Fig. 4
From: In vivo estimation of target registration errors during augmented reality laparoscopic surgery
The silicone liver phantom used for validation. The exterior (left) is representative in appearance and geometry of an adult male liver. The internal pins (centre, highlighted in red) secure the liver phantom and act as subsurface landmarks for the measurement of TRE. The right-hand image shows the relative positions of the subsurface targets and surface landmarks. The 9 targets are shown in red, the 6 peripheral surface point landmarks are shown in yellow, the 2 central landmarks in green and the 9 line features in blue