BRPProstateNav

3D Slicer module for MRI-guided robotic prostate intervention.

Protocol

The following page shows message exchange diagram for the communication between 3D Slicer (and other navigation software) and the robot in each workhpase.

http://wiki.na-mic.org/Wiki/index.php/ProstateBRP_OpenIGTLink_Communication_June_2013

Session Manager Node

Overview

BRPProstateNav manages the communication between 3D Slicer and external robot software through a IGTLSessionManagerNode node. The roles of the IGTLSessionManagerNode are as follows:

• Observes an IGTL connector node for the communication.
• Create MRML nodes that will hold incoming and outgoing message data and register them to the IGTL connector.
• Call message handler when an OpenIGTLink message has been received.

The IGTLSessionManagerNode is wrapped by Python, so that a user can call it's API from 3D Slicer's Python Interactor.

Example

Currently, you can push a command message from the Python Interactor. After opening "BRPProstateNav" module, open the Python Interactor and type in the following lines:

>>> from vtkSlicerBRPProstateNavModuleMRMLPython import *
>>> scene = slicer.mrmlScene
>>> cnode = scene.GetNodeByID('vtkMRMLIGTLConnectorNode1')
>>> sm = vtkMRMLIGTLSessionManagerNode()
>>> scene.AddNode(sm)
>>> sm.SetAndObserveConnectorNodeID(cnode.GetID())

To send workphase commands, the following functions can be used:

• virtual int SendStartUpCommand();
• virtual int SendPlanningCommand();
• virtual int SendCalibrationCommand();
• virtual int SendCalibrationTransform(vtkMatrix4x4* transform);
• virtual int SendTargetingCommand();
• virtual int SendTargetingTarget(double r, double a, double s);
• virtual int SendTargetingMove();
• virtual int SendManualCommand();
• virtual int SendStopCommand();
• virtual int SendEmergencyCommand();
• virtual int SendGetStatusCommand();

Plans

Currently, the node is developed as part of BRPProstateNav () and LightWeightRobotIGT (https://github.com/SNRLab/LightWeightRobotIGT ) projects separately. The SessionManagerNode will become a parent class for all application-specific session management classes and integrated into OpenIGTLinkIF module.