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. Author manuscript; available in PMC: 2020 Jul 13.
Published in final edited form as: Int J Rob Res. 2020 Feb 19;39(5):586–597. doi: 10.1177/0278364920903785

Fig. 16.

Fig. 16.

Pointing the US imager at a target catheter with breathing motion compensation and predictive filtering in vivo: (A) desired and measured x-position; (B) xyz-position error; (C) imager angle error; (D) target x-position for context.