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 Linux box (x86, 64-bit), click here.
  • For Windows box (32-bit), click here.
  • For Mac OS X(Leopard x86), 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
  • Expand Connector Browser
  • Press Add button to add a connector
  • Click Server as the connector type
  • Click Active for the connector

Now Slicer3 is ready to receive tracking data.

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

./bin/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

Core Open Source Software and Protocol

Slicer IGT

Open IGT Link

Optional Open Source Tool Kit

IGSTK, an interface to commercial IGT tracking device

Robot Control Toolkit, an interface to surgical robots