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. Author manuscript; available in PMC: 2015 Sep 23.
Published in final edited form as: IEEE ASME Trans Mechatron. 2014 Nov 5;20(4):1920–1932. doi: 10.1109/TMECH.2014.2359413

Fig. 14.

Fig. 14

25 targets forming a semi ellipse to simulate the superior part of a prostate were selected from the MRI volume. Actual needle tip position determined from segmented MRI image are superimposed with the 25 targets.