Slicer IGT and Open IGT Link Nobuhiko Hata

Slicer IGT and Open IGT Link Nobuhiko Hata, Ph. D Sandy Wells, Ph. D Computation Core

National Center for Image-Guided Therapy www. ncigt. org Surgical Planning Lab, Harvard Medical School Surgical Navigation and Robotics Laboratory National Alliance for Medical Image Computing Intelligent Surgical Instrument Project, Japan

Slicer in IGT • To facilitate application of state-of-art medical image processing in IGT • IGT specific extension to support this translation

Software Design • To maximize function commonalities among applications – Brain (biopsy, craniotomy, Nd. YAG laser ablation) – Prostate (brachytherapy, biopsy) – Liver and kidney (Microwave, Cryo, laser ablation) – Endoscopy (broncho-, neuro-, feto-scopy)

MRg Prostate Therapy • Segmentation tool for Brachytherapy Planning and Biopsy • Navigation for Biopsy • Future FUS and Robot Applications Slide 5

Role of Slicer in MRg Prostate Therapies • DICOM image transfer • Planning • Scanner control • Rigid and non-rigid image registration Pre-op MRI +Pre-procedural MRI +Intra-procedural MRI Radiology 220(1), 263 -268, 2001

MR-guided laser ablation • MRI Thermal image reconstruction in 3 D Slicer • Guidance with thermal images to minimize “uncooked” lesion • New 3 D temperature mapping from Imaging Core to be implemented in the future Movie prepared by Hata Slide 7

MR-guided neurosurgery • MRI-guided brain tumor surgery guided with f. MRI and diffusion tensor tractography • Toward Spatial Neuroinformatics for Functional Localization (P. I. Wells) Movie prepared by Hata, Warfield, Golby Slide 8

Open IGT Link • Inter-device communication mechanism • • • Enables exchange of coordinates, images, control commands Open protocol History – Needs indentified during IGT Programming event in Dec, 2008 – Design discussion during a NAMIC programming event (Jan, 2008) – Initial implementation by NIHfunded IGT researchers in Spring 2008

An example: MRg Prostate intervention Commercial Software Interface • interventional image visualization (in room) • RT image processing • robot localization • Robot calibration • needle localization • seed localization ? Research Interface üImage visualization üPlanning (biopsy targets) üImage registration (pre ↔ intra) üInterventional visualization ü RT image processing (fiducial) Slide 10 Raw Data Server RSP Modifier SPLOT Real-Time Image Controller • image recon • plane control SPLOT • image registration • Pre-op ↔ intra-op • multi-parametric (SSM) SPLOT • planning • biopsy targets • rad. dose • brachy. seed targets SPLOT • image visualization MRI Host SPLOT DICOM Server (? ) MRI Scanner Image Processor (? ) Robot Controller Robotic Manipulator Driver Control Interface

Endorsement by IGT research community Surgical robotics research community Del. Nido BRP

Open IGT Link and IGSTK – IGSTK is a software interface to commercial trackers • NDI Polaris, NDI Aurora, Ascension Flock of Birds, and Ascension Microbird – IGSTK has Open IGT Link interface. – Access to all IGSTK supported devices in Slicer 3 – Work was done by Kitware, Georgetown, SPL with funding from NA-MIC collaboration grant (PI Cleary)

Intra-operative Seeding of Tractography • Use tracking device to – Seed tractography at the location of neurosurgical lesion • Internal collaboration with Neurosurgery Core

Conclusion • 3 D Slicer – Useful tool for IGT software development – Facilitates collaboration and dissemination • Open IGT Link – New development from Year 3 – Community building for IGT scientists working with variety of vendors and applications • Future Plan – Continuing effort to extend Slicer 3 for new IGT – Service/dissemination