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Highlighted MR images from free-hand (left) and robotic (right) probe placements. The tip of the probe artifact (marked as “Needle Placement” with white star) in both images. Note the true target (“True Target” with white square) is aimed more precisely in the robotic approach than in the free-hand approach, compared to when the target shifted due to artificial organ motion (“Displaced Target” with white plus) which is missed by both approaches by similar degree of distance.
