Title: Nobuhiko Hata, PhD
1(No Transcript)
2- Nobuhiko Hata, PhD
- Technical Director
- Image Guided Therapy Program
- Brigham and Womens Hospital
3Conclusion 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
4Slicer 97
Another 1997
5MRI-guided therapieswith3D Slicer
6Two 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
7MRI-guided Neurosurgery
- DICOM image transfer
- Visualization
- Navigation
- Link to tracker
- Image-to-image registration
- (not fiducial-based)
- (Intra-operative fiber tracking)
8Multi-modality MRIg Surgery
Registration is the key-enabling technology
9MRI-guided Thermal Therapy
- Image display
- DICOM transfer
- Segmentation
- Thermal mapping
- (modifying fMRI module)
10MRI-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
11Integration to clinical system
12Slicer with Hitachi scanner
- DICOM image transfer
- Patient-to-image registration
- Navigation
- Tumor segmentation for resection monitoring
13Linking 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
14Integration 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
15Clinical applications
11 PEIT therapies in Open MRI intervention room
in Kyushu University Hospital
CAMIT - Kyushu University Hospital
16New 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
17New 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
18DeviceScanner
19Slicer for Surgical Robot
- Robot as tracking device
- No motion control (open-loop)
20Closed-loop
Robot (needle) following target in US
21Closed-loop
Robot (arm) following target in MRI
22Closed-loop Therapy
23Closed-loop robot control
Host
TPS
BIT-3
Echo transfer 128fps
Slicer MRI Reconstruction Robot control
MR Echo 128fps
24- 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
25Research 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
26MR Image reconstruction(motion tracking)
27Slicer as Interface
28Observation
Robot
Action
Physician
Treatment
Patient
29Issue 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)
30Issues 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
32Slicer
- 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
33Acknowledgements
- NIH 1U41RR019703 (PI Jolesz)
- NIH 5R01AG019513 (PI Tempany)
- Whitaker Foundation (PI Hata)
- CIMIT and Department of Defense