About

Framework Overview:

  • Free & open-source
  • Continuous integration
  • Modularized and extensible
  • C++11 based
  • Cross-platform support
  • Real-time performance

iMSTK Features

N

Cross-platform

Supports all major platforms (MacOS, Windows, Linux)

N

Automation

Automatic dependency fetch and build via CMake

N

Multiple Backends

Supports two rendering backends: VTK and Vulkan

N

Collision Detection

Supports continuous collision detection and standard narrow phase queries

N

Rendering

Supports subsurface scattering (Vulkan)

N

Virtual Reality

Supports virtual reality with the use of VTK

N

Simulation

Can be configured to run in simulation mode (no rendering)

N

Hardware

Support for standard hardware (haptics devices, foot pedals)

N

Extendable

Easily extendable to access VTK’s filters and advanced visualization

N

Physics

  • Linear and Non-linear FEM
  • Position based dynamics (Solids, cloth, fluids)
  • Solvers: CG, Point relaxation methods, direct linear solvers
  • Collision handling: Penalty, Linear Projection Constraints, PBD

Citing iMSTK

If you use iMSTK in your work, please use the following format to cite:

Venkata S Arikatla, Nicholas Milef, Alexis Girault, Andinet Enquobahrie, Tansel Halic, Suvranu De: Interactive Medical Simulation Toolkit (iMSTK). 2018. https://www.imstk.org

Acknowledgements

NIBIB: Surgical Simulator for Improving Skill Proficiency and Resilience

Branch: National Institute of Biomedical Imaging and Bioengineering, National Institutes of Health (NIBIB)
Type: R01 (R01EB031808)
Principal Investigator: Rachel Clipp (Kitware Inc.)

NIBIB: Development and Validation of a Virtual Laparoscopic Hiatal Hernia Simulator (VLaHHS)

Branch: National Institute of Biomedical Imaging and Bioengineering, National Institutes of Health (NIBIB)
Type: R01 (R01EB025247)
Principal Investigator: Ganesh Sankaranarayanan (UTSW)

NIAMS: Virtual Rotator Cuff Arthroscopic Skill Trainer

Branch: National Institute of Arthritis and Musculoskeletal and Skin Diseases (NIAMS)
Type: SBIR (R44AR075481)
Principal Investigator: Venkata S. Arikatla (Kitware Inc.), Tansel Halic

NIH/OD: Approach-specific, multi-GPU, multi-tool, high-realism neurosurgery simulation

Branch: Office of Director, National Institutes of Health (NIH/OD)
Type: SBIR (R44OD018334)
Principal Investigator: ANDINET ENQUOBAHRIE (Kitware, Inc.)

NIDCR: High fidelity Virtual Reality Trainer for Orthognathic Surgery

Branch: National Institute of Dental and Craniofacial Research (NIDCR)
Type: SBIR (1R43DE027595)
Principal Investigator: BEATRIZ PANIAGUA (Kitware, Inc.)

NIH/NIDDK: Advanced virtual simulator for real-time ultrasound-guided renal biopsy training

Branch: Institute National Institute of Diabetes and Digestive and Kidney Diseases (NIDDK)
Type: SBIR (1R43DK115332)
Principal Investigator: ANDINET ENQUOBAHRIE (Kitware, Inc.)

NIH/NIBIB: Advanced virtual simulator for fundamentals of laparoscopic surgery training and credentialing

Branch: National Institute of Biomedical Imaging and Bioengineering, National Institutes of Health (NIBIB)
Type: SBIR (R44EB019802)
Principal Investigator: ANDINET ENQUOBAHRIE (Kitware, Inc.)