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Table 3 Measurement of the NTD (in millimetres) and the operating time (in minutes plus seconds) for the kidney phantom test

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

NTD

2.2

1.7

1.9

1.6

1.85

time

4′25″

4′32″

3′1″

5′41″

4′24″