Robot assisted needle placement application
--------------------------------------------
              July 10, 2006

Patrick Cheng         : cheng@isis.georgetown.edu
Andinet Enquobahrie   : andinet.enqu@kitware.com
 
This package contains IGSTK, FLTK, the robot application source code 
and a sample data. The source tree has a cmake list file in the top level which
builds IGSTK and FLTK before building the application. To build the application, 
you need to have ITK (version 2.6 or later ) and VTK ( version 5.0 or later ) 
build in your machine.  

How to build the application.
  1. Run CMake on top level 
  2. Point Cmake to your ITK and VTK build
  3. Configure and build the application.

The robot application executable is "DeckOfCardRobot" and will be generated in the bin subdirectory 
of your project.

How to use the application.
  1. Run the executable 
  2. Load the dicom images in the Data subdirectory 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. Reviewers with no deck of cards robot might not be able to test  
      the functions in the "Robot Control" box.