The source code of the robot application is in the "/IGSTK/Examples/DeckOfCardRobot" directory.
When you build the application, there will be a "DeckOfCardRobot.exe" in your build directory.
Run that program and load the data in "/Data" directory.

How to build the application.
  1. Run CMake on "/FLTK" and build the project
  2. Run CMake on "/IGSTK" and build the project, it will ask you for ITK, VTK, and FLTK binary directories

How to use the application.
  1. Run the executable
  2. Load the dicom images "/Data" directory
  3. After loading the image, you will see the three slice view of the data and a volume rendering
     The needle holder (yellow cylinder), needle (green cyliner), and purple robot working region (purple square)
     are located in the origin of the image, which is not registered
  4. Click on registration button, it will take about 30 seconds, the robot space will be registered with
     image space. The needle holder will be overlayed on top of the image.
  5. You can then click on the image slice and set the target or entry points
  6. If the planed path is reachable by the robot, a path will be drawn in the scene, and the robot needle holder
     will align with the planned path.
  7. You can also do a fly though of the planed path, using the slider on the bottom of the volume rendering window.
     The slice view image will automatically reslice itself according to the position of the needle tip
  8. Because there is no robot available for the reviewers, the functions in the "Robot Control" box might not be tested

Patrick Cheng
cheng@isis.georgetown.edu