ISMR 2021 Planning

Organizers

• Junichi Tokuda, Brigham and Women’s Hospital and Harvard Medical School ([email protected])
• Tamas Ungi, Queen’s University ([email protected])
• Axel Krieger, Johns Hopkins University([email protected])
• Simon Leonard, Johns Hopkins University ([email protected])
• Mark Fuge, University of Maryland ([email protected])

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
    • Please refer to Hardware Requirement for Slicer
  • 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

• 3D Slicer tutorials
  • Introductory Tutorial
  • Brain Surgery Tutorial
• Virtual environment solutions
• Setting up a Docker image with ROS2

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