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Selected US scans obtained from the phantom through the different sets of experiments. Scans that are obstructed by bones are marked as such, with the arrows pointing toward the bone. Each column represents a different experiment, namely: (A) scans using CT data without force feedback; (B) scans using CT data with force feedback; (C) scans using landmark prediction only without force feedback; (D) scans using landmark prediction only with force feedback.
