na-mic national alliance for medical image computing dbp2: software integration for image guided...
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National Alliance for Medical Image Computing Point & Click Surgery, 1999 Digital images Planning & control computer Patient Imager: Robot Coordinates Physician CT,MRI, US, X-rayTRANSCRIPT
NA-MICNational Alliance for Medical Image Computing http://na-mic.org
DBP2: Software Integration for Image Guided Surgery
Gabor Fichtinger & Andras LassoQueen’s University, Canada
National Alliance for Medical Image Computing http://na-mic.org
Goals• Applications for Image-guided needle
based interventions– Robotic prostate interventions– Spinal interventions w/ Augmented Reality
• Develop new 3D Slicer features relevant to Robotics and CAI
• Promote 3D Slicer in the Robotics and CAI communities
National Alliance for Medical Image Computing http://na-mic.org
Point & Click Surgery, 1999
Digital images
Planning & control computer
Patient
Imager:
Robot
Coordinates
Physician
CT,MRI, US, X-ray
National Alliance for Medical Image Computing http://na-mic.org
Grand Hypothesis
It is possible to architect robotic intervention systems
that to a reasonable extent are invariant to imager, robot, and even the clinical application
National Alliance for Medical Image Computing http://na-mic.org
Robotic IGS Workflow
• Modeling • Planning• Robot Registration• Targeting & Monitoring• Verification
National Alliance for Medical Image Computing http://na-mic.org
Early Implementation w/ Slicer
National Alliance for Medical Image Computing http://na-mic.org
A1: Robotic Prostate Biopsy
Krieger et al. IEEE TMBE, 2005
(Best paper in 2005-2009)
National Alliance for Medical Image Computing http://na-mic.org
Overall Workflow
National Alliance for Medical Image Computing http://na-mic.org
Multiple Robots
National Alliance for Medical Image Computing http://na-mic.org
Planning – Segmentation /1
Tannenbaum et al.
National Alliance for Medical Image Computing http://na-mic.org
Planning – Segmentation /2
Tannenbaum et al.
National Alliance for Medical Image Computing http://na-mic.org
Robot Registration
Trans-rectal coil
Needle trajectoryProstate
Rectum
Fiducials
National Alliance for Medical Image Computing http://na-mic.org
Targeting Biopsy Sites
National Alliance for Medical Image Computing http://na-mic.org
Monitoring – 2nd Display
National Alliance for Medical Image Computing http://na-mic.org
Verification - Registration
National Alliance for Medical Image Computing http://na-mic.org
A2: Augmented Reality
Fichtinger et al. IEEE TMBE, 2005 Fischer et al. JCAS, 2007
National Alliance for Medical Image Computing http://na-mic.org
Workflow
Fischer et al. JCAS, 2007
National Alliance for Medical Image Computing http://na-mic.org
Planning
Vikal et al. CMIG, 2009
National Alliance for Medical Image Computing http://na-mic.org
Validation
National Alliance for Medical Image Computing http://na-mic.org
The Perk Station
Vikal et al. CMIG, 2009
National Alliance for Medical Image Computing http://na-mic.org
Perk Station Interface
Vikal et al. CMIG, 2009
National Alliance for Medical Image Computing http://na-mic.org
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