Difference between revisions of "2016 Summer Project Week/Integrating/Using OpenIGTLink for the communications of Robotics devices"

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*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.
 
**Create Client /Server
 
**Create Client /Server
***Host name(IP), show status, connection time out
+
***Host name(IP), port, show status, connection time out, start/stop
 
**Define Datatypes: Vector position, Status, etc..
 
**Define Datatypes: Vector position, Status, etc..
 
**Communication: Send and recieve and save:
 
**Communication: Send and recieve and save:
***Massages
+
***Massages and nr. of massages
 
***Data-sets
 
***Data-sets
 
***Images
 
***Images

Revision as of 09:55, 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:
  1. How to use and integrate it in different robotic devices using:
    1. MeVisLab applications
    2. 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:
  1. The Kuka LBR robot used in a MeVislab based research project.
  2. 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
      • Host name(IP), port, show status, connection time out, start/stop
    • Define Datatypes: Vector position, Status, etc..
    • Communication: Send and recieve and save:
      • Massages and nr. of massages
      • Data-sets
      • Images
    • Sending control commands
    • loggs: showing, saving

Progress

  • to be defined in the project week.