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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. 9.

Fig. 9.

Upper: Hand-eye calibration setup with UR-10, C-arm polaris tracker and markers. Lower: Two example calibration X-ray images. 2D overlay of cropped X-ray (back-ground) and DRR-derived CM edges in green.