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. Author manuscript; available in PMC: 2009 Dec 18.
Published in final edited form as: Int J Med Robot. 2009 Jun;5(2):147–157. doi: 10.1002/rcs.241

Figure 3.

Figure 3

(A) Silicone brain phantom inside a skull mold. The exposed gel surface is seen through the “craniotomy”. (B) The phantom, clamped to the operating table in the same manner as patients, being placed into an intraoperative CT scanner. (C) Dr. Vives (an author on this paper) registering the phantom to the images using the BrainLAB system.