1. PLUS overview (PerkLab ultrasound library and applications) Andras Lasso Laboratory for Percutaneous Surgery, Queen’s University May 2, 2011

2. Overview Introduction What’s new Current status – Software platform – Supported hardware – Development process – Applications / features Planned developments - 2 -Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011

3. 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) – Tamas Ungi (Ascension, OpenIGTLink communication development) – Andras Lasso (review, coordination with other projects) - 3 -Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011

4. What’s new Support for new hardware: brachy stepper, EM tracker, new Ultrasonix SDK versions, … New applications: calibration, volume reconstruction, diagnostics, … 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. - 4 -Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011

5. 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 PLUS library VTKITK Open IGTLink SDKs and drivers Applications (PLUS applications or custom apps) - 5 -Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011

6. 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 - 6 -Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011

7. 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 – Ascension 3DG electromagnetic tracker (Windows only) – work in progress – Polaris tracker – not tested – Flock of birds tracker – not tested Not integrated: Micron tracker - 7 -Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011

8. Applications fCAL: Free-hand calibration (compute image plane to marker transform), using double-N calibration phantom, with GUI – work in progress 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 - 8 -Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011 fCAL Tracked US capturing iCAL

9. 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 - 9 -Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011 https://www.assembla.com/ spaces/plus/

10. Development process /2 Automatic nightly build and test: CTest/CDash – http://crunch.cs.queensu.ca/CDash/index.php?project=USTemplateCalibration http://crunch.cs.queensu.ca/CDash/index.php?project=USTemplateCalibration - 10 -Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011

11. Planned developments Free-hand US calibration application (mid May) Support for Ascension 3DG tracker (mid May) Image/transform broadcasting to OpenIGTLink (mid May) Tracked RF image acquisition (July) Brachytherapy stepper sagittal transducer calibration (September) Support Terason ultrasound image acquisition (September) Support/bugfixes (continuous) - 11 -Laboratory for Percutaneous Surgery (The Perk Lab) – Copyright © Queen’s University, 2011