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. Author manuscript; available in PMC: 2023 Nov 1.
Published in final edited form as: IEEE Trans Med Robot Bionics. 2022 Aug 4;4(4):901–909. doi: 10.1109/tmrb.2022.3196321

Fig. 4:

Fig. 4:

Multi-view Registration Workflow. Left: Illustration of collecting multi-view C-arm images. The spine anatomy is rendered on the patient bed. Various configurations of the injection device are presented. Right: A workflow chart detailing the data acquisition and registration steps.