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. 2022 May 23;17(11):2033–2040. doi: 10.1007/s11548-022-02646-8

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Fig. 5 — Trajectories of the guidewire tip for the navigation in the vena hepatica a sinistra, b intermedia and c dextra. Autonomous in-silico navigation is shown in the top row and manual phantom navigation in the bottom row