Fig. 5. Visualization of the FOG tip in the breast tissue of a female human cadaver sample using the head-mounted display AR system (Hololens) over different view angles and distances.

a It is difficult to estimate the location of the FOG tip in the breast from the guide wire outside the breast (white arrow) before turning on the system. An image target is used instead of IR markers to track the acoustic radar. b–d Clear visualizations of the FOG tip in the tissue on the stereo view from the head-mounted display (HMD) on the operator’s head when the operator views the operating scene at different view angles and distances. e–h The positions of the HMD-AR system relative to the breast tissue in a–d, respectively