Difference between revisions of "Special topic breakout: IGT for Prostate"

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=Workflow and State Transition=
 
=Workflow and State Transition=
  
 +
{| border="1"
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|-
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! width="10%"|Phase
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! width="30%"|Navigation
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! width="30%"|Manipulator
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! width="30%"|Scanner & real-time image process
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|-
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||Preparation
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||-Master physician interface console located in suite
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||-Connections to pressurized air.<br>
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-Connections between robotic device and control unit<br>
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-Connections between master interface and control unit<br>
 +
-Sterilization and draping kit<br>
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-Sterile needle driver kit and needles.
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||-Imaging coils<br>
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-Sterilization and draping kit
 +
|-
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||Planning
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||-Load diagnostic images<br>
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-Load pre-operative images<br>
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-Define targets
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||
 +
||-Acquire pre-operative image(T1W, T2W)
 +
|-
 +
||Calibration
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||
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||-Calculate transformation matrix between Patient and robot coordinates
 +
||-Real-time imaging<br>
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-Z-frame tracking
 +
|-
 +
||Operation
 +
||-Real-time image display<br>
 +
-Real-time imaging control based on manipulator position<br>
 +
-Receive manipulator control command from user<br>
 +
-Send manipulator control command to manipulator
 +
||-Receive control command from navigation software
 +
||
 +
|-
 +
||Manual
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||
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||
 +
||
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|}
  
 
=Communication Protocols=
 
=Communication Protocols=

Revision as of 16:14, 31 May 2007

Home < Special topic breakout: IGT for Prostate





Prostate IGT Breakout Session

June 26th, 11am-noon

Location: Grier Rooms A & B: 34-401A & 34-401B





Invited Attendees

  • Clare Tempany, BWH
  • Clif Burdette, Acousticmed
  • Jack Blevins, Acousticmed
  • Greg Fischer, JHU
  • Gabor Fichtinger, Queens
  • Csaba Csoma, JHU
  • David Gobbi, Queens
  • Purang Abolmaesumi, Queens
  • Robert Cormack, BWH
  • Noby Hata, BWH
  • Junichi Tokuda, BWH
  • Haiying Liu, BWH

Agenda

Technical updates

3-4 slides from each group.

Clinical workflow and state transition of the system

Review followings:

  • Clinical workflow for prostate biopsy/brachytherapy
  • System diagram
  • State (mode) transition

Communication protocol

Define communication protocol between subsystems


Loadmap for next 1 year

Milestones (meetings, experiments, deadlines for conferences, clinical studies, etc)


Technical Updates

BWH

  • Scanner control interface (NaviTrack)
  • Real-time image transfer interface (NaviTrack)
  • Z-frame tracking for manipulator calibration
  • 3D Slicer 3.0 prostate module

JHU

Acoustic Med

Workflow and State Transition

Phase Navigation Manipulator Scanner & real-time image process
Preparation -Master physician interface console located in suite -Connections to pressurized air.

-Connections between robotic device and control unit
-Connections between master interface and control unit
-Sterilization and draping kit
-Sterile needle driver kit and needles.

-Imaging coils

-Sterilization and draping kit

Planning -Load diagnostic images

-Load pre-operative images
-Define targets

-Acquire pre-operative image(T1W, T2W)
Calibration -Calculate transformation matrix between Patient and robot coordinates -Real-time imaging

-Z-frame tracking

Operation -Real-time image display

-Real-time imaging control based on manipulator position
-Receive manipulator control command from user
-Send manipulator control command to manipulator

-Receive control command from navigation software
Manual

Communication Protocols