Stealthlink Protocol

Medtronic Navigation StealthLink Research Portal

(This information is provided by Medtronic for the OpenIGTLink Community)

StealthLink 1.X:

StealthLink 1 is our released application. This API is available with our Mach Cranial, Spine Synergy, FrameLink, and LandMarX applications. The API is a simple query/retrieve interface with static data structures. The API consists of a C library available for Windows and Linux.

Data available via StealthLink 1 includes:

• Tool transforms for multiple tools
• Frame transforms
• Image space to frame space registration transforms
• Surgical plan target and entry points
• Registration exam information
• Working exam information (with merge transform to the registration exam)
• Microscope information
• Probe tip in image space
• Functional procedure specific information

All transforms are float[4][4] and points are float[3].

StealthLink 2:

StealthLink 2 is currently under development and will initially be released with our new Cranial application (Synergy Cranial 2.2) in Spring, 2011. StealthLink 2 will build on the functionality of StealthLink 1. The API will support a query/retrieve mechanism, but will also contain a subscription mechanism for frequently updated data. The API will consist of a C++ library and will be available for Windows and Linux in its first release.

StealthLink 2 data consists of data classes and methods to enable convenient access. All data will have an optional timestamp. Available data will include:

• Instrument
  • Name, image space tip, transforms, marker information, status information, etc.
• Frame
  • Registration
• Name, transforms, point sets, etc.
  • Exam
• Image set, properties, merge transforms, etc.
  • Planning information
  • Surgical plans, segmented models
• Footswitch status, task information, localizer data

Update (June 3, 2015)

• PLUS toolkit includes a StealthLink/OpenIGTLink bridge for receiving live tool position information, planning image volume, registration results through StealthLink and sending it to Slicer through OpenIGTLink
• Demo video: https://www.youtube.com/watch?v=UHmv5u-sB5g
• Documentation: http://perk-software.cs.queensu.ca/plus/doc/nightly/user/DeviceStealthLink.html