SlicerROS2: A Research and Development Module for Image-Guided Robotic Interventions
Image-guided robotic interventions involve the use of medical imaging in tandem with robotics. SlicerROS2 is a software module that combines 3D Slicer and robot operating system (ROS) in pursuit of a standard integration approach for medical robotics research. The first release of SlicerROS2 demonstrated the feasibility of using the C++ API from 3D Slicer and ROS to load and visualize robots in real time. Since this initial release, we've rewritten and redesigned the module to offer greater modularity, access to low-level features, access to 3D Slicer's Python API, and better data transfer protocols. In this paper, we introduce this new design as well as four applications that leverage the core functionalities of SlicerROS2 in realistic image-guided robotics scenarios.
Authors
- Russell H. Taylor (ORCID: https://orcid.org/0000-0001-6272-1100)
- Axel Krieger (ORCID: https://orcid.org/0000-0001-8169-075X)
- Peter Kazanzides (ORCID: https://orcid.org/0000-0002-6117-5467)
- Laura Connolly (ORCID: https://orcid.org/0009-0005-8675-160X)
- Anton Deguet (ORCID: https://orcid.org/0000-0003-3856-2095)
- Lidia Al-Zogbi (ORCID: https://orcid.org/0000-0001-9905-9325)
- Simon Léonard (ORCID: https://orcid.org/0000-0001-6429-4755)
- Junichi Tokuda (ORCID: https://orcid.org/0000-0003-2358-7484)
- Gábor Fichtinger (ORCID: https://orcid.org/0000-0002-6354-262X)
- Aravind Kumar (ORCID: https://orcid.org/0000-0002-4626-4752)
- Kapi Ketan Mehta
- Parvin Mousavi
Institutions
- Brigham and Women's Hospital (US)
- Johns Hopkins University (US)
- Queen's University (CA)
Publication Details
- Journal
- IEEE Transactions on Medical Robotics and Bionics
- Published
- 2024-09-20
- DOI
- https://doi.org/10.1109/tmrb.2024.3464683
- Citations
- 4
- Primary Topic
- Advanced X-ray and CT Imaging
- Type
- article
- Field-Weighted Citation Impact
- 0.74
Funders
- Johns Hopkins University
- Queen's University
- Mitacs
- Vector Institute
- National Institutes of Health
- Canadian Institutes of Health Research
- Natural Sciences and Engineering Research Council of Canada