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, TrackingDataElement, TrackingInstrumentType};
use openigtlink_rust::protocol::message::IgtlMessage;
use openigtlink_rust::io::ClientBuilder;

let mut client = ClientBuilder::new()
    .tcp("127.0.0.1:18944")
    .sync()
    .build()?;

// Tool 1: Scalpel
let scalpel = TrackingDataElement::with_translation(
    "Scalpel",
    TrackingInstrumentType::Instrument5D,
    100.0,  // X translation: 100mm
    50.0,   // Y translation: 50mm
    200.0   // Z translation: 200mm
);

// Tool 2: Probe
let probe = TrackingDataElement::with_translation(
    "Probe",
    TrackingInstrumentType::Instrument6D,
    150.0,
    75.0,
    180.0
);

let tdata = TDataMessage::new(vec![scalpel, probe]);
let msg = IgtlMessage::new(tdata, "OpticalTracker")?;
client.send(&msg)?;

Receiving Tracking Data at 60Hz

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

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

loop {
    let message = client_conn.receive::<TDataMessage>()?;

    for element in &message.content.elements {
        let x = element.matrix[0][3];
        let y = element.matrix[1][3];
        let z = element.matrix[2][3];

        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