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Registration of 3D heart model to fluorescent tissue phantom via fiducial markers as detected by the system cameras. (A) The initial registration experienced some initial misalignment (blue arrow) between the fluorescent target (yellow line) and the left common carotid artery (green line); (B) The misalignment was corrected using the stylus to select the misaligned points, causing the registration to shift and the target anatomies to become more closely aligned.
