IGT:ToolKit/Navigation-with-Aurora

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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 OpenIGTLink module 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