Kevin Cleary PhD Director of ISIS Center, Georgetown University

CTK Workshop Heidelberg, June 29/30, /25/2008 Open Source Workshop, CARS 2008, Barcelona 2 Architecture  IGSTK is built on other widely used open source toolkits, such as ITK, VTK, FLTK, and Qt  IGSTK is designed as a collection of medium size components modeling different sub-systems in a image-guided intervention application  Safety is the first consideration during the design.  Defensive Programming  Safety by Design  Software Verification  High Code Coverage  State Machine Programming

CTK Workshop Heidelberg, June 29/30, /25/2008 Open Source Workshop, CARS 2008, Barcelona 3 Layered Architecture

CTK Workshop Heidelberg, June 29/30, 2009 IGSTK Components Tracker / Tracker Tool Spatial Objects / Representations View / Widget Image IO Coordinate system / Visualization Registration Calibration Reslicing Video Imager State Machine Timing Logging Events

CTK Workshop Heidelberg, June 29/30, State Machine State machine characteristics:  Deterministic Behavior  Preclude Wrong Use  Robustness to Misuse  Managing Complexity  Traceability  Suitability for Testing  Consistent Documentation A state machine is defined by a set of states, a set of inputs, and a set of transitions from one state to another. The motivation for introducing state machine to IGSTK is to improve the safety and robustness of the library.

CTK Workshop Heidelberg, June 29/30, Image courtesy of Kevin Gary, Arizona State University State Machine Visualization and Validation

CTK Workshop Heidelberg, June 29/30, GUI View1 View2 View3 View4 Object Representation Spatial Object Tracker TrackerTool 1 TrackerTool 2 TrackerTool 3 Object Representation Tick Pulse generator (‘Tick’) updates View and Tracker at specific rates to ensure the information presented is timely and accurate. Image courtesy of Luis Ibanez, Kitware Inc. Timing and Synchronization

CTK Workshop Heidelberg, June 29/30, 2009 Scene Graph Image-guided intervention could have a very complicated scene graph tree. To mange this complexity and provide flexibility, we created coordinate system API in IGSTK release 3.0 Coordinate systems involved in a typical Image-guided surgery The complex scene graph structure of an image-guided surgery procedure involving using multiple images

CTK Workshop Heidelberg, June 29/30, 2009 Scene Graph Visualization Scene graph can be output to a dot file or use FLTK widget for visualization Visualization using dot from Graphviz package Visualization using FLTK widget developed by Arizona State Univ.

CTK Workshop Heidelberg, June 29/30, Oblique Reslicing Image courtesy of Frank Lindseth, SINTEFF, Norway

CTK Workshop Heidelberg, June 29/30, 2009 VideoGrabber Image courtesy of Frank Lindseth, SINTEFF, Norway Incorporating video stream into IGT applications

CTK Workshop Heidelberg, June 29/30, 2009 OpenIGTLink Slicer MRML Scene MRML Transform Node MRML Model IGSTK Tracker TrackerTool TransformObserver OpenIGTLink Record Socket Transmission Tracker Image courtesy of Luis Ibanez, Kitware Inc. OpenIGTLink is jointly developed by: Brigham & Women Hospital Georgetown University, ISIS Center John Hopkins University Acousticmed National Institute of Technology (Japan) Ministry of International Trade and Industry (Japan) Insight Software Consortium National Alliance for Medical Image Computing (NAMIC) Kitware Inc

CTK Workshop Heidelberg, June 29/30, 2009 Various Applications  Robot-assisted needle placement  Vetebroplasty  Radiofrequency ablation

CTK Workshop Heidelberg, June 29/30, 2009 Various Applications Cont.  Needle Biopsy  CT/US Navigation

CTK Workshop Heidelberg, June 29/30, 2009 Lung Biopsy (Clinical Trial Using IGSTK) Top: Screen shot of the application Left: Confirm CT scan of the biopsy needle position Filip Banovac, MD, Radiology, GUMC

CTK Workshop Heidelberg, June 29/30, 2009 Luti (Neurosurgery system developed using IGSTK) Image courtesy of Sebastian Ordas Luti Image-Guided Navigation System (Ideuno, Argentina)

CTK Workshop Heidelberg, June 29/30, 2009 NDI showing IGSTK demo in conferences

CTK Workshop Heidelberg, June 29/30, 2009 Focus of development  Technical  User support  Extend support for tracker  Develop example applications  Expand video imager class  Clinical  IGSTK Bronchoscopy  IGSTK Laparoscopy

CTK Workshop Heidelberg, June 29/30, Thank you! PAPER:"IGSTK: An Open Source Software Toolkit for Image-Guided Surgery“ – IEEE Computer, April 2006 (Vol. 39, No. 4) BOOK: " IGSTK - Image-Guided Surgery Toolkit – An Open Source C++ Library,” 2 nd edition, For release WEB: WIKI: