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. 2017 Sep 21;16(6):1067–1078. doi: 10.1177/1533034617728643

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© The Author(s) 2017

This article is distributed under the terms of the Creative Commons Attribution-NonCommercial 4.0 License (http://www.creativecommons.org/licenses/by-nc/4.0/) which permits non-commercial use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages (https://us.sagepub.com/en-us/nam/open-access-at-sage).

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Figure 4. — The average of the position difference recorded between the ultrasound system and the optical tracking system (y-axis, ultrasound tracking error) at different motion phases (x-axis). The error bar is the deviation of the position difference between the 2 systems when the phantom goes through different phases of the sine wave and when the phantom has different speeds. (A) Beam-off versus beam-on, (B) good image quality versus poor image quality, (C) axial (superior–inferior) versus lateral (left–right), and (D) high frequency (10-second period) versus low frequency (20-second period).