1. NA-MIC National Alliance for Medical Image Computing http://na-mic.org DBP2: Software Integration for Image Guided Surgery Gabor Fichtinger & Andras Lasso Queen’s University, Canada

2. National Alliance for Medical Image Computing http://na-mic.org Goals Applications for Image-guided needle based interventions –Robotic prostate interventions –Spinal interventions w/ Augmented Reality Develop new 3D Slicer features relevant to Robotics and CAI Promote 3D Slicer in the Robotics and CAI communities

3. National Alliance for Medical Image Computing http://na-mic.org Point & Click Surgery, 1999 Digital images Planning & control computer Patient Imager: Robot Coordinates Physician CT,MRI, US, X-ray

4. National Alliance for Medical Image Computing http://na-mic.org Grand Hypothesis It is possible to architect robotic intervention systems that to a reasonable extent are invariant to imager, robot, and even the clinical application

5. National Alliance for Medical Image Computing http://na-mic.org Robotic IGS Workflow Modeling Planning Robot Registration Targeting & Monitoring Verification

6. National Alliance for Medical Image Computing http://na-mic.org Early Implementation w/ Slicer

7. National Alliance for Medical Image Computing http://na-mic.org A1: Robotic Prostate Biopsy Krieger et al. IEEE TMBE, 2005 (Best paper in 2005-2009)

8. National Alliance for Medical Image Computing http://na-mic.org Overall Workflow

9. National Alliance for Medical Image Computing http://na-mic.org Multiple Robots

10. National Alliance for Medical Image Computing http://na-mic.org Planning – Segmentation /1 Tannenbaum et al.

11. National Alliance for Medical Image Computing http://na-mic.org Planning – Segmentation /2 Tannenbaum et al.

12. National Alliance for Medical Image Computing http://na-mic.org Robot Registration Trans-rectal coil Needle trajectory Prostate Rectum Fiducials

13. National Alliance for Medical Image Computing http://na-mic.org Targeting Biopsy Sites

14. National Alliance for Medical Image Computing http://na-mic.org Monitoring – 2 nd Display

15. National Alliance for Medical Image Computing http://na-mic.org Verification - Registration

16. National Alliance for Medical Image Computing http://na-mic.org A2: Augmented Reality Fichtinger et al. IEEE TMBE, 2005Fischer et al. JCAS, 2007

17. National Alliance for Medical Image Computing http://na-mic.org Workflow Fischer et al. JCAS, 2007

18. National Alliance for Medical Image Computing http://na-mic.org Planning Vikal et al. CMIG, 2009

19. National Alliance for Medical Image Computing http://na-mic.org Validation

20. National Alliance for Medical Image Computing http://na-mic.org The Perk Station Vikal et al. CMIG, 2009

21. National Alliance for Medical Image Computing http://na-mic.org Perk Station Interface Vikal et al. CMIG, 2009

22. National Alliance for Medical Image Computing http://na-mic.org The Ultimate Outreach Tool