The NifTK software platform for image-guided interventions: platform overview and NiftyLink messaging. - Matthew J. Clarkson; Gergely Zombori; Steve Thompson; Johannes Totz; Yi Song; Miklos Espak; Stian Flage Johnsen; David J. Hawkes; Sébastien Ourselin (Int. J. Comput. Assist. Radiol. Surg., 2015)