ProstateBRP OpenIGTLink Communication June 2013 - Revision history

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

2022-01-13T22:13:49Z

Diagram (Slicer - MRI)

Tokuda: /* Notations */

2022-01-13T18:30:50Z

Notations

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

2022-01-13T18:28:53Z

Diagram (Slicer - MRI)

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

2022-01-13T18:18:09Z

Diagram (Slicer - MRI)

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

2022-01-13T18:16:53Z

Diagram (Slicer - MRI)

Show changes

Tokuda: /* Diagram */

2022-01-13T18:14:33Z

Diagram

Lchauvin at 20:58, 19 March 2014

2014-03-19T20:58:43Z

Tokuda: /* Test 10: Hardware error during operation */

2013-09-10T18:30:39Z

Test 10: Hardware error during operation

Tokuda: /* Test 10: Hardware error during operation */

2013-09-10T18:30:20Z

Test 10: Hardware error during operation

Tokuda: /* Test 9: Accidental target/move_to command during manual mode */

2013-09-10T18:28:01Z

Test 9: Accidental target/move_to command during manual mode

@@ Line 634: / Line 634: @@
 | align="left style=" background:#e0e0e0;" |''Message''
 | align="left style=" background:#e0e0e0;" |''MRI''
-| align="left style=" background:#e0e0e0;" |''Radiologist''
+| align="left style=" background:#e0e0e0;" |''Surgeon''
 | align="left style=" background:#e0e0e0;" |''Note''
 |-
 | align="left" |The operator presses "Start-up" button
@@ Line 643: / Line 645: @@
 | align="left" |
 |-
-| align="left" |Send command to robot
+| align="left" |Send command to MRI
 | align="left" |>> STRING(CMD_XXXX, START_UP) >>
 | align="left" |
@@ Line 657: / Line 659: @@
 | 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;;" |'''Code=OK:''' Confirm that the MRI is in SCAN_READY mode. Phase should be "SCAN_READY". ''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" |<< TRANSFORM(ACK_XXXXX, 4x4 target matrix) <<
 | align="left" |
 | align="left" |
 |-
 | align="left" |
@@ Line 675: / Line 691: @@
 | align="left" |
 | align="left" |
-| align="left" |Calculate if target pose is reachable based on the kinematics, reply with status and set target
+| align="left" |Calculate if the scanning target defined by the transformation received from Slicer is possible to achieve. <br /> Move scanner to the target if accepted.
 | align="left" |
 | align="left" |
@@ Line 681: / Line 697: @@
 | align="left" |
 | align="left" |<< STATUS(TARGET, Code:??:??) <<
-| align="left" |'''Code=OK:''' Reply with OK if target was accepted <br />'''Code=DNR:''' Not in targeting mode <br /> '''Code=CE:''' Not a valid target (i.e. out of workspace)
+| align="left" |'''Code=OK:''' Reply with OK if scanning target was accepted and MRI moved to scanning target <br />'''Code=DNR:''' MRI did not successfully move to scanning target <br /> '''Code=CE:''' Not a valid target (i.e. out of workspace)
 | align="left" |
 | align="left" |DNR: Device Not Ready (code 13) <br> CE: Configuration Error (code 10)
 |-
 | align="left" |
 | align="left" |
 | align="left" |
 |-
-| align="left" |Display the reachable target position set in robot controller.
+| align="left" |Send command to MRI
 | align="left" |
 | align="left" |
@@ Line 697: / Line 723: @@
 | align="left" |
 |-
-| align="left" |The operator confirms the target position set in the controller, and press "MOVE"
+| colspan="5" align="center" style="background:#f0f0f0;" |Stop Scan
 | align="left" |
 | align="left" |
@@ Line 704: / Line 732: @@
 |-
 | align="left" |
 | 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" |
 | align="left" |
-| align="left" |XXXX is the same unique query ID as the MOVE_TO_TARGET message. <font color="red">See the note below</font>
+| align="left" |
 |-

@@ Line 15: / Line 15: @@
 **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)
 ==Diagram (Slicer - Robot)==

@@ Line 660: / Line 660: @@
 |-
 | 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" |
 | align="left" |
 | align="left" |
 |-
-| align="left" |Display the result of start up process.
+| align="left" |The operator confirms the target position set in the controller, and press "MOVE"
 | align="left" |
 | align="left" |
@@ Line 677: / Line 701: @@
 | align="left" |
 |-
 |}

@@ Line 631: / Line 631: @@
 | 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;" |''MRI''
 | align="left style=" background:#e0e0e0;" |''Radiologist''
 | align="left style=" background:#e0e0e0;" |''Note''
 |-
 | align="left" |The operator presses "Start-up" button
@@ Line 680: / Line 678: @@
 |-
 |}
 ==Quality Assurance Protocol==

@@ Line 16: / Line 16: @@
-==Diagram==
+==Diagram (Slicer - Robot)==
 <span style="color:#800000">
 </span>
@@ Line 622: / Line 622: @@
 |-
 |}
 ==Quality Assurance Protocol==

@@ Line 280: / Line 280: @@
 | 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. <font color=red>See the note below</red>
+| align="left" | XXXX is the same unique query ID as the MOVE_TO_TARGET message. <font color=red>See the note below</font>
 |-
 | align="left" | Alert the clinician to hold footpedal to align the robot
@@ Line 577: / Line 577: @@
 | 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. <font color=red>See the note below</red>
+| align="left" | XXXX is the same unique query ID as the MOVE_TO_TARGET message. <font color=red>See the note below</font>
 |-
 | align="left" style="background:#f8f8f8;" |

← Older revision		Revision as of 18:30, 10 September 2013
Line 1,021:		Line 1,021:

	===Test 10: Hardware error during operation===		===Test 10: Hardware error during operation===
		+	<font color=red>Updated on 9/10/13</font>
	Unplug one of motors/encoders while the robot is moving to the target.		Unplug one of motors/encoders while the robot is moving to the target.

@@ Line 1,024: / Line 1,024: @@
   # Step 1
-  send STRING(CMD, START-UP)
+  send STRING(CMD, START_UP)
-  if (not receive STRING(ACK, START-UP) within 100ms) failure # Check point #1.1
+  if (not receive STRING(ACK, START_UP) within 100ms) failure   # Check point 1.1
-  if (not receive STATUS(OK) within 10s) failure failure # Check point #1.2
+ if (not receive STATUS(CURRENT_STATUS, OK,0,START_UP) within 100ms) failure   # Check point 1.2
   # Step 2
   send STRING(CMD, PLANNING)
-  if (not receive STRING(ACK, PLANNING) within 100ms) failure # Check point #2.1
+  if (not receive STRING(ACK, PLANNING) within 100ms) failure # Check point 2.1
   # Step 3
   send STRING(CMD, CALIBRATION)
-  if (not receive STRING(ACK, CALIBRATION) within 100ms) failure  # Check point #3.1
+  if (not receive STRING(ACK, CALIBRATION) within 100ms) failure # Check point 3.1
   send TRANSFORM(CLB, matrix1)
-  if (not receive TRANSFORM(ACK, matrix2) within 100ms) failure  # Check point #3.2
+  if (not receive TRANSFORM(ACK, matrix2) within 100ms) failure # Check point 3.3
-  if (matrix1 != matrix2) failure  # Check point #3.3
+  if (matrix1 != matrix2) failure # Check point 3.4
-  if (not receive STATUS(CALIBRATION, OK) within 10s) failure  # Check point #3.4
+  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 STRING(ACK, TARGETING) within 100ms) failure # Check point 4.1
-  if (not receive STATUS(TARGETING, OK) within 10s) failure  # Check point #4.2
+  if (not receive STATUS(CURRENT_STATUS, OK,0,TARGETING) within 100ms) failure   # Check point 4.2
   send TRANSFORM(TGT, matrix3)
-  if (not receive TRANSFORM(ACK, matrix4) within 100ms) failure  # Check point #4.3
+  if (not receive TRANSFORM(ACK, matrix4) within 100ms) failure # Check point 4.4
-  if (matrix3 != matrix4) failure  # Check point #4.4
+  if (matrix3 != matrix4) failure  # Check point 4.5
-  if (not receive STATUS(TARGET, OK) within 10s) failure  # Check point #4.5
+  if (not receive STATUS(TARGET, OK) within 10s) failure  # Check point 4.6
-  if (not receive TRANSFORM(TARGET, matrix5) within 20s) failure  # Check point #4.6
+  if (not receive TRANSFORM(TARGET, matrix5) within 20s) failure  # Check point 4.7
-  if (matrix3 != matrix5) 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 STRING(ACK, MOVE_TO_TARGET) within 100ms) failure # Check point 5.1
-  if (not start receiving TRANSFORM(CURRENT_POSITION, matrix 6) in 10s) failure  # Check point #5.2
+  if (not receive STATUS(CURRENT_STATUS, OK,0,TARGET) within 100ms) failure   # Check point 5.2
 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