An accessible, hands-on tutorial system for image-guided therapy and medical robotics using a robot and open-source software

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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.
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minus NOTE: MAINTAINANCE OF THIS PROJECT by Danielle Pace on 01-18-2008 for revision #7
starstarstarstarstar expertise: 3 sensitivity: 5

Please note that this submission contains documents (including source code, documentation, tutorial slides, etc) that were up-to-date as of October 2007.

Continuted improvements and updates to this project will be maintained on the NA-MIC wiki at:

and will not be reflected on this page.  Please refer to the website above for the most current files.

-Danielle Pace


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plus A great low cost tool for education,.. by Miguel Angel Rodriguez-Florido on 10-02-2007 for revision #3
starstarstarstarstar expertise: 3 sensitivity: 5
plus LEGO Robots for Needle Biopsies: Cost-effective, educational fun for all ages! by Stephen Aylward on 09-10-2007 for revision #3
starstarstarstarstar expertise: 3 sensitivity: 5
plus Great Project -- Nothing more to say by David Holmes on 09-06-2007 for revision #2
starstarstarstarstar expertise: 2 sensitivity: 5
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Categories: Data, IO, Registration, Transforms
Keywords: image-guided therapy, robotics, dissemination, education, LEGO Mindstorms NXT, 3D Slicer
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