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. Author manuscript; available in PMC: 2008 Sep 29.
Published in final edited form as: J Vasc Interv Radiol. 2007 Sep;18(9):1141–1150. doi: 10.1016/j.jvir.2007.06.014

Figure 10.

Figure 10

Chart shows the tracking error (mean ± standard deviation) as a function of the number of previous needle positions used for the advanced registration method described in the text and in Figure 7.