Fig. 2.

Woodchuck EM and OMI experimental workflow and results. A. Experimental workflow of the EM needle tracking fused with intra-procedural CT planning targeting the woodchuck liver tumor. B. Intraoperative display of the liver CT scan fused with EM tracking and co-displayed with the intra-operative ICG measurement provided by the OMI styletd evice. The LI-RADS 5 tumor is targeted. C. Representative point-of-care system ICG fluorescence images of two biopsy cores, one without (C1, C2) and one with (C3, C4) HCC. C1 and C3 are white light images. ICG images show no signal (C2) in the tumor-free sample but moderate to strong signal (C4) in the presence of HCC. D Cytopathology touch preparation of a biopsy cores without (D1) and with (D2)HCC