sksurgerybk.interface.bk5000 module

This module sets the connection to the BK scanner

class sksurgerybk.interface.bk5000.BK5000(timeout, frames_per_second)

Bases: object

This class sets the TCP connection with the BK scanner

clear_bytes_in_buffer(start, end)

Clear a set of bytes in bytearray buffer

Parameters:

• start (integer) – Start index
• end (integer) – End integer

connect_to_host(address, port)

Connects the client to the host/serverself.

Implements a try/except block to catch potential errors.

Parameters: address(string): the IP address port(integer): the port

decode_image()

Process the stream of data received from the BK5000 and convert it into a numpy array which represents the ultrasound image.

Control bytes are 1, 4 and 27. Flipped control bytes (1s complement of control bytes) are 254, 251, 228. Any time a flipped control bytes occurs after a 27, the value should be flipped and the preceding 27 deleted. See page 9 of 142 in BK doc PS12640-44 for further details.

disconnect_from_host()

Disconnects the client from the host.

If the socket is already closed, a recv() call will throw an error. If it doesn’t, we can close the socket.

enable_rgb_output()

The ‘QUERY:GRAB_FRAME “ON”` gets the BK to stream greyscale data (e.g. 640 x 480 x 1),

some applications might want this in RGB format (640 x 480 x 3)

find_first_a_not_preceded_by_b(start_pos, a, b)

Find the first instance of ‘a’ in an array that isn’t preceded by ‘b’

Parameters:

• start_pos (integer) – Index in array to begin search at
• a (integer) – Value to find
• b (integer) – Value not to precede a

Returns:

Index of first a not preceded by b, -1 if none found

Return type:

integer

generate_command_message(message)

Append 0x01 and 0x04 to start/end of message before sending

Parameters: message(string): the message to be sent

get_frame()

Get the next frame from the BK5000.

parse_scanarea_message()

Separate the scanarea response msssage into the separate components.

Message has format: <StartLineX>,<StartLineY>,<StartLineAngle>,<StartDepth>, <StopLineX>,<StopLineY>,<StopLineAngle>,<StopDepth>

Example message: DATA:B_GEOMETRY_SCANAREA:A 0.0017218,-0.000171398, 1.37236,0,-0.00174855,-0.000176821,1.77236,0.0203479;

parse_win_size_message(message)

Extrack the size of the US window from the response message

Message has format “DATA:US_WIN_SIZE 640,480;”

Parameters: message(string): the received message

query_scanarea()

Query the BK5000 for the scan area. (width/height/scanning depth etc.)

query_win_size()

Query the BK5000 for the window/image size

receive_image()

Scan the incoming data stream to find the start and end of the image data.

See BK doc PS12640-44 for further details.

receive_response_message(expected_size=1024)

Receive a message

Stores it under the data class member

Parameters: expected_size(int): the receive message size in bytes

request_stop()

Set the appropriate class member

send_command_message(message)

Send a message through the socket.

Implements a couple of checks to verify the message has been sent correctly.

Parameters: message(string): the message to be sent

start_streaming()

Send a message to start the streaming

stop_streaming()

Send a message to stop the streaming. send_command_message and receive_response_message will throw errors if there is a problem with the socket connection.

class sksurgerybk.interface.bk5000.BKOpenCV(TCP_IP='128.16.0.3', TCP_PORT=7915, TIMEOUT=5, FPS=25)

Bases: object

Display BK data using OpenCV.

start()

Start acquisiton/streaming.

class sksurgerybk.interface.bk5000.BKpyIGTLink(TCP_IP='128.16.0.3', TCP_PORT=7915, TIMEOUT=5, FPS=8)

Bases: object

Send BK data over OpenIGTLink.

start()

Start acquisiton/streaming.

stop()

Stop acquisition/streaming.

sksurgerybk.interface.bk5000.main()

Entry point for OpenCV/pyIGTLink.