Fig. 3From: Tracked Foley catheter for motion compensation during fusion image-guided prostate procedures: a phantom studyCustom phantom model. This experiment was performed on a custom pelvic anthropomorphic phantom model. The model contains a catheterisable urethra and urinary bladder, prostate, and surrounding prostatic structures oriented anatomically and visualised on magnetic resonance imaging (MRI), computed tomography (CT), and ultrasound. CT and MRI fiducial markers, which measured simulated motion, are visible on the model surfaceBack to article page