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. Author manuscript; available in PMC: 2010 Feb 22.
Published in final edited form as: IEEE Trans Robot. 2009;25(5):1109–1124. doi: 10.1109/tro.2009.2027375

Fig. 15.

Fig. 15

Posterior target acquisition pattern. (a) Excised porcine heart and dye mark pattern. (b) Scaled and aligned tracker-based heart model and planned target pattern. (c) Tracker-based heart surface and acquisition pattern overlaid on the injection photograph. The absolute location and orientation of the target pattern qualitatively agree between the tracker-based and dye-based images.