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Slicer IGT and Open IGT Link

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Prostate (brachytherapy, biopsy) Liver and kidney (Microwave, Cryo, laser ablation) ... Segmentation tool for Brachytherapy Planning and Biopsy. Navigation for Biopsy ... – PowerPoint PPT presentation

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Title: Slicer IGT and Open IGT Link


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
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

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
  • DelNido BRP
  • Surgical robotics research community

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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