Online Links for Linear Algebra

Online Links for Cartesian Frames

CIS Library Resource

There is a large collection of C++ libraries for medical robotics and computer-integrated surgery at These libraries are supported by engineering staff at the CISST ERC, as part of our open-source "Surgical Assistant Workstation (SAW)" project. You are free to use these libraries, except for those that explicitly solve programming problems. (E.g., you can use software classes for cartesian frame transformations, least squares solvers, etc. But you should not use a subroutine that computes a point-cloud-to-point-cloud registration transformation. Talk to the instructor or TA if in doubt.)



Arun K et al paper