Fig. 4From: Bridging the simulation-to-real gap for AI-based needle and target detection in robot-assisted ultrasound-guided interventionsBlock diagram used in the robot in reach of the target method. Both the projected point pu representing the needle tip and the target bounding box provided by the detection transformer (DETR) are exploited for the fine positioning of the needle through the robotic positioning unit and the needle holderBack to article page