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ROS-IGTL-Bridge: an open network interface for image-guided therapy using the ROS environment.

Tobias Frank1, Axel Krieger2, Simon Leonard3

  • 1Institute of Mechatronic Systems, Gottfried Wilhelm Leibniz Universität Hannover, Appelstrasse 11 a, 30167, Hannover, Germany. tobifr@freenet.de.

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A new bridge connects Robot Operating System (ROS) and medical image computing software for seamless data sharing. This integration accelerates the development of advanced image-guided surgical robot systems.

Keywords:
Image-guided therapyInterfaceOpenIGTLinkROSSurgical robot

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Area of Science:

  • Robotics
  • Medical Image Computing
  • Surgical Systems

Background:

  • Advanced image-guidance is crucial for surgical robot systems.
  • Integrating robotic devices and medical image computing software is essential for R&D.
  • Leveraging existing platforms like Robot Operating System (ROS) and 3D Slicer can streamline integration.

Purpose of the Study:

  • To propose and implement an open network bridge interface for ROS.
  • To enable seamless cross-platform data sharing between ROS and medical image computing software.
  • To simplify the integration and testing of robotic devices and software for surgical applications.

Main Methods:

  • Implemented a ROS node named ROS-IGTL-Bridge.
  • Established a TCP/IP network connection using the OpenIGTLink protocol.
  • Enabled simultaneous bidirectional data export/import between ROS and external software.

Main Results:

  • The bridge successfully streamed transforms, strings, points, and images at 30 fps.
  • Data transfer latency was <1.2 ms for transforms, strings, points, and 25.2 ms for images.
  • Demonstrated in mock image-guided surgical robot and autonomous robot surgical setups.

Conclusions:

  • The bridge facilitates cross-platform data sharing between ROS and medical image computing software.
  • Enables rapid integration of image-based planning and navigation into ROS-based surgical robots.
  • Supports advanced capabilities offered by software like 3D Slicer for surgical systems.