1. Slicer IGT Module : Wizard UI Design
Andinet Enquobahrie, PhD
Kitware Inc.
11/05/2008

2. Review: Slicer IGT Module
Five major steps
Initialization
Loading preoperative data
Calibration
Registration
Intrapoperative procedure
Designed using KWWidgets wizard

3. Initialization Initialization step includes establishing communication
with
Navigation system and/or tracking device
Endoscope
External tracking software
For example, setup communication with IGSTK using OpenIGT link
Robot control computer if a robot is used in the surgical procedure.

4. 1/5 Initialization

5. Loading Preoperative Data
Preoperative data includes
Images ( such as CT, MRI data )
Models
Calibration data for tracker/robot tools
Surgical planning ( developed preoperatively )

6. 2/5 Loading
Preoperative
Data

7. Volume Data in the scene MRML tree will be made available for the IGT module user to select a preoperative image data.

8. Calibration This step includes
Calibration of camera (Endoscope) and probe
Calibration of tracker tools
For example, Pivot calibrations
Calibration of robot tools

9. 3/5 Calibration

10. Registration In this step, transformations between different
coordinate systems are established
Register preoperative image with the navigation system’s reference frame ( i.e. Patient-Image registration )
If robot is available, register robot coordinate system with the navigation system reference frame.

11. 4/5 Registration

12. Fiducial list generated using Fiducials Module will be available for the IGT module user to select Image Fiducials.

13. Intraoperative procedure
During the procedure
Start Tracking
If robot is available, transmit commands to robot to get it to the right mode
Gather pose information of tracker/surgical tools and update the display

14. 5/5 Intraoperative
Procedure