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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. 6:

Fig. 6:

(a) Rendered vertebrae segmentation from pre-operative CT scans. (b) An example of randomly simulated spine shape. (c) An example DRR image of the spine vertebrae. (d) An example simulation X-ray image.