PLUS: Open-source toolkit for ultrasound-guided intervention systems

Andras Lasso, Tamas Heffter, Adam Rankin, Csaba Pinter, Tamas Ungi, Gabor Fichtinger

Research output: Contribution to journalArticlepeer-review

194 Scopus citations


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

Original languageEnglish (US)
Article number6813647
Pages (from-to)2527-2537
Number of pages11
JournalIEEE Transactions on Biomedical Engineering
Issue number10
StatePublished - Oct 1 2014
Externally publishedYes


  • Live image streaming
  • open-source
  • spatial calibration
  • temporal calibration
  • tool navigation
  • tracked ultrasound,volume reconstruction

ASJC Scopus subject areas

  • Biomedical Engineering
  • Medicine(all)


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