT_STATUS, OK,0,START-UP) within 100ms) failure # Check point 1.2
if (not receive STATUS(OK) within 10s) failure # Check point 1.3

# Step 2
send STRING(CMD, PLANNING)
if (not receive STRING(ACK, PLANNING) within 100ms) failure # Check point 2.1
if (not receive STATUS(CURRENT_STATUS, OK,0,PLANNING) within 100ms) failure # Check point 2.2

# Step 3
send STRING(CMD, CALIBRATION)
if (not receive STRING(ACK, CALIBRATION) within 100ms) failure # Check point 3.1
if (not receive STATUS(CURRENT_STATUS, OK,0,CALIBRATION) within 100ms) failure # Check point 3.2

# Step 4
send STRING(CMD, TARGETING)
if (not receive STRING(ACK, TARGETING) within 100ms) failure # Check point 4.1
if (not receive STATUS(CURRENT_STATUS, OK,0,CALIBRATION) within 100ms) failure # Check point 4.2
if (not receive STATUS(TARGETING, DNR) within 10s) failure # Check point 4.3
DNR: Device not ready (code 13)
===Test 5: Out of range test===
Updated on 9/10/13
Check if the robot control software returns a proper error code if a target outside of its workspace is given. Assume target described by matrix3 in the image coordinate system is out of the range for the robot registered to the image coordinate system using matrix 1.
# Step 1
send STRING(CMD, START-UP)
if (not receive STRING(ACK, START-UP) within 100ms) failure # Check point #1.1
if (not receive STATUS(CURRENT_STATUS, OK,0,START-UP) within 100ms) failure # Check point 1.2
if (not receive STATUS(OK) within 10s) failure # Check point #1.3

# Step 2
send STRING(CMD, PLANNING)
if (not receive STRING(ACK, PLANNING) within 100ms) failure # Check point #2.1
if (not receive STATUS(CURRENT_STATUS, OK,0,PLANNING) within 100ms) failure # Check point 2.2

# Step 3
send STRING(CMD, CALIBRATION)
if (not receive STRING(ACK, CALIBRATION) within 100ms) failure # Check point #3.1
if (not receive STATUS(CURRENT_STATUS, OK,0,CALIBRATION) within 100ms) failure # Check point 3.2

send TRANSFORM(CLB, matrix1)
if (not receive TRANSFORM(ACK, matrix2) within 100ms) failure # Check point #3.3
if (matrix1 != matrix2) failure # Check point #3.4
if (not receive STATUS(CALIBRATION, OK) within 10s) failure # Check point #3.5

# Step 4
send STRING(CMD, TARGETING)
if (not receive STRING(ACK, TARGETING) within 100ms) failure # Check point #4.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGETING) within 100ms) failure # Check point 4.2
if (not receive STATUS(TARGETING, OK) within 10s) failure # Check point #4.3

send TRANSFORM(TGT, matrix3)
if (not receive TRANSFORM(ACK, matrix4) within 100ms) failure # Check point #4.4
if (matrix3 != matrix4) failure # Check point #4.5
if (not receive STATUS(TARGET, CE) within 10s) failure # Check point #4.6
CE: Configuration error (code 10)
===Test 6: Stop during operation test===
Updated on 9/10/13
Check if the robot stops when the STOP command is sent to the robot while the robot is moving.
# Step 1
send STRING(CMD, START_UP)
if (not receive STRING(ACK, START_UP) within 100ms) failure # Check point 1.1
if (not receive STATUS(CURRENT_STATUS, OK,0,START_UP) within 100ms) failure # Check point 1.2
if (not receive STATUS(START_UP, OK) within 10s) failure # Check point 1.3

# Step 2
send STRING(CMD, PLANNING)
if (not receive STRING(ACK, PLANNING) within 100ms) failure # Check point 2.1
if (not receive STATUS(CURRENT_STATUS, OK,0,PLANNING) within 100ms) failure # Check point 2.2

# Step 3
send STRING(CMD, CALIBRATION)
if (not receive STRING(ACK, CALIBRATION) within 100ms) failure # Check point 3.1
if (not receive STATUS(CURRENT_STATUS, OK,0,CALIBRATION) within 100ms) failure # Check point 3.2

send TRANSFORM(CLB, matrix1)
if (not receive TRANSFORM(ACK, matrix2) within 100ms) failure # Check point 3.3
if (matrix1 != matrix2) failure # Check point 3.4
if (not receive STATUS(CALIBRATION, OK) within 10s) failure #Check point 3.5

# Step 4
send STRING(CMD, TARGETING)
if (not receive STRING(ACK, TARGETING) within 100ms) failure # Check point 4.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGETING) within 100ms) failure # Check point 4.2
if (not receive STATUS(TARGETING, OK) within 10s) failure # Check point 4.3

send TRANSFORM(TGT, matrix3)
if (not receive TRANSFORM(ACK, matrix4) within 100ms) failure # Check point 4.4
if (matrix3 != matrix4) failure # Check point 4.5
if (not receive STATUS(TARGET, OK) within 10s) failure # Check point 4.6
if (not receive TRANSFORM(TARGET, matrix5) within 20s) failure # Check point 4.7
if (matrix3 != matrix5) failure # Check point 4.8

# Step 5
send STRING(CMD, MOVE_TO_TARGET)
if (not receive STRING(ACK, MOVE_TO_TARGET) within 100ms) failure # Check point 5.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGET) within 100ms) failure # Check point 5.2

if (not start receiving TRANSFORM(CURRENT_POSITION, matrix 6) in 10s) failure # Check point 5.3
if (not receive STATUS(MOVE_TO_TARGET, OK) within 100ms after the robot reaches the target) failure # Check point 5.4
if (not receive TRANSFORM(CURRENT_POSITION, matrix 7) within 100ms after the status message is received) failure # Check point 5.5
if (matrix 7 does not match the current position of the robot) failure # Check point 5.6

# Step 6
// While the robot is moving to the target
send STRING(CMD, STOP) before receiving STATUS(MOVE_TO_TARGET, OK)
if (not receive STRING(ACK, STOP) within 100ms) failure #Check point #6.1
if (not receive STATUS(CURRENT_STATUS, OK,0,STOP) within 100ms) failure # Check point 6.2
if (not receive STATUS(STOP, OK) within 200ms) failure #Check point #6.3
The test fails if the robot does not stop within 200ms after sending STRING(CMD, STOP).
===Test 7: Emergency stop during operation test===
Updated on 9/10/13
Check if the robot stops when the EMERGENCY command is sent to the robot while the robot is moving.

# Step 1
send STRING(CMD, START_UP)
if (not receive STRING(ACK, START_UP) within 100ms) failure # Check point 1.1
if (not receive STATUS(CURRENT_STATUS, OK,0,START_UP) within 100ms) failure # Check point 1.2
if (not receive STATUS(START_UP, OK) within 10s) failure # Check point 1.3

# Step 2
send STRING(CMD, PLANNING)
if (not receive STRING(ACK, PLANNING) within 100ms) failure # Check point 2.1
if (not receive STATUS(CURRENT_STATUS, OK,0,PLANNING) within 100ms) failure # Check point 2.2

# Step 3
send STRING(CMD, CALIBRATION)
if (not receive STRING(ACK, CALIBRATION) within 100ms) failure # Check point 3.1
if (not receive STATUS(CURRENT_STATUS, OK,0,CALIBRATION) within 100ms) failure # Check point 3.2

send TRANSFORM(CLB, matrix1)
if (not receive TRANSFORM(ACK, matrix2) within 100ms) failure # Check point 3.3
if (matrix1 != matrix2) failure # Check point 3.4
if (not receive STATUS(CALIBRATION, OK) within 10s) failure #Check point 3.5

# Step 4
send STRING(CMD, TARGETING)
if (not receive STRING(ACK, TARGETING) within 100ms) failure # Check point 4.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGETING) within 100ms) failure # Check point 4.2
if (not receive STATUS(TARGETING, OK) within 10s) failure # Check point 4.3

send TRANSFORM(TGT, matrix3)
if (not receive TRANSFORM(ACK, matrix4) within 100ms) failure # Check point 4.4
if (matrix3 != matrix4) failure # Check point 4.5
if (not receive STATUS(TARGET, OK) within 10s) failure # Check point 4.6
if (not receive TRANSFORM(TARGET, matrix5) within 20s) failure # Check point 4.7
if (matrix3 != matrix5) failure # Check point 4.8

# Step 5
send STRING(CMD, MOVE_TO_TARGET)
if (not receive STRING(ACK, MOVE_TO_TARGET) within 100ms) failure # Check point 5.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGET) within 100ms) failure # Check point 5.2

if (not start receiving TRANSFORM(CURRENT_POSITION, matrix 6) in 10s) failure # Check point 5.3
if (not receive STATUS(MOVE_TO_TARGET, OK) within 100ms after the robot reaches the target) failure # Check point 5.4
if (not receive TRANSFORM(CURRENT_POSITION, matrix 7) within 100ms after the status message is received) failure # Check point 5.5
if (matrix 7 does not match the current position of the robot) failure # Check point 5.6

# Step 6
// While the robot is moving to the target
send STRING(CMD, EMERGENCY) before receiving STATUS(MOVE_TO_TARGET, OK)
if (not receive STRING(ACK, EMERGENCY) within 100ms) failure # Check point #6.1
if (not receive STATUS(CURRENT_STATUS, OK,0,EMERGENCY) within 100ms) failure # Check point 6.2
if (not receive STATUS(STOP, EMERGENCY) within 200ms) failure # Check point #6.3
The test fails if the robot does not completely shutdown within 200ms after sending STRING(CMD, EMERGENCY).
===Test 8: MOVE_TO_TARGET without sending target===
Updated on 9/10/13
# Step 1
send STRING(CMD, START_UP)
if (not receive STRING(ACK, START_UP) within 100ms) failure # Check point 1.1
if (not receive STATUS(CURRENT_STATUS, OK,0,START_UP) within 100ms) failure # Check point 1.2
if (not receive STATUS(START_UP, OK) within 10s) failure # Check point 1.3

# Step 2
send STRING(CMD, PLANNING)
if (not receive STRING(ACK, PLANNING) within 100ms) failure # Check point 2.1
if (not receive STATUS(CURRENT_STATUS, OK,0,PLANNING) within 100ms) failure # Check point 2.2

# Step 3
send STRING(CMD, CALIBRATION)
if (not receive STRING(ACK, CALIBRATION) within 100ms) failure # Check point 3.1
if (not receive STATUS(CURRENT_STATUS, OK,0,CALIBRATION) within 100ms) failure # Check point 3.2

send TRANSFORM(CLB, matrix1)
if (not receive TRANSFORM(ACK, matrix2) within 100ms) failure # Check point 3.3
if (matrix1 != matrix2) failure # Check point 3.4
if (not receive STATUS(CALIBRATION, OK) within 10s) failure #Check point 3.5

# Step 4
send STRING(CMD, TARGETING)
if (not receive STRING(ACK, TARGETING) within 100ms) failure # Check point 4.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGETING) within 100ms) failure # Check point 4.2
if (not receive STATUS(TARGETING, OK) within 10s) failure # Check point 4.3

# Step 5
send STRING(CMD, MOVE_TO_TARGET)
if (not receive STRING(ACK, MOVE_TO_TARGET) within 100ms) failure # Check point 5.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGET) within 100ms) failure # Check point 5.2
if (not receive STATUS(MOVE_TO_TARGET, DNR) within 100ms after the robot reaches the target) failure # Check point #5.3
===Test 9: Accidental target/move_to command during manual mode===
Updated on 9/10/13
# Step 1
send STRING(CMD, START_UP)
if (not receive STRING(ACK, START_UP) within 100ms) failure # Check point 1.1
if (not receive STATUS(CURRENT_STATUS, OK,0,START_UP) within 100ms) failure # Check point 1.2
if (not receive STATUS(START_UP, OK) within 10s) failure # Check point 1.3

# Step 2
send STRING(CMD, PLANNING)
if (not receive STRING(ACK, PLANNING) within 100ms) failure # Check point 2.1
if (not receive STATUS(CURRENT_STATUS, OK,0,PLANNING) within 100ms) failure # Check point 2.2

# Step 3
send STRING(CMD, CALIBRATION)
if (not receive STRING(ACK, CALIBRATION) within 100ms) failure # Check point 3.1
if (not receive STATUS(CURRENT_STATUS, OK,0,CALIBRATION) within 100ms) failure # Check point 3.2

send TRANSFORM(CLB, matrix1)
if (not receive TRANSFORM(ACK, matrix2) within 100ms) failure # Check point 3.3
if (matrix1 != matrix2) failure # Check point 3.4
if (not receive STATUS(CALIBRATION, OK) within 10s) failure #Check point 3.5

# Step 4
send STRING(CMD, TARGETING)
if (not receive STRING(ACK, TARGETING) within 100ms) failure # Check point 4.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGETING) within 100ms) failure # Check point 4.2
if (not receive STATUS(TARGETING, OK) within 10s) failure # Check point 4.3

send TRANSFORM(TGT, matrix3)
if (not receive TRANSFORM(ACK, matrix4) within 100ms) failure # Check point 4.4
if (matrix3 != matrix4) failure # Check point 4.5
if (not receive STATUS(TARGET, OK) within 10s) failure # Check point 4.6
if (not receive TRANSFORM(TARGET, matrix5) within 20s) failure # Check point 4.7
if (matrix3 != matrix5) failure # Check point 4.8

# Step 5
send STRING(CMD, MOVE_TO_TARGET)
if (not receive STRING(ACK, MOVE_TO_TARGET) within 100ms) failure # Check point 5.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGET) within 100ms) failure # Check point 5.2

if (not start receiving TRANSFORM(CURRENT_POSITION, matrix 6) in 10s) failure # Check point 5.3
if (not receive STATUS(MOVE_TO_TARGET, OK) within 100ms after the robot reaches the target) failure # Check point 5.4
if (not receive TRANSFORM(CURRENT_POSITION, matrix 7) within 100ms after the status message is received) failure # Check point 5.5
if (matrix 7 does not match the current position of the robot) failure # Check point 5.6

# Step 6
send STRING(CMD, MANUAL)
if (not receive STRING(ACK, MANUAL) within 100ms) failure # Check point 6.1
if (not receive STATUS(CURRENT_STATUS, OK,0,MANUAL) within 100ms) failure # Check point 6.2
if (not receive STATUS(MANUAL, OK) within 10s) failure # Check point 6.3

# Step 7
send STRING(CMD, MOVE_TO_TARGET)
if (not receive STRING(ACK, MOVE_TO_TARGET) within 100ms) failure # Check point 7.1
if (not receive STATUS(CURRENT_STATUS, OK,0,MANUAL) within 100ms) failure # Check point 6.2
if (not receive STATUS(MOVE_TO_TARGET, DNR) within 100ms after the robot reaches the target) failure # Check point 7.2
The test fails if the robot starts moving.
===Test 10: Hardware error during operation===
Updated on 9/10/13
Unplug one of motors/encoders while the robot is moving to the target.
# Step 1
send STRING(CMD, START_UP)
if (not receive STRING(ACK, START_UP) within 100ms) failure # Check point 1.1
if (not receive STATUS(CURRENT_STATUS, OK,0,START_UP) within 100ms) failure # Check point 1.2
if (not receive STATUS(START_UP, OK) within 10s) failure # Check point 1.3

# Step 2
send STRING(CMD, PLANNING)
if (not receive STRING(ACK, PLANNING) within 100ms) failure # Check point 2.1
if (not receive STATUS(CURRENT_STATUS, OK,0,PLANNING) within 100ms) failure # Check point 2.2

# Step 3
send STRING(CMD, CALIBRATION)
if (not receive STRING(ACK, CALIBRATION) within 100ms) failure # Check point 3.1
if (not receive STATUS(CURRENT_STATUS, OK,0,CALIBRATION) within 100ms) failure # Check point 3.2

send TRANSFORM(CLB, matrix1)
if (not receive TRANSFORM(ACK, matrix2) within 100ms) failure # Check point 3.3
if (matrix1 != matrix2) failure # Check point 3.4
if (not receive STATUS(CALIBRATION, OK) within 10s) failure #Check point 3.5

# Step 4
send STRING(CMD, TARGETING)
if (not receive STRING(ACK, TARGETING) within 100ms) failure # Check point 4.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGETING) within 100ms) failure # Check point 4.2
if (not receive STATUS(TARGETING, OK) within 10s) failure # Check point 4.3

send TRANSFORM(TGT, matrix3)
if (not receive TRANSFORM(ACK, matrix4) within 100ms) failure # Check point 4.4
if (matrix3 != matrix4) failure # Check point 4.5
if (not receive STATUS(TARGET, OK) within 10s) failure # Check point 4.6
if (not receive TRANSFORM(TARGET, matrix5) within 20s) failure # Check point 4.7
if (matrix3 != matrix5) failure # Check point 4.8

# Step 5
send STRING(CMD, MOVE_TO_TARGET)
if (not receive STRING(ACK, MOVE_TO_TARGET) within 100ms) failure # Check point 5.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGET) within 100ms) failure # Check point 5.2

if (not start receiving TRANSFORM(CURRENT_POSITION, matrix 6) in 10s) failure # Check point 5.3

While the robot is moving to the target, unplug one of the cables for the actuators or the sensors
# Step 6
if (not receive STATUS(MOVE_TO_TARGET, 19) within 100ms) failure # Check point #6.1
{| border="1" cellpadding="5" cellspacing="0" align="center"
|-
| align="left style=" background:#e0e0e0;" |''3D Slicer (operator)''
| align="left style=" background:#e0e0e0;" |''Message''
| align="left style=" background:#e0e0e0;" |''MRI''
| align="left style=" background:#e0e0e0;" |''Radiologist''
| align="left style=" background:#e0e0e0;" |''Note''
|-
| colspan="5" align="center" style="background:#f0f0f0;" |Start-up
|-
| align="left" |The operator presses "Start-up" button
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |Send command to robot
| align="left" |>> STRING(CMD_XXXX, START_UP) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, START_UP) <<
| align="left" |Echo back an acknowledgement command was received, but not yet completed
| align="left" |
| align="left" |XXXX is the same unique query ID as the START_UP message.
|-
| align="left" style="background:#f8f8f8;" |
| align="left" style="background:#f8f8f8;;" |<< STATUS(CURRENT_STATUS, Code:0:Phase) <<
| align="left" style="background:#f8f8f8;;" |'''Code=OK:''' Confirm that the robot is transition to START_UP mode. Phase should be "START_UP". ''Code=DNR:'' Fails to transition. Phase should be the name of the current workphase
| align="left" style="background:#f8f8f8;;" |
| align="left" style="background:#f8f8f8;;" |DNR: Device not ready (13)
|-
| align="left" |
| align="left" |
| align="left" |Start up and initialize the hardware. Run the robot homing procedure if necessary (skip if already successfully completed). Move robot to home (loading) configuration.
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(START_UP, Code:??:??) <<
| align="left" |'''Code=OK:''' Confirm when robot is initialized '''Code>=2''': Error. See [http://openigtlink.org/protocols/v2_status.html error list]
| align="left" |
| align="left" |
|-
| align="left" |Display the result of start up process.
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-

|}

ProstateBRP OpenIGTLink Communication June 2013

2022-01-13T18:28:53Z

Tokuda: /* Diagram (Slicer - MRI) */

The following table shows message exchange diagram for the communication between 3D Slicer (and other navigation software) and the robot in each workhpase.

==Notations==

*STRING(NN, SS) (see http://openigtlink.org/protocols/v2_string.html)
**NN: Device name in the OpenIGTLink header. (Max. 20 bytes)
**SS: String in the message body. (Max. 65536 bytes)
*STATE(NN, CC:SS:EE:MM) (see http://openigtlink.org/protocols/v2_status.html )
**NN: Device type in the OpenIGTLink header. (Max. 20 bytes)
**CC: Code
**SS: Subcode
**EE: Error name (Max 20 bytes) -- no predefined name. It will logged or show up on navigation screen as it is.
**MM: Message -- no predefined text. It will logged or show up on navigation screen as it is.
*TRANSFORM(NN, TT) (see http://openigtlink.org/protocols/v2_transform.html)
**NN: Device type in the OpenIGTLink header. (Max. 20 bytes)
**TT: 4x4 linear transformation matrix

==Diagram (Slicer - Robot)==


{| border="1" cellpadding="5" cellspacing="0" align="center"
|-
| align="left style=" background:#e0e0e0;" |''3D Slicer (operator)''
| align="left style=" background:#e0e0e0;" |''Message''
| align="left style=" background:#e0e0e0;" |''Robot Controller''
| align="left style=" background:#e0e0e0;" |''Radiologist''
| align="left style=" background:#e0e0e0;" |''Note''
|-
| colspan="5" align="center" style="background:#f0f0f0;" |Start-up
|-
| align="left" |The operator presses "Start-up" button
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |Send command to robot
| align="left" |>> STRING(CMD_XXXX, START_UP) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, START_UP) <<
| align="left" |Echo back an acknowledgement command was received, but not yet completed
| align="left" |
| align="left" |XXXX is the same unique query ID as the START_UP message.
|-
| align="left" style="background:#f8f8f8;" |
| align="left" style="background:#f8f8f8;;" |<< STATUS(CURRENT_STATUS, Code:0:Phase) <<
| align="left" style="background:#f8f8f8;;" |'''Code=OK:''' Confirm that the robot is transition to START_UP mode. Phase should be "START_UP". ''Code=DNR:'' Fails to transition. Phase should be the name of the current workphase
| align="left" style="background:#f8f8f8;;" |
| align="left" style="background:#f8f8f8;;" |DNR: Device not ready (13)
|-
| align="left" |
| align="left" |
| align="left" |Start up and initialize the hardware. Run the robot homing procedure if necessary (skip if already successfully completed). Move robot to home (loading) configuration.
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(START_UP, Code:??:??) <<
| align="left" |'''Code=OK:''' Confirm when robot is initialized '''Code>=2''': Error. See [http://openigtlink.org/protocols/v2_status.html error list]
| align="left" |
| align="left" |
|-
| align="left" |Display the result of start up process.
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| colspan="5" align="center" style="background:#f0f0f0;" |Planning
|-
| align="left" |The operator opens the planning panel
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> STRING(CMD_XXXX, PLANNING) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, PLANNING) <<
| align="left" |Echo back an acknowledgement command was received
| align="left" |
| align="left" |XXXX is the same unique query ID as the PLANNING message.
|-
| align="left" style="background:#f8f8f8;" |
| align="left" style="background:#f8f8f8;;" |<< STATUS(CURRENT_STATUS, Code:0:Phase) <<
| align="left" style="background:#f8f8f8;;" |'''Code=OK:''' Confirm that the robot is transition to PLANNING mode. Phase should be "PLANNING". ''Code=DNR:'' Fails to transition. Phase should be the name of the current workphase
| align="left" style="background:#f8f8f8;;" |
| align="left" style="background:#f8f8f8;;" |DNR: Device not ready (13)
|-
| align="left" |
| align="left" |
| align="left" |Do nothing except keep track of current state, robot is awaiting next workphase.
| align="left" |
| align="left" |
|-
| align="left" |Show that the robot is in PLANNING phase.
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| colspan="5" align="center" style="background:#f0f0f0;" |Calibration
|-
| align="left" |The operator opens the calibration panel
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> STRING(CMD_XXXX, CALIBRATION) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, CALIBRATION) <<
| align="left" |Echo back an acknowledgement command was received
| align="left" |
| align="left" |XXXX is the same unique query ID as the CALIBRATION message.
|-
| align="left" style="background:#f8f8f8;" |
| align="left" style="background:#f8f8f8;;" |<< STATUS(CURRENT_STATUS, Code:0:Phase) <<
| align="left" style="background:#f8f8f8;;" |'''Code=OK:''' Confirm that the robot is transition to CALIBRATION mode. Phase should be "CALIBRATION". ''Code=DNR:'' Fails to transition. Phase should be the name of the current workphase
| align="left" style="background:#f8f8f8;;" |
| align="left" style="background:#f8f8f8;;" |DNR: Device not ready (13)
|-
| align="left" |
| align="left" |
| align="left" |Do nothing except keep track of current state, robot is awaiting calibration transform
| align="left" |
| align="left" |
|-
| align="left" |Show that the robot is in CALIBRATION phase.
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |Nav Software (3D Slicer or RadVision) calculates calibration matrix
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> TRANSFORM(CLB_XXXX, 4x4 calibration matrix in RAS coordinates) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< TRANSFORM(ACK_XXXX, Calibration matrix in RAS coordinates) <<
| align="left" |Echo back an acknowledgement transform was received
| align="left" |
| align="left" |XXXX is the same unique query ID as the CLB message.
|-
| align="left" |
| align="left" |
| align="left" |Update calibration transform, set flag that registration has been set externally, reply with confirmation
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(CALIBRATION, Code:??:??) <<
| align="left" |'''Code=OK:''' Confirm that calibration was received and robot is ready for next workphase '''Code=CE''': Error.
| align="left" |
| align="left" |CE: Configuration Error (code 10)
|-
| align="left" |Show that calibration successfully sent to robot or failed.
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| colspan="5" align="center" style="background:#f0f0f0;" |Targeting
|-
| align="left" |The operator enters "Targeting" mode
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> STRING(CMD_XXXX, TARGETING) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, TARGETING) <<
| align="left" |Acknowledge receiving targeting command
| align="left" |
| align="left" |XXXX is the same unique query ID as the TARGETING message.
|-
| align="left" style="background:#f8f8f8;" |
| align="left" style="background:#f8f8f8;;" |<< STATUS(CURRENT_STATUS, Code:0:Phase) <<
| align="left" style="background:#f8f8f8;;" |'''Code=OK:''' Confirm that the robot is transition to TARGETING mode. Phase should be "TARGETING". ''Code=DNR:'' Fails to transition. Phase should be the name of the current workphase
| align="left" style="background:#f8f8f8;;" |
| align="left" style="background:#f8f8f8;;" |DNR: Device not ready (13)
|-
| align="left" |
| align="left" |
| align="left" |Confirm if robot is ready for targeting; check if calibration was received; return robot to home (loading) position, if needed.
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(TARGETING, Code:??:??) <<
| align="left" |'''Code=OK:''' Confirm robot has entered targeting mode. '''Code=DNR:''' If not able to enter targeting mode (i.e. calibration not received)
| align="left" |
| align="left" |DNR: Device Not Ready (code 13)
|-
| align="left" |The operator select a target, Nav software creates a 4x4 matrix for desired 6-DOF robot pose to reach the target
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> TRANSFORM(TGT_XXXXX, 4x4 target matrix in RAS coordinates) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes). The unique ID may be used as a human-readable target name on the robot control software. For example, TGT_LeftApex-2 is for the second targeting attempt on a lesion in the left-apex.
|-
| align="left" |
| align="left" |<< TRANSFORM(ACK_XXXXX, 4x4 target matrix) <<
| align="left" |Acknowledge receipt of target transformation by echoing back
| align="left" |
| align="left" |XXXX is the same unique query ID as the TARGETING message.
|-
| align="left" |
| align="left" |
| align="left" |Calculate if target pose is reachable based on the kinematics, reply with status and set target
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(TARGET, Code:??:??) <<
| align="left" |'''Code=OK:''' Reply with OK if target was accepted '''Code=DNR:''' Not in targeting mode '''Code=CE:''' Not a valid target (i.e. out of workspace)
| align="left" |
| align="left" |DNR: Device Not Ready (code 13) CE: Configuration Error (code 10)
|-
| align="left" |
| align="left" |<< TRANSFORM(TARGET, 4x4 target matrix) <<
| align="left" |Send actual target pose in robot controller if one was set (corresponds to when status comes back OK)
| align="left" |
| align="left" |
|-
| align="left" |Display the reachable target position set in robot controller.
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |The operator confirms the target position set in the controller, and press "MOVE"
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> STRING(CMD_XXXX, MOVE_TO_TARGET) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, MOVE_TO_TARGET) <<
| align="left" |Echo back an acknowledgement command was received (not yet completed)
| align="left" |
| align="left" |XXXX is the same unique query ID as the MOVE_TO_TARGET message. See the note below
|-
| align="left" |Alert the clinician to hold footpedal to align the robot
| align="left" |
| align="left" |
| align="left" |Clinician engages interlock (footpedal in scanner room) to enable robot motion. Robot will only move when interlock is engaged following a move command.
| align="left" |
|-
| align="left" |
| align="left" |
| align="left" |The robot moves to the target and streams its pose during motion
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< TRANSFORM(CURRENT_POSITION, Current robot pose matrix in RAS coordinates) <<
| align="left" |Stream current robot pose in RAS coords as moving. Can also be requested (see below).
| align="left" |
| align="left" |
|-
| align="left" |Display the current robot position as it moves toward the target.
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |
| align="left" |Display that the robot is at the target. Send confirmation.
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(MOVE_TO_TARGET, Code:??:??) <<
| align="left" |'''Code=OK:''' Robot reaches target '''Code >= 3:''' Return error code when the device fails to move to the target. See [http://openigtlink.org/protocols/v2_status.html error list]
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< TRANSFORM(CURRENT_POSITION, Current robot pose matrix in RAS coordinates) <<
| align="left" |Push out final robot pose in RAS coords as moving. (same format as previous stream - ensures last one is at final position)
| align="left" |
| align="left" |
|-
| align="left" |Display the current final robot position at the target.
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| colspan="5" align="center" style="background:#f0f0f0;" |Needle Insertion (Manual)
|-
| align="left" |Ask to lock the robot
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |
| align="left" |
| align="left" |The operator presses "Lock" button
| align="left" |
|-
| align="left" |
| align="left" |>> STRING (CMD_XXXX, MANUAL) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, MANUAL) <<
| align="left" |Echo back an acknowledgement command was received (not yet completed)
| align="left" |
| align="left" |XXXX is the same unique query ID as the MANUAL message.
|-
| align="left" style="background:#f8f8f8;" |
| align="left" style="background:#f8f8f8;;" |<< STATUS(CURRENT_STATUS, Code:0:Phase) <<
| align="left" style="background:#f8f8f8;;" |'''Code=OK:''' Confirm that the robot is transition to MANUAL mode. Phase should be "MANUAL". ''Code=DNR:'' Fails to transition. Phase should be the name of the current workphase
| align="left" style="background:#f8f8f8;;" |
| align="left" style="background:#f8f8f8;;" |DNR: Device not ready (13)
|-
| align="left" |
| align="left" |
| align="left" |Cut motor power to prevent motion of the robot base. This also eliminates causes of MR interference for insertion under live imaging.
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(MANUAL, OK:??:??) <<
| align="left" |Reply with OK when robot is in a safe, locked state
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |
| align="left" |
| align="left" |Insert a needle, optionally under live MR imaging. Perform intervention with the needle (biopsy or seed placement).
| align="left" |
|-
| align="left" |
| align="left" |
| align="left" |
| align="left" |Retract the needle
| align="left" |
|-
| align="left" |Ask to unlock the robot and confirm needle is retracted
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |
| align="left" |
| align="left" |The operator presses "Unlock"
| align="left" |
|-
| align="left" |
| align="left" |
| align="left" |
| align="left" |
| align="left" |Return to the TARGETING phase (Slicer sends STRING(ACK_XXXXX, TARGETING) )
|-
| colspan="5" align="center" style="background:#f0f0f0;" |All workhpases
|-
| align="left" |The operator presses "Stop" button
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> STRING(CMD_XXXX, STOP) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, STOP) <<
| align="left" |Acknowledge receiving targeting command
| align="left" |
| align="left" |XXXX is the same unique query ID as the STOP message.
|-
| align="left" style="background:#f8f8f8;" |
| align="left" style="background:#f8f8f8;;" |<< STATUS(CURRENT_STATUS, Code:0:Phase) <<
| align="left" style="background:#f8f8f8;;" |'''Code=OK:''' Confirm that the robot is transition to STOP mode. Phase should be "STOP". ''Code=DNR:'' Fails to transition. Phase should be the name of the current workphase
| align="left" style="background:#f8f8f8;;" |
| align="left" style="background:#f8f8f8;;" |DNR: Device not ready (13)
|-
| align="left" |
| align="left" |
| align="left" |The robot stops all motion. Stays in current state/workphase.
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(STOP, OK:??:??) <<
| align="left" |Reply with OK when robot stopped safely.
| align="left" |
| align="left" |
|-
| colspan="5" align="center" style="background:#f0f0f0;" |All workhpases
|-
| align="left" |The operator presses "Emergency" button
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> STRING(CMD_XXXX, EMERGENCY) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, EMERGENCY) <<
| align="left" |Acknowledge receiving targeting command
| align="left" |
| align="left" |XXXX is the same unique query ID as the STOP message.
|-
| align="left" style="background:#f8f8f8;" |
| align="left" style="background:#f8f8f8;;" |<< STATUS(CURRENT_STATUS, Code:0:Phase) <<
| align="left" style="background:#f8f8f8;;" |'''Code=OK:''' Confirm that the robot is transition to EMERGENCY mode. Phase should be "EMERGENCY". ''Code=DNR:'' Fails to transition. Phase should be the name of the current workphase
| align="left" style="background:#f8f8f8;;" |
| align="left" style="background:#f8f8f8;;" |DNR: Device not ready (13)
|-
| align="left" |
| align="left" |
| align="left" |The robot stops all motion and disables/locks motors. Switches to Emergency state/workphase. ?? IS THIS THE DESIRED ACTION
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(EMERGENCY, Emergency:??:??) <<
| align="left" |Reply with OK when robot stopped safely.
| align="left" |
| align="left" |
|-
| colspan="5" align="center" style="background:#f0f0f0;" |All workhpases
|-
| align="left" |Request current robot pose (or target or calibration transforms)
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> GET_TRANSFORM(CURRENT_POSITION) >>
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |
| align="left" |The robot transmits current pose ("CURRENT_POSITION") through IGTLink upon request. This also works for requesting "TARGET_POSITION" and "CALIBRATION" transforms stored in robot controller.
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< TRANSFORM(CURRENT_POSITION, Current robot pose matrix in RAS coordinates) <<
| align="left" |
| align="left" |
| align="left" |
|-
| colspan="5" align="center" style="background:#f0f0f0;" |All workhpases
|-
| align="left" |Request the robot status/workphase
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> GET_STATUS(CURRENT_STATUS) >> ?? CONFIRM COMMAND STRUCTURE FOR STATUS REQUEST
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |
| align="left" |Sends current state/workphase. ?? SHOULD IT SEND OTHER INFO TOO
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(CURRENT_STATUS, Code:0:Status) <<
| align="left" |Send status code. Status should be the name of the current status e.g. "TARGETING". Code is OK, when the robot is successfully determines its workphase. Otherwise, Code should be configuration error (10)
| align="left" |
| align="left" |
|-
| colspan="5" align="center" style="background:#f0f0f0;" |All workhpases
|-
| align="left" |
| align="left" |
| align="left" |Robot controller sends errors or notifications through IGTLink. Transmitted asynchronously with error text in message body. To be used with limit events, hardware failures, invalid commands, etc.
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(ERROR, Code:??:Error name) <<
| align="left" |<nowiki>| align="left" | Send status code. </nowiki>[http://openigtlink.org/protocols/v2_status.html error list]
| align="left" |
| align="left" |
|}

NOTE: Suggested modification -- Agreed on 9/5/13

Although MOVE_TO_TARGET workphase is currently part of TARGETING, Nirav suggested to make MOVE_TO_TARGET phase an independent workhpase. If we agree, the MOVE_TO_TARGET workphase should be defined as follows:

{| border="1" cellpadding="5" cellspacing="0" align="center"
|-
| align="left style=" background:#e0e0e0;" |''3D Slicer (operator)''
| align="left style=" background:#e0e0e0;" |''Message''
| align="left style=" background:#e0e0e0;" |''Robot Controller''
| align="left style=" background:#e0e0e0;" |''Radiologist''
| align="left style=" background:#e0e0e0;" |''Note''
|-
| colspan="5" align="center" style="background:#f0f0f0;" |Move to Target
|-
| align="left" |The operator confirms the target position set in the controller, and press "MOVE"
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> STRING(CMD_XXXX, MOVE_TO_TARGET) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, MOVE_TO_TARGET) <<
| align="left" |Echo back an acknowledgement command was received (not yet completed)
| align="left" |
| align="left" |XXXX is the same unique query ID as the MOVE_TO_TARGET message. See the note below
|-
| align="left" style="background:#f8f8f8;" |
| align="left" style="background:#f8f8f8;;" |<< STATUS(CURRENT_STATUS, Code:0:Phase) <<
| align="left" style="background:#f8f8f8;;" |'''Code=OK:''' Confirm that the robot is transition to MOVE_TO_TARGET mode. Phase should be "MOVE_TO_TARGET". ''Code=DNR:'' Fails to transition. Phase should be the name of the current workphase
| align="left" style="background:#f8f8f8;;" |
| align="left" style="background:#f8f8f8;;" |DNR: Device not ready (13)
|-
| align="left" |Alert the clinician to hold footpedal to align the robot
| align="left" |
| align="left" |
| align="left" |Clinician engages interlock (footpedal in scanner room) to enable robot motion. Robot will only move when interlock is engaged following a move command.
| align="left" |
|-
| align="left" |
| align="left" |
| align="left" |The robot moves to the target and streams its pose during motion
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< TRANSFORM(CURRENT_POSITION, Current robot pose matrix in RAS coordinates) <<
| align="left" |Stream current robot pose in RAS coords as moving. Can also be requested (see below).
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(MOVE_TO_TARGET, Code:??:??) <<
| align="left" |'''Code=OK:''' Robot reaches target '''Code >= 3:''' Return error code when the device fails to move to the target. See [http://openigtlink.org/protocols/v2_status.html error list]
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< TRANSFORM(CURRENT_POSITION, Current robot pose matrix in RAS coordinates) <<
| align="left" |Push out final robot pose in RAS coords as moving. (same format as previous stream - ensures last one is at final position)
| align="left" |
| align="left" |
|-
| align="left" |Display the current final robot position at the target.
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
|}

==Diagram (Slicer - MRI)==


{| border="1" cellpadding="5" cellspacing="0" align="center"
|-
| align="left style=" background:#e0e0e0;" |''3D Slicer (operator)''
| align="left style=" background:#e0e0e0;" |''Message''
| align="left style=" background:#e0e0e0;" |''MRI''
| align="left style=" background:#e0e0e0;" |''Radiologist''
| align="left style=" background:#e0e0e0;" |''Note''
|-
| align="left" |The operator presses "Start-up" button
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |Send command to robot
| align="left" |>> STRING(CMD_XXXX, START_UP) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, START_UP) <<
| align="left" |Echo back an acknowledgement command was received, but not yet completed
| align="left" |
| align="left" |XXXX is the same unique query ID as the START_UP message.
|-
| align="left" style="background:#f8f8f8;" |
| align="left" style="background:#f8f8f8;;" |<< STATUS(CURRENT_STATUS, Code:0:Phase) <<
| align="left" style="background:#f8f8f8;;" |'''Code=OK:''' Confirm that the robot is transition to START_UP mode. Phase should be "START_UP". ''Code=DNR:'' Fails to transition. Phase should be the name of the current workphase
| align="left" style="background:#f8f8f8;;" |
| align="left" style="background:#f8f8f8;;" |DNR: Device not ready (13)
|-
| align="left" |
| align="left" |>> TRANSFORM(TGT_XXXXX, 4x4 target matrix in RAS coordinates) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes). The unique ID may be used as a human-readable target name on the robot control software. For example, TGT_LeftApex-2 is for the second targeting attempt on a lesion in the left-apex.
|-
| align="left" |
| align="left" |<< TRANSFORM(ACK_XXXXX, 4x4 target matrix) <<
| align="left" |Acknowledge receipt of target transformation by echoing back
| align="left" |
| align="left" |XXXX is the same unique query ID as the TARGETING message.
|-
| align="left" |
| align="left" |
| align="left" |Calculate if target pose is reachable based on the kinematics, reply with status and set target
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(TARGET, Code:??:??) <<
| align="left" |'''Code=OK:''' Reply with OK if target was accepted '''Code=DNR:''' Not in targeting mode '''Code=CE:''' Not a valid target (i.e. out of workspace)
| align="left" |
| align="left" |DNR: Device Not Ready (code 13) CE: Configuration Error (code 10)
|-
| align="left" |
| align="left" |<< TRANSFORM(TARGET, 4x4 target matrix) <<
| align="left" |Send actual target pose in robot controller if one was set (corresponds to when status comes back OK)
| align="left" |
| align="left" |
|-
| align="left" |Display the reachable target position set in robot controller.
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |The operator confirms the target position set in the controller, and press "MOVE"
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |>> STRING(CMD_XXXX, MOVE_TO_TARGET) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, MOVE_TO_TARGET) <<
| align="left" |Echo back an acknowledgement command was received (not yet completed)
| align="left" |
| align="left" |XXXX is the same unique query ID as the MOVE_TO_TARGET message. See the note below
|-

|}

==Quality Assurance Protocol==
Simulator software for QA will be hosted in https://github.com/ProstateBRP.
The following tests are described as pseudo code for navigation software.
===Test 1: Normal Operation Test===
Updated on 9/10/13
# Step 1
send STRING(CMD, START_UP)
if (not receive STRING(ACK, START_UP) within 100ms) failure # Check point 1.1
if (not receive STATUS(CURRENT_STATUS, OK,0,START_UP) within 100ms) failure # Check point 1.2
if (not receive STATUS(START_UP, OK) within 10s) failure # Check point 1.3

# Step 2
send STRING(CMD, PLANNING)
if (not receive STRING(ACK, PLANNING) within 100ms) failure # Check point 2.1
if (not receive STATUS(CURRENT_STATUS, OK,0,PLANNING) within 100ms) failure # Check point 2.2

# Step 3
send STRING(CMD, CALIBRATION)
if (not receive STRING(ACK, CALIBRATION) within 100ms) failure # Check point 3.1
if (not receive STATUS(CURRENT_STATUS, OK,0,CALIBRATION) within 100ms) failure # Check point 3.2

send TRANSFORM(CLB, matrix1)
if (not receive TRANSFORM(ACK, matrix2) within 100ms) failure # Check point 3.3
if (matrix1 != matrix2) failure # Check point 3.4
if (not receive STATUS(CALIBRATION, OK) within 10s) failure #Check point 3.5

# Step 4
send STRING(CMD, TARGETING)
if (not receive STRING(ACK, TARGETING) within 100ms) failure # Check point 4.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGETING) within 100ms) failure # Check point 4.2
if (not receive STATUS(TARGETING, OK) within 10s) failure # Check point 4.3

send TRANSFORM(TGT, matrix3)
if (not receive TRANSFORM(ACK, matrix4) within 100ms) failure # Check point 4.4
if (matrix3 != matrix4) failure # Check point 4.5
if (not receive STATUS(TARGET, OK) within 10s) failure # Check point 4.6
if (not receive TRANSFORM(TARGET, matrix5) within 20s) failure # Check point 4.7
if (matrix3 != matrix5) failure # Check point 4.8

# Step 5
send STRING(CMD, MOVE_TO_TARGET)
if (not receive STRING(ACK, MOVE_TO_TARGET) within 100ms) failure # Check point 5.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGET) within 100ms) failure # Check point 5.2

if (not start receiving TRANSFORM(CURRENT_POSITION, matrix 6) in 10s) failure # Check point 5.3
if (not receive STATUS(MOVE_TO_TARGET, OK) within 100ms after the robot reaches the target) failure # Check point 5.4
if (not receive TRANSFORM(CURRENT_POSITION, matrix 7) within 100ms after the status message is received) failure # Check point 5.5
if (matrix 7 does not match the current position of the robot) failure # Check point 5.6

# Step 6
send STRING(CMD, MANUAL)
if (not receive STRING(ACK, MANUAL) within 100ms) failure # Check point 6.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGET) within 100ms) failure # Check point 6.2
if (not receive STATUS(MANUAL, OK) within 10s) failure # Check point 6.3

# Step 7
send GET_TRANSFORM(CURRENT_POSITION)
if (not receive TRANSFORM(CURRENT_POSITION, matrix8) within 10s) failure # Check point 7.1
if (matrix 8 does not match the current position of the robot) failure # Check point 7.2

# Step 8
send GET_STATUS(CURRENT_STATUS)
if (not receive STATUS(XXXXX, Code:??:??) within 10s) failure # Check point 8.1

# Step 9
send STRING(CMD, STOP)
if (not receive STRING(ACK, STOP) within 100ms) failure # Check point 9.1
if (not receive STATUS(CURRENT_STATUS, OK,0,STOP) within 100ms) failure # Check point 9.2
if (not receive STATUS(STOP, OK) within 10s) failure # Check point 9.3

# Step 10
send STRING(CMD, EMERGENCY)
if (not receive STRING(ACK, EMERGENCY) within 100ms) failure # Check point 10.1
if (not receive STATUS(CURRENT_STATUS, OK,0,EMERGENCY) within 100ms) failure # Check point 10.2
if (not receive STATUS(EMERGENCY, Emergency) within 10s) failure # Check point 10.3
This is implemented in:
https://github.com/ProstateBRP/CommunicationTest/blob/master/ClientNormalOperationTest.cxx
===Test 2: Start-up without connecting the device to the robot control computer===
Updated on 9/10/13
Check if the robot control software returns a proper error code if there is any trouble with the hardware. Before start, unplug one of the sensors or actuators from the robot control computer. The test must be repeated for all sensors and actuators.
# Step 1
send STRING(CMD, START-UP)
if (not receive STRING(ACK, START-UP) within 100ms) failure # Check point 1.1
if (not receive STATUS(CURRENT_STATUS, OK,0,START_UP) within 100ms) failure # Check point 1.2
if (not receive STATUS(DNP) within 10s) failure # Check point 1.3
DNP: Device Not Present (code 16)
===Test 3: Calibration error test===
Updated on 9/10/13
Check if the robot control software returns a proper error code if the calibration matrix is not valid e.g. non-orthogonal matrix.
# Step 1
send STRING(CMD, START_UP)
if (not receive STRING(ACK, START_UP) within 100ms) failure # Check point 1.1
if (not receive STATUS(CURRENT_STATUS, OK,0,START_UP) within 100ms) failure # Check point 1.2
if (not receive STATUS(START_UP, OK) within 10s) failure # Check point 1.3

# Step 2
send STRING(CMD, PLANNING)
if (not receive STRING(ACK, PLANNING) within 100ms) failure # Check point 2.1
if (not receive STATUS(CURRENT_STATUS, OK,0,PLANNING) within 100ms) failure # Check point 2.2

# Step 3
send STRING(CMD, CALIBRATION)
if (not receive STRING(ACK, CALIBRATION) within 100ms) failure # Check point 3.1
if (not receive STATUS(CURRENT_STATUS, OK,0,CALIBRATION) within 100ms) failure # Check point 3.2

send TRANSFORM(CLB, invalid_matrix)
if (not receive TRANSFORM(ACK, invalid_matrix) within 100ms) failure # Check point 3.3
if (not receive STATUS(CALIBRATION, CE) within 10s) failure # Check point 3.4
CE: Configuration error (code 10). Example of non-orthoganl 4x4 matrix is (1.0, 1.0, 1.0, 1.0; 1.0, 1.0, 1.0, 1.0; 1.0, 1.0, 1.0, 1.0; 1.0, 1.0, 1.0, 1.0)
===Test 4: Targeting without calibration test===
Updated on 9/10
Check if the robot control software returns a proper error code if the user attempts to run targeting before sending calibration matrix
# Step 1
send STRING(CMD, START-UP)
if (not receive STRING(ACK, START-UP) within 100ms) failure # Check point 1.1
if (not receive STATUS(CURRENT_STATUS, OK,0,START-UP) within 100ms) failure # Check point 1.2
if (not receive STATUS(OK) within 10s) failure # Check point 1.3

# Step 2
send STRING(CMD, PLANNING)
if (not receive STRING(ACK, PLANNING) within 100ms) failure # Check point 2.1
if (not receive STATUS(CURRENT_STATUS, OK,0,PLANNING) within 100ms) failure # Check point 2.2

# Step 3
send STRING(CMD, CALIBRATION)
if (not receive STRING(ACK, CALIBRATION) within 100ms) failure # Check point 3.1
if (not receive STATUS(CURRENT_STATUS, OK,0,CALIBRATION) within 100ms) failure # Check point 3.2

# Step 4
send STRING(CMD, TARGETING)
if (not receive STRING(ACK, TARGETING) within 100ms) failure # Check point 4.1
if (not receive STATUS(CURRENT_STATUS, OK,0,CALIBRATION) within 100ms) failure # Check point 4.2
if (not receive STATUS(TARGETING, DNR) within 10s) failure # Check point 4.3
DNR: Device not ready (code 13)
===Test 5: Out of range test===
Updated on 9/10/13
Check if the robot control software returns a proper error code if a target outside of its workspace is given. Assume target described by matrix3 in the image coordinate system is out of the range for the robot registered to the image coordinate system using matrix 1.
# Step 1
send STRING(CMD, START-UP)
if (not receive STRING(ACK, START-UP) within 100ms) failure # Check point #1.1
if (not receive STATUS(CURRENT_STATUS, OK,0,START-UP) within 100ms) failure # Check point 1.2
if (not receive STATUS(OK) within 10s) failure # Check point #1.3

# Step 2
send STRING(CMD, PLANNING)
if (not receive STRING(ACK, PLANNING) within 100ms) failure # Check point #2.1
if (not receive STATUS(CURRENT_STATUS, OK,0,PLANNING) within 100ms) failure # Check point 2.2

# Step 3
send STRING(CMD, CALIBRATION)
if (not receive STRING(ACK, CALIBRATION) within 100ms) failure # Check point #3.1
if (not receive STATUS(CURRENT_STATUS, OK,0,CALIBRATION) within 100ms) failure # Check point 3.2

send TRANSFORM(CLB, matrix1)
if (not receive TRANSFORM(ACK, matrix2) within 100ms) failure # Check point #3.3
if (matrix1 != matrix2) failure # Check point #3.4
if (not receive STATUS(CALIBRATION, OK) within 10s) failure # Check point #3.5

# Step 4
send STRING(CMD, TARGETING)
if (not receive STRING(ACK, TARGETING) within 100ms) failure # Check point #4.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGETING) within 100ms) failure # Check point 4.2
if (not receive STATUS(TARGETING, OK) within 10s) failure # Check point #4.3

send TRANSFORM(TGT, matrix3)
if (not receive TRANSFORM(ACK, matrix4) within 100ms) failure # Check point #4.4
if (matrix3 != matrix4) failure # Check point #4.5
if (not receive STATUS(TARGET, CE) within 10s) failure # Check point #4.6
CE: Configuration error (code 10)
===Test 6: Stop during operation test===
Updated on 9/10/13
Check if the robot stops when the STOP command is sent to the robot while the robot is moving.
# Step 1
send STRING(CMD, START_UP)
if (not receive STRING(ACK, START_UP) within 100ms) failure # Check point 1.1
if (not receive STATUS(CURRENT_STATUS, OK,0,START_UP) within 100ms) failure # Check point 1.2
if (not receive STATUS(START_UP, OK) within 10s) failure # Check point 1.3

# Step 2
send STRING(CMD, PLANNING)
if (not receive STRING(ACK, PLANNING) within 100ms) failure # Check point 2.1
if (not receive STATUS(CURRENT_STATUS, OK,0,PLANNING) within 100ms) failure # Check point 2.2

# Step 3
send STRING(CMD, CALIBRATION)
if (not receive STRING(ACK, CALIBRATION) within 100ms) failure # Check point 3.1
if (not receive STATUS(CURRENT_STATUS, OK,0,CALIBRATION) within 100ms) failure # Check point 3.2

send TRANSFORM(CLB, matrix1)
if (not receive TRANSFORM(ACK, matrix2) within 100ms) failure # Check point 3.3
if (matrix1 != matrix2) failure # Check point 3.4
if (not receive STATUS(CALIBRATION, OK) within 10s) failure #Check point 3.5

# Step 4
send STRING(CMD, TARGETING)
if (not receive STRING(ACK, TARGETING) within 100ms) failure # Check point 4.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGETING) within 100ms) failure # Check point 4.2
if (not receive STATUS(TARGETING, OK) within 10s) failure # Check point 4.3

send TRANSFORM(TGT, matrix3)
if (not receive TRANSFORM(ACK, matrix4) within 100ms) failure # Check point 4.4
if (matrix3 != matrix4) failure # Check point 4.5
if (not receive STATUS(TARGET, OK) within 10s) failure # Check point 4.6
if (not receive TRANSFORM(TARGET, matrix5) within 20s) failure # Check point 4.7
if (matrix3 != matrix5) failure # Check point 4.8

# Step 5
send STRING(CMD, MOVE_TO_TARGET)
if (not receive STRING(ACK, MOVE_TO_TARGET) within 100ms) failure # Check point 5.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGET) within 100ms) failure # Check point 5.2

if (not start receiving TRANSFORM(CURRENT_POSITION, matrix 6) in 10s) failure # Check point 5.3
if (not receive STATUS(MOVE_TO_TARGET, OK) within 100ms after the robot reaches the target) failure # Check point 5.4
if (not receive TRANSFORM(CURRENT_POSITION, matrix 7) within 100ms after the status message is received) failure # Check point 5.5
if (matrix 7 does not match the current position of the robot) failure # Check point 5.6

# Step 6
// While the robot is moving to the target
send STRING(CMD, STOP) before receiving STATUS(MOVE_TO_TARGET, OK)
if (not receive STRING(ACK, STOP) within 100ms) failure #Check point #6.1
if (not receive STATUS(CURRENT_STATUS, OK,0,STOP) within 100ms) failure # Check point 6.2
if (not receive STATUS(STOP, OK) within 200ms) failure #Check point #6.3
The test fails if the robot does not stop within 200ms after sending STRING(CMD, STOP).
===Test 7: Emergency stop during operation test===
Updated on 9/10/13
Check if the robot stops when the EMERGENCY command is sent to the robot while the robot is moving.

# Step 1
send STRING(CMD, START_UP)
if (not receive STRING(ACK, START_UP) within 100ms) failure # Check point 1.1
if (not receive STATUS(CURRENT_STATUS, OK,0,START_UP) within 100ms) failure # Check point 1.2
if (not receive STATUS(START_UP, OK) within 10s) failure # Check point 1.3

# Step 2
send STRING(CMD, PLANNING)
if (not receive STRING(ACK, PLANNING) within 100ms) failure # Check point 2.1
if (not receive STATUS(CURRENT_STATUS, OK,0,PLANNING) within 100ms) failure # Check point 2.2

# Step 3
send STRING(CMD, CALIBRATION)
if (not receive STRING(ACK, CALIBRATION) within 100ms) failure # Check point 3.1
if (not receive STATUS(CURRENT_STATUS, OK,0,CALIBRATION) within 100ms) failure # Check point 3.2

send TRANSFORM(CLB, matrix1)
if (not receive TRANSFORM(ACK, matrix2) within 100ms) failure # Check point 3.3
if (matrix1 != matrix2) failure # Check point 3.4
if (not receive STATUS(CALIBRATION, OK) within 10s) failure #Check point 3.5

# Step 4
send STRING(CMD, TARGETING)
if (not receive STRING(ACK, TARGETING) within 100ms) failure # Check point 4.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGETING) within 100ms) failure # Check point 4.2
if (not receive STATUS(TARGETING, OK) within 10s) failure # Check point 4.3

send TRANSFORM(TGT, matrix3)
if (not receive TRANSFORM(ACK, matrix4) within 100ms) failure # Check point 4.4
if (matrix3 != matrix4) failure # Check point 4.5
if (not receive STATUS(TARGET, OK) within 10s) failure # Check point 4.6
if (not receive TRANSFORM(TARGET, matrix5) within 20s) failure # Check point 4.7
if (matrix3 != matrix5) failure # Check point 4.8

# Step 5
send STRING(CMD, MOVE_TO_TARGET)
if (not receive STRING(ACK, MOVE_TO_TARGET) within 100ms) failure # Check point 5.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGET) within 100ms) failure # Check point 5.2

if (not start receiving TRANSFORM(CURRENT_POSITION, matrix 6) in 10s) failure # Check point 5.3
if (not receive STATUS(MOVE_TO_TARGET, OK) within 100ms after the robot reaches the target) failure # Check point 5.4
if (not receive TRANSFORM(CURRENT_POSITION, matrix 7) within 100ms after the status message is received) failure # Check point 5.5
if (matrix 7 does not match the current position of the robot) failure # Check point 5.6

# Step 6
// While the robot is moving to the target
send STRING(CMD, EMERGENCY) before receiving STATUS(MOVE_TO_TARGET, OK)
if (not receive STRING(ACK, EMERGENCY) within 100ms) failure # Check point #6.1
if (not receive STATUS(CURRENT_STATUS, OK,0,EMERGENCY) within 100ms) failure # Check point 6.2
if (not receive STATUS(STOP, EMERGENCY) within 200ms) failure # Check point #6.3
The test fails if the robot does not completely shutdown within 200ms after sending STRING(CMD, EMERGENCY).
===Test 8: MOVE_TO_TARGET without sending target===
Updated on 9/10/13
# Step 1
send STRING(CMD, START_UP)
if (not receive STRING(ACK, START_UP) within 100ms) failure # Check point 1.1
if (not receive STATUS(CURRENT_STATUS, OK,0,START_UP) within 100ms) failure # Check point 1.2
if (not receive STATUS(START_UP, OK) within 10s) failure # Check point 1.3

# Step 2
send STRING(CMD, PLANNING)
if (not receive STRING(ACK, PLANNING) within 100ms) failure # Check point 2.1
if (not receive STATUS(CURRENT_STATUS, OK,0,PLANNING) within 100ms) failure # Check point 2.2

# Step 3
send STRING(CMD, CALIBRATION)
if (not receive STRING(ACK, CALIBRATION) within 100ms) failure # Check point 3.1
if (not receive STATUS(CURRENT_STATUS, OK,0,CALIBRATION) within 100ms) failure # Check point 3.2

send TRANSFORM(CLB, matrix1)
if (not receive TRANSFORM(ACK, matrix2) within 100ms) failure # Check point 3.3
if (matrix1 != matrix2) failure # Check point 3.4
if (not receive STATUS(CALIBRATION, OK) within 10s) failure #Check point 3.5

# Step 4
send STRING(CMD, TARGETING)
if (not receive STRING(ACK, TARGETING) within 100ms) failure # Check point 4.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGETING) within 100ms) failure # Check point 4.2
if (not receive STATUS(TARGETING, OK) within 10s) failure # Check point 4.3

# Step 5
send STRING(CMD, MOVE_TO_TARGET)
if (not receive STRING(ACK, MOVE_TO_TARGET) within 100ms) failure # Check point 5.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGET) within 100ms) failure # Check point 5.2
if (not receive STATUS(MOVE_TO_TARGET, DNR) within 100ms after the robot reaches the target) failure # Check point #5.3
===Test 9: Accidental target/move_to command during manual mode===
Updated on 9/10/13
# Step 1
send STRING(CMD, START_UP)
if (not receive STRING(ACK, START_UP) within 100ms) failure # Check point 1.1
if (not receive STATUS(CURRENT_STATUS, OK,0,START_UP) within 100ms) failure # Check point 1.2
if (not receive STATUS(START_UP, OK) within 10s) failure # Check point 1.3

# Step 2
send STRING(CMD, PLANNING)
if (not receive STRING(ACK, PLANNING) within 100ms) failure # Check point 2.1
if (not receive STATUS(CURRENT_STATUS, OK,0,PLANNING) within 100ms) failure # Check point 2.2

# Step 3
send STRING(CMD, CALIBRATION)
if (not receive STRING(ACK, CALIBRATION) within 100ms) failure # Check point 3.1
if (not receive STATUS(CURRENT_STATUS, OK,0,CALIBRATION) within 100ms) failure # Check point 3.2

send TRANSFORM(CLB, matrix1)
if (not receive TRANSFORM(ACK, matrix2) within 100ms) failure # Check point 3.3
if (matrix1 != matrix2) failure # Check point 3.4
if (not receive STATUS(CALIBRATION, OK) within 10s) failure #Check point 3.5

# Step 4
send STRING(CMD, TARGETING)
if (not receive STRING(ACK, TARGETING) within 100ms) failure # Check point 4.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGETING) within 100ms) failure # Check point 4.2
if (not receive STATUS(TARGETING, OK) within 10s) failure # Check point 4.3

send TRANSFORM(TGT, matrix3)
if (not receive TRANSFORM(ACK, matrix4) within 100ms) failure # Check point 4.4
if (matrix3 != matrix4) failure # Check point 4.5
if (not receive STATUS(TARGET, OK) within 10s) failure # Check point 4.6
if (not receive TRANSFORM(TARGET, matrix5) within 20s) failure # Check point 4.7
if (matrix3 != matrix5) failure # Check point 4.8

# Step 5
send STRING(CMD, MOVE_TO_TARGET)
if (not receive STRING(ACK, MOVE_TO_TARGET) within 100ms) failure # Check point 5.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGET) within 100ms) failure # Check point 5.2

if (not start receiving TRANSFORM(CURRENT_POSITION, matrix 6) in 10s) failure # Check point 5.3
if (not receive STATUS(MOVE_TO_TARGET, OK) within 100ms after the robot reaches the target) failure # Check point 5.4
if (not receive TRANSFORM(CURRENT_POSITION, matrix 7) within 100ms after the status message is received) failure # Check point 5.5
if (matrix 7 does not match the current position of the robot) failure # Check point 5.6

# Step 6
send STRING(CMD, MANUAL)
if (not receive STRING(ACK, MANUAL) within 100ms) failure # Check point 6.1
if (not receive STATUS(CURRENT_STATUS, OK,0,MANUAL) within 100ms) failure # Check point 6.2
if (not receive STATUS(MANUAL, OK) within 10s) failure # Check point 6.3

# Step 7
send STRING(CMD, MOVE_TO_TARGET)
if (not receive STRING(ACK, MOVE_TO_TARGET) within 100ms) failure # Check point 7.1
if (not receive STATUS(CURRENT_STATUS, OK,0,MANUAL) within 100ms) failure # Check point 6.2
if (not receive STATUS(MOVE_TO_TARGET, DNR) within 100ms after the robot reaches the target) failure # Check point 7.2
The test fails if the robot starts moving.
===Test 10: Hardware error during operation===
Updated on 9/10/13
Unplug one of motors/encoders while the robot is moving to the target.
# Step 1
send STRING(CMD, START_UP)
if (not receive STRING(ACK, START_UP) within 100ms) failure # Check point 1.1
if (not receive STATUS(CURRENT_STATUS, OK,0,START_UP) within 100ms) failure # Check point 1.2
if (not receive STATUS(START_UP, OK) within 10s) failure # Check point 1.3

# Step 2
send STRING(CMD, PLANNING)
if (not receive STRING(ACK, PLANNING) within 100ms) failure # Check point 2.1
if (not receive STATUS(CURRENT_STATUS, OK,0,PLANNING) within 100ms) failure # Check point 2.2

# Step 3
send STRING(CMD, CALIBRATION)
if (not receive STRING(ACK, CALIBRATION) within 100ms) failure # Check point 3.1
if (not receive STATUS(CURRENT_STATUS, OK,0,CALIBRATION) within 100ms) failure # Check point 3.2

send TRANSFORM(CLB, matrix1)
if (not receive TRANSFORM(ACK, matrix2) within 100ms) failure # Check point 3.3
if (matrix1 != matrix2) failure # Check point 3.4
if (not receive STATUS(CALIBRATION, OK) within 10s) failure #Check point 3.5

# Step 4
send STRING(CMD, TARGETING)
if (not receive STRING(ACK, TARGETING) within 100ms) failure # Check point 4.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGETING) within 100ms) failure # Check point 4.2
if (not receive STATUS(TARGETING, OK) within 10s) failure # Check point 4.3

send TRANSFORM(TGT, matrix3)
if (not receive TRANSFORM(ACK, matrix4) within 100ms) failure # Check point 4.4
if (matrix3 != matrix4) failure # Check point 4.5
if (not receive STATUS(TARGET, OK) within 10s) failure # Check point 4.6
if (not receive TRANSFORM(TARGET, matrix5) within 20s) failure # Check point 4.7
if (matrix3 != matrix5) failure # Check point 4.8

# Step 5
send STRING(CMD, MOVE_TO_TARGET)
if (not receive STRING(ACK, MOVE_TO_TARGET) within 100ms) failure # Check point 5.1
if (not receive STATUS(CURRENT_STATUS, OK,0,TARGET) within 100ms) failure # Check point 5.2

if (not start receiving TRANSFORM(CURRENT_POSITION, matrix 6) in 10s) failure # Check point 5.3

While the robot is moving to the target, unplug one of the cables for the actuators or the sensors
# Step 6
if (not receive STATUS(MOVE_TO_TARGET, 19) within 100ms) failure # Check point #6.1
{| border="1" cellpadding="5" cellspacing="0" align="center"
|-
| align="left style=" background:#e0e0e0;" |''3D Slicer (operator)''
| align="left style=" background:#e0e0e0;" |''Message''
| align="left style=" background:#e0e0e0;" |''MRI''
| align="left style=" background:#e0e0e0;" |''Radiologist''
| align="left style=" background:#e0e0e0;" |''Note''
|-
| colspan="5" align="center" style="background:#f0f0f0;" |Start-up
|-
| align="left" |The operator presses "Start-up" button
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-
| align="left" |Send command to robot
| align="left" |>> STRING(CMD_XXXX, START_UP) >>
| align="left" |
| align="left" |
| align="left" |XXXX is a unique query ID (string of any ASCII letters up to 16 bytes)
|-
| align="left" |
| align="left" |<< STRING(ACK_XXXX, START_UP) <<
| align="left" |Echo back an acknowledgement command was received, but not yet completed
| align="left" |
| align="left" |XXXX is the same unique query ID as the START_UP message.
|-
| align="left" style="background:#f8f8f8;" |
| align="left" style="background:#f8f8f8;;" |<< STATUS(CURRENT_STATUS, Code:0:Phase) <<
| align="left" style="background:#f8f8f8;;" |'''Code=OK:''' Confirm that the robot is transition to START_UP mode. Phase should be "START_UP". ''Code=DNR:'' Fails to transition. Phase should be the name of the current workphase
| align="left" style="background:#f8f8f8;;" |
| align="left" style="background:#f8f8f8;;" |DNR: Device not ready (13)
|-
| align="left" |
| align="left" |
| align="left" |Start up and initialize the hardware. Run the robot homing procedure if necessary (skip if already successfully completed). Move robot to home (loading) configuration.
| align="left" |
| align="left" |
|-
| align="left" |
| align="left" |<< STATUS(START_UP, Code:??:??) <<
| align="left" |'''Code=OK:''' Confirm when robot is initialized '''Code>=2''': Error. See [http://openigtlink.org/protocols/v2_status.html error list]
| align="left" |
| align="left" |
|-
| align="left" |Display the result of start up process.
| align="left" |
| align="left" |
| align="left" |
| align="left" |
|-

|}

ProstateBRP OpenIGTLink Communication June 2013

2016-01-07T19:22:13Z

Tokuda: /* Project Description */

__NOTOC__
<gallery>
Image:PW-MIT2016.png|[[2016_Winter_Project_Week#Projects|Projects List]]
Image:2016WinterProjectWeek_SlicerROS_1.jpg|Our engineering team
</gallery>

==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==
{| class="wikitable"
! style="text-align: left; width:27%" | Objective
! style="text-align: left; width:27%" | Approach and Plan
! style="text-align: left; width:27%" | Progress and Next Steps
|- style="vertical-align:top;"
|

* 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 [[2016_Winter_Project_Week/Breakout_Sessions/SlicerForMedicalRoboticsResearch|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:
** ROS-OpenIGTLink interface to synchronize data between Slicer and ROS including
*** Points
*** Transforms
*** Polydata
*** Image
** Installed Debian Linux for Lego Mindstroms ([http://www.ev3dev.org Linux for EV3 ])
** Installed ROS on Ev3 Linux
** Built printer robot
** Implemented a proof-of-concept system using LEGO MINDSTORMS and ROS.
*** [[File:WinterProjectWeek_2016_ROS_Slicer_Integration_ProjectOutcomePresentation.pptx]]
|}

=Future Plan=
*Immediate action items
** Upload all software components to Github
** Create a complete tutorial

2016 Winter Project Week/Projects/SlicerROSIntegration

2016-01-07T19:11:45Z

Tokuda: /* Project Description */

__NOTOC__
<gallery>
Image:PW-MIT2016.png|[[2016_Winter_Project_Week#Projects|Projects List]]
Image:2016WinterProjectWeek_SlicerROS_1.jpg|Our engineering team
</gallery>

==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==
{| class="wikitable"
! style="text-align: left; width:27%" | Objective
! style="text-align: left; width:27%" | Approach and Plan
! style="text-align: left; width:27%" | Progress and Next Steps
|- style="vertical-align:top;"
|

* 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 [[2016_Winter_Project_Week/Breakout_Sessions/SlicerForMedicalRoboticsResearch|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:
** ROS-OpenIGTLink interface to synchronize data between Slicer and ROS including
*** Points
*** Transforms
*** Polydata
*** Image
** Installed Debian Linux for Lego Mindstroms ([http://www.ev3dev.org Linux for EV3 ])
** Installed ROS on Ev3 Linux
** Built printer robot
** Implemented a proof-of-concept system using LEGO MINDSTORMS and ROS.
*** [[File:WinterProjectWeek_2016_ROS_Slicer_Integration_ProjectOutcomePresentation.pptx]]
|}

2016 Winter Project Week/Projects/SlicerROSIntegration

2016-01-07T19:07:18Z

Tokuda: /* Project Description */

__NOTOC__
<gallery>
Image:PW-MIT2016.png|[[2016_Winter_Project_Week#Projects|Projects List]]
Image:2016WinterProjectWeek_SlicerROS_1.jpg|Our engineering team
</gallery>

==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==
{| class="wikitable"
! style="text-align: left; width:27%" | Objective
! style="text-align: left; width:27%" | Approach and Plan
! style="text-align: left; width:27%" | Progress and Next Steps
|- style="vertical-align:top;"
|

* 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 [[2016_Winter_Project_Week/Breakout_Sessions/SlicerForMedicalRoboticsResearch|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
* Worked on the proof-of-concept system using LEGO MINDSTORMS and ROS.
** [[File:WinterProjectWeek_2016_ROS_Slicer_Integration_ProjectOutcomePresentation.pptx]]
|}

2016 Winter Project Week/Breakout Sessions/SlicerForMedicalRoboticsResearch

2016-01-06T16:30:14Z

Tokuda:

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

==Presentations==
===Medical Robotic Research that uses or will potentially use 3D Slicer===
*Junichi
**OpenIGTLink in MRI-guided prostate biopsy robot research
*Simon
**Vision-based tracking for ENT surgery
**Satellite service using master-slave system
*Axel
**Suturing robot
*Tobias
**OCT with image stitching

2016 Winter Project Week/Dinner

2016-01-05T18:11:25Z

Tokuda: /* RSVPs */

==Dinner Specs==

*Date and Time: Thursday, January 7th, 6pm
*Location: Desi Dhaba, 401 Massachusetts Ave, Cambridge (about 10 minute walk from Project Week)
*Food: Indian. (Veg and non-veg options, naan, rice)
*Cost: $25 to be paid in cash when you get to the restaurant (for BWH attendees, this is reimbursable)
*Drinks: tap water is included in this price. Beyond that each person pays individually for their drinks - alcohol or otherwise

Disclaimer: We went yesterday (Monday) and they were not serving alcohol. - Adam Rankin

==RSVPs==
#Tina Kapur
#Ron Kikinis
#Steve Pieper
# Andrey Fedorov
# Sonia Pujol
#Hans Meine
#Michael Onken
# Junichi Tokuda

2016 Winter Project Week/Projects/SlicerROSIntegration

2016-01-05T16:06:21Z

Tokuda:

__NOTOC__
<gallery>
Image:PW-MIT2016.png|[[2016_Winter_Project_Week#Projects|Projects List]]
Image:2016WinterProjectWeek_SlicerROS_1.jpg|Our engineering team
</gallery>

==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==
{| class="wikitable"
! style="text-align: left; width:27%" | Objective
! style="text-align: left; width:27%" | Approach and Plan
! style="text-align: left; width:27%" | Progress and Next Steps
|- style="vertical-align:top;"
|

* 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 [[2016_Winter_Project_Week/Breakout_Sessions/SlicerForMedicalRoboticsResearch|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 targetj
* Worked on the proof-of-concept system using LEGO MINDSTORMS and ROS. Due to the limited resource at project week, we used:
** 2D drawing on the paper instead of 3D model
** web cam instead of 3D surface scanner
|}

2016 Winter Project Week/Projects/SlicerROSIntegration

2016-01-05T15:56:16Z

Tokuda:

__NOTOC__
<gallery>
Image:PW-MIT2016.png|[[2016_Winter_Project_Week#Projects|Projects List]]
Image:2016WinterProjectWeek_SlicerROS_1.jpg|Our engineering team
</gallery>

==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==
{| class="wikitable"
! style="text-align: left; width:27%" | Objective
! style="text-align: left; width:27%" | Approach and Plan
! style="text-align: left; width:27%" | Progress and Next Steps
|- style="vertical-align:top;"
|

* 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 [[2016_Winter_Project_Week/Breakout_Sessions/SlicerForMedicalRoboticsResearch|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
** 3D Slicer send the 3D surface model to ROS through OpenIGTLink as POLYDATA
** 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)

|}

2015-11-23T19:29:26Z

Tokuda: /* Projects */

__NOTOC__

[[image:PW-MIT2016.png|300px|left]]
 
'''Dates:''' January 4-8, 2016

'''Location:''' MIT, Cambridge, MA. (Rooms: [[MIT_Project_Week_Rooms#Kiva|Kiva]], R&D)
 

== Introduction ==
Founded in 2005, the National Alliance for Medical Image Computing (NAMIC), was chartered with building a computational infrastructure to support biomedical research as part of the NIH funded [http://www.ncbcs.org/ NCBC] program. The work of this alliance has resulted in important progress in algorithmic research, an open source medical image computing platform [http://www.slicer.org 3D Slicer], built using [http://www.vtk.org VTK], [http://www.itk.org ITK], [http://www.cmake.org CMake], and [http://www.cdash.org CDash], and the creation of a community of algorithm researchers, biomedical scientists and software engineers who are committed to open science. This community meets twice a year in an event called Project Week.

[[Engineering:Programming_Events|Project Week]] is a semi-annual event which draws 80-120 researchers. As of August 2014, it is a MICCAI endorsed event. The participants work collaboratively on open-science solutions for problems that lie on the interfaces of the fields of computer science, mechanical engineering, biomedical engineering, and medicine. In contrast to conventional conferences and workshops the primary focus of the Project Weeks is to make progress in projects (as opposed to reporting about progress). The objective of the Project Weeks is to provide a venue for this community of medical open source software creators. Project Weeks are open to all, are publicly advertised, and are funded through fees paid by the attendees. Participants are encouraged to stay for the entire event.

Project Week activities: Everyone shows up with a project. Some people are working on the platform. Some people are developing algorithms. Some people are applying the tools to their research problems. We begin the week by introducing projects and connecting teams. We end the week by reporting progress. In addition to the ongoing working sessions, breakout sessions are organized ad-hoc on a variety of special topics. These topics include: discussions of software architecture, presentations of new features and approaches and topics such as Image-Guided Therapy.

Several funded projects use the Project Week as a place to convene and collaborate. These include [http://nac.spl.harvard.edu/ NAC], [http://www.ncigt.org/ NCIGT], [http://qiicr.org/ QIICR], and [http://ocairo.technainstitute.com/open-source-software-platforms-and-databases-for-the-adaptive-process/ OCAIRO].

A summary of all previous Project Events is available [[Project_Events#Past|here]].

This project week is an event [[Post-NCBC-2014|endorsed]] by the MICCAI society.

Please make sure that you are on the [http://public.kitware.com/mailman/listinfo/na-mic-project-week na-mic-project-week mailing list]

==Agenda==

Tentative Agenda

{|border="1"
|-style="background:#b0d5e6;color:#02186f"
!style="width:10%" |Time
!style="width:18%" |Monday, January 4
!style="width:18%" |Tuesday, January 5
!style="width:18%" |Wednesday, January 6
!style="width:18%" |Thursday, January 7
!style="width:18%" |Friday, January 8
|-
|
|bgcolor="#dbdbdb"|'''Project Presentations'''
|bgcolor="#6494ec"|
|
|bgcolor="#88aaae"|'''IGT Day'''
|bgcolor="#faedb6"|'''Reporting Day'''
|-
|bgcolor="#ffffdd"|'''8:30am'''
|
|bgcolor="#ffffaa"|Breakfast
|bgcolor="#ffffaa"|Breakfast
|bgcolor="#ffffaa"|Breakfast
|bgcolor="#ffffaa"|Breakfast
|-
|bgcolor="#ffffdd"|'''9am-12pm'''
|'''10:30am-12pm:''' '''Diffeomorphic registration and the more recent geodesic shooting methods for diffeomorphic registration.''' (Tutorial Part 1 by Sarang Joshi) Room: [http://www.csail.mit.edu/resources/maps/5D/D507.gif 32-D507].
|'''10-11:30am:''' Breakout Session:''' TBD
|
'''11am-12noon'''TBD
 
|'''9:00-10:30am''' TBD 
 ---------------------------------------- 
'''10am-12pm: Breakout Session:''' TBD 
|'''10am-12pm:''' [[#Projects|Project Progress Updates]] 
[[MIT_Project_Week_Rooms#Kiva|Kiva]]
 ---------------------------------------- 
'''12pm''' [[Events:TutorialContestJune2014|Tutorial Contest Winner Announcement]] 
[[MIT_Project_Week_Rooms#Kiva|Kiva]]
|-
|bgcolor="#ffffdd"|'''12pm-1pm'''
|bgcolor="#ffffaa"|Lunch
|bgcolor="#ffffaa"|Lunch
|bgcolor="#ffffaa"|Lunch
|bgcolor="#ffffaa"|Lunch
|bgcolor="#ffffaa"|Lunch boxes; Adjourn by 1:30pm
|-
|bgcolor="#ffffdd"|'''1pm-5:30pm'''
|'''1-1:05pm: Welcome''' 
[[MIT_Project_Week_Rooms#Kiva|Kiva]]
 ---------------------------------------- 
'''1:05-3:30pm:''' [[#Projects|Project Introductions]] (all Project Leads) 
[[MIT_Project_Week_Rooms#Kiva|Kiva]]
 ---------------------------------------- 
'''4:00pm-5:30pm:''' '''Diffeomorphic registration and the more recent geodesic shooting methods for diffeomorphic registration.''' (Tutorial Part 2 by Sarang Joshi) Room: [http://www.csail.mit.edu/resources/maps/5D/D507.gif 32-D507].
|'''1-3pm:''' TBD
[[MIT_Project_Week_Rooms#Kiva|Kiva]]
|'''1-2:30pm:''' Breakout Session:''' TBD
[[MIT_Project_Week_Rooms#Kiva|Kiva]]
|'''1-3pm:''' Breakout Session:''' TBD 
|
|-
|bgcolor="#ffffdd"|'''5:30pm'''
|bgcolor="#f0e68b"|Adjourn for the day
|bgcolor="#f0e68b"|Adjourn for the day
|bgcolor="#f0e68b"|Adjourn for the day
|bgcolor="#f0e68b"|Adjourn for the day
|
|}

='''Projects'''=
* [[2014_Project_Week_Template | Template for project pages]]

(Project list to be populated in late 2015)

* [[2015_Winter_Project_Week:SlicerROSIntegration | 3D Slicer + ROS Integration]] (Junichi Tokuda, Axel Krieger, Simon Leonard)

==Infrastructure==
* [[2015_Winter_Project_Week:SlicerProjectName | Project Name]] (List of people working on this project)

= '''Logistics''' =

*'''Dates:''' January 4-8, 2016
*'''Location:''' MIT
*'''REGISTRATION:''' Registration link will go live as the event gets closer.
**Please note that as you proceed to the checkout portion of the registration process, RegOnline will offer you a chance to opt into a free trial of ACTIVEAdvantage -- click on "No thanks" in order to finish your Project Week registration.
*'''Registration Fee:''' $300.
*'''Hotel:''' Similar to previous years, no rooms have been blocked in a particular hotel.
*'''Room sharing''': If interested, add your name to the list [[2016_Winter_Project_Week/RoomSharing|here]]

= '''Registrants''' =

Do not add your name to this list - it is maintained by the organizers based on your paid registration.

2016 Winter Project Week/Projects/SlicerROSIntegration

2015-11-23T19:02:03Z

Tokuda: /* Project Description */

2016 Winter Project Week/Projects/SlicerROSIntegration

2015-11-23T13:26:08Z

Tokuda: /* Project Description */

2016 Winter Project Week/Projects/SlicerROSIntegration

2015-11-23T13:25:54Z

Tokuda: /* Project Description */

2016 Winter Project Week/Projects/SlicerROSIntegration

2015-11-23T13:12:06Z

Tokuda:

2016 Winter Project Week

2015-11-23T13:11:14Z

Tokuda: /* Infrastructure */

__NOTOC__

[[image:PW-MIT2016.png|300px|left]]
 
'''Dates:''' January 4-8, 2016

'''Location:''' MIT, Cambridge, MA. (Rooms: [[MIT_Project_Week_Rooms#Kiva|Kiva]], R&D)
 

== Introduction ==
Founded in 2005, the National Alliance for Medical Image Computing (NAMIC), was chartered with building a computational infrastructure to support biomedical research as part of the NIH funded [http://www.ncbcs.org/ NCBC] program. The work of this alliance has resulted in important progress in algorithmic research, an open source medical image computing platform [http://www.slicer.org 3D Slicer], built using [http://www.vtk.org VTK], [http://www.itk.org ITK], [http://www.cmake.org CMake], and [http://www.cdash.org CDash], and the creation of a community of algorithm researchers, biomedical scientists and software engineers who are committed to open science. This community meets twice a year in an event called Project Week.

[[Engineering:Programming_Events|Project Week]] is a semi-annual event which draws 80-120 researchers. As of August 2014, it is a MICCAI endorsed event. The participants work collaboratively on open-science solutions for problems that lie on the interfaces of the fields of computer science, mechanical engineering, biomedical engineering, and medicine. In contrast to conventional conferences and workshops the primary focus of the Project Weeks is to make progress in projects (as opposed to reporting about progress). The objective of the Project Weeks is to provide a venue for this community of medical open source software creators. Project Weeks are open to all, are publicly advertised, and are funded through fees paid by the attendees. Participants are encouraged to stay for the entire event.

Project Week activities: Everyone shows up with a project. Some people are working on the platform. Some people are developing algorithms. Some people are applying the tools to their research problems. We begin the week by introducing projects and connecting teams. We end the week by reporting progress. In addition to the ongoing working sessions, breakout sessions are organized ad-hoc on a variety of special topics. These topics include: discussions of software architecture, presentations of new features and approaches and topics such as Image-Guided Therapy.

Several funded projects use the Project Week as a place to convene and collaborate. These include [http://nac.spl.harvard.edu/ NAC], [http://www.ncigt.org/ NCIGT], [http://qiicr.org/ QIICR], and [http://ocairo.technainstitute.com/open-source-software-platforms-and-databases-for-the-adaptive-process/ OCAIRO].

A summary of all previous Project Events is available [[Project_Events#Past|here]].

This project week is an event [[Post-NCBC-2014|endorsed]] by the MICCAI society.

Please make sure that you are on the [http://public.kitware.com/mailman/listinfo/na-mic-project-week na-mic-project-week mailing list]

==Agenda==

Tentative Agenda

{|border="1"
|-style="background:#b0d5e6;color:#02186f"
!style="width:10%" |Time
!style="width:18%" |Monday, January 4
!style="width:18%" |Tuesday, January 5
!style="width:18%" |Wednesday, January 6
!style="width:18%" |Thursday, January 7
!style="width:18%" |Friday, January 8
|-
|
|bgcolor="#dbdbdb"|'''Project Presentations'''
|bgcolor="#6494ec"|
|
|bgcolor="#88aaae"|'''IGT Day'''
|bgcolor="#faedb6"|'''Reporting Day'''
|-
|bgcolor="#ffffdd"|'''8:30am'''
|
|bgcolor="#ffffaa"|Breakfast
|bgcolor="#ffffaa"|Breakfast
|bgcolor="#ffffaa"|Breakfast
|bgcolor="#ffffaa"|Breakfast
|-
|bgcolor="#ffffdd"|'''9am-12pm'''
|'''10:30am-12pm:''' '''Diffeomorphic registration and the more recent geodesic shooting methods for diffeomorphic registration.''' (Tutorial Part 1 by Sarang Joshi) Room: [http://www.csail.mit.edu/resources/maps/5D/D507.gif 32-D507].
|'''10-11:30am:''' Breakout Session:''' TBD
|
'''11am-12noon'''TBD
 
|'''9:00-10:30am''' TBD 
 ---------------------------------------- 
'''10am-12pm: Breakout Session:''' TBD 
|'''10am-12pm:''' [[#Projects|Project Progress Updates]] 
[[MIT_Project_Week_Rooms#Kiva|Kiva]]
 ---------------------------------------- 
'''12pm''' [[Events:TutorialContestJune2014|Tutorial Contest Winner Announcement]] 
[[MIT_Project_Week_Rooms#Kiva|Kiva]]
|-
|bgcolor="#ffffdd"|'''12pm-1pm'''
|bgcolor="#ffffaa"|Lunch
|bgcolor="#ffffaa"|Lunch
|bgcolor="#ffffaa"|Lunch
|bgcolor="#ffffaa"|Lunch
|bgcolor="#ffffaa"|Lunch boxes; Adjourn by 1:30pm
|-
|bgcolor="#ffffdd"|'''1pm-5:30pm'''
|'''1-1:05pm: Welcome''' 
[[MIT_Project_Week_Rooms#Kiva|Kiva]]
 ---------------------------------------- 
'''1:05-3:30pm:''' [[#Projects|Project Introductions]] (all Project Leads) 
[[MIT_Project_Week_Rooms#Kiva|Kiva]]
 ---------------------------------------- 
'''4:00pm-5:30pm:''' '''Diffeomorphic registration and the more recent geodesic shooting methods for diffeomorphic registration.''' (Tutorial Part 2 by Sarang Joshi) Room: [http://www.csail.mit.edu/resources/maps/5D/D507.gif 32-D507].
|'''1-3pm:''' TBD
[[MIT_Project_Week_Rooms#Kiva|Kiva]]
|'''1-2:30pm:''' Breakout Session:''' TBD
[[MIT_Project_Week_Rooms#Kiva|Kiva]]
|'''1-3pm:''' Breakout Session:''' TBD 
|
|-
|bgcolor="#ffffdd"|'''5:30pm'''
|bgcolor="#f0e68b"|Adjourn for the day
|bgcolor="#f0e68b"|Adjourn for the day
|bgcolor="#f0e68b"|Adjourn for the day
|bgcolor="#f0e68b"|Adjourn for the day
|
|}

='''Projects'''=
* [[2014_Project_Week_Template | Template for project pages]]

(Project list to be populated in late 2015)

==Infrastructure==
* [[2015_Winter_Project_Week:SlicerProjectName | Project Name]] (List of people working on this project)
* [[2015_Winter_Project_Week:SlicerROSIntegration | 3D Slicer + ROS Integration]] (Junichi Tokuda, Axel Krieger, Simon Leonard)

= '''Logistics''' =

*'''Dates:''' January 4-8, 2016
*'''Location:''' MIT
*'''REGISTRATION:''' Registration link will go live as the event gets closer.
**Please note that as you proceed to the checkout portion of the registration process, RegOnline will offer you a chance to opt into a free trial of ACTIVEAdvantage -- click on "No thanks" in order to finish your Project Week registration.
*'''Registration Fee:''' $300.
*'''Hotel:''' Similar to previous years, no rooms have been blocked in a particular hotel.
*'''Room sharing''': If interested, add your name to the list [[2016_Winter_Project_Week/RoomSharing|here]]

= '''Registrants''' =

Do not add your name to this list - it is maintained by the organizers based on your paid registration.

2016 Winter Project Week

2015-11-23T13:10:58Z

Tokuda: /* Infrastructure */

__NOTOC__

[[image:PW-MIT2016.png|300px|left]]
 
'''Dates:''' January 4-8, 2016

'''Location:''' MIT, Cambridge, MA. (Rooms: [[MIT_Project_Week_Rooms#Kiva|Kiva]], R&D)
 

== Introduction ==
Founded in 2005, the National Alliance for Medical Image Computing (NAMIC), was chartered with building a computational infrastructure to support biomedical research as part of the NIH funded [http://www.ncbcs.org/ NCBC] program. The work of this alliance has resulted in important progress in algorithmic research, an open source medical image computing platform [http://www.slicer.org 3D Slicer], built using [http://www.vtk.org VTK], [http://www.itk.org ITK], [http://www.cmake.org CMake], and [http://www.cdash.org CDash], and the creation of a community of algorithm researchers, biomedical scientists and software engineers who are committed to open science. This community meets twice a year in an event called Project Week.

[[Engineering:Programming_Events|Project Week]] is a semi-annual event which draws 80-120 researchers. As of August 2014, it is a MICCAI endorsed event. The participants work collaboratively on open-science solutions for problems that lie on the interfaces of the fields of computer science, mechanical engineering, biomedical engineering, and medicine. In contrast to conventional conferences and workshops the primary focus of the Project Weeks is to make progress in projects (as opposed to reporting about progress). The objective of the Project Weeks is to provide a venue for this community of medical open source software creators. Project Weeks are open to all, are publicly advertised, and are funded through fees paid by the attendees. Participants are encouraged to stay for the entire event.

Project Week activities: Everyone shows up with a project. Some people are working on the platform. Some people are developing algorithms. Some people are applying the tools to their research problems. We begin the week by introducing projects and connecting teams. We end the week by reporting progress. In addition to the ongoing working sessions, breakout sessions are organized ad-hoc on a variety of special topics. These topics include: discussions of software architecture, presentations of new features and approaches and topics such as Image-Guided Therapy.

Several funded projects use the Project Week as a place to convene and collaborate. These include [http://nac.spl.harvard.edu/ NAC], [http://www.ncigt.org/ NCIGT], [http://qiicr.org/ QIICR], and [http://ocairo.technainstitute.com/open-source-software-platforms-and-databases-for-the-adaptive-process/ OCAIRO].

A summary of all previous Project Events is available [[Project_Events#Past|here]].

This project week is an event [[Post-NCBC-2014|endorsed]] by the MICCAI society.

Please make sure that you are on the [http://public.kitware.com/mailman/listinfo/na-mic-project-week na-mic-project-week mailing list]

==Agenda==

Tentative Agenda

{|border="1"
|-style="background:#b0d5e6;color:#02186f"
!style="width:10%" |Time
!style="width:18%" |Monday, January 4
!style="width:18%" |Tuesday, January 5
!style="width:18%" |Wednesday, January 6
!style="width:18%" |Thursday, January 7
!style="width:18%" |Friday, January 8
|-
|
|bgcolor="#dbdbdb"|'''Project Presentations'''
|bgcolor="#6494ec"|
|
|bgcolor="#88aaae"|'''IGT Day'''
|bgcolor="#faedb6"|'''Reporting Day'''
|-
|bgcolor="#ffffdd"|'''8:30am'''
|
|bgcolor="#ffffaa"|Breakfast
|bgcolor="#ffffaa"|Breakfast
|bgcolor="#ffffaa"|Breakfast
|bgcolor="#ffffaa"|Breakfast
|-
|bgcolor="#ffffdd"|'''9am-12pm'''
|'''10:30am-12pm:''' '''Diffeomorphic registration and the more recent geodesic shooting methods for diffeomorphic registration.''' (Tutorial Part 1 by Sarang Joshi) Room: [http://www.csail.mit.edu/resources/maps/5D/D507.gif 32-D507].
|'''10-11:30am:''' Breakout Session:''' TBD
|
'''11am-12noon'''TBD
 
|'''9:00-10:30am''' TBD 
 ---------------------------------------- 
'''10am-12pm: Breakout Session:''' TBD 
|'''10am-12pm:''' [[#Projects|Project Progress Updates]] 
[[MIT_Project_Week_Rooms#Kiva|Kiva]]
 ---------------------------------------- 
'''12pm''' [[Events:TutorialContestJune2014|Tutorial Contest Winner Announcement]] 
[[MIT_Project_Week_Rooms#Kiva|Kiva]]
|-
|bgcolor="#ffffdd"|'''12pm-1pm'''
|bgcolor="#ffffaa"|Lunch
|bgcolor="#ffffaa"|Lunch
|bgcolor="#ffffaa"|Lunch
|bgcolor="#ffffaa"|Lunch
|bgcolor="#ffffaa"|Lunch boxes; Adjourn by 1:30pm
|-
|bgcolor="#ffffdd"|'''1pm-5:30pm'''
|'''1-1:05pm: Welcome''' 
[[MIT_Project_Week_Rooms#Kiva|Kiva]]
 ---------------------------------------- 
'''1:05-3:30pm:''' [[#Projects|Project Introductions]] (all Project Leads) 
[[MIT_Project_Week_Rooms#Kiva|Kiva]]
 ---------------------------------------- 
'''4:00pm-5:30pm:''' '''Diffeomorphic registration and the more recent geodesic shooting methods for diffeomorphic registration.''' (Tutorial Part 2 by Sarang Joshi) Room: [http://www.csail.mit.edu/resources/maps/5D/D507.gif 32-D507].
|'''1-3pm:''' TBD
[[MIT_Project_Week_Rooms#Kiva|Kiva]]
|'''1-2:30pm:''' Breakout Session:''' TBD
[[MIT_Project_Week_Rooms#Kiva|Kiva]]
|'''1-3pm:''' Breakout Session:''' TBD 
|
|-
|bgcolor="#ffffdd"|'''5:30pm'''
|bgcolor="#f0e68b"|Adjourn for the day
|bgcolor="#f0e68b"|Adjourn for the day
|bgcolor="#f0e68b"|Adjourn for the day
|bgcolor="#f0e68b"|Adjourn for the day
|
|}

='''Projects'''=
* [[2014_Project_Week_Template | Template for project pages]]

(Project list to be populated in late 2015)

==Infrastructure==
* [[2015_Winter_Project_Week:SlicerProjectName | Project Name]] (List of people working on this project)

===IGT===
* [[2015_Winter_Project_Week:SlicerROSIntegration | 3D Slicer + ROS Integration]] (Junichi Tokuda, Axel Krieger, Simon Leonard)

= '''Logistics''' =

*'''Dates:''' January 4-8, 2016
*'''Location:''' MIT
*'''REGISTRATION:''' Registration link will go live as the event gets closer.
**Please note that as you proceed to the checkout portion of the registration process, RegOnline will offer you a chance to opt into a free trial of ACTIVEAdvantage -- click on "No thanks" in order to finish your Project Week registration.
*'''Registration Fee:''' $300.
*'''Hotel:''' Similar to previous years, no rooms have been blocked in a particular hotel.
*'''Room sharing''': If interested, add your name to the list [[2016_Winter_Project_Week/RoomSharing|here]]

= '''Registrants''' =

Do not add your name to this list - it is maintained by the organizers based on your paid registration.

2016 Winter Project Week/Projects/SlicerROSIntegration

2015-11-23T13:09:37Z

Tokuda: Created page with '__NOTOC__ <gallery> Image:PW-MIT2016.png|Projects List </gallery> ==Key Investigators== ==Project Description== <div style="margin: 20px;…'

__NOTOC__
<gallery>
Image:PW-MIT2016.png|[[2016_Winter_Project_Week#Projects|Projects List]]
</gallery>

==Key Investigators==

==Project Description==
<div style="margin: 20px;">
<div style="width: 27%; float: left; padding-right: 3%;">
<h3>Objective</h3>
*
</div>
<div style="width: 27%; float: left; padding-right: 3%;">
<h3>Approach, Plan</h3>
*
</div>
<div style="width: 27%; float: left; padding-right: 3%;">
<h3>Progress</h3>
*
</div>
</div>