C oming of age for a NA-MIC DBP
description
Transcript of C oming of age for a NA-MIC DBP
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NA-MICNational Alliance for Medical Image Computing http://na-mic.org
Coming of age for aNA-MIC DBP
Gabor Fichtinger, Andras Lasso, Tamas Ungi, Csaba Pinter, Tomi Heffter, Sid Vikal, David Gobbi,
and Attila TanacsQueen’s University, Canada
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National Alliance for Medical Image Computing http://na-mic.org
In-situ image-guided surgery
Digital images
Planning & control computer
Patient
Imagingscanner
Robot
Coordinates
Physician
CT,MRI, US, X-ray
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National Alliance for Medical Image Computing http://na-mic.org
First implementation
Fichtinger et al. Acad Rad, 2002
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National Alliance for Medical Image Computing http://na-mic.org
First implementation
Tanacs, 2002
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National Alliance for Medical Image Computing http://na-mic.org
Hypothesis
It is possible to architect IGS systems that, to a large extent, are invariant to
imaging modalities, scanners, trackers, and surgical devices, and even to
anatomical sites and diseases.
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National Alliance for Medical Image Computing http://na-mic.org
Goals as a NA-MIC DBP
• Develop generic IGS platform on Slicer• Apply it in image-guided needle surgery
• Robot-assisted prostate interventions• Spinal interventions
• Go clinical
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National Alliance for Medical Image Computing http://na-mic.org
Heterogeneous human supervisory control (HHSC)
Subs
yste
m b
ound
ary
Work-space
Navigation workstation
Robotcontroller
Image registration and fusion
MRI scanner
Dis
play
Con
trol
s
Nee
dle
guid
eJo
int
enco
ders
Ope
rato
r
Lasso, 2012
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National Alliance for Medical Image Computing http://na-mic.org
Robotic prostate biopsy in MRI
Configurable to multiple robot systems
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National Alliance for Medical Image Computing http://na-mic.org
Transrectal system at JHU/NIH
Krieger et al. IEEE TMBE, 2005
(Best paper in 2005-2009)
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National Alliance for Medical Image Computing http://na-mic.org
Transperineal system at BWH
Fischer et al. IEEE ASME, 2007Song et al, IJCARS 2011
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National Alliance for Medical Image Computing http://na-mic.org
Workflow definition
• Imaging & modeling • Planning• Robot registration• Targeting• Execution & monitoring• Verification
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National Alliance for Medical Image Computing http://na-mic.org
Modeling and planning
Gao, Tannenbaum et al. IEEE TMI 2010
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National Alliance for Medical Image Computing http://na-mic.org
Robot registration
Lasso, 2011
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National Alliance for Medical Image Computing http://na-mic.org
Targeting the biopsy sites
Lasso, 2011
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National Alliance for Medical Image Computing http://na-mic.org
Monitoring in 2nd display
Lasso, 2011
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National Alliance for Medical Image Computing http://na-mic.org
Monition tracking
Tadayyon et al. IEEE TBME 2011Lasso 2012 (in preparation)
0 1 2 3 40
1000
2000
3000
4000
5000 Without registrationRigid registrationDeformable registra-tion
Mean TRE (mm)
Num
ber o
f vox
els
Compute metric(MMI)
ROI: P+R+PB
Optimizemetric(GD)
Transform image(rigid)
Prostate motion
transform
Compute metric(MMI)ROI: P
Optimizemetric
(L-BFGS-B)
Transform image
(B-spline)moving image
fixed image
transformed moving
image
metric value
transform parameters
resulttransform
fixed image
transformed moving image
metric value
transform parameters
Stage 1 Stage 2
Target planning volume
moving image
Sparse volume
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National Alliance for Medical Image Computing http://na-mic.org
Verification
Lasso, 2011
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National Alliance for Medical Image Computing http://na-mic.org
Clinical trial analysis
Xu et al. MICCAI, 2010
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National Alliance for Medical Image Computing http://na-mic.org
Augmented reality guidance
Fichtinger et al. IEEE TMBE, 2005 Fischer et al. JCAS, 2007
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National Alliance for Medical Image Computing http://na-mic.org
Clinical workflow
Fischer et al. JCAS, 2007
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National Alliance for Medical Image Computing http://na-mic.org
Slicer interface
Vikal et al. CMIG, 2009
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National Alliance for Medical Image Computing http://na-mic.org
The Perk Station
Vikal et al. CMIG, 2009
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National Alliance for Medical Image Computing http://na-mic.org
Perk Station interface
Vikal et al. CMIG, 2009
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National Alliance for Medical Image Computing http://na-mic.org
What we learned from NAMIC
• Open source collaborative development pays off in the end only
• It needs people of the same mind, passion and vision – very difficult to come by
• Spending NAMIC funds solely on engineering was a wise and necessary decision
• Work with your friends
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National Alliance for Medical Image Computing http://na-mic.org
• Form the “Canadian NAMIC”• Concentrate on IGS and translational clinical
engineering
• Work with NAMIC, the older and wiser brother
• Set the rules
• Choose the right partners
• Get funded
Graduation plan
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National Alliance for Medical Image Computing http://na-mic.org
• Affiliated with OCAIRO (Ontario Consortium for Adaptive Interventions in Radiation Oncology) of +20 industry-funded investigators
• Funded by Cancer Care Ontario as a Applied Cancer Research Unit
• Shared, reusable and customizable software infrastructure to assist clinical translation of experimental diagnostic and therapeutic approaches
• The scope of SPARKit is IGRT & associated IGS procedures
SPARKit – Software Platform and Adaptive Radiotherapy Kit
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National Alliance for Medical Image Computing http://na-mic.org
Partners• Queen’s University, Kingston (Gabor Fichtinger, PI)• Robarts Research Institute, London (Terry Peters)• Princess Margaret Hospital, Toronto (David Jaffray)
Rules• Open to buy-in by other groups (up to our funding limit)• All money goes to clinical application engineering• 3D Slicer is mandatory• Trials, algorithm development etc. must be funded
separately
SPARKit partners & rules
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National Alliance for Medical Image Computing http://na-mic.org
Queen’s University, Kingston• Andras Lasso, Tamas Ungi, Csaba Pinter
Robarts Research Institute, London• Elvis Chen
Princess Margaret Hospital, Toronto• Kevin Wang
– 50% SPARKit & 50% other grants– All present at AHM
SPARKit engineering staff
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National Alliance for Medical Image Computing http://na-mic.org
• MRI-guided prostate interventions• MR image overlay guidance• Slicer Radiation Therapy• Ultrasound calibration• Ultrasound-guided needle placements • Percutaneous needle placement training
SPARKit projects
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National Alliance for Medical Image Computing http://na-mic.org
• Address common needs of OCAIRO investigators• DICOM RT I/O in Slicer-4 to provide dose maps, contours, DVH…
Slicer Radiation TherapyCsaba Pinter, Andras Lasso, Kevin Wang
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National Alliance for Medical Image Computing http://na-mic.org
Public Library for Ultrasound
• Goal: Facilitate rapid clinical application prototyping of ultrasound-guided interventions
• Google Scholar on “tracked ultrasound” about 48,000 hits
• Scope: tracked ultrasound calibration, data acquisition, processing, and streaming
• Open-source (since October 2011)
• BSD license, no strings attached
• Users: UBC, Robarts, planned at
JHU, BWH, PTI/AMS
Andras Lasso, Csaba Pinter, Tamas Ungi
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National Alliance for Medical Image Computing http://na-mic.org
Why is ultrasound difficult?
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National Alliance for Medical Image Computing http://na-mic.org
PLUS architecture
PLUS library
Device SDKs and drivers
PLUS Applications
3D Slicer
VTK ITK OpenIGTLinkCTK QT
3D Slicer plug-in modules
Option B: PLUS application communicates with 3D Slicer through OpenIGTLink
Option C: 3D Slicer plug-in directly uses PLUS library
Option A: Standalone PLUS application (not using 3D Slicer)
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National Alliance for Medical Image Computing http://na-mic.org
Ultrasound navigation
Tamas Ungi, Elvis Chen
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National Alliance for Medical Image Computing http://na-mic.org
Configurable architecture
PLUS
Ultrasonix SDK Ascension SDK
Synchronisation
Sonix Touch
OpenIGTLink
Ascension DriveBay
3D Slicer
OpenIGTLink
Live Ultrasound Visualization
Registration Segmentation
Transform Recorder
...
...
...
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National Alliance for Medical Image Computing http://na-mic.org
Snapshot ultrasound mode
Tracked snapshot guidance
Plain ultrasound guidance
Number of insertions 60 60
Success rate (%) 93% * 71%
Insertion time (s) 117 ±19 138 ±34
Tracked needle
Target phantom /patient
Entry point
Target point
Dual 3-D layout in 3D SlicerBull's-eye viewvirtual camera
Progress viewvirtual camera
Progress view Bull's-eye view
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National Alliance for Medical Image Computing http://na-mic.org
Lessons learned
• Patience• Leverage other grants• Stick to the rules• Choose partners from friends• Stay in the NAMIC family
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National Alliance for Medical Image Computing http://na-mic.org
Thank you