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System Architecture

System Diagram

alternative text

ROS 2 Messages

Component Topic Message Type Description Coordinate Frame
System /subject/state/target geometry_msgs/msg/Point The target point in the subject; defined on intraoperative images. Stage
Compensation /needle/state/skin_entry geometry_msgs/msg/Point The needle entry point on the skin in the needle coordinate frame Needle
/needle/cmd/pose geometry_msgs/msg/Pose The desired needle pose in the needle coordinate frame. In this implementation, the pose is defined only by the needle insertion length (Z) and the rotation about the Z-axis. Needle
/stage/cmd/pose geometry_msgs/msg/Pose The desired stage pose in the stage coordinate frame. In this implementation, the pose is defined only by x- and y- translations. (ztranslation and rotations are zero). Stage
/needle/compensation/delta geometry_msgs/msg/Pose The desired shift of the stage to compensate for the current deviation. In this implementation, the shift is defined only by x- and ytranslations. Needle
Shape model /needle/state/predicted_shape geometry_msgs/msg/PoseArray The predicted needle shape as an array of positions and directions (i.e., poses) of needle sections (0.5-mm increment). Not Implemented Stage
/needle/state/current_shape geometry_msgs/msg/PoseArray The estimated needle shape as an array of positions and directions (i.e., poses) of needle sections (0.5-mm increment). Stage
/needle/sensor/raw std_msgs/msg/Float64MultiArray Raw FBG sensor data Needle
/needle/sensor/processed std_msgs/msg/Float64MultiArray Processed FBG sensor data Needle
/needle/state/curvatures std_msgs/msg/Float64MultiArray Curvatures measured from each of the active areas. Needle
Stage /stage/state/needle_pose geometry_msgs/msg/PoseStamped The needle pose in the stage coordinate frame. In this implementation, the pose is defined by x- and z- positions, the needle insertion depth (y) and the rotation about the y-axis. Stage
/stage/position/axis/x std_msgs/msg/Float32 The current position of the X-axis linear stage of the robot. Robot
/stage/position/axis/y std_msgs/msg/Float32 The current position of the Y-axis linear stage of the robot. Robot
/stage/position/axis/z std_msgs/msg/Float32 The current position of the Z-axis linear stage of the robot. Robot
/stage/position/axis/linear_stage std_msgs/msg/Float32 The current position of the appended X-axis linear stage of the robot. Robot
/stage/axis/state/on/x std_msgs/msg/Bool The current state of if the X-axis linear stage of the robot is on. Robot
/stage/axis/state/on/y std_msgs/msg/Bool The current state of if the Y-axis linear stage of the robot is on. Robot
/stage/axis/state/on/z std_msgs/msg/Bool The current state of if the X-axis linear stage of the robot is on. Robot
/stage/axis/state/on/linear_stage std_msgs/msg/Bool The current state of if the appended X-axis linear stage of the robot is on. Robot
/stage/axis/state/moving/x std_msgs/msg/Bool The current state of if the X-axis linear stage of the robot is moving. Robot
/stage/axis/state/moving/y std_msgs/msg/Bool The current state of if the Y-axis linear stage of the robot is moving. Robot
/stage/axis/state/moving/z std_msgs/msg/Bool The current state of if the X-axis linear stage of the robot is moving. Robot
/stage/axis/state/moving/linear_stage std_msgs/msg/Bool The current state of if the appended X-axis linear stage of the robot is moving. Robot
/stage/axis/command/x std_msgs/msg/Float32 Command of the position for the X-axis linear stage of the robot. Robot
/stage/axis/command/y std_msgs/msg/Float32 Command of the position for the Y-axis linear stage of the robot. Robot
/stage/axis/command/z std_msgs/msg/Float32 Command of the position for the Z-axis linear stage of the robot. Robot
/stage/axis/command/linear_stage std_msgs/msg/Float32 Command of the position for the appended X-axis linear stage of the robot. Robot
Camera /camera/left/camera_info sensor_msgs/msg/CameraInfo Camera Intrinsic and extrinsic parameters for left camera. Camera
/camera/left/image_raw sensor_msgs/msg/Image Raw image published for left camera. Camera
/camera/left/image_mono sensor_msgs/msg/Image Grayscale image published for left camera. Camera
/camera/left/image_color sensor_msgs/msg/Image Color image published for left camera. Camera
/camera/left/image_rect sensor_msgs/msg/Image Rectified Grayscale image published for left camera. Camera
/camera/left/image_rect_color sensor_msgs/msg/Image Rectified Color image published for left camera. Camera
/camera/right/camera_info sensor_msgs/msg/CameraInfo Camera Intrinsic and extrinsic parameters for right camera. Camera
/camera/right/image_raw sensor_msgs/msg/Image Raw image published for right camera. Camera
/camera/right/image_mono sensor_msgs/msg/Image Grayscale image published for right camera. Camera
/camera/right/image_color sensor_msgs/msg/Image Color image published for right camera. Camera
/camera/right/image_rect sensor_msgs/msg/Image Rectified Grayscale image published for right camera. Camera
/camera/right/image_rect_color sensor_msgs/msg/Image Rectified Color image published for right camera. Camera

Coordinate Systems

Frame X-Axis Y-Axis Z-Axis Positive Directions (X,Y,Z)
Needle Orthonormal to Y-Z axes In upwards direction of the bevel-tip Along Needle's axis (Left from bevel, Up from bevel, forward/insert)
Robot Along needle's axis Along horizontal insertion plane Along vertical insertion plane (forward/insert, left, up)
Stage Along horizontal insertion plane Along needle's axis Along vertical insertion plane (right, forward/insert, up) Need to check
Camera Defined per camera Defined per camera Defined per camera Defined per camera