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. 2015 Sep 26;11:505–519. doi: 10.1007/s11548-015-1292-0

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© The Author(s) 2015

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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Fig. 8 — Automatic method for evaluating the accuracy in US-based navigation. a The phantom with a single wire cross in the middle of the water tank and a reference frame in the front, and a US probe imaging the wire. b 1-mm-diameter model of the nominal wire cross in green, and an US volume of the wire cross in red. A mismatch of about 1 mm can be seen c Centerlines of the nominal (green) and US (red) wire crosses. d ICP registration between the two centerlines, initial correspondence shown. e After convergence. US centerlines now match the nominal. f The displacement is equal to the NSA