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| − | Back to [[NA-MIC_Collaborations|NA-MIC_Collaborations]], [[Algorithm:Site1|Site1 Algorithms]], [[DBP1:Site2|Site2 DBP 1]]
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| | __NOTOC__ | | __NOTOC__ |
| − | = '''Computing the Brain Deformation for Image-Guided Neurosurgery''' (The Intelligent Systems of Medicine Laboratory [http://www.mech.uwa.edu.au/ISML/ link title]
| + | <gallery> |
| − | School of Mechanical Engineering, The University of Western Australia)=
| + | Image:PW-MIT2011.png|[[2011_Summer_Project_Week#Projects|Projects List]] |
| | + | Image:YourPictureHere.png|Your caption here |
| | + | </gallery> |
| | + | = Key Investigators = |
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| | + | * Massachusetts General Hospital: Conor James Walsh, Maryam Shokri |
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| | + | * MIT: Faye Wu |
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| | + | <div style="margin: 20px;"> |
| | + | <div style="width: 27%; float: left; padding-right: 3%;"> |
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| − | = The Intelligent Systems of Medicine Laboratory (ISML) mission is to work towards improving clinical outcomes through appropriate use of technology. We are interested in biomechanics (both engineering biomechanics and sport biomechanics), biomedical engineering, computer integrated surgery, medical robotics and related fields. We run exciting research projects in these areas, generously funded by The Australian Research Council and other agencies.
| + | <h3>Objective</h3> |
| | + | The goal of this project is to port existing robot control software for Robopsy and integrate it into 3D slicer using OpenIGTLink. |
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| − | We intend to contribute to Na-MIC by providing algorithms for computing the intra-operative brain deformations for image-guided neurosurgery. We treat the brain shift as a continuum mechanics problem involving finite deformations and solve it using non-linear finite element procedures. We use the procedures (non-linear explicit dynamics with Total Lagrangian formulation) that do not require iterations even when applied to non-linear problems and are, therefore, amenable to computing the intra-operative brain deformations in real time (under 150 s) on a standard PC. =
| + | </div> |
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| | + | <div style="width: 27%; float: left; padding-right: 3%;"> |
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| − | ''A Special Note: Dashed Boxes''
| + | <h3>Approach, Plan</h3> |
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| − | If a blank space is the first character for a Wiki line, the following text will be listed in a dashed box, such as the one appearing at the top of each Site and Project Page containing the links to go back to previous pages. Note, that if you entered the edit mode via any of the subheading edit links, upon a "Save page" the blank space at the top of the Wiki page will be removed. Therefore, you will need to manually add the blank space to maintain the dashed text box at the top of the page. Dashed boxes are also used at the bottom of the Project Pages to link to applicable Project Week pages.
| + | The method performs robot/image registration using fiducial markers and robot control. The following modifications will be performed: |
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| − | ''A Special Note about Publications''
| + | * The controller code will be modified and connected to the OpenIGTLink. |
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| − | "In Press" publications will be listed in two places on the Wiki (in the "In Press" sections on the Publications page and on the appropriate Project page(s)). "In Press" publications will not be added to the Publications DB.
| + | * The module will be modified to add widgets for performing the registration and robot control tasks. |
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| − | "In Print" publications will be added to the Publications DB with the appropriate Grant number (linking it to the search on the Publications DB) and with the appropriate Project page URL added as a keyword (linking it into the Project page). Once the publication is added to the DB, it will be removed from it's listing in the two "In Press" sections mentioned above.
| + | </div> |
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| − | Write access for the publications database will be given out to a few select individuals. If you do not currently have write access to the publications database, please send the following information to John Melonakos at (jmelonak at ece.gatech.edu), for "In Print" publications only: 1) the final printed version of the PDF, 2) the bibtex entry for the publication, 3) the NA-MIC Project URLs against which this publication should be linked, and 4) any other files that you would like to add to the publication database for this publication.
| + | <div style="width: 40%; float: left;"> |
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| − | = Key Investigators =
| + | <h3>Progress</h3> |
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| − | * Prof. Karol Miller (kmiller@mech.uwa.edu.au), Dr Adam Wittek, Grand Joldes | + | * Have used Skeleton Generator to generate template code for 3D Slicer module to collect fiducials. The registration algorithm was modified. The location of each fiducial marker on the robot was determined. The registration algorithm employs the position of markers on the robot and the fiducial positions which are collected from the image. The initial position for the needle holder was determined for the registration. The possibilities of adding GUI widgets to the registration module in the 3D slicer were discussed with collaborators. |
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| − | = Publications [http://www.mech.uwa.edu.au/ISML/publications.htm link title]=
| + | * Discussed employing of other available modules like segmentation in our module for generating semi-automatic registration technique. This technique incorporates user feedback and image segmentation for more accurate registration. |
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| − | [1] Miller, K., Joldes, G., Lance, D., Wittek, A. (2007) Total Lagrangian explicit dynamics finite element algorithm for computing soft tissue deformation, Communications in Numerical Methods in Engineering. Vol. 23, pp. 121-134, doi: 10.1002/cnm.887, available on-line at [http://www3.interscience.wiley.com/cgi-bin/jissue/109075715 link title].
| + | * Installed the controller software on Linux and modified the C++ code to send the commands to the robot. |
| − | [2] Wittek, A., Miller, K., Kikinis, R., Warfield, S. K. (2007) Patient-specific model of brain deformation: Application to medical image registration. Journal of Biomechanics. Vol. 40, pp. 919-929, DOI:10.1016/j.jbiomech.2006.02.021, available on-line at [http://www.sciencedirect.com/ link title].
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| − | [3] Joldes, G. R., Wittek, A., Miller, K. (2007) Suite of finite element algorithms for accurate computation of soft tissue deformation for surgical simulation, in Proceedings of Computational Biomechanics for Medicine Workshop, International Conference on Medical Image Computing and Computer-Assisted Intervention MICCAI 2007, Brisbane, Australia, ISBN 13: 978 0 643 09517 5, pp. 65-73.
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| − | [4] Hawkins, T., Wittek, A. and Miller, K. (2006) Comparison of constitutive models of brain tissue for non-rigid image registration, in CD Proceedings of 2nd Workshop on Computer Assisted Diagnosis and Surgery, Santiago, Chile, 4 pages.
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| − | [5] Horton, A., Wittek, A. and K. Miller (2006) Computer simulation of brain shift using an element free Galerkin method, in CD Proceedings of 7th International Symposium on Computer Methods in Biomechanics and Biomedical Engineering CMBBE 2006, Antibes, France, ISBN: 0-9549670-2-X, pp. 906-911.
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| − | [6] Horton, A., Wittek, A. and K. Miller (2006) Towards meshless methods for surgery simulation. Linear versus non-linear computation of the brain shift, in Proceedings of Computational Biomechanics for Medicine Workshop, International Conference on Medical Image Computing and Computer-Assisted Intervention MICCAI 2006, Copenhagen, Denmark, ISBN 10: 87-7611-149-0, pp. 32-40 [http://www.mech.uwa.edu.au/ISML/publications.htm link title].
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| − | [7] Joldes, G., Wittek, A. and Miller, K. (2006) Improved linear tetrahedral element for surgery simulation, in Proceedings of Computational Biomechanics for Medicine Workshop, International Conference on Medical Image Computing and Computer-Assisted Intervention MICCAI 2006, Copenhagen, Denmark, ISBN 10: 87-7611-149-0, pp. 52-63 [http://www.mech.uwa.edu.au/ISML/ publications.htm link title].
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| − | [8] Joldes, G., Wittek, A. and Miller, K. (2006) Towards non-linear finite element, computations in real time, in CD Proceedings of 7th International Symposium on Computer Methods in Biomechanics and Biomedical Engineering CMBBE 2006, Antibes, France, ISBN: 0-9549670-2-X, pp. 894-899.
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| − | [9] Miller, K., Joldes, G. and Wittek, A. (2006) New finite element algorithm for surgical simulation, in CD Proceedings of 2nd Workshop on Computer Assisted Diagnosis and Surgery, Santiago, Chile, 4 pages
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| − | [10] Miller, K. Hawkins, T. and Wittek, A. (2006) Linear versus non-linear computation of the brain shift, in CD Proceedings of the 7th International Symposium on Computer Methods in Biomechanics and Biomedical Engineering CMBBE 2006, Antibes, France, ISBN: 0-9549670-2-X, pp. 888-893.
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| − | [11] Miller, K. and Wittek, A. (2006) Neuroimage registration as displacement - zero traction problem of solid mechanics, Lead Lecture in Proceedings of Computational Biomechanics for Medicine Workshop, International Conference on Medical Image Computing and Computer-Assisted Intervention MICCAI 2006, Copenhagen, Denmark, ISBN 10: 87-7611-149-0, pp. 1-12 [http://www.mech.uwa.edu.au/ISML/ publications.htm link title].
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| − | [12] Wittek, A., Kikinis, K., Warfield, S. K., and Miller, K. (2005) Brain shift computation using a fully nonlinear biomechanical model, in Proceedings of 8th International Conference on Medical Image Computing and Computer Assisted Intervention MICCAI 2005 in Lecture Notes in Computer Science 3750 2006, pp. 583-590.
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| | + | * Discussed connecting the controller to the 3D slicer using OpenIGTLink. |
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| − | ''In Press''
| + | * IGTLoadableModules will be employed to integrate the controller code. |
| − | [13] AWittek, A., T. Hawkins, and Miller, K. (2008). On the unimportance of constitutive models in computing brain deformation for image-guided surgery (in press). Biomechanics and Modeling in Mechanobiology: 8 pages, doi: 10.1007/s10237-008-0118-1, Springer.
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| − | [14] Grand Joldes, Karol Miller and Adam Wittek (2007) Efficient hourglass control implementation for an uniform strain hexahedra using Total Lagrangian formulation. Communications in Numerical Methods in Engineering (accepted in June 2007), 9 pages, doi: 10.1002/cnm.1034, Wiley.
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| − | = Links =
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| − | * Link1
| + | </div> |
| − | * Link2
| + | </div> |
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| − | Project Week Results: [[blah|Jan 2006]], [[blah|Jun 2007]]
| + | <div style="width: 97%; float: left;"> |
