Difference between revisions of "Modules:ProstateNav-Documentation-3.6"

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====Step 2: Configure network connections====
====Step 2: Configure network connections====
====Step 3: Fiducial-based calibration====
====Step 3: Fiducial-based calibration====
===MRI-compatible transrectal needle biopsy device===
===Quick Tour of Features and Use===
===Quick Tour of Features and Use===

Revision as of 22:30, 19 April 2010

Home < Modules:ProstateNav-Documentation-3.6

Return to Slicer 3.6 Documentation

Gallery of New Features

Module Name


ProstateNav module in Calibration Phase.

General Information

Module Type & Category

Type: Interactive
Category: IGT

Authors, Collaborators & Contact

  • Junichi Tokuda, BWH
  • Andras Lasso, Queen's University (New GUI interface)
  • Simon DiMaio, Intuitive Surgical Inc. (System design, Z-frame registration)
  • Gregory Fischer, WPI (System design, Robot Software)
  • David Gobbi (Wizard Interface)
  • Csaba Csoma, JHU (System design, Robot Software)
  • Haiying Liu, BWH (Software packaging)
  • Philip Mewes (Initial version)
  • Gabor Fitchinger, Queen's University
  • Nobuhiko Hata, BWH
  • Clare Tempany, BWH

Module Description

The ProstateNav module is designed to add an integrated user interface (UI) for MRI-guided prostate intervention (e.g. needle biopsy and brachytherapy) to 3D Slicer. In version 3.6, the module provides user interfaces for the following devices:

  • MRI-compatible pneumatic needle placement robot for transperineal prostate biopsy and brachytherapy (Johns Hopkins University + Brigham and Women's Hospital + Queen's Univeristy)
  • MRI-compatible transrectal needle biopsy device (Queen's University + Johns Hopkins University)
  • Template-based needle guiding system for MRI-guided prostate biopsy and brachy therapy (Queen's University + Brigham and Women's Hospital)

The module has wizard-style interface, which helps an operator follow the clinical procedure step by step. It supports target planning and management, patient-device registration, and verification. The module can also communicate with some of the devices listed above using OpenIGTLink protocol.



The ProstateNav switches its user interface based on the device type selected by the user. This section describes step-by-step instruction for each device.

MRI-compatible pneumatic needle placement robot for transperineal prostate biopsy and brachytherapy

Step 1: Create a manager node and select a device type

Step 2: Configure network connections

Step 3: Fiducial-based calibration

MRI-compatible transrectal needle biopsy device

Quick Tour of Features and Use

List all the panels in your interface, their features, what they mean, and how to use them. For instance:

  • Input panel:
  • Parameters panel:
  • Output panel:
  • Viewing panel:



OpenIGTLinkIF Module

Known bugs

Follow this link to the Slicer3 bug tracker.

Usability issues

Follow this link to the Slicer3 bug tracker. Please select the usability issue category when browsing or contributing.

Source code & documentation

See ViweCV page for the source code.

Links to documentation generated by doxygen.

More Information


This work is supported by 1R01CA111288, 5U41RR019703, 5P01CA067165, 1R01CA124377, 5P41RR013218, 5U54EB005149, 5R01CA109246 from NIH. This study was also in part supported by NSF 9731748, CIMIT, Intelligent Surgical Instruments Project of METI (Japan).


  • Fischer GS, Iordachita I, Csoma C, Tokuda J, DiMaio SP, Tempany CM, Hata N and Fichtinger G. MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement. IEEE/ASME Trans Mechatronics 2008; 13(3):295-305 [1]
  • Tokuda J, Fischer GS, Csoma C, DiMaio SP, Gobbi DG, Fichtinger G, Tempany CM, Hata N. Software Strategy for Robotic Transperineal Prostate Therapy in Closed-Bore MRI. In: Proc. 11th International Conference on Medical Image Computing and Computer-Assisted Intervention - MICCAI 2008; 9/6/2008-9/10/2008; New York, NY ;2008. p. 701-709. [2]
  • DiMaio S, Samset E, Fischer G, Iordachita I, Fichtinger G, Jolesz F, Tempany C. Dynamic MRI Scan Plane Control for Passive Tracking of Instruments and Devices. Int Conf Med Image Comput Comput Assist Interv. 2007;10(Pt 2):50-58. [3]