IGT:ToolKit/Navigation-with-Aurora

Back to IGT:ToolKit

The general navigation system consists of the following components:

• Slicer3: the base platform for navigation
• IGT loadable modules: Software modules, pluginned into Slicer3, for supporting IGT specific functionality
• IGSTK: An interfacing tool for common commercial tracking devices
• Tracking device: e.g. NDI Aurora tracking system

This tutorial explains how to set up these components to build and use a general purpose navigation system.

Step 1: Install Slicer3

Follow the instructions here to install Slicer3:
http://wiki.na-mic.org/Wiki/index.php/IGT:ToolKit/Install-Slicer3

Step 2: Install OpenIGTLink module

OpenIGTLink protocol handles data communication between Slicer3 and tracking device (Click here for details). As a loadable module in Slicer3, OpenIGTLink will receive tracking data from the NDI Aurora system.

• If you can find a proper binary here for your computer, download it and unzip the file:
  • For Linux box (x86, 32-bit), click here.
  • For Windows box (32-bit), click here.
  • For Mac box, click here.
• If you'd like to build OpenIGTLink module from the source code, find the instructions here.
• Copy the binary into your-slicer3-build(install)-directory/lib/Slicer3/Modules.
• You should see OpenIGTLink in the Slicer3 module list after Slicer is started.

Step 3: Install IGSTK

IGSTK is used to acquire tracking data from NDI Aurora tracking system.

• If you can find a proper binary here for your computer, download the file and unzip it to igt-tutorial. You should find directory IGSTKSandbox-build:
  • For Linux box (x86, 32-bit), click here.
  • For Windows box (32-bit), click here.
  • For Mac box, click here.
• If you'd like to build IGSTK from the source code, find the instructions here.

Step 4: Connect NDI Aurora tracking device

• Set up your NDI Aurora tracking device
• Connect it to the computer where IGSTK will be run.
  • By default, Aurora has only serial port connection.
  • If your computer doesn't have a serial port, you need to have a serial-to-USB converter.

Step 5: Perform navigation

• Run Slicer3

your-slicer3-build(install)-directory/Slicer3 (Linux/Mac) or
your-slicer3-build(install)-directory/Slicer3.exe (Windows with Cygwin)

• Configure OpenIGTLink module in Slicer3
  • In Slicer3, get to the interface of OpenIGTLink module
  • Press Add button to add a connector
  • Choose Server as the connector type
  • Press Active for the connector

Now Slicer3 is ready to receive tracking data.

• Run IGSTK
  • Cd to IGSTKSandbox-build
  • Run this command

./igstkSandboxTests igstkAuroraTrackerToolObserverToOpenIGTLinkRelayTest localhost 18944 10000 0 1

At this moment, the tracking data from NDI Aurora is being sent to Slicer3.

• Load a 3D image for navigation
  • Download the data set from [1]
  • Load the SPGR volume into Slicer3
  • Get to the interface of the Slicer3 data module
  • Inside the MRML tree, drag the SPGR volume node under the transform node
• Do navigation
  • Move the Aurora probe
  • You should see the updated view of the SPGR image following the movement of probe