Official websites use .gov
A
.gov website belongs to an official
government organization in the United States.
Secure .gov websites use HTTPS
A lock (
) or https:// means you've safely
connected to the .gov website. Share sensitive
information only on official, secure websites.
Illustration of ultrasound transducer placement for two different viewports towards the target region (protate, bladder): (a,d) transducer position with respect to the abdominal surface; (b,e) the respective ultrasound images; (c,f) cutting planes through the CT obtained by transforming the ultrasound image plane to robot coordinates and then to CT coordinates using the ultrasound-to-robot and robot-to-surface calibrations.
