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. 2023 Jun 19;109(9):2598–2607. doi: 10.1097/JS9.0000000000000536

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Copyright © 2023 The Author(s). Published by Wolters Kluwer Health, Inc.

This is an open access article distributed under the Creative Commons Attribution-NoDerivatives License 4.0, which allows for redistribution, commercial and non-commercial, as long as it is passed along unchanged and in whole, with credit to the author. http://creativecommons.org/licenses/by-nd/4.0/

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4A+4B: Real Time Registration and Navigation of Gastroduodenal Artery (GDA); Figure 4C+4D: Real Time Registration and Navigation of Pancreas, Pancreatic Duct and Pancreatic Dorsal Tunnel. 4E+4F: Real Time Registration and Navigation of Portal Vein (PV), Superior Mesenteric Vein (SMV) and Splenic Vein.