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. Author manuscript; available in PMC: 2018 Sep 1.
Published in final edited form as: Int J Med Robot. 2016 Sep 21;13(3):10.1002/rcs.1773. doi: 10.1002/rcs.1773

FIGURE 6.

FIGURE 6

All the voxels surrounding a portion of a critical structure and its safety margin are shown. These voxels are color coded by the relative risk posed by each voxel to the critical structure in the patient, if that voxel location were to be milled. Several 2D cross-sections of the region of interest can be seen on either side of the 3D rendering