2016 Summer Project Week/Integrating/Using OpenIGTLink for the communications of Robotics devices

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  Projects List

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.

OpenIGTLinkIO is a slicer independent library to use OpenIGTLink, could be used as good example (https://github.com/IGSIO/OpenIGTLinkIO)

• • Create Client /Server
    • Host name(IP), port, show status, connection time out, start/stop, connect/disconnect
  • Create Thread for realtime (?)
  • 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.