IGSTK Architecture

1
IGSTK Architecture

• First, Do no Harm!

2
The Toolkit in a Nutshell

• Open Source Toolkit
• BSD-like License
• Written in C
• Based on ITK and VTK
• Focused on Robustness

3
Layer Architecture
IGS - APPLICATION
IGSTK
IGSTK FLTK Widget
IGSTK QT Widget
ITK
VTK
FLTK
QT
OpenGL
VNL
GDCM
Threads, XML,
4
Main Categories of Components
Infrastructure
Geometry Representation
Trackers
Viewers
Images Readers
5
General Interactions
Tracker
GUI
Tick
Tick
View1
TrackerTool 1
TrackerTool 2
View2
TrackerTool 3
Object Representation
View3
Spatial Object
View4
Object Representation
6
Event Passing
Reader
Representation
AddObserver( transducer )
RequestGetImage()
GetImageProcessing()
InvokeEvent( image ) / Execute()
GetImage()from event
ReportError()
InvokeEvent( error ) / Execute()
7
Event Class
ITK Event
IGSTK Event
TransformEvent
TimeStampEvent
StringEvent
8
Events Hierarchy and Macros
IGSTKEvent
PointEvent
PulseEvent
TransformModifiedEvent
RefreshEvent
StringEvent
CompletedEvent
UnsignedIntEvent
InputOutputErrorEvent
VTKImageModifiedEvent

• igstkEventMacro()
• igstkLoadedEventMacro()
• igstkLoadedObjectEventMacro()
• igstkLoadedTemplatedObjectEventMacro()
• igstkLoadedTemplatedConstObjectEventMacro()

9
Timing Control
Tick
Tick
Tracker
GUI
TrackerTool
Object Representation
View1
View2
Object Representation
Spatial Object
View3
Object Representation
View4
10
Coordinate Systems
View showing the scene from the point of view of
the MRI coordinate system. Tracker using
reference tool.
Tracker
RawT
Tracker Tool A
DICOM MRI
RawT
LRT
Tracker Tool B
DICOM CT
RawAT
IRT
CLT
View
CPT
IRT Registration Transform RawT Raw
Transform from Tracker CLT Calibration
Transform LRT Landmark Registration
Transform CPT Camera Position Transform NLT
Needle Local Transform
NLT
Needle So
CoordinateReferenceSystem class instance
11
The Moment of Zen
Number of Bugs ( Number of Features )2
(Number of Tests)
12
Do No Harm !