Slicer IGT Module : Wizard UI Design

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Presentation transcript:

Slicer IGT Module : Wizard UI Design Andinet Enquobahrie, PhD Kitware Inc. 11/05/2008

Review: Slicer IGT Module Five major steps Initialization Loading preoperative data Calibration Registration Intrapoperative procedure Designed using KWWidgets wizard

Initialization Initialization step includes establishing communication with Navigation system and/or tracking device Endoscope External tracking software For example, setup communication with IGSTK using OpenIGT link Robot control computer if a robot is used in the surgical procedure.

1/5 Initialization

Loading Preoperative Data Preoperative data includes Images ( such as CT, MRI data ) Models Calibration data for tracker/robot tools Surgical planning ( developed preoperatively )

2/5 Loading Preoperative Data

Volume Data in the scene MRML tree will be made available for the IGT module user to select a preoperative image data.

Calibration This step includes Calibration of camera (Endoscope) and probe Calibration of tracker tools For example, Pivot calibrations Calibration of robot tools

3/5 Calibration

Registration In this step, transformations between different coordinate systems are established Register preoperative image with the navigation system’s reference frame ( i.e. Patient-Image registration ) If robot is available, register robot coordinate system with the navigation system reference frame.

4/5 Registration

Fiducial list generated using Fiducials Module will be available for the IGT module user to select Image Fiducials.

Intraoperative procedure During the procedure Start Tracking If robot is available, transmit commands to robot to get it to the right mode Gather pose information of tracker/surgical tools and update the display

5/5 Intraoperative Procedure