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. Author manuscript; available in PMC: 2021 Jul 1.
Published in final edited form as: IEEE Trans Med Imaging. 2020 Jan 22;39(7):2302–2315. doi: 10.1109/TMI.2020.2968770

Fig. 3.

Fig. 3.

A 2D needle-directional slice of the cropped 3D US image with needles. The yellow lines are the inserted needles including shafts and tips [32]; the red arrows are noise points; the cyan arrows show the spatial continuity in tissues.