Slicer IGT and Open IGT Link

Nobuhiko Hata, PhDSandy Wells, PhDComputation Core

Surgical Planning Lab, Harvard Medical School

National Alliance for Medical Image Computing

National Center for Image-Guided Therapy

www.ncigt.org

Intelligent Surgical Instrument Project, Japan

Surgical Navigation and Robotics Laboratory

Slicer in IGT

• To facilitate application of state-of-art medical image processing in IGT

• IGT specific extension to support this translation

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)

Slide 5

MRg Prostate Therapy

• Segmentation tool for Brachytherapy Planning and Biopsy

• Navigation for Biopsy

• Future FUS and Robot Applications

Role of Slicer in MRg Prostate Therapies

•DICOM image transfer•Planning

•Scanner control•Rigid and non-rigid image registrationPre-op MRI+Pre-procedural MRI+Intra-procedural MRI

Radiology 220(1), 263-268, 2001

Slide 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

Slide 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

Open IGT Link

Slide 10

An example: MRg Prostate interventionDICOM

Server (?)MRIHost

MRIScanner

Raw Data ServerSP

LOT

RSPModifierSP

LOT

Real-TimeImage Controller

• image recon• plane control

SPLO

T

SPLO

T

Commercial SoftwareInterface

• 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

SPLO

T

Research InterfaceImage visualizationPlanning (biopsy targets)Image registration (pre ↔ intra)Interventional visualizationRT image processing (fiducial)

?

RobotController

RoboticManipulator

Driver ControlInterface

ImageProcessor (?)

Endorsement by IGT research community

Surgical robotics research community

DelNido BRP

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)

Intra-operative Seeding of Tractography

• Use tracking device to– Seed tractography at the

location of neurosurgical lesion

• Internal collaboration with Neurosurgery Core

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