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. Author manuscript; available in PMC: 2021 May 1.
Published in final edited form as: IEEE Trans Med Robot Bionics. 2020 Apr 16;2(2):176–187. doi: 10.1109/TMRB.2020.2988312

Fig. 4.

Fig. 4.

Evaluation of 6 image metrics with respect to (w.r.t) the probe-to-tissue distance (linear scale). The optimal view at a probe-to-tissue distance of 690 µm is indicated by the vertical dashed line.