Release 1.0.0

Announcement: iMSTK 1.0.0

We are introducing Interactive Medical Simulation Toolkit (iMSTK)-a free & open source software toolkit written in C++ that aids rapid prototyping of interactive multi-modal surgical simulations.

For more information, visit our website


  • Cross-platform build
  • CMake automated superbuild
  • Test infrastructure (via google test)
  • Continuous Integration
  • Scene and simulation management
  • Vulkan and VTK rendering backends
  • Advanced rendering: Physically based rendering, Subsurface scattering, Decals, Shadows,
  • Graphical overlays (Vulkan backend only)
  • Standard user controls (pause, run, exit, pan-zoom-rotate)
  • SteamVR support including (Oculus, HTC Vive (VTK backend only)
  • Finite elements (linear, co-rotational, non-linear formulations)
  • Position based dynamics
  • Penalty and constraint-based collision handling
  • Linear solvers: Direct and Iterative matrix solvers
  • Non-linear Newton solver
  • Collision detection (CCD, Spatial hash based collision, narrow phase queries)
  • External device support (VRPN)
  • Support for standard mesh input formats (.obj, .dae, .fbx., .stl, .vtk, .vtu, etc.)
  • Asynchronous logging (using g3log)
  • Audio support
  • Haptic rendering (OpenHaptics)

Contributors for this release

Venkata Sreekanth Arikatla, Alexis Girault, Nicholas Boris Milef, Ricardo Ortiz, Thien Nguyen, Rachel Clipp, Mohit Tyagi, Samantha Horvath, Jean-Baptiste Vimort, Sean Radigan, David Thompson, Dženan Zukić, Mayeul Chassagnard, Tansel Halic, Hina Shah, Andinet Enquobahrie, Hong Li, Shusil Dangi