Ultrasound Calibration for Dual-Armed Surgical Navigation System

Figure 6

The RFA insertion with US image-guided experiment. (a) US image-guided RFA insertion. (b) The needle was visualized by 3D reconstruction on the CT image with US image slice (as shown in bottom left). The green point shows the needle position. (c) The CT scan after insertion. (d) The reconstructed planning path and the RFA needle from the CT image.

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