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Bridging 3D Slicer and ROS2 for Image-Guided Robotic Interventions.

Laura Connolly1,2, Anton Deguet1, Simon Leonard1

  • 1Whiting School of Engineering, Johns Hopkins University, Baltimore, MD 21218, USA.

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|July 27, 2022
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Summary
This summary is machine-generated.

A new module, SlicerROS2, directly integrates the Robot Operating System (ROS2) with 3D Slicer for advanced image-guided robotics research. This streamlines development for real-time robot visualization and data transfer, reducing custom interface needs.

Keywords:
3D SlicerROSimage-guided therapyprototypingroboticssoftware

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Area of Science:

  • Robotics
  • Medical Imaging
  • Software Engineering

Background:

  • Developing image-guided robotic systems necessitates open-source software solutions.
  • 3D Slicer is a leading open-source platform for medical image guidance in research.
  • Robot Operating System (ROS) is the standard framework for robotics development.

Purpose of the Study:

  • To present the SlicerROS2 module for direct integration of ROS2 packages within 3D Slicer.
  • To enable real-time robot visualization, accommodate diverse robot configurations, and facilitate bidirectional data transfer.
  • To serve as a foundation for clinical system development, minimizing custom interfaces and setup time.

Main Methods:

  • Developed the SlicerROS2 module for seamless integration between ROS2 and 3D Slicer.
  • Enabled direct use of ROS2 packages and libraries within the 3D Slicer environment.
  • Implemented real-time visualization, configuration flexibility, and bi-directional data transfer capabilities.

Main Results:

  • Demonstrated the SlicerROS2 module's functionality on multiple robots with varying configurations.
  • Evaluated the system's performance for image-guided robotic interventions.
  • Successfully facilitated direct data exchange between ROS2 and 3D Slicer.

Conclusions:

  • The SlicerROS2 module offers a streamlined approach to developing image-guided robotic systems.
  • It reduces the need for custom interfaces and accelerates the prototyping of clinical applications.
  • This integration enhances research and development in medical robotics by leveraging established open-source tools.