NA-MIC Project Weeks
Back to Projects List
SlicerSOFA - SlicerROS Integration
Key Investigators
- Eléonore Germond (IMT Atlantique, France)
- Rafael Palomar (Oslo University Hospital, Norway)
- Steve Pieper (Isomics Inc., USA)
- Paul Baksic (Inria, France)
- Junichi Tokuda (Brigham and Women's Hospital, USA)
- Anton Deguet (Johns Hopkins, USA)
- Laura Connolly (Queen's University, Canada)
Project Description
SlicerSOFA and SlicerROS are two paradigm extensions integrating Slicer with external libraries for simulation and robotics. With this project we would like to explore the possibility to use Slicer as a means for briding SOFA and ROS with the medical-image computing capabilities of Slicer for medical robotics applications.
Objective
- Objective A. Prototyping of a needle insertion example using SlicerSOFA with the Cosserat plugin and SlicerROS. This prototype will be used to test the feasibility of the integration and possible bottlenecks
- Objective B. Document the installation process so it can be done easily.
Approach and Plan
- Integration of the SOFA Cosserat plugin in SlicerSOFA.
- Development of prototype application featuring deformation of models and propagation of deformation to medical images. The deformation will be driven by a Omni Phantom able to interact with a SOFA simulation
Progress and Next Steps
- Describe specific steps you have actually done.
Illustrations
In this video, the needle is represented by the fine yellow line.