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ROS-MED: Integration of 3D Slicer and ROS2 for Image-Guided Robot-Assisted Interventions

Key Investigators

  • Junichi Tokuda (Brigham and Women's Hospital)
  • Tamas Ungi (Queen’s University)
  • Axel Krieger (Johns Hopkins University)
  • Simon Leonard (Johns Hopkins University)
  • Mark Fuge (University of Maryland)
  • Lydia Al-Zogbi (Johns Hopkins University)
  • Pedro Moreira (Brigham and Women's Hospital)

Project Description

The ultimate goal of this project is to provide a software platform to integrate medical image computing software (3D Slicer) into a system for image-guided robot-assisted interventions, in which 2D/3D medical images are used for planning, navigation, monitoring, and validation. Examples of such robot-assisted systems include image-guided robotic needle-guide systems and surgical CAD/CAM systems. Those systems often require a wide range of image computing capabilities such as segmentation of anatomical structures, registration of multiple images, 2D/3D image visualization, image-based planning, and data sharing with the robot controller and the hospital’s picture archiving and communication systems (PACS). Integration of a solid medical image computing platform into a robotic system is becoming more important than ever with the growing interest in AI-based treatment planning and guidance.

However, the engineering effort to implement those features is often underestimated in academic research due to limited engineering resources or the scope of the project. Fortunately, many of those features have already been implemented and validated in the research community and often distributed as open-source software. Therefore it has become essential for academic researchers to take advantage of those existing tools and incorporate them into their own research instead of reinventing the wheel.

Our team has been integrating 3D Slicer and Robot Operating System using OpenIGTLink to achieve the above goal following our first project, and recently received a grant from National Institutes of Health (2R01EB020667). In this year, we will focus on transition to the new ROS platform (ROS2).

Objective

  1. Objective A. Architecture design
  2. Objective B. Prototype ROS-IGTL-Bridge2 for data exchange between 3D Slicer and ROS2

Approach and Plan

  1. Describe specific steps of what you plan to do to achieve the above described objectives.
  2. ...
  3. ...

Progress and Next Steps

  1. Describe specific steps you have actually done.
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  3. ...

Illustrations

Background and References

  • 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 Aug;12(8):1451-1460. doi: 10.1007/s11548-017-1618-1. Epub 2017 May 31. PMID: 28567563; PMCID: PMC5543207.