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. 2017 Sep 14;4(5):168–173. doi: 10.1049/htl.2017.0066

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This is an open access article published by the IET under the Creative Commons Attribution -NonCommercial License (http://creativecommons.org/licenses/by-nc/3.0/)

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Fig. 5 — Overlaid planned trajectory (yellow line) and the estimated tool's orientation (purple line)

a Mixed reality scene, which overlays the reconstructed surface, DRR, and live point clouds

b Planned trajectory in yellow added on top of (a). User can then use the live point cloud feedback for 3D localisation

c Integrated the tracked surgical tool and extended orientation line in purple onto (a). With the planned trajectory, the user can now intuitively align the extended orientation with the planned trajectory as illustrated in (d)