Fig. 5.

Porcine model with augmented reality during needle insertion in one liver target (a). The augmented reality shows the target in magenta and the needle in red. The curved red lines in the image represent the outlines on the porcine model. Correspondent axial CT images before (b) needle insertion and axial (c) and sagittal (d) CT images after needle insertion. The yellow arrows show the target and the needle positions in all the images and confirm that in all the cases the target was reached. All images refer to the test performed with breathing control