2017 Winter Project Week/ROS Surface Scan - Revision history

Tokuda at 15:34, 13 January 2017

2017-01-13T15:34:20Z

Tokuda at 14:56, 13 January 2017

2017-01-13T14:56:29Z

Lchen: /* Project Description */

2016-12-08T14:20:20Z

Project Description

Lchen: /* Project Description */

2016-12-08T14:17:09Z

Project Description

Lchen: /* Project Description */

2016-12-08T14:16:08Z

Project Description

Lchen: /* Key Investigators */

2016-12-07T23:21:59Z

Key Investigators

Lchen: /* Key Investigators */

2016-12-07T23:21:47Z

Key Investigators

Lchen: Created page with "NOTOC Image:PW-Winter2017.png|link=2017_Winter_Project_Week#Projects|Projects List

@@ Line 39: / Line 39: @@
 * "Patient"-to-tracker (Kinect) registration based on surface matching
 * Point-based device-to-tracker registration
 |}
 ==Background and References==
 <!-- Use this space for information that may help people better understand your project, like links to papers, source code, or data -->

@@ Line 35: / Line 35: @@
+|
 <!-- Progress and Next steps bullet points (fill out at the end of project week) -->
+* New 3 DOF needle placement robot with remote-center-of-motion (RCM) has been developed
 |}
 ==Background and References==
 <!-- Use this space for information that may help people better understand your project, like links to papers, source code, or data -->

@@ Line 20: / Line 20: @@
 <!-- Objective bullet points -->
 * Transmission of poly data ( from surface scan ) between ROS environment and Slicer via ROS-OpenIGTLink-bridge
-* Registration of segmented model data with the real time surface scan data.
+* Tracking of 3D print model data with the real time surface scan data.
-* Ask a 2 DOF Lego robot to perform targeting based on the registration.
+* Ask a 2 DOF Lego robot to perform targeting after registration of the robot to slicer(ROS).
+|
 <!-- Approach and Plan bullet points -->
+*  For objective 1
 ** Transmission of the poly data could be directly using the PolydataMessage, or compress the data first and send via VideoMessage.
+*  For objective 2
 ** A 3D printed organ will be used for surface scan, and 3d model of the organ is also available.
-** Perform ICP registration on the surface scan data and the 3d organ model, (corse-to-fine registration maybe be needed)
+** Perform real time particle filter registration on the surface scan data and the 3d organ model.
+*  For objective 3
-** Registration of the robot and Slicer could be done by manually by matching the points from surface scan and a 3D robot model. Under the 3d model, a 2D flat desktop model is attached.  This 2D flat desktop model is the working space of the robot
+** Registration of the robot and Slicer(or ROS) could be done by manually by matching the points from surface scan and a 3D robot model. Under the 3d model, a 2D flat desktop model is attached.  This 2D flat desktop model is the working space of the robot
 ** Targets are selected from the desk model in Slicer. The robot is asked to perform targeting on the these targets.
+|

← Older revision		Revision as of 14:17, 8 December 2016
Line 25:		Line 25:
	\|		\|
	<!-- Approach and Plan bullet points -->		<!-- Approach and Plan bullet points -->
−	*	+	*
	** Transmission of the poly data could be directly using the PolydataMessage, or compress the data first and send via VideoMessage.		** Transmission of the poly data could be directly using the PolydataMessage, or compress the data first and send via VideoMessage.
−	*	+	*
	** A 3D printed organ will be used for surface scan, and 3d model of the organ is also available.		** A 3D printed organ will be used for surface scan, and 3d model of the organ is also available.
	** Perform ICP registration on the surface scan data and the 3d organ model, (corse-to-fine registration maybe be needed)		** Perform ICP registration on the surface scan data and the 3d organ model, (corse-to-fine registration maybe be needed)
−	*	+	*
	** Registration of the robot and Slicer could be done by manually by matching the points from surface scan and a 3D robot model. Under the 3d model, a 2D flat desktop model is attached. This 2D flat desktop model is the working space of the robot		** Registration of the robot and Slicer could be done by manually by matching the points from surface scan and a 3D robot model. Under the 3d model, a 2D flat desktop model is attached. This 2D flat desktop model is the working space of the robot
	** Targets are selected from the desk model in Slicer. The robot is asked to perform targeting on the these targets.		** Targets are selected from the desk model in Slicer. The robot is asked to perform targeting on the these targets.

@@ Line 25: / Line 25: @@
+|
 <!-- Approach and Plan bullet points -->
 * Transmission of the poly data could be directly using the PolydataMessage, or compress the data first and send via VideoMessage.
-* A 3D printed organ will be used for surface scan, and 3d model of the organ is also available. Under the 3d model, a 2D flat desktop model is attached.  This 2D flat desktop model is the working space of the robot
+** Transmission of the poly data could be directly using the PolydataMessage, or compress the data first and send via VideoMessage.
 * Registration of the robot and Slicer could be done by manually by matching the points from surface scan and a 3D robot model.
-* Perform ICP registration on the surface scan data and the 3d organ model, (corse-to-fine registration maybe be needed)
+** A 3D printed organ will be used for surface scan, and 3d model of the organ is also available.
-* Targets are selected from the desk model in Slicer. The robot is asked to perform targeting on the these targets.
+** Perform ICP registration on the surface scan data and the 3d organ model, (corse-to-fine registration maybe be needed)
+|
 <!-- Progress and Next steps bullet points (fill out at the end of project week) -->

@@ Line 7: / Line 7: @@
 ==Key Investigators==
 <!-- Add a bulleted list of investigators and their institutions here -->
-*Tobias Frank (
+*Tobias Frank (Institute of Mechatronic Systems, Leibniz University of Hannover, Germany)
 *Junichi Tokuda (SPL, Boston)
 *Longquan Chen (SPL, Boston)

2017 Winter Project Week/ROS Surface Scan - Revision history

Tokuda at 15:34, 13 January 2017

Tokuda at 14:56, 13 January 2017

Lchen: /* Project Description */

Lchen: /* Project Description */

Lchen: /* Project Description */

Lchen: /* Key Investigators */

Lchen: /* Key Investigators */

Lchen: Created page with "__NOTOC__ Image:PW-Winter2017.png|link=2017_Winter_Project_Week#Projects|Projects List

Lchen: Created page with "NOTOC Image:PW-Winter2017.png|link=2017_Winter_Project_Week#Projects|Projects List