Slicer IGT and Open IGT Link

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Slicer IGT and Open IGT Link

• Nobuhiko Hata, PhD
• Sandy Wells, PhD
• Computation Core

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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
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Slicer in IGT

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

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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)

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MRg Prostate Therapy

• Segmentation tool for Brachytherapy Planning and
  Biopsy
• Navigation for Biopsy
• Future FUS and Robot Applications

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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
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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
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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
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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

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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)

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Endorsement by IGT research community

• DelNido BRP

• Surgical robotics research community

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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)

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Intra-operative Seeding of Tractography

• Use tracking device to
• Seed tractography at the location of
  neurosurgical lesion
• Internal collaboration with Neurosurgery Core

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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