Transcript Slicer IGT and Open IGT Link Nobuhiko Hata, PhD Sandy Wells, PhD

Slicer IGT and Open IGT Link
Nobuhiko Hata, PhD
Sandy Wells, PhD
Computation Core
National Center for Image-Guided Therapy
www.ncigt.org
Surgical Planning Lab,
Harvard Medical School
Surgical Navigation
and Robotics
Laboratory
National Alliance for Medical
Image Computing
Intelligent Surgical Instrument
Project, Japan
Slicer in IGT
• To facilitate application of
state-of-art medical image
processing in IGT
• IGT specific extension to
support this translation
Software Design
• To maximize function commonalities
among applications
– Brain (biopsy, craniotomy, NdYAG laser ablation)
– Prostate (brachytherapy, biopsy)
– Liver and kidney (Microwave, Cryo, laser ablation)
– Endoscopy (broncho-, neuro-, feto-scopy)
MRg Prostate Therapy
• Segmentation tool
for Brachytherapy
Planning and
Biopsy
• Navigation for
Biopsy
• Future FUS and
Robot
Applications
Slide 5
Role of Slicer in MRg Prostate Therapies
•DICOM image transfer
•Planning
•Scanner control
•Rigid and non-rigid
image registration
Pre-op MRI
+Pre-procedural MRI
+Intra-procedural MRI
Radiology 220(1), 263-268, 2001
MR-guided laser ablation
• MRI Thermal image reconstruction in
3D Slicer
• Guidance with thermal images to
minimize “uncooked” lesion
• New 3D temperature mapping from
Imaging Core to be implemented in
the future
Movie prepared by Hata
Slide 7
MR-guided neurosurgery
• MRI-guided brain tumor surgery guided
with fMRI and diffusion tensor
tractography
• Toward Spatial Neuroinformatics for
Functional Localization (P.I. Wells)
Movie prepared by Hata, Warfield, Golby
Slide 8
Open IGT Link
• Inter-device communication
mechanism
•
•
•
Enables exchange of coordinates,
images, control commands
Open protocol
History
– Needs indentified during IGT
Programming event in Dec, 2008
– Design discussion during a NAMIC programming event (Jan,
2008)
– Initial implementation by NIHfunded IGT researchers in Spring
2008
An example: MRg Prostate intervention
Commercial Software
Interface
• interventional image
visualization (in room)
• RT image processing
• robot localization
• Robot calibration
• needle localization
• seed localization
?
Research Interface
Image visualization
Planning (biopsy targets)
Image registration (pre ↔ intra)
Interventional visualization
RT
processing (fiducial)
Slide image
10
Raw Data
Server
RSP
Modifier
SPLOT
Real-Time
Image Controller
• image recon
• plane control
SPLOT
• image registration
• Pre-op ↔ intra-op
• multi-parametric (SSM)
SPLOT
• planning
• biopsy targets
• rad. dose
• brachy. seed targets
SPLOT
• image visualization
MRI
Host
SPLOT
DICOM
Server (?)
MRI
Scanner
Image
Processor (?)
Robot
Controller
Robotic
Manipulator
Driver Control
Interface

Endorsement by IGT research
community
Surgical robotics research
community
DelNido BRP
Open IGT Link and IGSTK
– IGSTK is a software interface to commercial trackers
• NDI Polaris, NDI Aurora, Ascension Flock of Birds, and
Ascension Microbird
– IGSTK has Open IGT Link interface.
– Access to all IGSTK supported devices in Slicer 3
– Work was done by Kitware, Georgetown, SPL with
funding from NA-MIC collaboration grant (PI Cleary)
Intra-operative Seeding of Tractography
• Use tracking device to
– Seed tractography at the
location of neurosurgical
lesion
• Internal collaboration with
Neurosurgery Core
Conclusion
• 3D Slicer
– Useful tool for IGT software development
– Facilitates collaboration and dissemination
• Open IGT Link
– New development from Year 3
– Community building for IGT scientists working with variety
of vendors and applications
• Future Plan
– Continuing effort to extend Slicer 3 for new IGT
– Service/dissemination