2016 Winter Project Week/Projects/TrackedUltrasoundStandardization

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  Projects List

Key Investigators

• Andras Lasso, Tamas Ungi (PerkLab, Queen's University)
• Christian Askeland, Ingerid Reinertsen, Ole Vegard Solberg (CustusX, IGT research, SINTEF)
• Simon Drouin (Mcgill University, Montreal, Canada)
• Junichi Tokuda (BWH)
• Steve Pieper (Isomics)
• Adam Rankin (VASST Laboratory, Western University, Canada)
• Thomas Kirchner, Janek Gröhl (MITK, DKFZ, Heidelberg, Germany)

Project Description

Objective	Approach and Plan	Progress and Next Steps
Establish a common software platform for tracked ultrasound and image-guided interventions by converging existing IGT toolkits: 3D Slicer, SlicerIGT extension Plus toolkit CustusX IBIS Echelon MITK-IGT	Pre-Project Week online meetings and emails Notes below SINTEF design document [1] Coordination with the CommonTK effort Survey of current implementations and use cases Development of long-term development practices to encourage collaboration	IGSIO [2] Preparation meeting minutes [0] Live meeting minutes [3]

OpenIGTLink Revisions

v3 proposal document [4]

Tracked ultrasound OpenIGTLink client

• Move out part of OpenIGTLinkIF
• Only use OpenIGTLink and VTK

Commands

SetDeviceParameters

Message

<Command>
  <Parameter Name=”Depth” Value=”45” />
  <Parameter Name=”Gain” Value=”35” />
</Command>

Response 1

<Command>
  <Result>SetDeviceParameters: success</Result>
  <Parameter Name=”Depth” Value=”45” />
  <Parameter Name=”Gain” Value=”35” />
  ...
</Command>

Response 2

<Command>
  <Result>SetDeviceParameters: failure</Result> 
</Command>

GetDeviceParameters

Message

<Command>
  <Parameter Name=”Depth” />
  <Parameter Name=”Gain” />
  ...
</Command>

Response

<Command>
  <Result>GetDeviceParameters: success</Result>
  <Parameter Name=”Depth” Value=”45” />
  <Parameter Name=”Gain” Value=”35” />
  ...
</Command>

SubscribeDeviceParameters

This will cause the server to send a GetDeviceParameters reply every time any of the subscribed parameters change.

Message

<Command>
  <Parameter Name=”Depth” Subscribe=”TRUE” />
  <Parameter Name=”Gain” Subscribe=”FALSE” />
  ...
</Command>

Response

<Command>
  <Result>SubscribeDeviceParameters: success</Result>
  <Parameter Name=”Depth” Subscribed="TRUE" />
  <Parameter Name=”Gain” Subscribed="FALSE" />
  ...
</Command>

GetCapabilities

SINTEF will specify and implement.

Message

<Command></Command>

Response

<Command>
  <Result>GetCapabilities: success</Result>
  <UltrasoundCapabilities>
    <Probes>
      <Probe name="L14-5/38"/>
      <Probe name="C5-2/42"/>
    </Probes>
    <ImagingModes>
      <ImagingMode Name=”b-mode+angio”>B-Mode,Angio</ImagingMode>
    </ImagingModes>
    <Streams>
      <Stream name="B-Mode">
        <Parameters>
          <Parameter name="depth" min="5" max="220" step="5"/>
        </Parameters>
      </Stream>
      <Stream name="Angio">
        <Parameters>
          <Parameter name="depth" min="5" max="220" step="5"/>
        </Parameters>
      </Stream>
    </Streams>
    <Presets>
      <Preset name="Vascular small object B+Angio">
        <Probe Name=”L14-5/38” />
        <Parameter Name=”Depth” Value=”50” />
      </Preset>
    </Presets>
  </UltrasoundCapabilities>
</Command>

Tracking

Tracked ultrasound communication will use the TDATA message.

Use 1 bit of the Reserved byte to indicate valid/invalid status

Use metadata attributes for tool status information:

Attributes

<ToolStatus>
  <Tool Id=”Reference” Status=”WARNING” Description=”Marker 1 on tool X is damaged” />
</ToolStatus>

• Status
  • "OK"
  • "WARNING"
  • "ERROR"
• Description: human-readable string

Meta Data

Header V1

Bytes
0   2                       14                                      34              42              50              58
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
| V | TYPE                  | DEVICE_NAME                           | TIME_STAMP    | BODY_SIZE     | CRC64         |
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+

Header V2

#Bytes HEADER_FIELD

+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-
0 V 2 TYPE 14 DEV_NAME 34 TS 42 BODY_SIZE 50 CRC64 58 EXT_HEADER_SIZE 60 METADATA_SIZE 64 MSG_ID 68 RV 72 CONTENT… | METADATA… |
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-

• V = VERSION
• DEV_NAME = DEVICE_NAME
• RV = RESERVED

EXT_HEADER

v1 header (58 bytes) + new header (EXT_HEADER_SIZE bytes)

CONTENT (=v1 body)

BODY_SIZE - EXT_HEADER_SIZE - METADATA_SIZE

METADATA

#Bytes HEADER_FIELD

+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
|INDEX_COUNT (uint16) | KEY_SIZE (uint16) | VALUE_ENCODING (uint16) | VALUE_SIZE (uint32) | … | KEY | VALUE | … |
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+

VALUE_ENCODING

As specified at http://www.iana.org/assignments/character-sets/character-sets.xhtml

BODY

Contains extended header data, message content, and metadata.

US over OpenIGTLink

Parameters

Read-write

• Depth (mm): (“40”, “45”, “50”, …)
• ImagingMode (string): (“bmode”, “bmode+rf”, “bmode+angio”, “rf+angio”, ...)
• Probe (string): probe name (“L14-5/38”)
• Frequency (MHz)
• DynRange (db)
• Gain (%)
• Power (%)
• Zoom (%)
• SoundVelocity (m/s)
• TGC (space-separated string, each entry -1.0 to 1.0)
• AcquisitionState (string): “FREEZE” or “RUN”

Read-only

• ClipRectangleOrigin="27 27"
• ClipRectangleSize="766 562"
• FanAnglesDeg=”-30 30” (for 3D: FanAnglesDeg=”-30 30 -15 15”)
• FanOriginPixel=”240 10”
• FanRadiusStartPixel=”30”
• FanRadiusStopPixel=”500”
• Encoding: how to interpret values ("BRIGHTNESS", "RF_REAL", "RF_IQ_LINE", "RF_I_LINE_Q_LINE", "RGB_COLOR")

Implementation plan

Tasks

• Clean up the vtkMRMLIGTLConnectorNode to be logic, MRML and Slicer free
• Creating a new converter base class which does not depend on MRML
• Implementation of the new Command Message

Github Fork

• OpenIGTLinkIF fork [5]
• OpenIGTLink fork [6]

PLUS

• Interson probe settings [7]
• Interson class cleanup [8]
• Get/Set TGC support for US devices [9]
• Get transform over OpenIGTLink [10]
• Sonix transition to imaging parameters [11]

CustusX

• Example CustusX class [12]

Presentations

• Adam Rankin, Robarts Research Institute
• Andras Lasso, PerkLab, Queen's University
• Thomas Kirchner, CAI group, German Cancer Research Center