Integration of SlicerSOFA and SlicerROS2

[RafaelPalomar]

Project Description

SlicerSOFA and SlicerROS2 are two 3D Slicer extensions that connect mechanical simulations and robotic applications with 3D Slicer. The recent inclusion of these extensions into the 3D Slicer ecosystem introduces new opportunities for developing robot applications that consider their interactions with medical environments through simulations.

In this project, we aim to develop a proof-of-concept integration where a robot can be controlled via SlicerROS2 and interact with a simulated medical scene using SlicerSOFA. We will analyze and discuss aspects such as the interface between ROS and SOFA and performance considerations to guide future development of these projects and 3D Slicer.