From: Augmenting intraoperative ultrasound with preoperative magnetic resonance planning models for percutaneous renal access
Target
Criteria
Test 1
Test 2
Test 3
Test 4
Mean
Left lesion
NTD
2.9
1.6
2.1
1.7
2.08
time
5′15″
3′40″
3′56″
5′02″
4′28″
Right lesion
2.2
1.9
1.85
4′25″
4′32″
3′1″
5′41″
4′24″