An Open-Source Solution for Interactive Acquisition, Processing and Transfer of Interventional Ultrasound Images Jonathan Boisvert, David Gobbi, Siddharth.

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Presentation transcript:

An Open-Source Solution for Interactive Acquisition, Processing and Transfer of Interventional Ultrasound Images Jonathan Boisvert, David Gobbi, Siddharth Vikal, Robert Rohling, Gabor Fichtinger and Purang Abolmaesumi Medical Image Analysis (MedIA) Laboratory http://www.media.queensu.ca Queen’s University Kingston, Ontario, Canada http://www.media.queensu.ca

Introduction Ultrasound is a very common interventional image modality Open-interface machines makes it even more attractive to IGT developers Often used with motion tracking devices. Problem: Acquisition, synchronization and transfer to existing IGT systems is more difficult than it should be. http://www.media.queensu.ca

Prior work Integrated navigation software such as: CustusX1, IGSonic2, SonoNav3 or Stradx4. Software frameworks such as: IGSTK5 Slicer specific software development A module for Slicer 2 initially developed by Boctor et al.6 http://www.media.queensu.ca

Open-source software platform: Slicer Sophisticated registration, data- fusion and visualization capabilities Modular architecture Multi-platform Support for the new OpenIGTLink protocol http://www.media.queensu.ca

Architecture : SynchroGrab Provide real-time ultrasound processing capabilities. Delegate visualization, registration and navigation to an OpenIGTLink compatible software (Slicer). http://www.media.queensu.ca

Architecture : SynchroGrab Provide real-time ultrasound processing capabilities. Delegate visualization, registration and navigation to an OpenIGTLink compatible software (Slicer). http://www.media.queensu.ca

Architecture : SynchroGrab Provide real-time ultrasound processing capabilities. Delegate visualization, registration and navigation to an OpenIGTLink compatible software (Slicer). http://www.media.queensu.ca

Architecture : SynchroGrab Provide real-time ultrasound processing capabilities. Delegate visualization, registration and navigation to an OpenIGTLink compatible software (Slicer). http://www.media.queensu.ca

Architecture : SynchroGrab Provide real-time ultrasound processing capabilities. Delegate visualization, registration and navigation to an OpenIGTLink compatible software (Slicer). http://www.media.queensu.ca

Ultrasound image acquisition SonixRP Open interface Access to pre-scan converted images, post-scan converted images, imaging parameters, RF raw-data, etc. New vtk class “vtkSonixVideoSource” Easy integration Highly reusable http://www.media.queensu.ca

Using vtkSonixVideoSource vtkSonixVideoSource *sonixGrabber = vtkSonixVideoSource::New(); sonixGrabber->SetSonixIP("127.0.0.1"); sonixGrabber->SetImagingMode(BMode); sonixGrabber-> SetAcquisitionDataType(udtBPost); sonixGrabber->Record(); sonixGrabber->Stop(); sonixGrabber->Rewind(); // Process the first image here sonixGrabber->Seek(1) // Process the second image here sonixGrabber->Delete(); Inherit from vtkVideoSource Support many data types: BPreScan, BPost 8 bit, BPost 32 bit, RF 16 bit, MPost 8 bit, Color+ B 32 bits http://www.media.queensu.ca

3D Tracking Object oriented Extensible Multi-threaded Circular buffers for transformations synchronization http://www.media.queensu.ca

Synchronization Tracking and ultrasound imaging not performed at the same frequency. Need to interpolate the poses (using spherical linear interpolation) http://www.media.queensu.ca

Synchronization Data preprocessing OS related Hardware latency, pose computation, ultrasound image processing, and copy to user-space memory. OS related Context switching, memory swapping, etc. Compensate for the mean lag http://www.media.queensu.ca

Synchronization vtkTaggedImageFilter Compute the transformation associated with an image. Two inputs: a vtkTrackerTool and a vtkImageAlgorithm object vtkTaggedImageFilter *tagger = vtkTaggedImageFilter::New(); tagger->SetInput(sonixGrabber->GetOutput()); tagger->SetTrackerTool(trackerTool); tagger->SetTemporalLag(xxx); tagger->Update(); currentTransforms = tagger->GetTransform(); currentImage = tagger->GetOutput(); http://www.media.queensu.ca

3D Reconstruction Synchronized images and transformation Combined to produce 3D volumes Pixel-based reconstruction Pixel nearest neighbors (PNN) Pixel trilinear interpolation (PTL) http://www.media.queensu.ca

Reconstructing volumes Just start the application using the command line SynchroGrab --calibration-file 071508_162653.Calibration.results --reconstruct-volume --nb-frames 150 --fps 5 --use-tracker-transforms http://www.media.queensu.ca

Communication with Slicer Real-time acquisition using SynchroGrab. Visualization with Slicer 3. SynchroGrab --calibration-file 071508_162653.Calibration.results --oigtl-transfert-images --nb-frames 150 --fps 5 http://www.media.queensu.ca

Communication with Slicer http://www.media.queensu.ca

Conclusion & Future work SynchroGrab Acquisition and synchronization of tracking and ultrasound data Can be used as a stand-alone command-line application. Can be used in conjunction to an OpenIGTLink compliant software. Development of temporal calibration protocols Future support for 3D probes http://www.media.queensu.ca

References T. Lango, G. A. Tangen, R. Marvik, B. Ystgaard, Y. Yavuz, J. H. Kaspersen, O. V. Solberg, and T. A. N. Hernes. Navigation in laparoscopy–prototype research platform for improved image-guided surgery. Minim Invasive Ther Allied Technol, 17(1):17–33, 2008. BrainLAB (AG, Heimstetten, Germany). IGSonic. http://www.brainlab.com Medtronic(Louisville, CO, U.S.). SonoNav. http://www.medtronicnavigation.com Graham Treece, Richard Prager and Andrew Gee. Stradx/Stradwin. http://mi.eng.cam.ac.uk/~rwp/stradwin/ Andinet Enquobahrie, Patrick Cheng, Kevin Gary, Luis Ibanez, David Gobbi, Frank Lindseth, Ziv Yaniv, Stephen Aylward, Julien Jomier, and Kevin Cleary. The image-guided surgery toolkit IGSTK: an open source C++ software toolkit. J Digit Imaging, 20 Suppl 1:21–33, 2007. E. M. Boctor, A. Viswanathan, S. Pieper, M. A. Choti, R. H. Taylor, R. Kikinis, and G. Fichtinger. CISUS: an integrated 3D ultrasound system for IGT using a modular tracking API. Proceedings of the SPIE, volume 5367, pages 247–256, May 2004 http://www.media.queensu.ca

Acknowledgments Natural Sciences and Engineering Research Council (NSERC), Canadian Institutes of Health Research (CIHR), National Alliance in Medical Image Computing (NIH5U54EB005149-03), Fonds québécois de recherche sur la nature et les technologies. http://www.media.queensu.ca

Questions http://www.media.queensu.ca