Fig. 1
From: In vivo estimation of target registration errors during augmented reality laparoscopic surgery
The right liver lobe as seen through the laparoscopic camera, left image. The right image shows the same scene augmented using the SmartLiver system. The outline of the liver, shown as an orange line, can be compared to the visible liver outline. The mismatch gives an estimate of the accuracy of overlay for non-visible vessels, veins (blue and purple) and arteries (red). Also visible is the gall bladder (yellow outline) and a tumour (green)