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. Author manuscript; available in PMC: 2009 Mar 12.
Published in final edited form as: Int J Med Robot. 2007 Mar;3:10–19. doi: 10.1002/rcs.124

Figure 2.

Figure 2

Reconstruction of the prostate model from ultrasound images: (a) selection of good-quality ultrasound cross-sections; (b) generation of the prostate contour on each cross-section, including illustration of the urethral warmer; (c) generation of polygonal mesh based on cubic Bezier surface interpolation; and (d) surface rendering of the prostate