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Nobuhiko Hata, PhD

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Nobuhiko Hata, PhD – PowerPoint PPT presentation

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Title: Nobuhiko Hata, PhD


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  • Nobuhiko Hata, PhD
  • Technical Director
  • Image Guided Therapy Program
  • Brigham and Womens Hospital

3
Conclusion of my talk
  • Challenge 0 I dont need your IGT software.
  • Basic functions for Image Guided Therapy
    (visualization, image I/O, patient-to-image
    registration) are relatively easy to implement
    (compared to pre-VTK and Xlib era)
  • Challenge 1 Develop and apply innovative medical
    image processing methods to enable new therapy
    options
  • Challenge 2 Provide meeting point for robotics,
    medical image processing, and imaging physics

4
Slicer 97
Another 1997
5
MRI-guided therapieswith3D Slicer
6
Two points which made Slicer useful in IGT
  • Maximize commonality among the applications
  • Brain (biopsy, craniotomy, NdYAG laser ablation)
  • Prostate (brachytherapy, biopsy)
  • Liver and kidney (Microwave, laser ablation)
  • Endoscopy (neuroendoscopy)
  • Encourage the use of novel image processing
    methods to NEW THERAPY OPTIONS

7
MRI-guided Neurosurgery
  • DICOM image transfer
  • Visualization
  • Navigation
  • Link to tracker
  • Image-to-image registration
  • (not fiducial-based)
  • (Intra-operative fiber tracking)

8
Multi-modality MRIg Surgery
Registration is the key-enabling technology
9
MRI-guided Thermal Therapy
  • Image display
  • DICOM transfer
  • Segmentation
  • Thermal mapping
  • (modifying fMRI module)

10
MRI-guided prostate therapy
  • DICOM image transfer
  • Planning
  • Scanner control
  • Rigid and non-rigid image registration
  • Pre-op MRI
  • Pre-procedural MRI
  • Intra-procedural MRI

Radiology 220(1), 263-268, 2001
11
Integration to clinical system
12
Slicer with Hitachi scanner
  • DICOM image transfer
  • Patient-to-image registration
  • Navigation
  • Tumor segmentation for resection monitoring

13
Linking Commercial Navigation and Slicer
  • Toshiba navigation (pre-commercial)
  • Navigation
  • 3D Slicer to provide complementary functions
  • Tumor Segmentation
  • Pre-Op to Intra-Op image registration
  • Navigtion
  • TCP/IP peer-to-peer connection
  • Patient-to-image registration result
  • Tracking data

14
Integration of MR and US
PolarisTM attached to the needle and US probe
Pre-procedual MRI and navigation by 3D Slicer
Video capturing of US images to the navigation
software
CAMIT - Kyushu University Hospital
15
Clinical applications
11 PEIT therapies in Open MRI intervention room
in Kyushu University Hospital
CAMIT - Kyushu University Hospital
16
New procedures
  • Prostate therapy in close-bore MRI
  • Intra-operative segmentation and non-rigid
    registration for planning
  • Close-bore MRI robot
  • Ablation therapies
  • Heat conduction modeling
  • IGT of moving organ
  • Motion tracking

17
New procedures
  • Prostate therapy in close-bore MRI
  • Intra-operative segmentation and non-rigid
    registration for planning (suitable data model)
  • Close-bore MRI robot (multi-computer system)
  • Ablation therapies
  • Heat conduction modeling (independent high
    performance computing engine)
  • IGT of moving organ
  • Motion tracking (real-time aspect)

Notion new IGT software should have good
integration mechanism
18
DeviceScanner
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Slicer for Surgical Robot
  • Robot as tracking device
  • No motion control (open-loop)

20
Closed-loop
Robot (needle) following target in US
21
Closed-loop
Robot (arm) following target in MRI
22
Closed-loop Therapy
23
Closed-loop robot control
  • (Pre-) MR Slicer

Host
TPS
BIT-3
Echo transfer 128fps
Slicer MRI Reconstruction Robot control
MR Echo 128fps
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  • GE Medical Systems Signa Horizon LX System
  • Host
  • SGI Workstation / MIPS Based Processor
  • IRIS Operating System (SGI)
  • Transceiver, Processing and Storage (TPS)
  • VME / Motorola Based Processor
  • VxWorks (Wind River)

Scanner
TPS
Host
25
Research WS
  • Reconstruction WS
  • CPU Intel Pentium4 2.8 GHz (i850 Chipset)
  • Memory 512MB (PC1066 RIMM)
  • Graphics nVIDIA GeForce4 MX440
  • OS RedHat Linux 7.3
  • Software
  • Real-time display of echo and k-space
  • Real-time image reconstruction
  • Motion tracking
  • Host control

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MR Image reconstruction(motion tracking)
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Slicer as Interface
28
Observation
Robot
Action
Physician
Treatment
Patient
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Issue 1
  • I dont need your IGT software
  • Benefit of using open-source software has to be
    clear
  • Lower development cost in labs
  • Lower overhead to commercialization
    (multi-center study)
  • Manufacturers commitment to incorporate
    community oriented modules
  • Access to proprietary hardware
  • Complimentary functions (next slide)

30
Issues 2
  • Develop and apply innovative medical image
    processing methods to enable new therapy options
  • Workflow design and implementation should
    accommodate dynamic aspect of procedure
    development

31
  • Provide meeting point for robotics, medical image
    processing, and imaging physics
  • Do not think IGT software as free navigation
    system
  • Think IGT software as an integration platform

32
Slicer
  • 1996 Carl-Fredrick Westin (newly hired post-doc)
    and Noby Hata (SPL grad student) developed
    prototype using VTK-beta
  • 1997 First MR-guided neurosurgery
  • Dave Gering (MIT grad student) re-design the
    software
  • Lauren O'Donnell (1999-), Steve Pieper (2001-)
  • Pis Ron Kikinis, Ferenc Jolesz, Eric Grimson,
    William Wells III

33
Acknowledgements
  • NIH 1U41RR019703 (PI Jolesz)
  • NIH 5R01AG019513 (PI Tempany)
  • Whitaker Foundation (PI Hata)
  • CIMIT and Department of Defense
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