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. 2015 Dec 16;10(12):e0144939. doi: 10.1371/journal.pone.0144939

Fig 2. The schematic procedure of HELLO system.

Fig 2

A: the attachment of surface locator; B: skin marker of puncture target; C: positioning of puncture locator to the lateral marker; D: positioning of puncture locator to the back marker; E: positioned condition and fixation of puncture locator; F: puncture trajectory to the target.