{"version":1,"kind":"Article","sha256":"","slug":"171","location":"","dependencies":[],"doi":"10.54294/ovqsl0","frontmatter":{"title":"An accessible, hands-on tutorial system for image-guided therapy and medical robotics using a robot and open-source software","abstract":"This paper describes a new open-source tutorial for image-guided therapy (IGT) and medical robotics that is both accessible and hands-on using the LEGO Mindstorms NXT (a commercially available robotics kit) and 3D Slicer (an open-source application for medical image processing). The tutorial covers all stages of a typical IGT or medical robotics procedure, including the concepts of imaging, preoperative planning, targeting and tracking, navigation and registration, by using the LEGO robot to perform a “needle biopsy” on a phantom (anatomical model) made of traditional LEGO pieces. In addition, this paper describes a C++ library that allows direct control of a LEGO Mindstorms NXT robot from a Linux computer over a USB connection.","license":"You are licensing your work to Kitware Inc. under the\nCreative Commons Attribution License Version 3.0.\n\nKitware Inc. agrees to the following:\n\nKitware is free\n * to copy, distribute, display, and perform the work\n * to make derivative works\n * to make commercial use of the work\n\nUnder the following conditions:\n\\\"by Attribution\\\" - Kitware must attribute the work in the manner specified by the author or licensor.\n\n * For any reuse or distribution, they must make clear to others the license terms of this work.\n * Any of these conditions can be waived if they get permission from the copyright holder.\n\nYour fair use and other rights are in no way affected by the above.\n\nThis is a human-readable summary of the Legal Code (the full license) available at\nhttp://creativecommons.org/licenses/by/3.0/legalcode","keywords":["robotics","image-guided therapy","dissemination","3D Slicer","LEGO Mindstorms NXT","education"],"authors":[{"name":"Pace, Danielle F.","email":"danielle.pace@kitware.com","affiliations":["Kitware Inc"],"corresponding":true},{"name":"Kikinis, Ron","email":"kikinis@bwh.harvard.edu","affiliations":[]},{"name":"Hata, Nobuhiko","affiliations":[]}],"date_submitted":"2007-07-01T00:00:00Z","external_publication_id":171,"revision_cids":["bafkreidfxjw7czv7wmthzrtwvapmfd4owuiuugw4ntnvn5v2vtf3gk5rlm"]},"mdast":{"type":"root"},"downloads":[{"url":"https://pub.desci.com/ipfs/bafkreicqj7svzupkmrsj2zg5uew42x36bgwmh7krauj7neosm7x5gmfr5y","title":"root/code/NXT_USB/NXT_USB.cxx","filename":"NXT_USB.cxx","extra":{"size_bytes":16667,"type":"file"}},{"url":"https://pub.desci.com/ipfs/bafkreia6txapzljj252xejnxzz5jxyi73o5k4qyr6lu45nosbq7ecfs7lu","title":"root/code/NXT_USB/NXT_USB.h","filename":"NXT_USB.h","extra":{"size_bytes":3675,"type":"file"}},{"url":"https://pub.desci.com/ipfs/bafkreiarf6hlx2gd5hig5gkinta4tkdh7u7p47akxbi3ccbr63xx6rbbri","title":"root/code/NXT_USB/NXT_USB_linux.cxx","filename":"NXT_USB_linux.cxx","extra":{"size_bytes":7797,"type":"file"}},{"url":"https://pub.desci.com/ipfs/bafkreihhrkmhltxlejamoiocvlimccdwsqykfcdnlwdh4uom657fo6pzsi","title":"root/code/NXT_USB/NXT_USB_linux.h","filename":"NXT_USB_linux.h","extra":{"size_bytes":2928,"type":"file"}},{"url":"https://pub.desci.com/ipfs/bafkreignowtmks6qtoqkvbo25kewfggzuhfsp55dtni6fhomyiwdbta3ua","title":"root/code/NXT_USB/README.txt","filename":"README.txt","extra":{"size_bytes":1052,"type":"file"}},{"url":"https://ipfs.desci.com/ipfs/bafkreifmvdrxz2nv27bygez5rwnmrgyopmixqi523sk2kmvptn3dnx22ny","title":"root/insight-journal-metadata.json","filename":"insight-journal-metadata.json","extra":{"size_bytes":19573,"type":"file"}},{"url":"https://ipfs.desci.com/ipfs/bafkreicvvawjfq7fo5sh2v3nxobx7iubsbllkbwqwucszvrdar2dj4dlri","title":"root/reviews.md","filename":"reviews.md","extra":{"size_bytes":8760,"type":"file"}},{"url":"https://dweb.link/ipfs/bafybeieuherpoldc2g7afkzvvuyfmgtnxz3jlmslan4ov34qnsgta6ubni","title":"root/article.pdf","filename":"article.pdf","extra":{"size_bytes":3993031,"type":"file"}}],"references":{"cite":{"order":["ref1","ref2","ref3","ref4","ref5","ref6","ref7","ref8","ref9","ref10","ref11","ref12","ref13","ref14","ref15","ref16","ref17","ref18","ref19","ref20","ref21","ref22","ref23","ref24","ref25"]},"data":{"ref1":{"label":"ref1","enumerator":"1","url":"https://doi.org/10.1016/j.neuroimage.2007.04.026","html":"Challenges in Image-Guided Therapy System Design+NeuroImage+37+Suppl 1+S144+S151+2007+S. 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