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. Author manuscript; available in PMC: 2018 Jun 1.
Published in final edited form as: IEEE Robot Autom Lett. 2017 Feb 14;2(3):1367–1374. doi: 10.1109/LRA.2017.2668467

Fig. 5.

Fig. 5

Experimental apparatus used for testing the needle in (a) phantom tissue and (b) ex vivo liver tissue. (a.1) Overview of the setup for tests in phantom tissue. (a.2) 2D ultrasound image used for needle segmentation. (a.3) Needle curvature measurement using 3D ultrasound data. (b.1) Overview of the setup for tests in ex vivo liver tissue (includes magnified view of the needle introducer). (b.2) 2D ultrasound image used for needle segmentation. (b.3) Needle curvature measurement using 3D ultrasound data.