“…The Public Library for Ultrasound Toolkit (PLUS, (accessed on 8 August 2021)) [ 18 ] is an abstraction layer for hardware devices, e.g., ultrasound scanners, position tracking devices, cameras, and generally any kind of data-streaming device. PLUS provides generic functions for pre-processing, such as the 3D ultrasound volume compounding [ 19 ] and live volume rendering [ 20 ] of tracked ultrasound image streams. PLUS offers complete end-user software applications for spatial and temporal calibration, an essential toolset in clinical translation and system maintenance.…”