© NIH National Center for Image-Guided Therapy, November, 2008 Prostate Robot Project Junichi Tokuda, Nobuhiko Hata, Clif Burdette, Jack Blevins, Clare Tempany, Sam Song, Bong Joon Cho, Gregory Fisher This work is supported by 1R01CA111288, 5U41RR019703, 5P01CA067165, 1R01CA124377, 5P41RR013218, 5U54EB005149, 5R01CA from NIH. Its contents are solely the responsibility of the authors and do not necessarily represent the official views of the NIH.

© NIH National Center for Image-Guided Therapy, November, 2008 MRI-guided Robotic Prostate Intervention Biopsy / Brachytherapy in 3T MRI High sensitivity and specificity Non-ionizing imaging Limited access to the patient MRI-compatible Robot for Prostate Intervention [Fischer 08] – Pneumatic needle placement – Transperineal biopsy and brachytherapy – Compatible high-field MRI (3T)

© NIH National Center for Image-Guided Therapy, November, 2008 Goal in this IGT event Mock-up Therapy at 221 Longwood – Simulate clinical workflow – Z-frame fiducial based registration – Real-time MR imaging using 3D Slicer – Communication using OpenIGTLink

© NIH National Center for Image-Guided Therapy, November, 2008 Project Goal (1) Closed-loop therapy Feed-back Action Decision Navigation software MRI scanner Robot

© NIH National Center for Image-Guided Therapy, November, 2008 Multi-site development Project Goal (2) Navigation Software 3D Slicer or RadVision Robot Controller Real-time Scanner IO MRI Scanner GE Excite 3T Pneumatic Needle Placement Robot DICOM Server OpenIGTLink RT Image Imaging Plane Imaging Plane 3D Image Needle Position Target Position Workstation Robot Scanner

© NIH National Center for Image-Guided Therapy, November, 2008 System Integration in IGT Communication standards used in medical area – Device connection IEEE Medical Device Communication ISO Controller Area Network (CAN) – Picture archiving and communication system Digital imaging and communication in medicine (DICOM) Network communication framework for IGT – CORBA [Schorr-2000] – OpenTracker [von Spiczak]

© NIH National Center for Image-Guided Therapy, November, 2008 The OpenIGTLink Protocol Message-based protocol – No session / messages are independent – Allows defining new message types Header IMAGE Type Body Version Type Name Device Name Body Size CRC Time Stamp Body TRANSFORM Type Body COMMAND Type Body …. Body Size

© NIH National Center for Image-Guided Therapy, November, 2008 Standard Data Types Position (tracking / device positioning) Transformation (tracking / registration) xyzoxoyozw positionorientation (quaternion) txtytzsxsysznxnynzxyz

© NIH National Center for Image-Guided Therapy, November, 2008 Standard Data Types Image – 2D / 3D – Scalar / vector – Affine transform – Partial volume update Generic infosizetransformpartial volume index/size Pixel data

© NIH National Center for Image-Guided Therapy, November, 2008 Standard Data Type Status CodeSub-codeStatus nameMessage CodeDescription 0Invalid packet 1OK 2Unknown error 3Panic 4Not found 5Access denied 6Busy 7Time out 8Overflow 9Checksum error CodeDescription 10Configuration error 11Resource error 12Unknown instruction 13Device not ready 14Manual mode 15Device Disabled 16Device not present 17Unknown device version 18Hardware failure 19Shutdown in progress

© NIH National Center for Image-Guided Therapy, November, 2008 The OpenIGTLink Library Free open-source software (FOSS) – Multi-platform, C++

© NIH National Center for Image-Guided Therapy, November, 2008 Integrated System for Prostate MR-guided prostate robotic intervention – MRI-compatible needle placementrobot [Fischer 2007]

© NIH National Center for Image-Guided Therapy, November, 2008 Integrated System for Prostate MR-guided prostate robotic intervention – Real-time MR imaging wit 3D Slicer

© NIH National Center for Image-Guided Therapy, November, 2008 Summary OpenIGTLink – Open, simple, extensible and reliable – Slicer 3, MRI, tracking device, robot, etc. – Used in navigation and surgical robot projects Communication protocol for IGT – Prototyping clinical system – Research-commercial technological transition – Clinical research bridging

© NIH National Center for Image-Guided Therapy, November, 2008 More Information OpenIGTLink web site: (Google “OpenIGTLink”)

© NIH National Center for Image-Guided Therapy, November, 2008 Appendix

© NIH National Center for Image-Guided Therapy, November, 2008 Appendix: Other Application Neurosurgical Robot (Nagoya Institute of Technology)

© NIH National Center for Image-Guided Therapy, November, 2008 Appendix: Other Application Neurosurgical Robot Navigation System (3D Slicer) 3D Motion Sensor (Optotrak) Robot Master Robot (PHANToM) Markers OpenIGTLink 500Hz 10Hz