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. 2023 Jul 20;7:40. doi: 10.1186/s41747-023-00353-w

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© The Author(s) 2023

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 1 — A representative case with lumbar bone lesion from our study population. The fiducial markers are placed on patient’s skin around the entry point of percutaneous biopsy (arrows in a and e). The AR system (Endosight, R.A.W. Srl, Milan, Italy) consists of a 27″ medical display (ACL, Leipzig, Germany), a laptop (Dell Technologies, Round Rock, TX, USA) with AR software (b), and a commercially available head-mounted display (HMD) (Oculus Rift-S, Facebook Technologies, Menlo Park, CA, USA) paired with a binocular camera (Zed Mini, Stereolabs, San Francisco, CA, USA) (arrows in c) that is used to coregister the fiducial markers segmented on CT images with those positioned to the patient’s skin (b). The best needle trajectory to reach the target is built (d). A specific marker attached to the needle to monitor its position and angle during the procedure (curved arrows in c and e)