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. Author manuscript; available in PMC: 2019 Sep 4.
Published in final edited form as: J Med Robot Res. 2018 May 15;4(2):1950001. doi: 10.1142/S2424905X19500016

Fig. 10.

Fig. 10.

(a)Snapshot of 3D view with an MR image of prostate gland showing desired targets (green spheres) and actual needle trajectories segmented from the MRI volume images, (b- c)zoomed-in view of transverse image slice showing targets and intersection of the image slice with corresponding needle trajec- tories(the blue and red circles) from the confirmation images.