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Kevin Cleary PhD Director of ISIS Center, Georgetown University

Kevin Cleary PhD Director of ISIS Center, Georgetown University. Architecture. IGSTK is built on other widely used open source toolkits, such as ITK, VTK, FLTK, and Qt

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Kevin Cleary PhD Director of ISIS Center, Georgetown University

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  1. Kevin Cleary PhD Director of ISIS Center, Georgetown University

  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 Open Source Workshop, CARS 2008, Barcelona

  3. Layered Architecture Open Source Workshop, CARS 2008, Barcelona

  4. 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

  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.

  6. State Machine Visualization and Validation Image courtesy of Kevin Gary, Arizona State University

  7. Tracker GUI Tick Tick View1 TrackerTool 1 TrackerTool 2 View2 TrackerTool 3 Object Representation View3 Spatial Object View4 Object Representation Timing and Synchronization 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.

  8. 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 The complex scene graph structure of an image-guided surgery procedure involving using multiple images Coordinate systems involved in a typical Image-guided surgery

  9. Scene Graph Visualization Scene graph can be output to a dot file or use FLTK widget for visualization Visualization using FLTK widget developed by Arizona State Univ. Visualization using dot from Graphviz package

  10. Oblique Reslicing Image courtesy of Frank Lindseth, SINTEFF, Norway

  11. VideoGrabber Incorporating video stream into IGT applications Image courtesy of Frank Lindseth, SINTEFF, Norway

  12. OpenIGTLink Slicer MRML Scene MRML Transform Node MRML Model IGSTK Tracker TrackerTool TransformObserver Tracker OpenIGTLink OpenIGTLink Socket Transmission Record Record • 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 Image courtesy of Luis Ibanez, Kitware Inc.

  13. Various Applications • Robot-assisted needle placement • Vetebroplasty • Radiofrequency ablation

  14. Various Applications Cont. • Needle Biopsy • CT/US Navigation

  15. 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

  16. Luti(Neurosurgery system developed using IGSTK) Image courtesy of Sebastian Ordas Luti Image-Guided Navigation System (Ideuno, Argentina)

  17. NDI showing IGSTK demo in conferences

  18. Focus of development • Technical • User support • Extend support for tracker • Develop example applications • Expand video imager class • Clinical • IGSTK Bronchoscopy • IGSTK Laparoscopy

  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

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