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Active stereo vision tracking markers. (a) Solidworks model and photo of the instrument with LED active marker collars attached. The instrument body included a Luer lock termination and was used with three detachable tips: 27 G blunt canula, 27 G needle tip, and 20 G silicone soft-tip. (b) Shematic showing computed orientation error (εo) based on LED separation distance, L, and triangulation position error (εp).
