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. Author manuscript; available in PMC: 2019 Aug 27.
Published in final edited form as: IEEE Trans Biomed Eng. 2016 Oct 3;64(7):1608–1618. doi: 10.1109/TBME.2016.2612229

Fig. 9.

Fig. 9.

Based on CT, 3D marker position differences due to removing and replacing US probe in each intrafraction experiment. Intra-1,2,3 show the error after: i) placing the real probe, ii) losing contact with the skin, and iii) bringing the probe back to the original position. Intra-4 shows the error after replacing real probe with model probe prior to last step.