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SlicerSOFA - SlicerROS2 Integration

Key Investigators

• Eléonore Germond (IMT Atlantique, France)
• Rafael Palomar (Oslo University Hospital, Norway)
• Paul Baksic (Inria, France)
• Steve Pieper (Isomics Inc., US)
• Junichi Tokuda (Brigham and Women's Hospital, US)
• Laura Connolly (Queen's University, Canada)
• Anton Deguet (Johns Hopkins University, US)

Project Description

SlicerSOFA and SlicerROS2 are two 3D Slicer extensions that bridge mechanical simulations and robotic applications with 3D Slicer. Their recent addition to the 3D Slicer ecosystem opens up new possibilities for developing robotic applications that simulate interactions with medical environments.

In this project, we aim to create a proof-of-concept integration where a Phantom Omni, controlled by SlicerROS2, interacts with a soft organ through SlicerSOFA. We will examine and discuss aspects such as the interface between ROS and SOFA, as well as performance considerations, to guide the future development of robotic applications that integrate simulated environments in 3D Slicer.

(source: https://github.com/rosmed/slicer_ros2_module)

Objective

1. Objective A: Creating a 3D Slicer-based setup including SlicerROS2 and SlicerSOFA, able to provide with interaction between a robot model and a soft organ

Approach and Plan

1. Setting up a base 3D Slicer, SlicerROS2 and SlicerSOFA.
2. Loading a Phantom Omni robot model (https://slicer-ros2.readthedocs.io/en/latest/pages/robot-visualization.html#phantom-omni).
3. Creating a SOFA simulation for interaction between the robot and a soft organ.
4. Bridging the robot manipulation with the simulation using SlicerSOFA.

Progress and Next Steps

1. Describe specific steps you have actually done.

Illustrations

No response

Background and References

• Connolly L, Kumar AS, Mehta KK, Al-Zogbi L, Kazanzides P, Mousavi P, Fichtinger G, Krieger A, Tokuda J, Taylor RH, Leonard S, Deguet A. SlicerROS2: A Research and Development Module for Image-Guided Robotic Interventions. IEEE Trans Med Robot Bionics. 2024 Nov;6(4):1334-1344. doi: 10.1109/TMRB.2024.3464683
• SawSensablePhantom repository: https://github.com/jhu-saw/sawSensablePhantom
• Phantom Omni in SlicerROS2: https://slicer-ros2.readthedocs.io/en/latest/pages/robot-visualization.html#phantom-omni
• SlicerSOFA repository: https://github.com/Slicer/SlicerSOFA