PLUS overview (PerkLab ultrasound library and applications) Tamas Ungi, Andras Lasso Laboratory for Percutaneous Surgery, Queen’s University August 4, 2011

Introduction PLUS – PerkLab ultrasound History: implementation is based on two SynchroGrab versions QueensOpenIGTLibs in Queen’s repository Last commit: October 7, 2008 (Revision: 30) svn+ssh://image.cs.queensu.ca/image/svn/QueensOpenIGTLibs/trunk/VTKLibs/Ultrasound 4D Ultrasound module in NAMIC sandbox repository Last commit: August 16, 2009 (Revision: 4993) http://svn.na-mic.org/NAMICSandBox/ trunk/4DUltrasound-WithGating/ Team: Csaba Pinter (project management, PLUS core, free-hand calibration development) Tamas Heffter (PLUS core, iCAL development) Thomas K. Chen (calibration algorithm development) Alexis Boucharin (fiducial segmentation) Tamas Ungi (Ascension, OpenIGTLink communication development) Andras Lasso (review, coordination with other projects) Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011

What’s new Support for new hardware: brachy stepper, EM tracker, new Ultrasonix SDK versions, CIVCO stepper New applications: fCal, volume reconstruction, diagnostics, OpenIGTLinkBroadcaster Enhancements: temporal calibration – a.k.a. synchronization, … Bugfixes Automatic tests But: Some old hardware and applications are not tested or not integrated. Tested on Windows only. Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011

(PLUS applications or custom apps) Software platform Language: C++ Build system: CMake Automatic testing and dashboard: CTest, CDash External libraries: Required: ITK, VTK Optional: OpenIGTLink (for communication with 3D Slicer and IGSTK), device drivers Supported operating systems: Windows XP (32-bit), Windows 7 (64-bit): regularly tested Linux: not tested, everything should work except Windows drivers and RS-232 serial communication Applications (PLUS applications or custom apps) PLUS library ITK VTK Open IGTLink SDKs and drivers Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011

Supported hardware /1 Image acquisition Ultrasonix US capture via Ulterius SDK (Windows only): supports SDK versions 1.2, 2.0, 5.6 (latest) – tested ImagingControls USB framegrabber (Windows only) – tested Simulator: replay saved image sequences from metafile (for testing without hardware) – tested Not integrated (source code is in the repository, but not used): Ultrasonix US capture via Porta SDK (Windows only) Video for Windows (Windows only): generic framegrabber Linux video (Linux only) Matrox imaging library Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011

Supported hardware /2 Position tracking NDI Certus tracker (Windows only) – tested Brachytherapy steppers/stabilizers (Windows only): Burdette Medical Systems target guide – tested CMS Accuseed DS-300 – tested CIVCO – under testing Ascension 3DG electromagnetic tracker (Windows only) – tested Polaris tracker – not tested Flock of birds tracker – not tested Not integrated: Micron tracker Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011

Applications fCAL iCAL Tracked US capturing fCAL: Free-hand calibration (compute image plane to marker transform), using double-N calibration phantom, with GUI – under testing Tracked ultrasound capturing: synchronized image and position acquisition, with GUI – tested Volume reconstruction (from tracked ultrasound capture files), console app – tested iCAL: Calibration and diagnostics of brachytherapy stepper, with GUI – tested Image acquisition and tracking diagnostic – tested OpenIGTLinkBroadcaster: for live data transfer to 3D Slicer, console app – work in progress Synchrograb 4D (4D Ultrasound) - not fully integrated Tracked US capturing iCAL Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011

Development process /1 Source code repository, releases, documentation, issue tracker: Recently moved (from internal SVN / Mantis / MediaWiki) Collaborators (people at UBC, Robarts, …) can get access https://www.assembla.com/spaces/plus/ Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011

Development process /2 Automatic nightly build and test: CTest/CDash http://crunch.cs.queensu.ca/CDash/index.php?project=USTemplateCalibration Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011

Coordinate systems

Ultrasound image orientation Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011

Ultrasound image orientation Plus stores all images in MF By default, Touch displays UF See Assembla Wiki for details Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011

Sequence metafile (.mha) Extension to the meta I/O standard Slices readable by many existing applications Extra information for tracking/reconstruction Frame number Unfiltered and filtered timestamp Probe and Reference tracking transforms Used by all applications of Plus Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011

Configuration XML file Defines input parameters for all components of Plus, grouped as “Device set” for easy selection in GUI applications. Main sections USDataCollection Tracker (e.g. Certus, Ascension) + Tools (probe, reference, stylus) Image source (e.g. SonixVideo, Frame grabber) Synchronization USCalibration Calibration phantom definition Volume reconstruction Output spacing Slice clipping Probe calibration … Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011

Planned developments Finalize Free-hand US calibration application (Sept) OpenIGTLink interface for most functions (Aug) Tracked RF image acquisition (Aug) Brachytherapy stepper sagittal transducer calibration (Sept) Support Terason ultrasound image acquisition (Sept) Support/bugfixes (continuous) Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011