Documentation/4.0/Modules/OpenIGTLinkIF

Introduction and Acknowledgements

This work is supported by NA-MIC, NCIGT, and the Slicer Community. This work is partially supported by NIH 1R01CA111288-01A1 "Enabling Technologies for MRI-Guided Prostate Interventions" (PI: Clare Tempany), P01-CA67165 "Image Guided Therapy" (PI: Ferenc Joelsz) and AIST Intelligent Surgical Instrument Project (PI: Makoto Hashizume, Site-PI: Nobuhiko Hata). Author: Junichi Tokuda, Jean-Christophe Fillion-Robin, Nobuhiko Hata Contact: Junichi Tokuda <email> tokuda@bwh.harvard.edu</email>

NA-MIC   NCIGT

Module Description

The OpenIGTLink Interface Module is a program module for network communication with external software / hardware using OpenIGTLink protocol. The module provides following features: Data import: The module can import position, linear transform and image data from OpenIGTLink-compliant software to the MRML scene. Data export: The module can export linear transform and image data from the MRML scene to external software. Multi-connection: The module can manage multiple OpenIGTLink connections at the same time. Locator visualization: The user can choose one of linear transforms in the MRML scene to visualize its position and orientation in the 3D space. Slice driving: The module can control volume re-slicing plane based on linear transform in the MRML scene. The figure shows an example schematic diagram where multiple devices are communicating with 3D Slicer through the OpenIGTLink Interface. Each connector is assigned to one of the external devices for TCP/IP connection. The connectors serve as interfaces between the external devices and the MRML scene to convert an OpenIGTLink message to a MRML node or vice versa.

Use Cases

• MRI-compatible Robot System (BRP Project between BWH, Johns Hopkins University and Acoustic MedSystems Inc., "Enabling Technologies for MRI-Guided Prostate Interventions")
  • The 3D Slicer was connected to the MRI-compatible Robot by using OpenIGTLinkIF to send target position and to get current robot position. It was also connected to the MRI scanner to control scan plane for real-time image and receive MR images from the scanner.
• Neurosurgical Robot Project(Nagoya Institute of Technology, Japan)
  • The 3D Slicer was connected to the optical tracking system (Optotrak, Northern Digital Inc.) to acquire current position of the end-effector of the robot.

Tutorials

The test data can be downloaded automatically by pushing the "Load test data" in the panel of the first step (you will need the internet connection).

Panels and their use

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Similar Modules

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References

1. Tokuda J, Fischer GS, Papademetris X, Yaniv Z, Ibanez L, Cheng P, Liu H, Blevins J, Arata J, Golby A, Kapur T, Pieper S, Burdette EC, Fichtinger G, Tempany CM, Hata N, OpenIGTLink: An Open Network Protocol for Image-Guided Therapy Environment, Int J Med Robot Comput Assist Surg, 2009 (In print)