Openigtlink update
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OpenIGTLink Update. NA-MIC Summer Project Week 2010 Junichi Tokuda, Ph.D. Department of Radiology Brigham and Women’s Hospital. NCIGT National Center for Image Guided Therapy http:// ncigt.org. Backgrounds. Hardware/software in IGT Position tracking sensors MR/CT/Ultrasound scanners

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Openigtlink update

OpenIGTLink Update

NA-MIC Summer Project Week 2010

Junichi Tokuda, Ph.D.

Department of Radiology

Brigham and Women’s Hospital

NCIGT

National Center for Image Guided Therapy

http://ncigt.org


Backgrounds

Backgrounds

  • Hardware/software in IGT

    • Position tracking sensors

    • MR/CT/Ultrasound scanners

    • Robotic devices

    • Planning and navigation software

  • Data types

    • Images

    • Positions / Transforms

    • Software / hardware status, etc…

  • Communication standard for IGT?


Goals of openigtlink

Goals of OpenIGTLink

  • Available

    • Research and commercial

  • Simple

    • From embedded system to HPC

  • Extensible

    • Variety of data types

  • Reliable

    • Used clinically!


Protocol overview

Protocol − Overview

  • Message-based Protocol

    • No session / messages are independent

    • Allows application-specific message types

Header

Body

IMAGE Type Body

TRANSFORM Type Body

COMMAND Type Body

….

Body Size


Protocol body

Protocol − Body

  • Position / Transform

x

y

z

ox

oy

oz

w

position

orientation (quaternion)

tx

ty

tz

sx

sy

sz

nx

ny

nz

x

y

z


Protocol body1

Protocol − Body

  • Image

    • 2D/3D

    • Integer / floating point

    • Scalar / vector

    • Partial Image update

Generic info

size

transform

partial volume

index/size

Pixel data


The openigtlink library

The OpenIGTLink Library

  • Multi-platform C/C++ Library

    • Windows, Linux, Mac OS X, Solaris

    • Used in QNX, iPhone OS, vxWorks etc..

Application

C++ socket &

thread class

C++ message class

C message structure


The openigtlink library1

The OpenIGTLink Library

  • Code snippet (9 lines to send position)


The openigtlink library2

The OpenIGTLink Library

  • Various “hello world” examples

    • Tracker simulator

    • Imager simulator

    • Data receive server

    • etc.


3d slicer openigtlink i f

3D Slicer OpenIGTLink I/F

  • Import to / export from MRML scene

    • Image (vtkMRMLScalarVolumeNode)

    • Transform (vtkMRMLLinearTransformNode)

Ethernet

Tracker

3D Slicer

MRML Scene

OpenIGTLink

Module 1

Connector node 1

LinearTransform

Imager

Module 2

Image

OpenIGTLink

Connector node 2

LinearTransform

Ext. software

Connector node N

Image

Module N

OpenIGTLink


3d slicer openigtlink i f1

3D Slicer OpenIGTLink I/F

  • Import / export


3d slicer brainlab

3D Slicer + BrainLAB

Elhawary H, Norton I, Patel P, Rigolo L, Papademetris X, Hata N, Golby AJ

(BWH / Yale / BrainLAB)


3d slicer brainlab1

3D Slicer + BrainLAB

  • Research prototype (Slicer) +

    FDA-approved IGS system (BrainLAB)

IGS system

Research Prototype

BrainLAB

VectorVision

3D Slicer

VVLink

OpenIGTLink

Bridge Software

BioImage Suit

VVLink

OpenIGTL

Image / Tracking data

(VVLink)

Image / Tracking data

(OpenIGTLink)


Mrg prostate biopsy robot

MRg Prostate Biopsy Robot

Fischer G, Tokuda J, Song S, Iordachita I, DiMaio S, Cho N, Csoma C,

Bleivns J, Burdette EC, Fichtinger G, Hata N, Tempany C

(Johns Hopkins, BWH, Queen’s, Acoustic MedSystems)


Mrg prostate biopsy robot1

MRg Prostate Biopsy Robot

  • Integration of Slicer, robot and scanner

3D Slicer

Robot Proxy

Controller

Command

OpenIGTLink

OpenIGTLink

Pipe

Pipe

Current position

Scanner Proxy

MRI Scanner

Real-time image

OpenIGTLink

Proprietary

Proprietary

Imaging slice position


Neurosurgical manipulator

Neurosurgical Manipulator

Arata J, Tada Y, Yamada A, Tanaka Y, Fujimoto H

(Nagoya Institute of Technology, Japan)


Neurosurgical manipulator1

Neurosurgical Manipulator

  • System diagram


Motion correction for mrgfus

Motion Correction for MRgFUS

  • MR Image Motion Correction by US-based motion tracking

MRI Scanner

No Motion

w/ motion

Uncorrected

w/ motion

Corrected

Scanner

Hardware

OpenIGTLink

Schwartz BM, McDannold N

Brigham and Women’s Hospital

Imaging slice position


Cardiac ep catheter 3d slicer

Cardiac EP Catheter + 3D Slicer

Jagadeesan J, Hata N

Brigham and Women’s Hospital


Cardiac ep catheter 3d slicer1

Cardiac EP Catheter + 3D Slicer

  • Matab/Simulink in backstage…


Next steps

Next Steps

  • OpenIGTLink Protocol Version 2 (draft)

    • Backward compatibility with version 1

    • Query support

    • Better IGS system support

    • Other message types?


Query support

Query Support

  • “Get” message to request data

  • “Start”, “stop” and “pause” messages to control data streaming

  • “Status” message to respond to query


Igs systems support

IGS Systems Support

  • Remote Image List

    • Display a list of images available in the remote software

  • Tracking data

    • Multi-channel, device name

  • Fiducial, trajectory

    • Share surgical planning information


Other message types

Other Message Types?

  • Remote Execution

    • Run Tcl/Python on 3D Slicer from remote

    • Remote procedure call

  • XML data / Associative array

    • General data types

    • Versatility but compromised performance


Matlab interface

MATLAB Interface

  • MATLAB – 3D Slicer communication


Openigtlink zeromq

OpenIGTLink + ZeroMQ

  • A layer between OpenIGTLink and TCP/IP

  • Support different message patterns

    • Point-to-point

    • Publish-subscribe

    • Request-reply

    • Parallelized pipeline

  • Proposed in CTK

OpenIGTLink

ZeroMQ

TCP

IP

Ethernet

http://www.commontk.org/index.php/Documentation/Messaging

by Patrick Cheng (Georgetown)


Acknowledgements

Acknowledgements

  • BWH. Nobuhiko Hata, Ron Kikinis, Clare Tempany, Alexandra Golby, Haiying Liu, Tina Kapur, Jayender Jagadeesan, Haytham Elhawary, Benjamin M. Schwartz, …

  • Isomics, Inc. Steve Pieper

  • Kitware, Inc. Luis Ibanez

  • JHU. Sam S. Song, Nathan Cho, Iulian Iordachita, Peter Kazanzides, …

  • Queen’s. Univ. Gabor Fichitinger

  • Georgetown Univ. Ziv Yaniv, Patrick Cheng, Kevin Cleary

  • Acoustic MedSystems Inc. Jack Blevins, E. Clif Burdette

  • Worcester Polytechnic Institute. Gregory Fischer

  • AIST, Japan. Kiyoyuki Chinzei

  • Nagoya Inst of Tech. Junpei Arata, Atsushi Yamada, Hiroaki Kozuka, Hideo Fujimoto

  • Nagoya Univ. Yuichiro Hayashi


Grant support

Grant Support

  • This work is supported by 1R01CA111288, 5U41RR019703, 5P01CA067165, 1R01CA124377, 5P41RR013218, 5U54EB005149, 5R01CA109246, R01EB006494 and R21EB007770 from the NIH. This study is also in part supported by NSF 9731748, CIMIT, Intelligent Surgical Instruments Project of METI (Japan).


Publications

Publications

  • Tokuda J., Fischer G.S., Papademetris X., Yaniv Z., Ibanez L., Cheng P., Liu H., Blevins J., Arata J., Golby A.J., Kapur T., Pieper S., Burdette E.C., Fichtinger G., Tempany C.M., Hata N. OpenIGTLink: an open network protocol for image-guided therapy environment. Int J Med Robot. 2009 Dec;5(4):423-34. PMID: 19621334. PMCID: PMC2811069.

  • Tokuda J., Fischer G.S., DiMaio S.P., Gobbi D.G., Csoma C., Mewes P.W., Fichtinger G., Tempany C.M., Hata N. Integrated navigation and control software system for MRI-guided robotic prostate interventions. Comput Med Imaging Graph. 2010 Jan;34(1):3-8. PMID: 19699057. PMCID: PMC2815337.

  • Arata J., Kozuka H., Kim H.W., Takesue N., Vladimirov B., Sakaguchi M., Tokuda J., Hata N., Chinzei K., Fujimoto H. Open core control software for surgical robots. Int J Comput Assist Radiol Surg. 2010 May;5(3):211-20. PMID: 20033506.


For more information

For more information…

OpenIGTLink ML: [email protected]


History

History

  • Dec 2007: Discussed in IGT Week

  • Jan 2008: Defined in All Hands Meeting

  • May2009 : Supported in 3D Slicer 3.4

  • Jun 2010: Protocol Extension


3d slicer openigtlink i f2

3D Slicer OpenIGTLink I/F

  • Performance Optimization by Steve

Before

After


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