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

ROS-IGTL-Bridge: an open network interface for image-guided therapy using the ROS environment 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 http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Computer Assisted Radiology and Surgery Springer Journals

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

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Publisher
Springer International Publishing
Copyright
Copyright © 2017 by CARS
Subject
Medicine & Public Health; Imaging / Radiology; Surgery; Health Informatics; Computer Imaging, Vision, Pattern Recognition and Graphics; Computer Science, general
ISSN
1861-6410
eISSN
1861-6429
D.O.I.
10.1007/s11548-017-1618-1
Publisher site
See Article on Publisher Site

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