IGSTK The Image-Guided Surgery Toolkit

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Presentation transcript:

IGSTK The Image-Guided Surgery Toolkit Kitware, Inc

Overview History Infrastructure Components Quality Control Software Process Applications

The Toolkit in a Nutshell Open Source Toolkit BSD-like License Written in C++ Cross Platform Based on ITK and VTK GUI based on FLTK Designed for a Critical Application

History STTR Funded by NIBIB/NIH (Georgetown- Kitware) Phase I from May to Sept 2003. Used in example applications. Phase II started on October 2004 CADDLab UNC Joined the project and contributed Spatial Objects & RF ablation Application. Atamai joined on 2005 and contributed Tracker code. Releases done about every 6 months

Layer Architecture IGS - APPLICATION GUI: FLTK / Qt / MFC IGSTK ITK VTK VNL GDCM Threads, XML,… OpenGL

Main Categories of Components Infrastructure Geometry & Representation Trackers Images & Readers Viewers

Infrastructure State Machine Time Stamp Pulse Generator Events Transforms Logger

Trackers Tracker (base class) PolarisTracker AuroraTracker Flock Of Birds Support SerialCommunication SerialCommunicationForWindows SerialCommunicationForPosix NDICommandInterpreter

Object Representation SpatialObject Ellipsoid Cylinder Images Mesh Tube TubeGroup Group Box Cone SpatialObjectRepresentation Ellipsoid Cylinder Images Mesh Tube Box Cone VascularNetwork AirwaysNetwork Surgical Tools

Viewers View View2D View3D VTK Based GUI / VTK hybrid class

Images and Readers Image Readers (DICOM) CTImage MRImage FluoroscopicImage Readers (DICOM) CTImageReader MRImageReader Fluoroscopy (video input)

Dynamics Architecture

General Interactions Tracker GUI TrackerTool 1 View1 TrackerTool 2 Object Representation View2 TrackerTool 3 View3 Object Representation Spatial Object View4 Object Representation

Tracking Interactions Tracker Tick T TrackerTool 3 Object Representation T Spatial Object Object Representation T Transform Event T =

Event Class ITK Event IGSTK Event TransformEvent TimeStampEvent StringEvent

Event Class

Transform Class Transform Vector Versor TimeStamp Error

Transform Class

Transform Event Class

Pulse Generator Action Action How not to miss pulses ?

Timing Control Tick Tick Tracker GUI TrackerTool 1 View1 TrackerTool 2 Object Representation TrackerTool 3 View2 Object Representation View3 Spatial Object View4 Object Representation

Quality Control

Testing Platforms Windows Linux Cygwin – Windows Visual Studio 6.0 / 7.1 / 8.0 Linux gcc 3.2 / 3.3 / 3.4 / 4.0 icc 7.1 / 8.0 Cygwin – Windows gcc 3.4 gcc 3.3

Testing Goal Current Code Coverage 100 % Code Coverage 100 % State Machine Transitions Testing Current Code Coverage IGSTK 93.6 % ( untested 321 / 4714 lines ) Sandbox 92.4 % ( untested 4 / 49 lines )

Dynamic Testing Platforms Valgrind on Linux gcc 3.3 gcc 3.4 Valgrind on Cygwin Purify (too expensive)

Software Process

Software Process Sandbox Extreme programming Release early, release often Code reviews Requirements Bug tracking

Typical Agenda for a release Create feature list Write requirements Develop code Tag Sandbox, create code review list Code Review Move code and tag Fix Documentation Fix remaining bugs Increase code coverage Create and release package

Applications

Applications Ultrasound-guided percutaneous liver lesion RFA Needle Biopsy Guidewire Tracking

Ultrasound-Guided Liver RFA

GuideWire Tracking

Needle Biopsy

Download IGSTK and Try it! http://www.igstk.org Last stable release “Iteration 7” Demo: Sunday Feb 12 from 8:30 to 10:30 pm

Enjoy IGSTK!

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