There is a large collection of C++ libraries for medical robotics and computer-integrated surgery at https://trac.lcsr.jhu.edu/cisst. 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.)
Online web site for UCL Course on Computer Assisted Surgery and Therapy. This site includes both lecture material and some software. The same rules apply for this software as for the CIS Libraries and any other software packages.