Fig. 4From: Tracked Foley catheter for motion compensation during fusion image-guided prostate procedures: a phantom studyTracked Foley catheter (TFC) test-bed experiment. The screen on the left shows the custom fusion biopsy software platform (Onconav, National Institutes of Health, USA). The TFC prototype (black arrow) enters the anthropomorphic phantom urethra. Ultrasound transducer in phantom rectum (white arrow). Electromagnetic field generator (asterisk)Back to article page