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. 2021 Apr 23;16(5):741–748. doi: 10.1007/s11548-021-02364-7

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© The Author(s) 2021

Open AccessThis article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 3 — a The figure shows overlays of the surface models extracted from clinical MR images of the prostate and used for creating the phantom molds. The prostates have a wide range of shapes and sizes. The sizes were scaled to 25 cc, 40 cc, 60 cc, 90 cc and 120 cc, respectively. b Prostate molds used for the study. Top to bottom: 25 cc, 40 cc, 60 cc, 90 cc, 120 cc