The ImFusion Suite offers extensive support for working with both 2D and 3D freehand ultrasound. Tracking information is used when available, otherwise image-based reconstruction is possible.
A variety of proprietary formats are supported to load ultrasound videos/clips alongside tracking information. Modules for image-based probe-to-sensor calibration and slice-to-volume registration allow to properly identify the geometrical attributes. We have developed a signature fast on-the-fly compounding on the GPU based on our previously published work , which allows to visualize cross-sections in any orientation, even while geometric parameters are still being optimized or US frames are still being acquired. A variety of different forward and backward compounding techniques then reconstruct high-quality volumes out of the freehand slices. For further processing, our general modules for fusion and multi-modal registration can be seamlessly employed. A demonstration of the combination of learning-based initialization, mono-modal ultrasound extended-field-of-view reconstruction, and multi-modal registration can be found in our 2014 publication at the VCBM workshop .
Note that the technology for freehand ultrasound naturally extends to other scenarios where US frames are acquired at different locations in space, for instance as used in motorized (so-called "wobbler") transducers or when an US probe is attached to a robot's end-effector. To this end, a bi-directional communcation interface to ROS is available and has already been used for various publications.
 A. Karamalis, W. Wein, O. Kutter, N. Navab. Fast Hybrid Freehand Ultrasound Volume Reconstruction.
 M. Müller, L.E.S. Helljesen, R. Prevost, I. Viola, K. Nylund, O.H. Gilja, N. Navab, W. Wein. Deriving Anatomical Context from 4D Ultrasound.
 M. Salehi, S.A. Ahmadi, R. Prevost, N. Navab, W. Wein. Patient-specific 3D ultrasound simulation based on convolutional ray-tracing and appearance optimization.