Fig. 2From: Tracked Foley catheter for motion compensation during fusion image-guided prostate procedures: a phantom studyTracked Foley catheter (TFC) prototype. The TFC has a six degrees of freedom (forward/backward, up/down, left/right, and rotational movement along x, y, and z axes) tracking sensor (TS) that assumes a complex shape in the urethra and provides real-time tracking dataBack to article page