From v.v.tereshchenko92 at gmail.com  Wed Dec  2 23:14:19 2015
From: v.v.tereshchenko92 at gmail.com (Vlad)
Date: Thu, 3 Dec 2015 07:14:19 +0300
Subject: [IGSTK-Users] motion capture for tracking with Slicer 3d + PLUS
Message-ID: <CAJv9rXnUmP_3Wc_WoThMFZ_mKGV8Le1MwV5ju=9X9-L8r2nzZA@mail.gmail.com>

Hello.
We are going to make a cheap and flexible surgery tracking system based on
3d Slicer + PLUS.
So we have a question about optical tracking for instruments during
operation.
Now we are looking for motion capture software which can match
following requirements:

   - Any compatible tracker device through OpenIGTLink interface.
   - Any tracker device that are supported by the IGSTK toolkit, using
   IGSTK's OpenIGTLinkTrackingBroadcaster application.
   - Receiving values of transforms from 3D Slicer application

We know about existing Generic pose tracking devices:

   - Ascension electromagnetic tracking devices (and Ultrasonix SonixGPS)
   - Claron MicronTracker optical pose tracker
   - NDI Polaris and Aurora pose trackers
   - NDI Optotrak Certus optical pose tracker
   - Medtronic Stealth Station

But can we do the same job alternatively by using 2-3 videocams +
appropriate software? Or the main function is in hardware?

Thank You!


-- 
Best regards, Vlad Tereshchenko.
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From zivrafael.yaniv at nih.gov  Thu Dec  3 10:34:55 2015
From: zivrafael.yaniv at nih.gov (Yaniv, Ziv Rafael (NIH/NLM/LHC) [C])
Date: Thu, 3 Dec 2015 15:34:55 +0000
Subject: [IGSTK-Users] motion capture for tracking with Slicer 3d + PLUS
In-Reply-To: <CAJv9rXnUmP_3Wc_WoThMFZ_mKGV8Le1MwV5ju=9X9-L8r2nzZA@mail.gmail.com>
References: <CAJv9rXnUmP_3Wc_WoThMFZ_mKGV8Le1MwV5ju=9X9-L8r2nzZA@mail.gmail.com>
Message-ID: <D285CAD8.6DE1%yanivz@mail.nih.gov>

Hello Vlad,

There are several companies that market tracking systems for medical applications (optical or electromagnetic), though NDI is the dominant player in this domain. A partial list includes:

NDI (they also own ascension):
http://www.ndigital.com/
http://www.ascension-tech.com/

ClaroNav:
http://www.claronav.com

Atracsys:
http://www.atracsys.com

Axios3D:
http://axios3d.com/EN/index.html

You also listed Medtronic Stealth Station. This is not a tracking system it is a complete navigation solution which uses optical tracking from NDI or medtronic's proprietary electromagnetic tracking.

All of the solutions are a combination of hardware and software (at a minimum a software API to interact with the device). NDI does the computations on their hardware, claron does them on the host machine. Both are equally good approaches.

Other companies that sell optical tracking solutions not geared towards medical:
http://www.ar-tracking.com/
http://www.optitrack.com/

With regard to building your own tracking system using 2-3 off the shelf video cameras, I would advise against this unless you don't require robustness and reliability which means you are not taking it into the clinical setting. Building a setup from scratch is not trivial - for instance, the spatial relationship between your camera sensors can change due to changes in temperature between the calibration setup and usage setting. This will effect your accuracy.

    hope this helps
          Ziv

p.s. Two additional pointers that may be of potential interest to you

1. A low cost commercial navigation system built using IGSTK and MicronTracker http://nuclemed.com.ar/english/software/luti.php?id=1

2. A toy open source navigation system using a calibrated webcam (monocular tracking) we developed with IGSTK: http://yanivresearch.info/igiTutorial/igiTutorial.html



From: Vlad <v.v.tereshchenko92 at gmail.com<mailto:v.v.tereshchenko92 at gmail.com>>
Date: Wednesday, December 2, 2015 at 11:14 PM
To: "igstk-users at public.kitware.com<mailto:igstk-users at public.kitware.com>" <igstk-users at public.kitware.com<mailto:igstk-users at public.kitware.com>>
Subject: [IGSTK-Users] motion capture for tracking with Slicer 3d + PLUS

Hello.
We are going to make a cheap and flexible surgery tracking system based on 3d Slicer + PLUS.
So we have a question about optical tracking for instruments during operation.
Now we are looking for motion capture software which can match following requirements:

  *   Any compatible tracker device through OpenIGTLink interface.
  *   Any tracker device that are supported by the IGSTK toolkit, using IGSTK's OpenIGTLinkTrackingBroadcaster application.
  *   Receiving values of transforms from 3D Slicer application

We know about existing Generic pose tracking devices:

  *   Ascension electromagnetic tracking devices (and Ultrasonix SonixGPS)
  *   Claron MicronTracker optical pose tracker
  *   NDI Polaris and Aurora pose trackers
  *   NDI Optotrak Certus optical pose tracker
  *   Medtronic Stealth Station

But can we do the same job alternatively by using 2-3 videocams + appropriate software? Or the main function is in hardware?

Thank You!


--
Best regards, Vlad Tereshchenko.

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From agomez at fing.edu.uy  Thu Dec  3 15:48:33 2015
From: agomez at fing.edu.uy (Alvaro Gomez)
Date: Thu, 3 Dec 2015 17:48:33 -0300
Subject: [IGSTK-Users] motion capture for tracking with Slicer 3d + PLUS
In-Reply-To: <D285CAD8.6DE1%yanivz@mail.nih.gov>
References: <CAJv9rXnUmP_3Wc_WoThMFZ_mKGV8Le1MwV5ju=9X9-L8r2nzZA@mail.gmail.com>
 <D285CAD8.6DE1%yanivz@mail.nih.gov>
Message-ID: <5660AAA1.4020804@fing.edu.uy>

This people use mutiple Optitrack IR cameras to build a cheap and 
flexible system

Garc?a-V?zquez, V., E. Marinetto, J. A. Santos-Miranda, F. A. Calvo, M. 
Desco, and J. Pascau. "Feasibility of integrating a multi-camera optical 
tracking system in intra-operative electron radiation therapy 
scenarios." /Physics in medicine and biology/ 58, no. 24 (2013): 8769.

Marinetto, E., V. Garc?a-V?zquez, J. A. Santos-Miranda, F. Calvo, M. 
Valdivieso, C. Illana, M. Desco, and J. Pascau. "Optical Tracking System 
Integration into IORT Treatment Planning System." In /XIII Mediterranean 
Conference on Medical and Biological Engineering and Computing 2013/, 
pp. 37-40. Springer International Publishing, 2014.

I think Optitrack is not listed in PLUS but it is already integrated. 
Check with Plus people.
https://www.assembla.com/spaces/plus/subversion/commits/4225

Check also:
https://github.com/HGGM-LIM/BiiGOptitrack
that has an OpenIGTLink implementation in OptitrackServer

Best regards,
Alvaro

On 12/03/2015 12:34 PM, Yaniv, Ziv Rafael (NIH/NLM/LHC) [C] wrote:
> Hello Vlad,
>
> There are several companies that market tracking systems for medical 
> applications (optical or electromagnetic), though NDI is the dominant 
> player in this domain. A partial list includes:
>
> NDI (they also own ascension):
> http://www.ndigital.com/
> http://www.ascension-tech.com/
>
> ClaroNav:
> http://www.claronav.com
>
> Atracsys:
> http://www.atracsys.com
>
> Axios3D:
> http://axios3d.com/EN/index.html
>
> You also listed Medtronic Stealth Station. This is not a tracking 
> system it is a complete navigation solution which uses optical 
> tracking from NDI or medtronic's proprietary electromagnetic tracking.
>
> All of the solutions are a combination of hardware and software (at a 
> minimum a software API to interact with the device). NDI does the 
> computations on their hardware, claron does them on the host machine. 
> Both are equally good approaches.
>
> Other companies that sell optical tracking solutions not geared 
> towards medical:
> http://www.ar-tracking.com/
> http://www.optitrack.com/
>
> With regard to building your own tracking system using 2-3 off the 
> shelf video cameras, I would advise against this unless you don't 
> require robustness and reliability which means you are not taking it 
> into the clinical setting. Building a setup from scratch is not 
> trivial - for instance, the spatial relationship between your camera 
> sensors can change due to changes in temperature between the 
> calibration setup and usage setting. This will effect your accuracy.
>
>     hope this helps
>           Ziv
>
> p.s. Two additional pointers that may be of potential interest to you
>
> 1. A low cost commercial navigation system built using IGSTK and 
> MicronTracker http://nuclemed.com.ar/english/software/luti.php?id=1
>
> 2. A toy open source navigation system using a calibrated webcam 
> (monocular tracking) we developed with IGSTK: 
> http://yanivresearch.info/igiTutorial/igiTutorial.html
>
>
>
> From: Vlad <v.v.tereshchenko92 at gmail.com 
> <mailto:v.v.tereshchenko92 at gmail.com>>
> Date: Wednesday, December 2, 2015 at 11:14 PM
> To: "igstk-users at public.kitware.com 
> <mailto:igstk-users at public.kitware.com>" 
> <igstk-users at public.kitware.com <mailto:igstk-users at public.kitware.com>>
> Subject: [IGSTK-Users] motion capture for tracking with Slicer 3d + PLUS
>
> Hello.
> We are going to make a cheap and flexible surgery tracking system 
> based on 3d Slicer + PLUS.
> So we have a question about optical tracking for instruments during 
> operation.
> Now we are looking for motion capture software which can match 
> following requirements:
>
>   * Any compatible tracker device through OpenIGTLink interface.
>   * Any tracker device that are supported by the IGSTK toolkit, using
>     IGSTK's OpenIGTLinkTrackingBroadcaster application.
>   * Receiving values of transforms from 3D Slicer application
>
> We know about existing Generic pose tracking devices:
>
>   * Ascension electromagnetic tracking devices (and Ultrasonix SonixGPS)
>   * Claron MicronTracker optical pose tracker
>   * NDI Polaris and Aurora pose trackers
>   * NDI Optotrak Certus optical pose tracker
>   * Medtronic Stealth Station
>
> But can we do the same job alternatively by using 2-3 videocams + 
> appropriate software? Or the main function is in hardware?
>
> Thank You!
>
>
> -- 
> Best regards, Vlad Tereshchenko.
>
>
> _______________________________________________
> Powered by www.kitware.com
>
> Visit other Kitware open-source projects at http://www.kitware.com/opensource/opensource.html
>
> Follow this link to subscribe/unsubscribe:
> http://public.kitware.com/mailman/listinfo/igstk-users

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From zeinsalah at gmail.com  Fri Dec  4 03:31:48 2015
From: zeinsalah at gmail.com (Zein Salah)
Date: Fri, 4 Dec 2015 09:31:48 +0100
Subject: [IGSTK-Users] Accessing AuroraTracker with IGSTK
Message-ID: <CADiSopMvhzP9=vH_Cf_nY=np_rqCDeJ+vscLHGNcNtXTUcK3RA@mail.gmail.com>

Hi,

I am trying to use IGSTK for accessing and controlling an NDI
AuroraTracker (previously, I was using a Polaris Spectra camera).

I hoped I will not need to change a lot in code. I read in the
documentation of igstk::AuroraTracker the follwing:

"The use of two 5DOF tools on a single port is supported. In order to
use the Aurora
in this configuration, a splitter for the port is required, as well as
an SROM file that
can work with the two tools in question."

what is meant by "Splitter" here?

thanks,

Zein

From zivrafael.yaniv at nih.gov  Fri Dec  4 09:52:02 2015
From: zivrafael.yaniv at nih.gov (Yaniv, Ziv Rafael (NIH/NLM/LHC) [C])
Date: Fri, 4 Dec 2015 14:52:02 +0000
Subject: [IGSTK-Users] Accessing AuroraTracker with IGSTK
In-Reply-To: <CADiSopMvhzP9=vH_Cf_nY=np_rqCDeJ+vscLHGNcNtXTUcK3RA@mail.gmail.com>
References: <CADiSopMvhzP9=vH_Cf_nY=np_rqCDeJ+vscLHGNcNtXTUcK3RA@mail.gmail.com>
Message-ID: <D2870FD5.6E18%yanivz@mail.nih.gov>

Hello Zein,

Splitter means a physical cable which on one end connects to the port on
the control box and on the other end has two connections for 5D tools.
This allows you to connect two tools to a single physical port on the
control box. 

   hope this clarifies things
         Ziv 




On 12/4/15, 3:31 AM, "Zein Salah" <zeinsalah at gmail.com> wrote:

>Hi,
>
>I am trying to use IGSTK for accessing and controlling an NDI
>AuroraTracker (previously, I was using a Polaris Spectra camera).
>
>I hoped I will not need to change a lot in code. I read in the
>documentation of igstk::AuroraTracker the follwing:
>
>"The use of two 5DOF tools on a single port is supported. In order to
>use the Aurora
>in this configuration, a splitter for the port is required, as well as
>an SROM file that
>can work with the two tools in question."
>
>what is meant by "Splitter" here?
>
>thanks,
>
>Zein
>_______________________________________________
>Powered by www.kitware.com
>
>Visit other Kitware open-source projects at
>http://www.kitware.com/opensource/opensource.html
>
>Follow this link to subscribe/unsubscribe:
>http://public.kitware.com/mailman/listinfo/igstk-users


From zeinsalah at gmail.com  Fri Dec  4 10:52:33 2015
From: zeinsalah at gmail.com (Zein Salah)
Date: Fri, 4 Dec 2015 16:52:33 +0100
Subject: [IGSTK-Users] Accessing AuroraTracker with IGSTK
In-Reply-To: <D2870FD5.6E18%yanivz@mail.nih.gov>
References: <CADiSopMvhzP9=vH_Cf_nY=np_rqCDeJ+vscLHGNcNtXTUcK3RA@mail.gmail.com>
 <D2870FD5.6E18%yanivz@mail.nih.gov>
Message-ID: <CADiSopOb29_AgVgzZA0tg-9RY7GZFppxvKrXzdFZBp4YaS3BFw@mail.gmail.com>

Thanks. That is a Y-cable, I think.

However, is there a way to know -by software means- which tools are
connected to the tracker? In other words, which ports are occupied?

2015-12-04 15:52 GMT+01:00 Yaniv, Ziv Rafael (NIH/NLM/LHC) [C]
<zivrafael.yaniv at nih.gov>:
> Hello Zein,
>
> Splitter means a physical cable which on one end connects to the port on
> the control box and on the other end has two connections for 5D tools.
> This allows you to connect two tools to a single physical port on the
> control box.
>
>    hope this clarifies things
>          Ziv
>
>
>
>
> On 12/4/15, 3:31 AM, "Zein Salah" <zeinsalah at gmail.com> wrote:
>
>>Hi,
>>
>>I am trying to use IGSTK for accessing and controlling an NDI
>>AuroraTracker (previously, I was using a Polaris Spectra camera).
>>
>>I hoped I will not need to change a lot in code. I read in the
>>documentation of igstk::AuroraTracker the follwing:
>>
>>"The use of two 5DOF tools on a single port is supported. In order to
>>use the Aurora
>>in this configuration, a splitter for the port is required, as well as
>>an SROM file that
>>can work with the two tools in question."
>>
>>what is meant by "Splitter" here?
>>
>>thanks,
>>
>>Zein
>>_______________________________________________
>>Powered by www.kitware.com
>>
>>Visit other Kitware open-source projects at
>>http://www.kitware.com/opensource/opensource.html
>>
>>Follow this link to subscribe/unsubscribe:
>>http://public.kitware.com/mailman/listinfo/igstk-users
>

From zivrafael.yaniv at nih.gov  Fri Dec  4 11:09:46 2015
From: zivrafael.yaniv at nih.gov (Yaniv, Ziv Rafael (NIH/NLM/LHC) [C])
Date: Fri, 4 Dec 2015 16:09:46 +0000
Subject: [IGSTK-Users] Accessing AuroraTracker with IGSTK
In-Reply-To: <CADiSopOb29_AgVgzZA0tg-9RY7GZFppxvKrXzdFZBp4YaS3BFw@mail.gmail.com>
References: <CADiSopMvhzP9=vH_Cf_nY=np_rqCDeJ+vscLHGNcNtXTUcK3RA@mail.gmail.com>
 <D2870FD5.6E18%yanivz@mail.nih.gov>
 <CADiSopOb29_AgVgzZA0tg-9RY7GZFppxvKrXzdFZBp4YaS3BFw@mail.gmail.com>
Message-ID: <D2872328.6E3E%yanivz@mail.nih.gov>

Yes, that is the cable.

In general the NDI API will allow you to query the ports (introspection).
In IGSTK we did not support this. We required that you select the tools
and their connections on the software side and then they are activated on
the hardware side (software sends appropriate messages to the NDI
hardware).  

    Ziv



On 12/4/15, 10:52 AM, "Zein Salah" <zeinsalah at gmail.com> wrote:

>Thanks. That is a Y-cable, I think.
>
>However, is there a way to know -by software means- which tools are
>connected to the tracker? In other words, which ports are occupied?
>
>2015-12-04 15:52 GMT+01:00 Yaniv, Ziv Rafael (NIH/NLM/LHC) [C]
><zivrafael.yaniv at nih.gov>:
>> Hello Zein,
>>
>> Splitter means a physical cable which on one end connects to the port on
>> the control box and on the other end has two connections for 5D tools.
>> This allows you to connect two tools to a single physical port on the
>> control box.
>>
>>    hope this clarifies things
>>          Ziv
>>
>>
>>
>>
>> On 12/4/15, 3:31 AM, "Zein Salah" <zeinsalah at gmail.com> wrote:
>>
>>>Hi,
>>>
>>>I am trying to use IGSTK for accessing and controlling an NDI
>>>AuroraTracker (previously, I was using a Polaris Spectra camera).
>>>
>>>I hoped I will not need to change a lot in code. I read in the
>>>documentation of igstk::AuroraTracker the follwing:
>>>
>>>"The use of two 5DOF tools on a single port is supported. In order to
>>>use the Aurora
>>>in this configuration, a splitter for the port is required, as well as
>>>an SROM file that
>>>can work with the two tools in question."
>>>
>>>what is meant by "Splitter" here?
>>>
>>>thanks,
>>>
>>>Zein
>>>_______________________________________________
>>>Powered by www.kitware.com
>>>
>>>Visit other Kitware open-source projects at
>>>http://www.kitware.com/opensource/opensource.html
>>>
>>>Follow this link to subscribe/unsubscribe:
>>>http://public.kitware.com/mailman/listinfo/igstk-users
>>