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Slicer IGT and Open IGT Link

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.

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Slicer IGT and Open IGT Link

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  1. Slicer IGT and Open IGT Link Nobuhiko Hata, PhD Sandy Wells, PhD Computation Core

  2. 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

  3. Slicer in IGT • To facilitate application of state-of-art medical image processing in IGT • IGT specific extension to support this translation

  4. 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)

  5. MRg Prostate Therapy • Segmentation tool for Brachytherapy Planning and Biopsy • Navigation for Biopsy • Future FUS and Robot Applications

  6. 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

  7. 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

  8. 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

  9. 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 NA-MIC programming event (Jan, 2008) • Initial implementation by NIH-funded IGT researchers in Spring 2008

  10. Real-Time • Image Controller • image recon • plane control SPLOT SPLOT An example: MRg Prostate intervention • Commercial Software • Interface • image visualization • planning • biopsy targets • rad. dose • brachy. seed targets • image registration • Pre-op ↔ intra-op • multi-parametric (SSM) • interventional image visualization (in room) • RT image processing • robot localization • Robot calibration • needle localization • seed localization DICOM Server (?) MRI Host MRI Scanner Raw Data Server SPLOT SPLOT RSP Modifier SPLOT Image Processor (?) Robot Controller Robotic Manipulator Driver Control Interface   ? • Research Interface • Image visualization • Planning (biopsy targets) • Image registration (pre ↔ intra) • Interventional visualization • RT image processing (fiducial)

  11. Endorsement by IGT research community Surgical robotics research community DelNido BRP

  12. 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)

  13. Intra-operative Seeding of Tractography • Use tracking device to • Seed tractography at the location of neurosurgical lesion • Internal collaboration with Neurosurgery Core

  14. 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

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