OpenIGTLink

Integration of transperineal prostate robot (BRP -- Brigham and Women's Hospital/Johns Hopkins University/Queen's University/Acoustic Med Systems

Integration of transperineal prostate robot and navigation software (BRP -- Brigham and Women's Hospital/Johns Hopkins University/Queen's University/Acoustic Med Systems

Prototype integration of a neurosurgical robot and Slicer3 using OpenIGTLink, Hideo Fujimoto, Nagoya Inst Tech., Japan

Screenshot of tracker tool visualization on the 3D Slicer. Brigham and Women's Hopsital

Overview

Open IGT Link is a simple network protocol intended for trackers, robots and other devices to send data to the main application. Some devices might also accept commands. ( Robot IGT )

This is a generalization of the previous Tracker Daemon.

What's New

• Oct 20, 2008, Several updates in OpenIGTLink/Matlab page. Now Matlab OpenIGTLink interface supports sending transform data.
• Sep 5, 2008, OpenIGTLink was presented in MICCAI 2008 Workshop on Systems and Architectures for Computer Assisted Interventions. The slides are available here.

Protocol

• Standard Open IGT Link Protocol description
• Open discussions on Open IGT Link Protocol
• Standard Open IGT Link Protocol description -- Version 2 draft
• Extended Protocols
  • JHU MRI robot and encoders
  • JHU TRUS robot

Library

• The Open IGT Link Library
• Tutorial for the Open IGT Link Library
• Which is the best approach to implement Open IGT Link in your application?
• The OpenIGTLink Library Discussions
• The OpenIGTLink Library Development Memo

Interfaces / Software

• OpenIGTLink Interface for 3D Slicer
• Experimental version of OpenIGTLink Interface for 3D Slicer -- A lot more features are supported
• Simulator programs to test OpenIGTLink interfaces
• OpenIGTLink Interface for Matlab / Octave

Devices

• MRI real time image (currently supporting GE, planning to invite other vendors)
• JHU robots and encoders - JHU page
• List all devices supported by IGSTK
• NDI Optotrak (by BWH + Nagoya Institute of Technology)
• Robin Medical EndoScout (by BWH)
• Aurora
• Optotrack
• FlockOfBirds
• Polaris

• future:
  • commercial naviation system
  • other open source effort (Siemens)

(Please contact us if you would like to include other devices.)

Tutorial / Workshops

• Tutorial on image guided therapy (IGT) using Slicer 3 and Open IGT Link is available at IGT:ToolKit
• Systems & Architecture for Computer Assisted Intervention @ MICCAI 2008, NY

People / Organizations

• Luis Ibanez, Kitware
• Junichi Tokuda, BWH
• Csaba Csoma, JHU
• Jack Blevins, Acousticmed
• Patrick Cheng, Georgetown University
• Haying Liu, BWH
• Insight Software Consortium
• Jumpei Arata, Nagoya Institute of Technology, Japan (Nagoya robot control)

Supports

• Enabling Technologies for MRI-Guided Prostate Interventions funded by National Institute of Health (PI: Clare Tempany, MD)
• National Alliance for Medical Image Computing (NA-MIC)
• Intelligent Surgical Instrument Project sponsored by The Ministry of International Trade and Industry, Japan

License

New BSD license ©2008 Insight Software Consortium

Other Resources

• Slicer 3 Image Guided Therapy (IGT) suite
• Slicer 3 Daemon
• Tracker Daemon
• OpenDMTP - Open Device Monitoring and Tracking Protocol
• Uniform Driver Interface (UDI)
• Meetings concerning Open IGT Link
• A backup of this site

Contact

Please contact Junichi Tokuda for further information.