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(A) The original 3D MR image of the Z-frame acquired in the clinical study presents the sections of the cylindrical markers and the thighs of the patient. (B) The segmented markers are overlaid onto the original MR image. The segmented area was relabeled so that each segment has a unique voxel value presented as unique color. (C) The surface models of the segmented markers are shown with the model of the fiducial frame and an axial slice of T2-weighted prostate MRI in the 3D space.
