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The experimental setup for catheter tracking in a controlled laboratory environment (a–c) and in a brachytherapy operating room (d,e). (a) The experimental phantom setup; (b) The flexible electromagnetic-tracked guidewire and catheter; (c) Catheters inserted into the prostate model through the grid; (d) The experimental setup positioned on the treatment table in the operating room; (e) Mimicking a typical brachytherapy setup. Reprinted from [177] with permission.
