Int J CARS (2017) 12:1451–1460 DOI 10.1007/s11548-017-1618-1 ORIGINAL ARTICLE ROS-IGTL-Bridge: an open network interface for image-guided therapy using the ROS environment 1 2 3 Tobias Frank · Axel Krieger · Simon Leonard · 4 5 Niravkumar A. Patel · Junichi Tokuda Received: 10 January 2017 / Accepted: 18 May 2017 / Published online: 31 May 2017 © CARS 2017 Abstract Results Performance tests demonstrated that the bridge Purpose With the growing interest in advanced image-guid- could stream transforms, strings, points, and images at 30 ance for surgical robot systems, rapid integration and testing fps in both directions successfully. The data transfer latency of robotic devices and medical image computing software are was <1.2 ms for transforms, strings and points, and 25.2 ms becoming essential in the research and development. Max- for color VGA images. A separate test also demonstrated that imizing the use of existing engineering resources built on the bridge could achieve 900 fps for transforms. Additionally, widely accepted platforms in different ﬁelds, such as robot the bridge was demonstrated in two representative systems: operating system (ROS) in robotics and 3D Slicer in medi- a mock image-guided surgical robot setup consisting of 3D cal image computing could simplify
International Journal of Computer Assisted Radiology and Surgery – Springer Journals
Published: May 31, 2017
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