soooooda69 / twin-s

RoboMaster

Author: Ruixing Liang ([email protected]) Hongchao Shu ([email protected])

Introduction

We present a digital twin framework for skull base surgery named Twin-S. It models and tracks the critical components of skull-base surgery, including the surgical tool, patient anatomy, and surgical camera. Significantly, Twin-S updates patient anatomy to account for the real-world tool to tissue interactions in real-time.

Demo

Usage

To run our project as a whole requires you to implement many adaptations based on your current hardware API. For instance, Camera Acquisition Pipelines and Optical Tracker may be faced a large fix if we are using different platform when you are pursuing the equivalent accuracy as we have evaluated.

Except for VR part, test and evaluations have been tested on three main streams including Windows OS, Mac OS, Ubuntu 20.04, 18.04, etc. VR part explicitly has been tested on Ubuntu 16.04 and Ubuntu 18.04 and Mac Mojave without ROS support. For better usage we simply recommend you to use docker to pull our image and run your container.

Quicker Start

1. Download and Configure Docker

Complete Build

1. Create AMBF Framework and Set it up

sudo apt install libasound2-dev libgl1-mesa-dev xorg-dev
cd ~
git clone https://github.com/WPI-AIM/ambf.git
cd ambf && mkdir build
cd build
cmake ..
make
cd ..
git clone https://github.com/LCSR-SICKKIDS/volumetric_drilling
cd volumetric_drilling
mkdir build
cd build
cmake ..
make

2. Set up the Communication between ROS nodes in .bashrc

Citation

Please kindly wait until we have our results on our pub to cite our works. Thanks!