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. Author manuscript; available in PMC: 2017 Mar 23.
Published in final edited form as: Clin Image Based Proced. 2016 Mar 23;9401:122–129. doi: 10.1007/978-3-319-31808-0_15

Fig. 4.

Fig. 4

a: Summary of the computational time for registration of all needle confirmation images across all 25 cases using ITKv4 (median, lower and upper quartiles (bottom and top 25 % of the data) and the extreme values within the 1.5 × interquartile range); b: computation time for registration of all needle confirmation images comparing ITKv3 and ITKv4 implementations.