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. Author manuscript; available in PMC: 2016 Jan 31.
Published in final edited form as: IEEE Trans Robot. 2015 Jan 29;31(1):104–116. doi: 10.1109/TRO.2014.2380273

Fig. 10.

Fig. 10

HFR applied in simulation to medical needle steering in the liver for a biopsy procedure at a different site from Fig. 1. The needle is inserted from the front. (a) HFR successfully guides the needle (white) to the tumor (yellow). Using LQG-MP (b), the needle collides with portal veins (pink).