Module tdata 

TDATA (TrackingData) message type implementation

The TDATA message type is used to transfer 3D positions and orientations of surgical tools, markers, etc. using transformation matrices.

Use Cases

• Surgical Tool Tracking - Real-time tracking of multiple instruments (scalpel, probe, drill)
• Optical Tracking Systems - NDI Polaris, Atracsys, or similar optical trackers
• Electromagnetic Tracking - Aurora or Ascension electromagnetic trackers
• Surgical Navigation - Displaying tool positions relative to patient anatomy
• Multi-Tool Coordination - Tracking multiple tools simultaneously in robotic surgery

TDATA vs TRANSFORM

• TDATA: Array of named transforms, efficient for tracking multiple tools
• TRANSFORM: Single 4x4 matrix, simpler but requires multiple messages

Use TDATA when tracking ≥2 tools to reduce network overhead.

Examples

Tracking Multiple Surgical Instruments

use openigtlink_rust::protocol::types::{TDataMessage, TDataElement, InstrumentType};
use openigtlink_rust::io::IgtlClient;

let mut client = IgtlClient::connect("127.0.0.1:18944")?;

let mut tdata = TDataMessage::new();
tdata.set_device_name("OpticalTracker");

// Tool 1: Scalpel
let mut scalpel = TDataElement::new();
scalpel.name = "Scalpel".to_string();
scalpel.instrument_type = InstrumentType::Tool5Dof;
scalpel.matrix = [
    1.0, 0.0, 0.0, 100.0,  // X translation: 100mm
    0.0, 1.0, 0.0, 50.0,   // Y translation: 50mm
    0.0, 0.0, 1.0, 200.0,  // Z translation: 200mm
];

// Tool 2: Probe
let mut probe = TDataElement::new();
probe.name = "Probe".to_string();
probe.instrument_type = InstrumentType::Tool6Dof;
probe.matrix = [
    1.0, 0.0, 0.0, 150.0,
    0.0, 1.0, 0.0, 75.0,
    0.0, 0.0, 1.0, 180.0,
];

tdata.add_element(scalpel);
tdata.add_element(probe);

client.send(&tdata)?;

Receiving Tracking Data at 60Hz

use openigtlink_rust::io::IgtlServer;
use openigtlink_rust::protocol::types::TDataMessage;
use openigtlink_rust::protocol::message::Message;

let server = IgtlServer::bind("0.0.0.0:18944")?;
let mut client_conn = server.accept()?;

loop {
    let message = client_conn.receive()?;

    if message.header.message_type == "TDATA" {
        let tdata = TDataMessage::from_bytes(&message.body)?;

        for element in &tdata.elements {
            let x = element.matrix[3];
            let y = element.matrix[7];
            let z = element.matrix[11];

            println!("{}: position = ({:.2}, {:.2}, {:.2}) mm",
                     element.name, x, y, z);
        }
    }
}

Structs

TDataMessage

TDATA message containing multiple tracking data elements

TrackingDataElement

Tracking data element with name, type, and transformation matrix

Enums

TrackingInstrumentType

Instrument type for tracking data