Difference between revisions of "2017 Winter Project Week/ROS Surface Scan"

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==Key Investigators==
 
==Key Investigators==
 
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*Tobias Frank
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*Tobias Frank (Institute of Mechatronic Systems, Leibniz University of Hannover, Germany)
*Junichi Tokuda
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*Junichi Tokuda (SPL, Boston)
*Longquan Chen
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*Longquan Chen (SPL, Boston)
  
 
==Project Description==
 
==Project Description==
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<!-- Objective bullet points -->
 
<!-- Objective bullet points -->
 
* Transmission of poly data ( from surface scan ) between ROS environment and Slicer via ROS-OpenIGTLink-bridge  
 
* Transmission of poly data ( from surface scan ) between ROS environment and Slicer via ROS-OpenIGTLink-bridge  
* Registration of segmented model data with the real time surface scan data.
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* Tracking of 3D print model data with the real time surface scan data.
* Ask a 2 DOF Lego robot to perform targeting based on the registration.
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* Ask a 2 DOF Lego robot to perform targeting after registration of the robot to slicer(ROS).
  
 
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<!-- Approach and Plan bullet points -->
 
<!-- Approach and Plan bullet points -->
* Transmission of the poly data could be directly using the PolydataMessage, or compress the data first and send via VideoMessage.
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*  For objective 1
* A 3D printed organ will be used for surface scan, and 3d model of the organ is also available. Under the 3d model, a 2D flat desktop model is attachedThis 2D flat desktop model is the working space of the robot
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** Transmission of the poly data could be directly using the PolydataMessage, or compress the data first and send via VideoMessage.
* Registration of the robot and Slicer could be done by manually by matching the points from surface scan and a 3D robot model.
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*  For objective 2
* Perform ICP registration on the surface scan data and the 3d organ model, (corse-to-fine registration maybe be needed)
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** A 3D printed organ will be used for surface scan, and 3d model of the organ is also available.  
* Targets are selected from the desk model in Slicer. The robot is asked to perform targeting on the these targets.
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** Perform real time particle filter registration on the surface scan data and the 3d organ model.
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* For objective 3
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** Registration of the robot and Slicer(or ROS) could be done by manually by matching the points from surface scan and a 3D robot model. Under the 3d model, a 2D flat desktop model is attached.  This 2D flat desktop model is the working space of the robot
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** Targets are selected from the desk model in Slicer. The robot is asked to perform targeting on the these targets.
 
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<!-- Progress and Next steps bullet points (fill out at the end of project week) -->
 
<!-- Progress and Next steps bullet points (fill out at the end of project week) -->
*
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* New 3 DOF needle placement robot with remote-center-of-motion (RCM) has been developed
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* New ROS-IGTL-Bridge has been installed in Lego Mindstorms EV3
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* "Patient"-to-tracker (Kinect) registration based on surface matching
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* Point-based device-to-tracker registration
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[[Image:2017WinterProjectWeekROS_Architecture.jpg]]
 
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==Background and References==
 
==Background and References==
 
<!-- Use this space for information that may help people better understand your project, like links to papers, source code, or data -->
 
<!-- Use this space for information that may help people better understand your project, like links to papers, source code, or data -->

Latest revision as of 15:34, 13 January 2017

Home < 2017 Winter Project Week < ROS Surface Scan

Key Investigators

  • Tobias Frank (Institute of Mechatronic Systems, Leibniz University of Hannover, Germany)
  • Junichi Tokuda (SPL, Boston)
  • Longquan Chen (SPL, Boston)

Project Description

Objective Approach and Plan Progress and Next Steps
  • Transmission of poly data ( from surface scan ) between ROS environment and Slicer via ROS-OpenIGTLink-bridge
  • Tracking of 3D print model data with the real time surface scan data.
  • Ask a 2 DOF Lego robot to perform targeting after registration of the robot to slicer(ROS).
  • For objective 1
    • Transmission of the poly data could be directly using the PolydataMessage, or compress the data first and send via VideoMessage.
  • For objective 2
    • A 3D printed organ will be used for surface scan, and 3d model of the organ is also available.
    • Perform real time particle filter registration on the surface scan data and the 3d organ model.
  • For objective 3
    • Registration of the robot and Slicer(or ROS) could be done by manually by matching the points from surface scan and a 3D robot model. Under the 3d model, a 2D flat desktop model is attached. This 2D flat desktop model is the working space of the robot
    • Targets are selected from the desk model in Slicer. The robot is asked to perform targeting on the these targets.
  • New 3 DOF needle placement robot with remote-center-of-motion (RCM) has been developed
  • New ROS-IGTL-Bridge has been installed in Lego Mindstorms EV3
  • "Patient"-to-tracker (Kinect) registration based on surface matching
  • Point-based device-to-tracker registration

2017WinterProjectWeekROS Architecture.jpg

Background and References