Difference between revisions of "2016 Summer Project Week/MRI Manipulator"

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<h3>Objective</h3>
 
<h3>Objective</h3>
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* Integrating/Using OpenIGTLink for the communications of robotic devices:
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* Obtaining a better understanding of OpenIGTLink and gathering practical experience:
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# The <b>MRI_Manipulator</b>, a 5 DoF robot for performing transrectal prostate biopsies.
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# How to use and integrate it in different robotic devices using:
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# The Kuka LBR robot in <b>MITIGATE</b>, a MeVislab based research project.
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## MeVisLab applications
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## Slicer
 
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<h3>Approach, Plan</h3>
 
<h3>Approach, Plan</h3>
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#<b>MRI_Manipulator</b>: The system is based on MeVisLab, the robot is controlled with a pneumatic motor via PLC controller, the movement commands are transferred through an Emulator. The goal is making this system working with OpenIGTLink (in Simulation).
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*Defining different workflows for communication between robotic device and MeVislab applications, including sending/receiving strings, image sets and control commands for:
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#<b>MITIGATE</b>: The overall objective of the EU-project MITIGATE is to develop and validate an integrated closed-loop process to effectively treat metastatic gastrointestinal stromal tumour (GIST) patients resistant to the currently available class of medication. We are involved in WP7 "Minimally Invasive Therapy" and will develop a control software for robot-assisted minimally invasive interventions. There we have to deal with DynaCT images from an interventional Artis Zeego External Link and steer a Kuka LBR External Link robot that holds the interventional device. The gola is to define workflows for robot communications and implement this via OpenIGTLink. See: https://www.youtube.com/watch?v=8BeerXldDq0
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# The MRI compatible Manipulator, a 5 DoF robot for performing transrectal prostate biopsies.
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# The Kuka LBR robot used in a MeVislab based research project.
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* Defined Scenarios :
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#Workflow01:
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#
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#
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<h3>Progress</h3>
 
<h3>Progress</h3>
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* to be started in the project week.
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* to be defined in the project week.
 
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Revision as of 14:21, 7 June 2016

Home < 2016 Summer Project Week < MRI Manipulator

Key Investigators

  • Scheherazade Kraß
  • Longquan Chen

Project Description

Objective

  • Obtaining a better understanding of OpenIGTLink and gathering practical experience:
  1. How to use and integrate it in different robotic devices using:
    1. MeVisLab applications
    2. Slicer

Approach, Plan

  • Defining different workflows for communication between robotic device and MeVislab applications, including sending/receiving strings, image sets and control commands for:
  1. The MRI compatible Manipulator, a 5 DoF robot for performing transrectal prostate biopsies.
  2. The Kuka LBR robot used in a MeVislab based research project.
  • Defined Scenarios :
  1. Workflow01:

Progress

  • to be defined in the project week.
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