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PLUS: Open-source Toolkit for Ultrasound-guided Intervention Systems

Laboratory for Percutaneous Surgery, Queen's University, Kingston, ON, Canada.
Publication Date:
IEEE Trans Biomed Eng
Volume Number:
Issue Number:
IEEE Trans Biomed Eng. 2014 Oct;61(10):2527-37.
PubMed ID:
Appears in Collections:
Prostate Group, SLICER
R01 CA111288/CA/NCI NIH HHS/United States
Canadian Institutes of Health Research/Canada
Generated Citation:
Lasso A., Heffter T., Rankin A., Pinter C., Ungi T., Fichtinger G. PLUS: Open-source Toolkit for Ultrasound-guided Intervention Systems. IEEE Trans Biomed Eng. 2014 Oct;61(10):2527-37. PMID: 24833412. PMCID: PMC4437531.
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A variety of advanced image analysis methods have been under the development for ultrasound-guided interventions. Unfortunately, the transition from an image analysis algorithm to clinical feasibility trials as part of an intervention system requires integration of many components, such as imaging and tracking devices, data processing algorithms, and visualization software. The objective of our paper is to provide a freely available open-source software platform-PLUS: Public software Library for Ultrasound-to facilitate rapid prototyping of ultrasound-guided intervention systems for translational clinical research. PLUS provides a variety of methods for interventional tool pose and ultrasound image acquisition from a wide range of tracking and imaging devices, spatial and temporal calibration, volume reconstruction, simulated image generation, and recording and live streaming of the acquired data. This paper introduces PLUS, explains its functionality and architecture, and presents typical uses and performance in ultrasound-guided intervention systems. PLUS fulfills the essential requirements for the development of ultrasound-guided intervention systems and it aspires to become a widely used translational research prototyping platform. PLUS is freely available as open source software under BSD license and can be downloaded from

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