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. Author manuscript; available in PMC: 2022 Jul 26.
Published in final edited form as: Sci Robot. 2022 Jan 26;7(62):eabj2908. doi: 10.1126/scirobotics.abj2908

Fig. 2. Tissue motion tracking.

Fig. 2.

(A) The CNN-based breathing motion tracker. (B) Examples of the vertical motion of NIR marker during in vivo tests. (C) Robustness test configurations for the phantom conditions. (D) The accuracy test results for the breathing motion tracker via optical flow with fixed threshold (OF), optical flow with adjustable threshold (OA), and the CNN-based method (CNN).