2017 Slicer Western Week/ROS-IGTL-Bridge

From VASST Wiki

Key Investigators

  • Junichi Tokuda

Project Description

Objective Approach and Plan Progress and Next Steps
  • Define specifications of the next version of the link
  • Integration of compressed video streaming
  • Testing with Kinetic Kame (Current ROS-IGTL-Bridge was only tested on Indigo)

Background and References

  • With the growing interest in advanced image-guidance for surgical robot systems, rapid integration and testing of robotic devices and medical image computing software are becoming essential in the research and development.
  • Maximizing the use of existing engineering resources built on widely accepted platforms in different fields, such as robot operating system (ROS) in robotics and 3D Slicer in medical image computing could simplify these tasks.
  • We have been recently working on a new open network bridge interface integrated in ROS to ensure seamless cross-platform data sharing:
    • Frank T, Krieger A, Leonard S, Patel NA, Tokuda J. ROS-IGTL-Bridge: an open network interface for image-guided therapy using the ROS environment. Int J Comput Assist Radiol Surg. 2017 May 31. doi: 10.1007/s11548-017-1618-1. [Epub ahead of print] PubMed PMID: 28567563.

Goal

Our goals during 2017 Slicer Western Week include: