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. Author manuscript; available in PMC: 2023 Jan 1.
Published in final edited form as: IEEE Trans Biomed Eng. 2021 Dec 24;69(1):453–464. doi: 10.1109/TBME.2021.3097631

Fig. 11.

Fig. 11.

Upper Left: Specimen1 experiment setup with C-arm, UR-10, polaris tracker and CM. Upper Right: Specimen2 experiment setup with UR10 and CM inserted to the femur head. Middle: Examples of BB locations. Bottom: Examples of Polaris fiducial detection results.