Software Interfaces and Communication Protocols for Surgical Robots - OpenIGTLink

With increasing research on system integration for image-guided therapy (IGT), there has been a strong demand for standardized communication among devices and software to share data such as target positions, images and device status. We have worked on integration and development of components for OpenIGTLink, a standardized mechanism to connect software/hardware through the network for image-guided therapy (IGT) applications.

NAMIC OpenIGTLInk Site (Primary Developer):

Google Code project for Java OpenIGTLink (Maintained by WPI):

OpenIGTLink Interface

Link to 3D Slicer Documentation:

Software development information for the AIM Lab MRI Robot Controller:
MRI Controller Development

Related Publications

  1. Su H, Shang W, Harrington K, Camilo A, Cole GA, Tokuda J, Hata N, Tempany CM, Fischer GS, A Networked Modular Hardware and Software System for MRI-guided Robotic Prostate Interventions, SPIE Medical Imaging, San Diego, USA, Feb. 2012. SPIE, PDF
  2. Tokuda J, Fischer GS, DiMaio SP, Gobbi DG, Csoma C, Mewes PW, Fichtinger G, Tempany CM, Hata N, Integrated Navigation and Control Software System for MRI-guided Robotic Prostate Interventions, Computerized Medical Imaging and Graphics, Vol 34, No 1, pp 3-8, Jan 2010.ScienceDirect, PubMed, PDF
  3. Tokuda J, Fischer GS, Papademetris X, Yaniv Z, Ibanez L, Cheng P, Liu H, Blevins J, Arata J, Golby A, Kapur T, Pieper S, Burdette E, Fichtinger G, Tempany C, Hata N, OpenIGTLink: An Open Network Protocol for Image-Guided Therapy Environment, The International Journal of Medical Robotics and Computer Assisted Surgery, Vol 5, No 4, pp 423-34, Dec. 2009.Wiley, PubMed, PDF
  4. Tokuda J, Fischer GS, Csoma C, DiMaio SP, Gobbi DG, Fichtinger G, Tempany C, Hata N, Software Strategy for Robotic Transperineal Prostate Therapy in Closed-Bore MRI, 11th International Conference on Medical Image Computing and Computer-Assisted Intervention - MICCAI 2008, New York, NY, Lecture Notes on Computer Science, Vol 5242, pp 701-709, Springer, September 2008. Springer
  5. Mewes PW, Tokuda J, DiMaio SP, Fischer GS, Csoma C, Gobbi DG, Tempany CM, Fichtinger G, Hata N, An Integrated MRI and Robot Control Software for an MRI-compatible Robot in Prostate Intervention, International Conference on Robotics and Automation - ICRA 2008, Pasadena, CA, pp 2959-2962, May 2008.IEEE
  6. Tokuda J, DiMaio SP, Fischer GS, Csoma C, Gobbi D, Fichtinger G, Hata N, Tempany CM, Real-time MR Imaging Controlled by Transperineal Needle Placement Device for MRI-guided Prostate Biopsy, 16th Scientific Meeting and Exhibition of the International Society of Magnetic Resonance in Medicine - ISMRM 2008, May 2008.