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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.
Sensors (Basel, Switzerland)
|July 27, 2022
Summary
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.
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.
