Kevin Cleary PhD Director of ISIS Center, Georgetown University

CTK Workshop Heidelberg, June 29/30, 2009

6/25/2008Open Source Workshop, CARS 2008, Barcelona

2

Architecture

IGSTK is built on other widely used open source toolkits, such as ITK, VTK, FLTK, and Qt

IGSTK is designed as a collection of medium size components modeling different sub-systems in a image-guided intervention application

Safety is the first consideration during the design. Defensive Programming Safety by Design Software Verification High Code Coverage State Machine Programming

CTK Workshop Heidelberg, June 29/30, 2009

6/25/2008Open Source Workshop, CARS 2008, Barcelona

3

Layered Architecture

CTK Workshop Heidelberg, June 29/30, 2009

IGSTK Components

• Tracker / Tracker Tool• Spatial Objects / Representations• View / Widget• Image IO

• Coordinate system / Visualization• Registration• Calibration• Reslicing• Video Imager

• State Machine• Timing• Logging• Events

CTK Workshop Heidelberg, June 29/30, 2009

5

State Machine

State machine characteristics: Deterministic Behavior Preclude Wrong Use Robustness to Misuse Managing Complexity Traceability Suitability for Testing Consistent Documentation

A state machine is defined by a set of states, a set of inputs, and a set of transitions from one state to another. The motivation for introducing state machine to IGSTK is to improve the safety and robustness of the library.

CTK Workshop Heidelberg, June 29/30, 2009

6

Image courtesy of Kevin Gary, Arizona State University

State Machine Visualization and Validation

CTK Workshop Heidelberg, June 29/30, 2009

7

GUI

View1

View2

View3

View4

ObjectRepresentation

SpatialObject

Tracker

TrackerTool 1

TrackerTool 2

TrackerTool 3

ObjectRepresentation

Tick

Tick

Pulse generator (‘Tick’) updates View and Tracker at specific rates to ensure the information presented is timely and accurate.

Image courtesy of Luis Ibanez, Kitware Inc.

Timing and Synchronization

CTK Workshop Heidelberg, June 29/30, 2009

Scene Graph

Image-guided intervention could have a very complicated scene graph tree. To mange this complexity and provide flexibility, we created coordinate system API in IGSTK release 3.0

Coordinate systems involved in a typical Image-guided surgery

The complex scene graph structure of an image-guidedsurgery procedure involving using multiple images

CTK Workshop Heidelberg, June 29/30, 2009

Scene Graph Visualization

Scene graph can be output to a dot file or use FLTK widget for visualization

Visualization using dot from Graphviz package Visualization using FLTK widget developed by Arizona State Univ.

CTK Workshop Heidelberg, June 29/30, 2009

10

Oblique Reslicing

Image courtesy of Frank Lindseth, SINTEFF, Norway

CTK Workshop Heidelberg, June 29/30, 2009

VideoGrabber

Image courtesy of Frank Lindseth, SINTEFF, Norway

Incorporating video stream into IGT applications

CTK Workshop Heidelberg, June 29/30, 2009

OpenIGTLink

SlicerMRML Scene

MRML Transform NodeMRML Model

IGSTK Tracker

TrackerToolTransformObserver

OpenIGTLink OpenIGTLink

Record Record

Socket Transmission

Tracker

Image courtesy of Luis Ibanez, Kitware Inc.

OpenIGTLink is jointly developed by:

•Brigham & Women Hospital •Georgetown University, ISIS Center•John Hopkins University•Acousticmed•National Institute of Technology (Japan)

•Ministry of International Trade and Industry (Japan)•Insight Software Consortium•National Alliance for Medical Image Computing (NAMIC)•Kitware Inc

CTK Workshop Heidelberg, June 29/30, 2009

Various Applications

Robot-assisted needle placement

Vetebroplasty

Radiofrequency ablation

CTK Workshop Heidelberg, June 29/30, 2009

Various Applications Cont.

Needle Biopsy

CT/US Navigation

CTK Workshop Heidelberg, June 29/30, 2009

Lung Biopsy (Clinical Trial Using IGSTK)

Top: Screen shot of the application

Left: Confirm CT scan of the biopsy needle position

Filip Banovac, MD, Radiology, GUMC

CTK Workshop Heidelberg, June 29/30, 2009

Luti (Neurosurgery system developed using IGSTK)

Image courtesy of Sebastian Ordas

Luti Image-Guided Navigation System (Ideuno, Argentina)

CTK Workshop Heidelberg, June 29/30, 2009

NDI showing IGSTK demo in conferences

CTK Workshop Heidelberg, June 29/30, 2009

Focus of development

Technical User support Extend support for tracker Develop example applications Expand video imager class

Clinical IGSTK Bronchoscopy IGSTK Laparoscopy

CTK Workshop Heidelberg, June 29/30, 2009

19

Thank you!

PAPER: "IGSTK: An Open Source Software Toolkit for Image-Guided Surgery“

– IEEE Computer, April 2006 (Vol. 39, No. 4)

BOOK: " IGSTK - Image-Guided Surgery Toolkit – An Open Source C++ Library,”

2nd edition, For release 4.2

http://igstk.org/IGSTK/img/IGSTKTheBookV2.pdf

WEB: http://www.igstk.org

WIKI: http://public.kitware.com/IGSTKWIKI