Difference between revisions of "2016 Summer Project Week/Integrating/Using OpenIGTLink for the communications of Robotics devices"
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#The Kuka LBR robot used in a MeVislab based research project. | #The Kuka LBR robot used in a MeVislab based research project. | ||
#The MRI compatible Manipulator, a 5 DoF robot for performing transrectal prostate biopsies. | #The MRI compatible Manipulator, a 5 DoF robot for performing transrectal prostate biopsies. | ||
| − | *Defined Scenarios : | + | *Defined Scenarios: |
**Workflow01: | **Workflow01: | ||
| + | - Ask for the status of the robotic device | ||
| + | - Get the current position of the device tip | ||
| + | - Send commands to the robot (simulator) to get to the new target position | ||
| + | - Set /ask/ retrieve time stamps | ||
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| + | |||
<h5>MLab Interface</h5> | <h5>MLab Interface</h5> | ||
*Design and implement a generic interface for using OpenIGT commands in MeVislab network layer. | *Design and implement a generic interface for using OpenIGT commands in MeVislab network layer. | ||
Revision as of 09:41, 10 June 2016
Home < 2016 Summer Project Week < Integrating < Using OpenIGTLink for the communications of Robotics devices
Key Investigators
- Scheherazade Kraß
- Longquan Chen
Project Description
Objective
- Obtaining a better understanding of OpenIGTLink:
- How to use and integrate it in different robotic devices using:
- MeVisLab applications
- Slicer
Approach, Plan
Robotic Devices
- Defining different workflows for communication between robotic device and MeVislab applications, including sending/receiving strings, image sets and control commands for:
- The Kuka LBR robot used in a MeVislab based research project.
- The MRI compatible Manipulator, a 5 DoF robot for performing transrectal prostate biopsies.
- Defined Scenarios:
- Workflow01:
- Ask for the status of the robotic device - Get the current position of the device tip - Send commands to the robot (simulator) to get to the new target position - Set /ask/ retrieve time stamps
MLab Interface
- Design and implement a generic interface for using OpenIGT commands in MeVislab network layer.
- Create Client /Server
- Name, show status,
- Define Datatypes: Vector position, Status, etc..
- Communication: Send and recieve:
- Massages
- Data-sets
- Images
- Control commands
- Create Client /Server
Progress
- to be defined in the project week.
