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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