Plus applications user manual  2.7.0.7ac5b43
Software library for tracked ultrasound image acquisition, calibration, and processing.
Any OpenIGTLink compatible tracker

Supported hardware devices

Device configuration settings

Example configuration file PlusDeviceSet_Server_NDICertus.xml PlusDeviceSet_OpenIGTLinkTracker_TDATA.xml

<PlusConfiguration version="2.1">
<DataCollection StartupDelaySec="1.0" >
<DeviceSet
Name="BrainLabTrackerSim with video from file"
Description="To be used with the BrainLabTrackerSim simulator or with a real BrainLab tracker" />
<Device
Id="TrackerDevice"
Type="OpenIGTLinkTracker"
MessageType="TDATA"
TrackerInternalCoordinateSystemName="Reference"
ToolReferenceFrame="Reference"
ServerAddress="127.0.0.1"
ServerPort="22222"
IgtlMessageCrcCheckEnabled="true"
AcquisitionRate="20"
ReconnectOnReceiveTimeout="false" >
<DataSources>
<DataSource Type="Tool" Id="ReferenceStar" />
<DataSource Type="Tool" Id="Pointer" />
<DataSource Type="Tool" Id="Ultrasound" />
</DataSources>
<OutputChannels>
<OutputChannel Id="TrackerStream">
<DataSource Id="ReferenceStar" />
<DataSource Id="Pointer" />
<DataSource Id="Ultrasound" />
</OutputChannel>
</OutputChannels>
</Device>
<Device
Id="VideoDevice"
Type="SavedDataSource"
SequenceFile="fCal_Test_Calibration_3NWires_fCal2.0.igs.mha"
UseData="IMAGE"
UseOriginalTimestamps="FALSE"
RepeatEnabled="TRUE">
<DataSources>
<DataSource Type="Video" Id="Video" />
</DataSources>
<OutputChannels>
<OutputChannel Id="VideoStream" VideoDataSourceId="Video" />
</OutputChannels>
</Device>
<Device
Id="TrackedVideoDevice"
Type="VirtualMixer" >
<InputChannels>
<InputChannel Id="TrackerStream" />
<InputChannel Id="VideoStream" />
</InputChannels>
<OutputChannels>
<OutputChannel Id="TrackedVideoStream"/>
</OutputChannels>
</Device>
</DataCollection>
<PlusOpenIGTLinkServer
MaxNumberOfIgtlMessagesToSend="1"
MaxTimeSpentWithProcessingMs="10"
ListeningPort="18944"
OutputChannelId="TrackedVideoStream" >
<DefaultClientInfo>
<MessageTypes>
<Message Type="TRANSFORM" />
<Message Type="IMAGE" />
</MessageTypes>
<TransformNames>
<Transform Name="ReferenceStarToTracker" />
<Transform Name="PointerToTracker" />
<Transform Name="UltrasoundToTracker" />
</TransformNames>
<ImageNames>
<Image Name="Image" EmbeddedTransformToFrame="Tracker" />
</ImageNames>
</DefaultClientInfo>
</PlusOpenIGTLinkServer>
<CoordinateDefinitions>
<Transform From="Image" To="Ultrasound"
Matrix="
0.107535 0.00094824 0.0044213 -65.9013
0.0044901 -0.00238041 -0.106347 -3.05698
-0.000844189 0.105271 -0.00244457 -17.1613
0 0 0 1"
Error="0.804961" Date="121012_223643"/>
</CoordinateDefinitions>
</PlusConfiguration>