1. IGSTK Architecture Overview
Luis Ibáñez
Kitware, Inc

2. The Toolkit in a Nutshell
Open Source Toolkit
BSD-like License
Written in C++
Based on ITK and VTK
Designed for a Critical Application

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

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

5. Infrastructure State Machine Time Stamp Pulse Generator Events
Transforms
Logger

6. Trackers Tracker (base class) PolarisTracker AuroraTracker Support
SerialCommunication
SerialCommunicationForWindows
SerialCommunicationForPosix
NDICommandInterpreter

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

8. Viewers
View
View2D
View3D
VTK Based
GUI / VTK hybrid class

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

10. Dynamics Architecture

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

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

13. Event Class ITK Event IGSTK Event TransformEvent TimeStampEvent
StringEvent

14. Event Class

15. Transform Class
Transform
Vector
Versor
TimeStamp
Error

16. Transform Class

17. Transform Event Class

18. Pulse Generator
Action
Action
How not to miss pulses ?

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

20. Quality Control

21. Testing Platforms Windows Linux Cygwin – Windows Visual Studio 6.0
gcc 3.2
gcc 3.3
gcc 3.4
Cygwin – Windows

22. Testing Goal Current Code Coverage 100 % Code Coverage
100 % State Machine Transitions Testing
Current Code Coverage
IGSTK % ( untested / lines )
Sandbox % ( untested / lines )

23. Dynamic Testing Platforms
Valgrind on Linux
gcc 3.3
gcc 3.4
Valgrind on Cygwin ( setup pending )
Purify (too expensive)

24. End