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Optimization of the probe pose by OCT volume feedback. (a) edge detection of underlying skin surface; (b) tube edge vertex point detection; 3D reconstruction of the plastic tube before probe pose optimization (c) front view, (d) isotropic view, and (e) top view; after probe pose optimization (f) front view, (g) isotropic view, and (h) top view. (scale bar: 1 mm)
