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ISMR2021

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Junichi Tokuda edited this page Sep 28, 2021 · 9 revisions

ISMR 2021 Planning

Organizers

Presentations

  • Junichi Tokuda, Ph.D., Brigham and Women’s Hospital
  • Tamas Ungi, M.D., Ph.D., Queen’s University, Prototyping Software for Image-Guided Therapy
  • Axel Krieger, Ph.D., University of Maryland, Software Systems for Autonomous Surgery

Time Table (TBD)

Tutorial - workflow

(old) See Tutorial Slide.

The following workflow is a draft.

  • Prerequisite
    • Software versions
      • 3D Slicer 4.11.20210226 (the latest release as of September 2021) TBD
      • ROS 2 Foxy
      • Ubuntu 20.04 (For the ROS 2 environment)
    • Slicer Workstation
    • ROS Computer
      • [Option 1] Docker - In this case, no dedicated ROS computer is needed. Docker container can run on the Slicer workstation. See the DockerROS2 page
      • [Option 2] Native Linux Machine - See the installation page
      • [Option 3 -- not recommended] Other virtualization environments (VMWare, VirtualBox, etc) may be used. VirtualBox has some issues with 3D graphics (required for rviz) and is not recommended at this point.
  • Setting up ROS2 environment
    • Install ROS 2
      • [Option 1] Using Docker
      • [Option 2] Using native Linux
  • Setting up 3D Slicer
    • Install Extensions (plug-ins)
    • Test 3D Slicer-ROS communication using ROS-IGTL-Bridge
  • Setting up a universal robot arm on ROS
    • Load robot and patient model in ROS scene using rviz
    • Move the patient model into the workspace for the robot using pointer function on rviz
  • Planning on 3D Slicer
    • Load patient model
    • Define the target needle trajectory (pre-insertion and post-insertion)
    • Load robot model
  • Establishing a connection between Slicer and ROS
    • Connect 3D Slicer with ROS using ROS-IGTL-Bridge
    • Check synchronization of the robot models on 3D Slicer and ROS
  • Registration
    • (Slicer) Launch Fiducial Registration Wizard
    • (rviz) Manually move the end-effector to the first landmark on the skull
    • (Slicer) Record the current position of the tip, and click the corresponding point on the sull model
    • repeat the previous two steps
    • Run landmark registration.
    • Apply the transform to the robot
  • Planning needle placement
    • (Slicer) Setup Volume Reslice Driver
    • (Slicer) Send the pre-insertion end-effector position to ROS
  • Executing the plan
    • (ROS) Move the arm to the home position
    • (ROS) Move the arm to the pre-insertion position
    • (ROS) Move the arm to the post-insertion position

Memos

Follow https://github.com/openigtlink/ROS-IGTL-Bridge
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