index.md

System Architecture

System Diagram

Old diagram can be found on Miro

List of ROS Messages

Component	Topic/Action	Message Type	Description	Coordinate Frame
UI	/subject/state/skin_entry	geometry_msgs/msg/Point	The needle entry point on the skin; measured by intraoperative images.	Stage
	/subject/state/target	geometry_msgs/msg/Point	The target point in the subject; defined on intraoperative images.	Stage
	/stage/cmd/parameters	std_msgs/msg/String	TBD
	/stage/cmd/control	std_msgs/msg/String	TBD
	/needle/state/skin_entry	geometry_msgs/msg/Point	The needle entry point on the skin in the needle coordinate frame	Needle
Trajectory control	/move_stage (Action)	stage_control_interfaces/action/MoveStage	The desired stage pose in the stage coordinate frame. In this implementation, the pose is defined only by x- and z- translations, while y-translation (insertion depth) and rotations are zero.	Stage
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 (5-mm increment).	Needle
	/needle/state/shape	geometry_msgs/msg/PoseArray	The estimated needle shape as an array of positions and directions (i.e., poses) of needle sections (5-mm increment).	Needle
	/sensor/state/raw	TBD	Raw FBG sensor data	N/A
	/sensor/state/raw	TBD	Processed FBG sensor data	N/A
Stage	/needle/state/pose	geometry_msgs/msg/PoseStamped	The needle pose. In this implementation, the pose is defined only by the needle insertion length (z) and the rotation about the z-axis.	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 the needle guide position (x and z), needle insertion length (y) and the rotation about the y-axis.	Stage
	/stage/state/pose	geometry_msgs/msg/Pose	The pose of the stage. In this implementation, the pose is defined only by x- and y- translations. (z-translation and rotations are zero).	Stage

Coordinate Systems