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. Author manuscript; available in PMC: 2013 Nov 6.
Published in final edited form as: IEEE Trans Biomed Eng. 2012 Aug 23;60(4):10.1109/TBME.2012.2215033. doi: 10.1109/TBME.2012.2215033

Fig. 4.

Fig. 4

Tissues and phantoms used in experiments: (a) silicon rubber brain (white) and liver (red) phantoms mounted on pegboard, (b) porcine liver with radiographic markers, and (c) cadaver kidney covered in perirenal fat with rigid body in a bowl inside of biplane fluoroscope (biplane not pictured).