Close
  Indian J Med Microbiol
 

Figure 1: Illustrative case of frameless free-hand navigation-guided biopsy with optical navigation system. (a) The contrast-enhanced magnetic resonance imaging. (b) The patient's position. (c) Registration of the biopsy needle as a navigation tool by an instrument calibration matrix. (d) The registered biopsy needle is clamped to the endoscope arm through a piece of 14 Fr nelaton catheter. (e) The surgeon holds the biopsy needle like a pistol. (f) Navigation display during puncture. (g) The overview of frameless free-hand navigation-guided biopsy system

Figure 1: Illustrative case of frameless free-hand navigation-guided biopsy with optical navigation system. (a) The contrast-enhanced magnetic resonance imaging. (b) The patient's position. (c) Registration of the biopsy needle as a navigation tool by an instrument calibration matrix. (d) The registered biopsy needle is clamped to the endoscope arm through a piece of 14 Fr nelaton catheter. (e) The surgeon holds the biopsy needle like a pistol. (f) Navigation display during puncture. (g) The overview of frameless free-hand navigation-guided biopsy system