1. The Evolution of a VR-based IGT Environment Terry Peters, Robarts Research Institute David Gobbi, CEO, Atamai Inc.

2. IGT Workshop Motivation Why AtamaiViewer? –IGT research requires software! –There was nothing out there in 1997 –All IGT projects require similar components –Leverage VTK, MINC –Our own Tracking code

3. IGT Workshop History 1997 – New lab, new possibilities –Evolution: MINC 1998-1999 –Adopt VTK, add Yves Starreveld (Surgeon-Programmer) 2000 – company formed –Strong support from Robarts Institute 2004 – funding from CFI, SGI –VASST project begins –AtamaiViewer is christened

4. IGT Workshop Software Development Philosophy Power to the students! –Most students are not programmers –Python scripting to complement C++ core –Students should use each other’s software! Contribute to larger community –vtkImageReslice to vtkImageMapToColors (and everything in between) –VTK Python wrapping –VTK on OSX

5. IGT Workshop Architecture ITK AtamaiVTK Atamai Python Classes AtamaiViewer “core” VTK Tkinter GUI AtamaiViewer plugin modules C++ Python

6. IGT Workshop Expandability AtamaiViewer API “Core” VASST EpilepsyViewer Volume Rendering Data IO Electrodes MPR Packages SkullStripper fMRI Tracking Ultrasound Cine Modules

7. IGT Workshop

8. Features Tracking –Polaris, Aurora, XarTraX, Flock of Birds Data Types –Images, meshes, point lists, transform files Visualization –Stereo (monitor, HMD or workbench) –Polygons, volume rendering, image slices Time-varying data –Cine cardiac viewing

9. IGT Workshop Features Multiple file formats –MINC, DICOM, VFF, Analyze, PNG, JPEG Expandability –Modules –Packages (collections of modules) customize front-end, change look and feel

10. IGT Workshop Applications Epilepsy Viewer –Atamai product (3 sites) Stereotaxy Viewer –Frame-based (Parkinson’s) VASST –Augmented Reality AtamaiViewer “core” –Powerful in its own right

11. IGT Workshop EP Atlas Database 4 R 50uA PE 112 111 0.22 0.04 0.2 300 Starreveld et al, 2000

12. IGT Workshop Deep brain surgery Planning

13. IGT Workshop Guidance for Cardiac Interventions

14. IGT Workshop AR for port placement for Robotic CABG

15. IGT Workshop Track the tools with magnetic tracking systems VR tools US image US Transducer

16. IGT Workshop TEE image with virtual valve tool

17. IGT Workshop..with clipping device and “pre-op image”

18. IGT Workshop Delineating the dynamic target Target identified solely from pre-op images is unreliable Interactively define target from US image

19. IGT Workshop Clinical study

20. IGT Workshop Challenges facing engineering of IGT systems (non) availability of ubiquitous tracking environments Non uniform software development environment Closed real-time systems (particularly US)

21. IGT Workshop How can NCIGT help? Coordinate setting of standards for collaborative software development. Provide management role Stimulate coordinated multi-institutional research in new tracking technologies Act as lobby group to pressure industry to make streaming 3D (esp US) more accessible from imaging systems