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. 2015 Feb 7;9(1):1–10. doi: 10.1007/s11701-015-0496-1

Fig. 5.

Fig. 5

a Ultrasound probe with attached chessboard pattern mounted in custom-made clip; b real-time automatic tracking and registration process; c superimposed ultrasound; d superimposed ultrasound with cutaway and 1-mm ruler (courtesy of Mayer et al.)