igsio.github.io/index.html at master · olevs/igsio.github.io · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
<!doctype html>
<html>
  <head>
    <meta charset="utf-8">
    <meta http-equiv="X-UA-Compatible" content="chrome=1">
    <title>Image Guided Systems InterOp by IGSIO</title>

    <link rel="stylesheet" href="stylesheets/styles.css">
    <link rel="stylesheet" href="stylesheets/github-light.css">
    <script src="javascripts/scale.fix.js"></script>
    <meta name="viewport" content="width=device-width, initial-scale=1, user-scalable=no">
    <!--[if lt IE 9]>
    <script src="//html5shiv.googlecode.com/svn/trunk/html5.js"></script>
    <![endif]-->
  </head>
  <body>
    <div class="wrapper">
      <header>
        <h1 class="header">Image<br>Guided<br>Systems<br>Inter<br>Operability</h1>
        <p class="header">Advancing open-source image guided systems through cooperation and collaboration.</p>

        <ul>
          <li><a class="buttons github" href="https://github.com/IGSIO">GitHub Profile</a></li>
        </ul>

      </header>
      <section>
        <h3>
<a id="mission" class="anchor" href="#mission" aria-hidden="true"><span class="octicon octicon-link"></span></a>Mission</h3>

<p>The IGSIO was founded after lengthy discussions regarding the standardization of tracked ultrasound communication to work towards improving the interoperability between industrial products and research software platforms <a href="http://wiki.na-mic.org/Wiki/index.php/2016_Winter_Project_Week/Projects/TrackedUltrasoundStandardization">[1]</a>. Prior to these discussions, the commonly accepted solution was to pass specially constructed messages over the OpenIGTLink protocol. This workaround solution indicated that a more formal definition was needed to enable the research community to move towards a vision held by the founding members.</p>

<p>The mission of the IGSIO is to develop a written standard defining the communication of tracked ultrasound systems between software platforms and to produce an open-source reference implementation of an OpenIGTLink client and server for use by any adhering software platform.</p>

<h3>
<a id="goals" class="anchor" href="#goals" aria-hidden="true"><span class="octicon octicon-link"></span></a>Goals</h3>

<p>We seek to achieve the following goals:</p>

<ul>
<li>To advance the image-guided systems community through co-operation and collaboration</li>
<li>To define a written standard for tracked ultrasound communication</li>
<li>To provide a reference standard implementation of a tracked ultrasound client/server</li>
</ul>

<h3>
<a id="founding-members" class="anchor" href="#founding-members" aria-hidden="true"><span class="octicon octicon-link"></span></a>Founding Members</h3>

<p>IGSIO was founded at the NAMIC 2016 Winter Project week in Cambridge, Massachusetts. Founding members include:</p>

<ul>
<li>Andras Lasso <a href="https://github.com/lassoan" class="user-mention">@lassoan</a> (<a href="http://perk.cs.queensu.ca/">Laboratory for Percutaneous Surgery</a>, Queen's University, Canada)</li>
<li>Adam Rankin <a href="https://github.com/adamrankin" class="user-mention">@adamrankin</a> (<a href="http://www.imaging.robarts.ca/petergrp/Research">VASST Laboratory</a>, Western University, Canada)</li>
<li>Christian Askeland <a href="https://github.com/christiana" class="user-mention">@christiana</a> (<a href="http://www.sintef.no/en/technology-and-society/departments/medical-technology/#/">SINTEF Medical Technology</a>, Norway)</li>
<li>Simon Drouin <a href="https://github.com/drouin-simon" class="user-mention">@drouin-simon</a> (<a href="http://www.bic.mni.mcgill.ca/ResearchLabsIPL/HomePage">Neuroimaging and Surgical Tools Lab</a>, McGill University, Canada)</li>
<li>Thomas Kirchner <a href="https://github.com/thkirchner" class="user-mention">@thkirchner</a> (<a href="https://www.dkfz.de/en/index.html">German Cancer Research Center (DKFZ)</a>, Germany)</li>
<li>Janek Gröhl <a href="https://github.com/jgroehl" class="user-mention">@jgroehl</a> (<a href="https://www.dkfz.de/en/index.html">German Cancer Research Center (DKFZ)</a>, Germany)</li>
<li>Janne Beate Bakeng <a href="https://github.com/jbake" class="user-mention">@jbake</a> (<a href="http://www.sintef.no/en/technology-and-society/departments/medical-technology/#/">SINTEF Medical Technology</a>, Norway)</li>
</ul>

<h3>
<a id="the-standard-tracked-ultrasound-over-openigtlink-tuo" class="anchor" href="#the-standard-tracked-ultrasound-over-openigtlink-tuo" aria-hidden="true"><span class="octicon octicon-link"></span></a>The Standard: Tracked Ultrasound over OpenIGTLink (TUO)</h3>

<p>The standard is presented here as a draft. Extensions to the OpenIGTLink protocol have been proposed <a href="http://openigtlink.org/protocols/v3_proposal.html">here</a> and implementation of these extensions is underway <a href="https://github.com/IGSIO/OpenIGTLinkIO">here</a>.</p>

<blockquote>
<h4>
<a id="standard-draft" class="anchor" href="#standard-draft" aria-hidden="true"><span class="octicon octicon-link"></span></a>Standard Draft</h4>
<hr>
<p>Revision 0.2 (winter 2017) of the Tracked Ultrasound over OpenIGTLink (TUO) protocol is presented.</p>

<h4>
<a id="commands" class="anchor" href="#commands" aria-hidden="true"><span class="octicon octicon-link"></span></a>The communication protocol</h4>

<hr>

<p>A client and a server connects over OpenIGTLink. Messages can be then be sent both ways. To request information a query is sent.</p>

<p>Queries and their response are handled by the <em>COMMAND</em> message, introduced in the OpenIGTLink v3 standard. The information requested is passed using the other types of messages. Every query (COMMAND) should result in a respons (RTS_COMMAND) and optionally one or more other message types. All message types are specified in the <a href="http://openigtlink.org/protocols/v3_proposal.html">OpenIGTLink standard v3</a>.</p>

<center><img src="images/command-sequence.png" style="width:300px;height:250px;"></center>

<p>The COMMAND message has a command name. There are 4 command names defined: Get, Set, Subscribe and Unsubscribe. The command name is specified in the COMMAND messages command_name field. The body of the COMMAND message contains a content field which will specify what kind of information is requested. The content is structured using xml tags.</p>

<h4>Command names</h4>
<p> "Get" requests information one time, like the depth setting of the scanner. "Set" requests setting for example a parameter on a scanner. "Subscribe" and "Unsubscribe" requests to start or stop getting continuous updates, for example getting updates when the depth setting is changed. </p>

<h4>Examples</h4>
<hr>
<p>Here are some examples illustrating how to request information using this standard and what respons to expect. &#91; TYPE=..., device_name=... &#93; contains the message type to be sendt and specific fields from the message header or body. The content of the COMMAND message is specified below the &#91; TYPE=..., device_name=... &#93; field.</p>

<h5><a id="get" class="anchor" href="#get" aria-hidden="true"><span class="octicon octicon-link"></span></a>Get</h5>
<p>Request getting information of a certain type.</p>

<h6> Example 1: </h6>

<p><em>Query:</em> "<b>Get</b> the values for depth and gain."</p>
</blockquote>

<pre><code>&#91; Type = COMMAND, device_name = name, command_name = Get &#93;
&lt;Command&gt;
    &lt;Parameter Name=”Depth” /&gt;
    &lt;Parameter Name=”Gain”  /&gt;
&lt;/Command&gt;
</code></pre>

<blockquote>
<p><em>Respons:</em> "You can get the depth value, but not the gain value."</p>
</blockquote>

<pre><code>&#91; Type = RTS_COMMAND, device_name = name, command_name = Get &#93;
&lt;Command&gt;
  &lt;Result success=true&gt; &lt;Parameter Name=”Depth” /&gt; &lt;/Result&gt;
  &lt;Result success=false&gt; &lt;Parameter Name=”Gain” /&gt; &lt;/Result&gt;
&lt;/Command&gt;
</code></pre>

<blockquote>
<p><em>Information:</em> "Here is the depth value."</p>
</blockquote>

<pre><code>&#91; Type = STRING, device_name = name &#93;
&lt;Parameter Name=”Depth” Value=”45” /&gt;
</code></pre>

<blockquote>
<h6> Example 2: </h6>

<p><em>Query:</em> "Get the functionality of the server's current configuration."</p>
</blockquote>

<pre><code>&#91; Type = COMMAND, device_name = name, command_name = Get &#93;
&lt;Command&gt;
    &lt;Capabilities /&gt;
&lt;/Command&gt;
</code></pre>

<blockquote>
<p><em>Response:</em> "You can get the servers capabilities."</p>
</blockquote>

<pre><code>&#91; Type = RTS_COMMAND, device_name = name, command_name = Get &#93;
&lt;Command&gt;
    &lt;Result success=true&gt; &lt;Capabilities /&gt; &lt;/Result&gt;
&lt;/Command&gt;
</code></pre>

<blockquote>
<p><em>Information:</em> "Here are the server capabilities."</p>
</blockquote>

<pre><code>&#91; Type = STRING, device_name = name &#93;
&lt;Capabilities&gt;
  &lt;UltrasoundCapabilities&gt;
    &lt;Probes&gt;
      &lt;Probe name="L14-5/38"/&gt;
      &lt;Probe name="C5-2/42"/&gt;
    &lt;/Probes&gt;
    &lt;ImagingModes&gt;
      &lt;ImagingMode Name=”b-mode+angio”&gt;B-Mode,Angio&lt;/ImagingMode&gt;
    &lt;/ImagingModes&gt;
    &lt;Streams&gt;
      &lt;Stream name="B-Mode"&gt;
        &lt;Parameters&gt;
          &lt;Parameter name="depth" min="5" max="220" step="5"/&gt;
        &lt;/Parameters&gt;
      &lt;/Stream&gt;
      &lt;Stream name="Angio"&gt;
        &lt;Parameters&gt;
          &lt;Parameter name="depth" min="5" max="220" step="5"/&gt;
        &lt;/Parameters&gt;
      &lt;/Stream&gt;
    &lt;/Streams&gt;
    &lt;Presets&gt;
      &lt;Preset name="Vascular small object B+Angio"&gt;
        &lt;Probe Name=”L14-5/38” /&gt;
        &lt;Parameter Name=”Depth” Value=”50” /&gt;
      &lt;/Preset&gt;
    &lt;/Presets&gt;
  &lt;/UltrasoundCapabilities&gt;
&lt;/Capabilities&gt;
</code></pre>


<blockquote>
<h5>
<a id="set" class="anchor" href="#set" aria-hidden="true"><span class="octicon octicon-link"></span></a>Set</h5>

<p>Request setting information of a certain type.</p>

<h6> Example 3: </h6>

<p><em>Query:</em> "Set the us scanners depth and gain values."</p>
</blockquote>

<pre><code>&#91; Type = COMMAND, device_name = name, command_name = Set &#93;
&lt;Command&gt;
    &lt;Parameter Name=”Depth” Value=45 /&gt;
    &lt;Parameter Name=”Gain” Value=35 /&gt;
&lt;/Command&gt;
</code></pre>

<blockquote>
<p><em>Respons:</em> "Setting depth was a success. Setting gain was not a success."</p>
</blockquote>

<pre><code>&#91; Type = RTS_COMMAND, device_name = name, command_name = Set &#93;
&lt;Command&gt;
  &lt;Result success=true&gt; &lt;Parameter Name=”Depth” /&gt; &lt;/Result&gt;
  &lt;Result success=false&gt; &lt;Parameter Name=”Gain” /&gt; &lt;/Result&gt;
&lt;/Command&gt;
</code></pre>

<blockquote>
<p><em>Information:</em> "Here are the current values for depth and gain. (Depth was changed, but not to the exact requested value. Gain was not changed.)"</p>
</blockquote>

<pre><code>&#91; Type = STRING, device_name = name &#93;
&lt;Parameter Name=”Depth” Value=”40” /&gt;
&lt;Parameter Name=”Gain” Value=”30” /&gt;
</code></pre>

<blockquote>
<h5>
<a id="subscribe" class="anchor" href="#subscribe" aria-hidden="true"><span class="octicon octicon-link"></span></a>Subscribe</h5>

<p>This will cause the server to send information of the requested type each time the information changes.</p>

<h6> Example 4: </h6>

<p><em>Query:</em> "Subscribe to changes in depth. Subscribe to new images."</p>
</blockquote>

<pre><code>&#91; Type = COMMAND, device_name = name, command_name = Subscribe &#93;
&lt;Command&gt;
    &lt;Parameter Name=”Depth” /&gt;
    &lt;Image /&gt;(*)
&lt;/Command&gt;
</code></pre>
<p><em>(*) maybe we do not want to allow asking for more than one type of information in a single command</em></p>

<blockquote>
<p><em>Respons:</em> "Subscribing to both depth and image was a success."</p>
</blockquote>

<pre><code>&#91; Type = RTS_COMMAND, device_name = name, command_name = Subscribe &#93;
&lt;Command&gt;
  &lt;Result success=true&gt; &lt;Parameter Name=”Depth” /&gt; &lt;/Result&gt;
  &lt;Result success=true&gt; &lt;Image /&gt; &lt;/Result&gt;
&lt;/Command&gt;
</code></pre>

<blockquote>
<p><em>Information:</em> "Here are the changing depth values and new images."</p>
</blockquote>

<pre><code>&#91; Type = STRING, device_name = name &#93;
&lt;Parameter Name=”Depth” Value=”40” /&gt;

&#91; Type = IMAGE, device_name = name &#93;

&#91; Type = IMAGE, device_name = name &#93;

&#91; Type = STRING, device_name = name &#93;
&lt;Parameter Name=”Depth” Value=”50” /&gt;

&#91; Type = IMAGE, device_name = name &#93;

&#91; Type = IMAGE, device_name = name &#93;
...
</code></pre>

<blockquote>
<h5>
<a id="unsubscribe" class="anchor" href="#unsubscribe" aria-hidden="true"><span class="octicon octicon-link"></span></a>Unsubscribe</h5>

<p>This will cause the server to <em>stop sending</em> information of the requested type.</p>

<h6> Example 5: </h6>

<p><em>Query:</em> "Unsubscribe to images."</p>
</blockquote>

<pre><code>&#91; Type = COMMAND, device_name = name, command_name = Unsubscribe &#93;
&lt;Command&gt;
    &lt;Image /&gt;
&lt;/Command&gt;
</code></pre>

<blockquote>
<p><em>Respons:</em> "Unsubscribing was a success. You will no longer get new images."</p>
</blockquote>

<pre><code>&#91; Type = RTS_COMMAND, device_name = name, command_name = Unsubscribe &#93;
&lt;Command&gt;
  &lt;Result success=true&gt; &lt;Image /&gt; &lt;/Result&gt;
&lt;/Command&gt;
</code></pre>

<h5>
<a id="parameters" class="anchor" href="#parameters" aria-hidden="true"><span class="octicon octicon-link"></span></a>Parameters</h5>

<hr>
<p>Ultrasound imaging devices have parameters that can be changed. The OpenIGTLinkIO standard defines a set of parameters that are common to the majority of such devices. Anyone implementing support for a new hardware device using the OpenIGTLinkIO standard should add support for the following parameters.</p>
<p>Parameters can be queried using the COMMAND message as explained under the communication protocol.</p>

<p><em>Read-write parameters</em></p>

<ul>
<li>Depth (mm): (“40”, “45”, “50”, …) </li>
<li>ImagingMode (string): (“bmode”, “bmode+rf”, “bmode+angio”, “rf+angio”, ...)</li>
<li>Probe (string): probe name (“L14-5/38”)</li>
<li>Frequency (MHz)</li>
<li>DynRange (db)</li>
<li>Gain (%)</li>
<li>Power (%)</li>
<li>Zoom (%)</li>
<li>SoundVelocity (m/s)</li>
<li>TGC (space-separated string, each entry -1.0 to 1.0)</li>
<li>AcquisitionState (string): “FREEZE” or “RUN”</li>
</ul>

<p><em>Read-only parameters</em></p>

<ul>
<li>ClipRectangleOrigin="27 27"</li>
<li>ClipRectangleSize="766 562"</li>
<li>FanAnglesDeg=”-30 30” (for 3D: FanAnglesDeg=”-30 30 -15 15”)</li>
<li>FanOriginPixel=”240 10”</li>
<li>FanRadiusStartPixel=”30”</li>
<li>FanRadiusStopPixel=”500”</li>
<li>Encoding: how to interpret values ("BRIGHTNESS", "RF_REAL", "RF_IQ_LINE", "RF_I_LINE_Q_LINE", "RGB_COLOR")</li>
</ul>

<h3>
<a id="links" class="anchor" href="#links" aria-hidden="true"><span class="octicon octicon-link"></span></a>Links</h3>

<ol>
<li><a href="http://wiki.na-mic.org/Wiki/index.php/2016_Winter_Project_Week/Projects/TrackedUltrasoundStandardization">2016_Winter_Project_Week/Projects/TrackedUltrasoundStandardization</a></li>
<li><a href="http://www.na-mic.org/Wiki/index.php/2016_Summer_Project_Week/Tracked_Ultrasound_Standardization">2016_Summer_Project_Week/Projects/TrackedUltrasoundStandardization</a></li>
<li><a href="http://www.na-mic.org/Wiki/index.php/2017_Winter_Project_Week/Tracked_Ultrasound_Standardization">2017_Winter_Project_Week/Tracked_Ultrasound_Standardization</a></li>
<li><a href="http://openigtlink.org/protocols/v3_proposal.html">http://openigtlink.org/protocols/v3_proposal.html</a></li>
<li><a href="https://github.com/IGSIO/OpenIGTLinkIF">https://github.com/IGSIO/OpenIGTLinkIF</a></li>
</ol>
      </section>
      <footer>
        <p><small>Hosted on <a href="https://pages.github.com">GitHub Pages</a> using the Dinky theme</small></p>
      </footer>
    </div>
    <!--[if !IE]><script>fixScale(document);</script><![endif]-->

  </body>
</html>