View source for LEGO IGT and Medical Robotics Tutorial

[[Image:Slicer3-IGT-LEGOTutorial-biopsy.jpg|300px|thumb|The LEGO robot and phantom]]
[[Image:Slicer3-IGT-LEGOTutoral-screenshot.png|300px|thumb|Example tutorial screenshot]]

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=LEGO Image Guided Therapy and Medical Robotics Tutorial=

==Overview:==

This tutorial  provides a thorough understanding of the main concepts in image-guided therapy and medical robotics, namely imaging, pre-operative planning, targeting by tracking, navigation and registration.  The tutorial is open-source and completely free for anyone to use or modify (see http://www.slicer.org for details and for the BSD style open source license).

The tutorial is:
* Hands-on:  Using a LEGO robot, a LEGO phantom (anatomical model) and a tutorial module in 3D Slicer v. 3 means that tutorial participants can use real physical equipment and software to learn about IGT and medical robotics.

* Accessible:  The tutorial software is open-source, and the cost of the materials is approximately $300 USD + shipping and taxes.

==Tutorial Materials:==

Provided by NA-MIC and the Surgical Planning Lab:
* 3D Slicer v. 3 tutorial module
* CT volume of the phantom
* Tutorial slides
* Assembly instructions for the robot and the phantom
* Phantom placement guide


Provided by tutorial participants:
* 1 LEGO Mindstorms NXT kit
* 1 LEGO Deluxe Brick box
* 2 pom-poms
* Linux computer with root access or Windows with administrator privileges
For purchasing information for user-supplied materials, see the "Tutorial Slides Part 1 - Background and Materials" slides.


'''Getting the Tutorial Materials:'''

Click on the following links to get the tutorial materials:

* Robot assembly instructions:  [http://wiki.na-mic.org/Wiki/images/8/81/LEGOIGTAndMedicalRoboticsTutorial_RobotAssemblyInstructions.pdf LEGOIGTAndMedicalRoboticsTutorial_RobotAssemblyInstructions.pdf]

* Phantom assembly instructions:  [http://wiki.na-mic.org/Wiki/images/0/0d/LEGOIGTAndMedicalRoboticsTutorial_PhantomAssemblyInstructions.pdf LEGOIGTAndMedicalRoboticsTutorial_PhantomAssemblyInstructions.pdf]

* Phantom placement guide:  [http://wiki.na-mic.org/Wiki/images/6/64/LEGOIGTAndMedicalRoboticsTutorial_PhantomPlacementGuide.pdf LEGOIGTAndMedicalRoboticsTutorial_PhantomPlacementGuide.pdf]

* Tutorial Slides Part 1 - Background and Materials:  [http://wiki.na-mic.org/Wiki/images/d/d1/LEGOIGTAndMedicalRoboticsTutorial_1_BackgroundAndMaterials.pdf LEGOIGTAndMedicalRoboticsTutorial_1_BackgroundAndMaterials.pdf]

* Tutorial Slides Part 2 - Basic Tutorial:  [http://wiki.na-mic.org/Wiki/images/a/ab/LEGOIGTAndMedicalRoboticsTutorial_2_BasicTutorial.pdf LEGOIGTAndMedicalRoboticsTutorial_2_BasicTutorial.pdf]

* Tutorial Slides Part 3 - Advanced Tutorial:  [http://wiki.na-mic.org/Wiki/images/f/f4/LEGOIGTAndMedicalRoboticsTutorial_3_AdvancedTutorial.pdf LEGOIGTAndMedicalRoboticsTutorial_3_AdvancedTutorial.pdf]

* CT volume of the LEGO phantom:  [http://wiki.na-mic.org/Wiki/images/6/69/000003.SER.zip 000003.SER.zip]

* 3D Slicer LEGO tutorial module (including code to interface between a LEGO robot and a C++ program):  Available on the NA-MIC Sandbox - access [http://viewvc.na-mic.org/viewvc.cgi/NAMICSandBox/trunk/LegoTutorial/ online] or through the [http://wiki.na-mic.org/Wiki/index.php/Engineering:SandBox NA-MIC subversion system]

* MICCAI 2007 "Open Source and Open Data for MICCAI" workshop paper:  [[Image:AnAccessibleHandsOnTutorialSystemForIGTAndMedicalRobotics.pdf|Image:AnAccessibleHandsOnTutorialSystemForIGTAndMedicalRobotics.pdf]]

==Software Installation Instructions==
* Installing Slicer: go to the [http://wiki.na-mic.org/Wiki/index.php/IGT:ToolKit/Install-Slicer3 Slicer3 Install] site.
* [http://wiki.na-mic.org/Wiki/index.php/LEGO_IGT_Compilation Compiling the LegoTutorial]

==Notes==
* Note that the code supplied above was modified from NXT++ (http://nxtpp.sourceforge.net) and Device::USB (http://search.cpan.org/~gwadej/Device-USB-0.21) and uses libusb (http://libusb.sourceforge.net).  See the README file included with the source code for instructions on installation and use.

==People:==

[http://spl.harvard.edu/~dpace Danielle Pace], Surgical Planning Lab and Robarts Research Institute

[http://spl.harvard.edu/~kikinis Ron Kikinis], Surgical Planning Lab

[http://spl.harvard.edu/~noby Nobuhiko Hata], Surgical Planning Lab


'''Questions?  Feedback?'''

Contact [http://spl.harvard.edu/~dpace Danielle Pace]