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13 March 2009An open-source framework for testing tracking devices using Lego Mindstorms
In this paper, we present an open-source framework for testing tracking devices in surgical
navigation applications. At the core of image-guided intervention systems is the tracking interface
that handles communication with the tracking device and gathers tracking information. Given that
the correctness of tracking information is critical for protecting patient safety and for ensuring the
successful execution of an intervention, the tracking software component needs to be thoroughly
tested on a regular basis. Furthermore, with widespread use of extreme programming methodology
that emphasizes continuous and incremental testing of application components, testing design
becomes critical. While it is easy to automate most of the testing process, it is often more difficult to
test components that require manual intervention such as tracking device.
Our framework consists of a robotic arm built from a set of Lego Mindstorms and an open-source
toolkit written in C++ to control the robot movements and assess the accuracy of the tracking
devices. The application program interface (API) is cross-platform and runs on Windows, Linux and
MacOS.
We applied this framework for the continuous testing of the Image-Guided Surgery Toolkit
(IGSTK), an open-source toolkit for image-guided surgery and shown that regression testing on
tracking devices can be performed at low cost and improve significantly the quality of the software.
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Julien Jomier, Luis Ibanez, Andinet Enquobahrie, Danielle Pace, Kevin Cleary, "An open-source framework for testing tracking devices using Lego Mindstorms," Proc. SPIE 7261, Medical Imaging 2009: Visualization, Image-Guided Procedures, and Modeling, 72612S (13 March 2009); https://doi.org/10.1117/12.812226