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. Author manuscript; available in PMC: 2016 Sep 1.
Published in final edited form as: J Robot Surg. 2015 Jul 21;9(3):223–233. doi: 10.1007/s11701-015-0520-5

Fig. 2.

Fig. 2

Screen capture of an ex vivo phantom experiment using video augmentation of margins (the spherical representation of an ideal margin is green since tool tip is within +2 mm proximity) and tool tracking in a novel view (lower left picture-in-picture) for image guidance