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Feasibility of A-mode ultrasound based intraoperative registration in computer-aided orthopedic surgery: A simulation and experimental study

Fig 3

The illustration of Perturbation search.

The curved grid of perturbation searches with 143 combinations of rotations and translations for each point. Green point represents the perturbed sample points. Red point represents the registered points of ICP.

Fig 3

doi: https://doi.org/10.1371/journal.pone.0199136.g003