Fig. 1

Method depictions. a Three-dimensional (3D) view of the phantom with nodule volume in milliliter (mL) being estimated. b Side view of the ablation set-up with a grounding pad, radiofrequency ablation needle, and transducer and the red triangle indicating the danger triangle. Beneath that the 3D matrix (real-time 3D transducer) view of a nodule ablation. c Slicing, photographing, and pixel-based analysis of the body and nodule after ablation. 2D: Two-dimensional (conventional 2D transducer); 3D: Three-dimensional; 3D matrix Real-time 3D transducer; 3Dms: 3D mechanically swept transducer;