2010 Summer Project Week BrainLab Aurora Hybrid Navigation
Key Investigators
- BWH: Isaiah Norton, Noby Hata
- Washington University: Dan Marcus
Objective
We are developing a surgical navigation hybrid platform using BrainLab VectorVision/vvlink, NDI Aurora EM-navigated sensors, and 3D Slicer/OpenIGTLink. The goal is to exploit the advantages of EM tracking within the framework of the clinically-approved BrainLab system, and eventually to enable the mounting of EM sensors on a wide range of surgical tools. For project week, the objective is to 1) complete the tool cross-registration code and 2) implement a sketch version of tool history tracking.
Approach, Plan
All development work is in 3D Slicer modules (currently internal) and BrainLab/Aurora platform interfacing is provided by OpenIGTLink. EM tool registration is accomplished by pivot calibration. Tool cross-registration will be implemented using ICP fit. The tool history tracking will probably be implemented as a polydata cloud wrapped by a model for now.
Progress
- Found code from Junichi that does most of what we want for the history tracking; will adapt for our purposes. Code is currently fiducial based, but we may convert to labelmaps. - Implemented framework code for tool cross-registration.
Delivery Mechanism
This work will be delivered to the NA-MIC Kit as a Slicer Module
