OpenIGTLink interface for state control and visualisation of a robot for image-guided therapy systems.
Journal:
International journal of computer assisted radiology and surgery
Published Date:
Jun 13, 2014
Abstract
PURPOSE: The integration of a robot into an image-guided therapy system is still a time consuming process, due to the lack of a well-accepted standard for interdevice communication. The aim of this project is to simplify this procedure by developing an open interface based on three interface classes: state control, visualisation, and sensor. A state machine on the robot control is added to the concept because the robot has its own workflow during surgical procedures, which differs from the workflow of the surgeon.