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The GUI of the US-guided biopsy application. (A) displays the 3D scene view containing the segmented CT/MRI data of the abdominal phantom used in Section 2.3.3 and 3D representations of the used end-effectors. (B) shows the US image view with the planned target position (green circle) and the image of an inserted biopsy needle. Interactive GUI elements for movement commands and switching between positioning modes are listed in a toolbar at the right border.
