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. Author manuscript; available in PMC: 2020 Jun 11.
Published in final edited form as: Proc SPIE Int Soc Opt Eng. 2020 Mar 16;11315:113150Z. doi: 10.1117/12.2549407

Figure 1:

Figure 1:

Different approaches to fiducial markers for improved orientation estimation under ultrasound visualization. A) Holes (red arrow) and partially recessed steel pin heads (white arrows) as fiducial markers on a robotic catheter. B) A plastic-coated steel wire loop fiducial attached to the tip of the catheter. C) A similar loop fiducial made using an uncoated steel wire.