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Schematic illustration of cryosurgery planning: (a) the prostate and urethral warmer are modeled based on ultrasound images, (b) bubble packing generates a recommended cryoprobe layout, and (c) the quality of planning is evaluated from a simulated temperature distribution at the point of minimum defect; the blue region represents area with temperatures below −22°C, the target isotherm for planning in the current study.
