grdwyer
commented
3 years ago Sorry for taking a while to reply
@tdowrick got it mostly spot on it's implants to reseal the skull after skull base surgery. The idea would be to use the stealth station to measure the defect created in surgery to then make the implant that will seal it.
What would be the best way to start this up? I'm happy to start having a look at making some ROS interfaces to the packages already up and running. A couple things that come to mind:
- Exposing the calibration algorithms from scikit-surgerycalibration as a service or possibly an action, pivot calibrations are used a fair amount for robot tool calibration and handeye is always useful.
- Interface for the NDI trackers
These are all more useful tools than a good use case though.
Me and @grdwyer had a bit of a chat about what we can do to start some ROS integration.
George's project involves robotics for creating facial implants in surgery, working with Hani (I'm sure he can explain more eloquently than me....), and most of his stuff is in ROS.
Creating this issue for some general brainstorming etc. So far we discussed:
Creating a python library for getting tracking data from the StealthStation. We have the C++ StealthLink libraries, so should be able to create a wrapper around these.
Getting an overview of what interfaces we might want to send data to/from ROS.
Using ROS lifecycle nodes to interface with hardware that isn't gauranteed to be switched on all the time. Seems to be only C++ support for now, so can keep an eye on it for Python support in future.
Keeping everything in ROS2. Most ROS libraries are slowly transitioning now. @MattClarkson @thompson318 @mianasbat