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European Radiology Experimental
Fig. 5 | European Radiology Experimental

Fig. 5

From: Bridging the simulation-to-real gap for AI-based needle and target detection in robot-assisted ultrasound-guided interventions

Fig. 5

Evolution of needle and target detection in five different frames relative to the four testing datasets: synthetic data generated from magnetic resonance imaging scans, the target being the left atrium (a); synthetic data generated from the computed tomography scan, the targets being the two liver lesions (b); in vitro acquisition adopting the three-dimensional (3D) CIRS phantom with the liver lesion, with a different plane than the actual experiment in b used for the acquisition (c); and in vitro acquisition adopting the 3D-printed phantom filled with gelatin. In the last experiment, only the needle is the object to be localized in the ultrasound image. See the video (Supplemental Material) for more examples

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