Accuracy study of a binocular-stereo-vision-based navigation robot for minimally invasive interventional procedures

Figure 2 Schematic, photo and three-dimensional computed tomography image of box model. A: Schematic diagram of box model; B: One insertion line was drawn on the upper surface with contrast agent parallel to the narrow edge; C: Nine artificial targets were set inside the box, respectively 50 mm (target a), 100 mm (target b), 150 mm (target c) far from the insertion line; D: Image and 3D-computed tomography of box model with insertion line and target marked with solid arrow and triangular arrow; E: The box model was made of acrylic resin and filled with sponge.