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* How did you link the Toshiba navigation system to 3D Slicer? Did Toshiba give you a customized API to work with?

* ** I added three classes of C++ codes in THEIR program; one for establishing peer-to-peer network connection to my research software; two for sending patient-to-image registration matrix to my research software; the third is to send optical tracker's locations.

* Will that API still be available to you once their navigation system is commercial (your slide says "pre-commercial")?
** We don't know.

* Is the API one that is available to all researchers, or did you have to negotiate a special arrangement with them?
** I did negotiate with them and even send a small sample C++ programs to them to show how harmless my program is for them. Then I send my student to their R&D center and let them work there and in five clinical cases. From my experience, sending students to their R&D site is most efficient way to work with industory. I made similar arrangement with GE too.