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ROS-MED: Platform for Medical Robotics Research Based on ROS and 3D Slicer

Key Investigators

• Junichi Tokuda (Brigham and Women’s Hospital)

Project Description

We will extend the tutorial on ROS-MED, a platform for medical robotics research based on ROS and 3D Slicer. Specifically, we will find out a way to import the robot model from CAD software. We will use a needle guide manipulator for MR-guided prostate biopsy (Smart Template) as an example project.

Details of ROS-MED can be found in our recent workshop at International Symposium on Medical Robotics

Objective

1. Streamline the development of software for image-guided robot-assisted interventions

Approach and Plan

1. Convert the CAD files for Smart Template to the ROS model (URDF and XACRO).
2. Test controlling and visualizing the robot on 3D Slicer.

Progress and Next Steps

1. Describe specific steps you have actually done.
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Illustrations

Background and References