New Structure for IGT Tracking Devices: Simple Integration in External Projects

Transcription

1 New Structure for IGT Tracking Devices: Simple Integration in External Projects Esther Wild and Alfred Franz Computer-assisted Interventions (DKFZ)

2 Intraoperative registration with colored fiducials Baumhauer et al. (2007) Navigation in der minimal-invasiven Prostatachirurgie, BVM E. Wild, slide 2

3 Intraoperative registration with fluorescent markers Wild et al. Robust augmented reality guidance with fluorescent markers in laparoscopic surgery. International Journal of Computer Assisted Radiology and Surgery, 2016 [in press] E. Wild, slide 3

4 Intraoperative registration Record 3D position of marker Tracking Device: Polaris Spectra Detect 2D position in video frames Threshold image, contours, center Estimate 3D pose of laparoscope Inside Out Tracking Baumhauer et al. (2008) Soft Tissue Navigation for Laparoscopic Partial Nephrectomy; Müller (2013) Augmented Reality Navigation For Percutaneous Nephro. On Mobile Devices. E. Wild, slide 4

5 The Tracking Toolbox Live DEMO E. Wild, slide 5

6 Next Step: Da Vinci Robot Use API Information 2016 Intuitive Surgical, Inc. E. Wild, slide 6

7 Difficulties & Solution NDA: Code cannot be open source Implementation from an external project Availability in different modules and plugins MITK Tracking Toolbox Old version of IGT: New structure Dynamic integration at program start Access device at any time from everywhere E. Wild, slide 7

8 E. Wild, slide 8 How to integrate a new tracking device from an external project in MITK

9 Create a new module CmakeList.txt MITK_CREATE_MODULE(MitkIGTTrackingDeviceExample DEPENDS PUBLIC MitkIGTUI MitkQtWidgetsExt INCLUDE_DIRS device AUTOLOAD_WITH MitkCore ) add_subdirectory(autoload/mitkigttrackingdeviceexampledeviceregistry device) Files.cmake set(cpp_files device/mitkvirtualtrackingdevicembi.cpp device/mitkvirtualtrackingtoolmbi.cpp device/mitkvirtualtrackertypeinformationmbi.cpp device/qmitkvirtualtrackerwidgetmbi.cpp) set(ui_files device/qmitkvirtualtrackerwidgetmbicontrols.ui) set(moc_h_files device/qmitkvirtualtrackerwidgetmbi.h) E. Wild, slide 9

10 Tracking device class mitkvirtualtrackingdevicembi.cpp/.h class MitkIGTTrackingDeviceExample_EXPORT VirtualTrackingDeviceMBI: public TrackingDevice Open and close connection Get and add tools Start and stop tracking Track tools, e.g. set tool position E. Wild, slide 10

11 Tracking Tools mitkvirtualtrackingtoolmbi.cpp/.h class MitkIGTTrackingDeviceExample_EXPORT VirtualTrackingToolMBI : public InternalTrackingTool GetPosition() SetPosition() GetToolInformation() E. Wild, slide 11

12 Use it everywhere - microservices Microservice TrackingDeviceCollection Somewhere: Add new Tracking Device Get Tracking Device(s) New Tracking Device Class MITK Module or Plugin E. Wild, slide 12

13 Provide Meta Data mitkvirtualtrackertypeinformationmbi.cpp/.h class EXPORT VirtualTrackerTypeInformationMBI : public TrackingDeviceTypeInformation Constructor Set device name (unique identifier) Set device data (model and volume information) Static function for device name GetTrackingDeviceName(){ return "My New TrackingDevice";} Create tracking device source New pipeline Add tools E. Wild, slide 13

14 Integrate to Tracking Toolbox QmitkVirtualTrackerWidgetMBI.cpp/.h /.ui Construct tracking device returnvalue = VirtualTrackingDeviceMBI::New(); Set parameter return static_cast<trackingdevice::pointer>(returnvalue); Initialize widget Clone function E. Wild, slide 14

15 Register Device us::modulecontext* context = us::getmodulecontext(); TrackingDeviceTypeCollection* _DeviceTypeCollection = context->getservice <mitk::trackingdevicetypecollection>( context->getservicereferences <TrackingDeviceTypeCollection>().front()); _DeviceTypeCollection->RegisterTrackingDeviceType( new mitk::virtualtrackertypeinformationmbi()); std::vector<std::string> all_devices = _DeviceTypeCollection->GetTrackingDeviceTypeNames(); E. Wild, slide 15

16 Always available - autoload CmakeList.txt MITK_CREATE_MODULE( MitkIGTTrackingDeviceExampleDeviceRegistry INCLUDE_DIRS PRIVATE src DEPENDS PRIVATE MitkIGTTrackingDeviceExample MitkIGTUI MitkIGT AUTOLOAD_WITH MitkCore ) Files.cmake set(cpp_files mitkigttrackingdeviceexampleactivator.cpp ) E. Wild, slide 16

17 Always available - autoload mitkigttrackingdeviceexampleactivator.cpp /.h class IGTTrackingDeviceExampleActivator : public us::moduleactivator Private member: QmitkVirtualTrackerWidgetMBI Load function Get Microservice (TrackingDeviceTypeCollection) Register TrackingDevice Get Microservice for widgets (TrackingDeviceWidgetCollection) Register Widget E. Wild, slide 17

18 New Tracking Device Live DEMO E. Wild, slide 18

19 Any Questions? Please ask now or have a look at MITK Documentation Slides available after meeting Source code of example module Microservices - an example of usage in IGT Thank you for your attention! E. Wild, slide 19