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. Author manuscript; available in PMC: 2019 Jan 1.
Published in final edited form as: IEEE Trans Biomed Eng. 2017 Apr 25;65(1):165–177. doi: 10.1109/TBME.2017.2697766

Figure 20.

Figure 20

Imaged needle at targets: a) Segmented needle at one location together with 2 image slices showing the grid and a needle slice, and b) Needle model registered to the needle segmentation. Actual needle point from the model and target.