1. IGSTK The Image-Guided Surgery Toolkit
Kitware, Inc

2. Overview History Infrastructure Components Quality Control
Software Process
Applications

3. 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

4. History STTR Funded by NIBIB/NIH (Georgetown- Kitware)
Phase I from May to Sept 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

5. Layer Architecture IGS - APPLICATION GUI: FLTK / Qt / MFC IGSTK ITK
VTK
VNL
GDCM
Threads, XML,…
OpenGL

6. Main Categories of Components
Infrastructure
Geometry &
Representation
Trackers
Images &
Readers
Viewers

7. Infrastructure State Machine Time Stamp Pulse Generator Events
Transforms
Logger

8. Trackers Tracker (base class) PolarisTracker AuroraTracker
Flock Of Birds
Support
SerialCommunication
SerialCommunicationForWindows
SerialCommunicationForPosix
NDICommandInterpreter

9. Object Representation
SpatialObject
Ellipsoid
Cylinder
Images
Mesh
Tube
TubeGroup
Group
Box
Cone
SpatialObjectRepresentation
Ellipsoid
Cylinder
Images
Mesh
Tube
Box
Cone
VascularNetwork
AirwaysNetwork
Surgical Tools

10. Viewers
View
View2D
View3D
VTK Based
GUI / VTK hybrid class

11. Images and Readers Image Readers (DICOM) CTImage MRImage
FluoroscopicImage
Readers (DICOM)
CTImageReader
MRImageReader
Fluoroscopy (video input)

12. Dynamics Architecture

13. General Interactions Tracker GUI TrackerTool 1 View1 TrackerTool 2
Object
Representation
View2
TrackerTool 3
View3
Object
Representation
Spatial
Object
View4
Object
Representation

14. Tracking Interactions
Tracker
Tick T
TrackerTool 3
Object
Representation T
Spatial
Object
Object
Representation T
Transform
Event T =

15. Event Class ITK Event IGSTK Event TransformEvent TimeStampEvent
StringEvent

16. Event Class

17. Transform Class
Transform
Vector
Versor
TimeStamp
Error

18. Transform Class

19. Transform Event Class

20. Pulse Generator
Action
Action
How not to miss pulses ?

21. Timing Control Tick Tick Tracker GUI TrackerTool 1 View1 TrackerTool 2
Object
Representation
TrackerTool 3
View2
Object
Representation
View3
Spatial
Object
View4
Object
Representation

22. Quality Control

23. Testing Platforms Windows Linux Cygwin – 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

24. Testing Goal Current Code Coverage 100 % Code Coverage
100 % State Machine Transitions Testing
Current Code Coverage
IGSTK % ( untested / lines )
Sandbox % ( untested / lines )

25. Dynamic Testing Platforms
Valgrind on Linux
gcc 3.3
gcc 3.4
Valgrind on Cygwin
Purify (too expensive)

26. Software Process

27. Software Process Sandbox Extreme programming
Release early, release often
Code reviews
Requirements
Bug tracking

28. 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

29. Applications

30. Applications Ultrasound-guided percutaneous liver lesion RFA
Needle Biopsy
Guidewire Tracking

31. Ultrasound-Guided Liver RFA

32. GuideWire Tracking

33. Needle Biopsy

34. Download IGSTK and Try it!
Last stable release “Iteration 7”
Demo: Sunday Feb 12 from 8:30 to 10:30 pm

35. Enjoy IGSTK!