2013 Summer Project Week:Robot Control - Revision history

Adrianna at 14:55, 21 June 2013

2013-06-21T14:55:30Z

Adrianna at 14:08, 21 June 2013

2013-06-21T14:08:52Z

Adrianna at 13:58, 21 June 2013

2013-06-21T13:58:43Z

Adrianna at 13:56, 21 June 2013

2013-06-21T13:56:20Z

Adrianna at 13:55, 21 June 2013

2013-06-21T13:55:10Z

Spujol at 20:25, 30 May 2013

2013-05-30T20:25:15Z

Spujol: Created page with '==Key Investigators== Autonomous University of the State of Mexico : Adriana Vilchis-Gonzalez, Juan-Carlos Avila-Vilchis Brigham and Women's Hospital/Harvard Medical School: So…'

2013-05-16T12:53:53Z

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

New page

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

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<h3>Objective</h3>

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<h3>Approach, Plan</h3>

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-After discussions with some people (Ron Kikinis, Sonia pujol, Junichi Tokuda, Sebastian Tauscher) a better understanding of how 3D Slicer and, in particular, OpenIGTLink can be related to a physical device to perform tracking tasks and a list of tasks to do: coordinate systems definition and associated transformations (LPS vs. RAS), calibration, code writing and maybe the modification of the first idea by the use of a haptic component to perform control tasks that will be operated by the physician. The definition of reachable/accessible zones could be considered to be part of the control strategy through bounded neighborhoods where the robot will be allowed to place the needle.
+After discussions with some people (Sonia pujol, Junichi Tokuda, Sebastian Tauscher) a better understanding of how 3D Slicer and, in particular, OpenIGTLink can be related to a physical device to perform tracking tasks and a list of tasks to do: coordinate systems definition and associated transformations (LPS vs. RAS), calibration, code writing and maybe the modification of the first idea by the use of a haptic component to perform control tasks that will be operated by the physician. The definition of reachable/accessible zones could be considered to be part of the control strategy through bounded neighborhoods where the robot will be allowed to place the needle.
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 <h3>Progress</h3>

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 <h3>Progress</h3>
-A better understanding of how 3D Slicer and, in particular, OpenIGTLink can be related to a physical device to perform tracking tasks and a list of tasks to do: coordinate systems definition and associated transformations (LPS vs. RAS), calibration, code writing and maybe the modification of the first idea by the use of a haptic component to perform control tasks that will be operated by the physician. The definition of reachable/accessible zones could be considered to be part of the control strategy through bounded neighborhoods where the robot will be allowed to place the needle.
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−		+	The purpose of this project is to explore the use of 3D-Slicer libraries to control the orientation of a puncture robot that is compatible with MR or CT (Magnetic Resonance or Computed Tomography) environments. The purpose of the robot concerns the orientation of a needle holder and to reach an internal organ to perform therapies or biopsies, for instance. The robot can perform puncture on the human thoracic and abdominal regions and is made of materials that allow its use in RM or CT environments. In this context, a mathematical model that represents the puncture process has been developed and can be used to define new control strategies that, in combination with 3D-Slicer medical images, will perform a puncture under minimal invasion criteria.