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. Author manuscript; available in PMC: 2017 Sep 7.
Published in final edited form as: Int J Comput Assist Radiol Surg. 2017 Feb 23;12(9):1599–1605. doi: 10.1007/s11548-017-1540-6

Fig. 1.

Fig. 1

Modes indicating different states (from left to right): tool outside of tracking range, tool far away from insertion point, tool in close enough distance to insertion point.