Difference between revisions of "IGT:ToolKit/Navigation-with-Aurora"

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* Configure OpenIGTLink module in Slicer3
 
* Configure OpenIGTLink module in Slicer3
 
** In Slicer3, get to the interface of OpenIGTLink module
 
** In Slicer3, get to the interface of OpenIGTLink module
 +
** Expand '''Connector Browser'''
 
** Press '''Add''' button to add a connector
 
** Press '''Add''' button to add a connector
** Choose '''Server''' as the connector type
+
** Click '''Server''' as the connector type
** Press '''Active''' for the connector
+
** Click '''Active''' for the connector
 
Now Slicer3 is ready to receive tracking data.
 
Now Slicer3 is ready to receive tracking data.
 
* Run IGSTK
 
* Run IGSTK

Revision as of 14:37, 27 May 2008

Home < IGT:ToolKit < Navigation-with-Aurora

Back to IGT:ToolKit

The general navigation system consists of the following components:

  • Slicer3: the base platform for navigation
  • IGT loadable modules: Software modules, pluginned into Slicer3, for supporting IGT specific functionality
  • IGSTK: An interfacing tool for common commercial tracking devices
  • Tracking device: e.g. NDI Aurora tracking system

This tutorial explains how to set up these components to build and use a general purpose navigation system.

Step 1: Install Slicer3

Follow the instructions here to install Slicer3:
http://wiki.na-mic.org/Wiki/index.php/IGT:ToolKit/Install-Slicer3

Step 2: Install OpenIGTLink module

OpenIGTLink protocol handles data communication between Slicer3 and tracking device (Click here for details). As a loadable module in Slicer3, OpenIGTLink will receive tracking data from the NDI Aurora system.

  • If you can find a proper binary here for your computer, download it and unzip the file:
    • For Linux box (x86, 32-bit), click here.
    • For Windows box (32-bit), click here.
    • For Mac box, click here.
  • If you'd like to build OpenIGTLink module from the source code, find the instructions here.
  • Copy the binary into your-slicer3-build(install)-directory/lib/Slicer3/Modules.
  • You should see OpenIGTLink in the Slicer3 module list after Slicer is started.

Step 3: Install IGSTK

IGSTK is used to acquire tracking data from NDI Aurora tracking system.

  • If you can find a proper binary here for your computer, download the file and unzip it to igt-tutorial. You should find directory IGSTKSandbox-build:
    • For Linux box (x86, 32-bit), click here.
    • For Windows box (32-bit), click here.
    • For Mac box, click here.
  • If you'd like to build IGSTK from the source code, find the instructions here.

Step 4: Connect NDI Aurora tracking device

  • Set up your NDI Aurora tracking device
  • Connect it to the computer where IGSTK will be run.
    • By default, Aurora has only serial port connection.
    • If your computer doesn't have a serial port, you need to have a serial-to-USB converter.

Step 5: Perform navigation

  • Run Slicer3
your-slicer3-build(install)-directory/Slicer3 (Linux/Mac) or
your-slicer3-build(install)-directory/Slicer3.exe (Windows with Cygwin)
  • Configure OpenIGTLink module in Slicer3
    • In Slicer3, get to the interface of OpenIGTLink module
    • Expand Connector Browser
    • Press Add button to add a connector
    • Click Server as the connector type
    • Click Active for the connector

Now Slicer3 is ready to receive tracking data.

  • Run IGSTK
    • Cd to IGSTKSandbox-build
    • Run this command
./igstkSandboxTests igstkAuroraTrackerToolObserverToOpenIGTLinkRelayTest localhost 18944 10000 0 1

At this moment, the tracking data from NDI Aurora is being sent to Slicer3.

  • Load a 3D image for navigation
    • Download the data set from [1]
    • Load the SPGR volume into Slicer3
    • Get to the interface of the Slicer3 data module
    • Inside the MRML tree, drag the SPGR volume node under the transform node
  • Do navigation
    • Move the Aurora probe
    • You should see the updated view of the SPGR image following the movement of probe