Plus is an open-source software toolkit for data acquisition, pre-processing, and calibration for navigated image-guided interventions. Plus was originally developed for ultrasound-guided interventions (hence the name, Plus - Public software Library for UltraSound imaging research) and it contains all essential functions for implementing tracked ultrasound systems, but it is now widely used in all kind of interventions, with and without ultrasound imaging. See more information on the Features page.


Plus is provided to the public under the new BSD License. Unlike some other open-source licenses, it does not require that source code be distributed at all and is freely usable for research or commercial applications.


Development of the Plus library is funded, in part, by the following sources:

  • Cancer Care Ontario by funding an Applied Cancer Research Unit (2011-2016), PI: Gabor Fichtinger, PerkLab, Queen’s University
  • CANARIE’s Research Software Program (2017-2020), PI: Gabor Fichtinger, PerkLab, Queen’s University
  • NIH/NIBIB and NIH/NIGMS via grant 1R01EB021396-01A1 - Slicer+PLUS: Point-of-Care Ultrasound (2017-2019), PI: Stephen Aylward, Kitware


Contributing groups and institutions include:

See list of individual contributors on GitHub project page.


If you use PLUS in your project, you have our thanks! If you are considering citing it in your work, you may use the following citation:

A. Lasso, T. Heffter, A. Rankin, C. Pinter, T. Ungi and G. Fichtinger, “PLUS: Open-Source Toolkit for Ultrasound-Guided Intervention Systems,” in IEEE Transactions on Biomedical Engineering, vol. 61, no. 10, pp. 2527-2537, Oct. 2014. doi: 10.1109/TBME.2014.2322864

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