| Title |
ROS-IGTL-Bridge: an open network interface for image-guided therapy using the ROS environment
|
|---|---|
| Published in |
International Journal of Computer Assisted Radiology and Surgery, May 2017
|
| DOI | 10.1007/s11548-017-1618-1 |
| Pubmed ID | |
| Authors |
Tobias Frank, Axel Krieger, Simon Leonard, Niravkumar A. Patel, Junichi Tokuda |
| Abstract |
With the growing interest in advanced image-guidance for surgical robot systems, rapid integration and testing of robotic devices and medical image computing software are becoming essential in the research and development. Maximizing the use of existing engineering resources built on widely accepted platforms in different fields, such as robot operating system (ROS) in robotics and 3D Slicer in medical image computing could simplify these tasks. We propose a new open network bridge interface integrated in ROS to ensure seamless cross-platform data sharing. A ROS node named ROS-IGTL-Bridge was implemented. It establishes a TCP/IP network connection between the ROS environment and external medical image computing software using the OpenIGTLink protocol. The node exports ROS messages to the external software over the network and vice versa simultaneously, allowing seamless and transparent data sharing between the ROS-based devices and the medical image computing platforms. Performance tests demonstrated that the bridge could stream transforms, strings, points, and images at 30 fps in both directions successfully. The data transfer latency was <1.2 ms for transforms, strings and points, and 25.2 ms for color VGA images. A separate test also demonstrated that the bridge could achieve 900 fps for transforms. Additionally, the bridge was demonstrated in two representative systems: a mock image-guided surgical robot setup consisting of 3D slicer, and Lego Mindstorms with ROS as a prototyping and educational platform for IGT research; and the smart tissue autonomous robot surgical setup with 3D Slicer. The study demonstrated that the bridge enabled cross-platform data sharing between ROS and medical image computing software. This will allow rapid and seamless integration of advanced image-based planning/navigation offered by the medical image computing software such as 3D Slicer into ROS-based surgical robot systems. |
X Demographics
The data shown below were collected from the profile of 1 X user who shared this research output. Click here to find out more about how the information was compiled.
Geographical breakdown
| Country | Count | As % |
|---|---|---|
| United States | 1 | 100% |
Demographic breakdown
| Type | Count | As % |
|---|---|---|
| Members of the public | 1 | 100% |
Mendeley readers
The data shown below were compiled from readership statistics for 53 Mendeley readers of this research output. Click here to see the associated Mendeley record.
Geographical breakdown
| Country | Count | As % |
|---|---|---|
| Unknown | 53 | 100% |
Demographic breakdown
| Readers by professional status | Count | As % |
|---|---|---|
| Researcher | 12 | 23% |
| Student > Ph. D. Student | 11 | 21% |
| Student > Bachelor | 6 | 11% |
| Student > Master | 5 | 9% |
| Other | 4 | 8% |
| Other | 5 | 9% |
| Unknown | 10 | 19% |
| Readers by discipline | Count | As % |
|---|---|---|
| Engineering | 18 | 34% |
| Computer Science | 10 | 19% |
| Medicine and Dentistry | 10 | 19% |
| Psychology | 1 | 2% |
| Business, Management and Accounting | 1 | 2% |
| Other | 1 | 2% |
| Unknown | 12 | 23% |
Attention Score in Context
This research output has an Altmetric Attention Score of 4. This is our high-level measure of the quality and quantity of online attention that it has received. This Attention Score, as well as the ranking and number of research outputs shown below, was calculated when the research output was last mentioned on 05 October 2022.
All research outputs
#6,644,068
of 23,476,369 outputs
Outputs from International Journal of Computer Assisted Radiology and Surgery
#180
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Outputs of similar age
#105,251
of 317,539 outputs
Outputs of similar age from International Journal of Computer Assisted Radiology and Surgery
#3
of 18 outputs
Altmetric has tracked 23,476,369 research outputs across all sources so far. This one has received more attention than most of these and is in the 70th percentile.
So far Altmetric has tracked 879 research outputs from this source. They receive a mean Attention Score of 3.1. This one has done well, scoring higher than 77% of its peers.
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We're also able to compare this research output to 18 others from the same source and published within six weeks on either side of this one. This one has done well, scoring higher than 83% of its contemporaries.