IGSTKThe Image-Guided

Surgery Toolkit

Kitware, Inc

Overview

History Infrastructure Components Quality Control Software Process Applications

The Toolkit in a Nutshell

Open Source Toolkit BSD-like License Written in C++ Cross Platform Based on ITK and VTK GUI based on FLTK Designed for a Critical Application

History STTR Funded by NIBIB/NIH (Georgetown-

Kitware) Phase I from May to Sept 2003. Used in

example applications. Phase II started on October 2004 CADDLab UNC Joined the project and

contributed Spatial Objects & RF ablation Application.

Atamai joined on 2005 and contributed Tracker code.

Releases done about every 6 months

Layer Architecture

ITK VTK

OpenGLVNL GDCM Threads, XML,…

IGSTK

GUI: FLTK / Qt / MFC

IGS - APPLICATION

Main Categories of Components

Infrastructure

Trackers Viewers

Geometry &Representation

Images & Readers

Infrastructure

State Machine Time Stamp Pulse Generator Events Transforms Logger

Trackers

Tracker (base class)– PolarisTracker– AuroraTracker– Flock Of Birds

Support– SerialCommunication

SerialCommunicationForWindows SerialCommunicationForPosix

– NDICommandInterpreter

Object Representation SpatialObject– Ellipsoid– Cylinder– Images– Mesh– Tube– TubeGroup– Group– Box– Cone

SpatialObjectRepresentation– Ellipsoid– Cylinder– Images– Mesh– Tube– Box– Cone– VascularNetwork– AirwaysNetwork– Surgical Tools

Viewers

View– View2D– View3D

VTK Based GUI / VTK hybrid class

Images and Readers Image– CTImage– MRImage– FluoroscopicImage

Readers (DICOM)– CTImageReader– MRImageReader– Fluoroscopy (video input)

Dynamics Architecture

GUI

General Interactions

View1

View2

View3

View4

ObjectRepresentation Spatial

Object

Tracker

TrackerTool 1

TrackerTool 2

TrackerTool 3

ObjectRepresentation

ObjectRepresentation

Tracking Interactions

ObjectRepresentation

SpatialObject

Tracker

TrackerTool 3

ObjectRepresentation

Tick

TransformEvent

T

T =

T

T

T

Event Class

ITK Event

TransformEvent

TimeStampEvent

StringEvent

IGSTK Event

Event Class

Transform

Transform Class

Vector

Versor

TimeStamp

Error

Transform Class

Transform Event Class

Pulse Generator

Action

Action

How not to miss pulses ?

GUI

Timing Control

View1

View2

View3

View4

ObjectRepresentation Spatial

Object

Tracker

TrackerTool 1

TrackerTool 2

TrackerTool 3

ObjectRepresentation

ObjectRepresentation

Tick

Tick

Quality Control

Testing Platforms Windows– Visual Studio 6.0 / 7.1 / 8.0

Linux– gcc 3.2 / 3.3 / 3.4 / 4.0– icc 7.1 / 8.0

Cygwin – Windows– gcc 3.4– gcc 3.3

Testing

Goal – 100 % Code Coverage– 100 % State Machine Transitions Testing

Current Code Coverage– IGSTK 93.6 % ( untested 321 / 4714 lines )– Sandbox 92.4 % ( untested 4 / 49 lines )

Dynamic Testing Platforms

Valgrind on Linux– gcc 3.3– gcc 3.4

Valgrind on Cygwin Purify (too expensive)

Software Process

Software Process

Sandbox Extreme programming Release early, release often Code reviews Requirements Bug tracking

Typical Agenda for a release Create feature list Write requirements Develop code Tag Sandbox, create code review list Code Review Move code and tag Fix Documentation Fix remaining bugs Increase code coverage Create and release package

Applications

Applications

Ultrasound-guided percutaneous liver lesion RFA

Needle Biopsy Guidewire Tracking

Ultrasound-Guided Liver RFA

GuideWire Tracking

Needle Biopsy

Download IGSTK and Try it!

http://www.igstk.org Last stable release “Iteration 7” Demo: Sunday Feb 12 from 8:30 to 10:30 pm

Enjoy IGSTK!