Fig. 1 Showing residual tissue of a porcine ureter after avulsion [ 6 ] More about this image found in Showing residual tissue of a porcine ureter after avulsion [ 6 ]

Fig. 2 ( a ) A CAD schematic of the force sensor handle (front view) and ( b ) a physical illustration of the force sensor More about this image found in ( a ) A CAD schematic of the force sensor handle (front view) and ( b ) a p...

Fig. 3 As displacement changes, three distinct regions are highlighted to indicate specific zones—safe, caution, and danger. Force results from four independent trials are shown, each represented by a unique color, along with the trial average plotted as discrete points. A theoretical line serves ... More about this image found in As displacement changes, three distinct regions are highlighted to indicate...

Fig. 1 Experimental platform More about this image found in Experimental platform

Fig. 2 Installation of angle sensors and their detection driver boards More about this image found in Installation of angle sensors and their detection driver boards

Fig. 3 UNet algorithm structure More about this image found in UNet algorithm structure

Fig. 4 System hardware and software integration More about this image found in System hardware and software integration

Fig. 5 Angle sensor and Jetson embedded development platform connection More about this image found in Angle sensor and Jetson embedded development platform connection

Fig. 6 Video capture module connection More about this image found in Video capture module connection

Fig. 7 Ultrasound image of virtual needle More about this image found in Ultrasound image of virtual needle

Fig. 8 Results of fitting algorithm More about this image found in Results of fitting algorithm

Fig. 9 Puncture depth and angle error More about this image found in Puncture depth and angle error

Fig. 10 Algorithmic reasoning results More about this image found in Algorithmic reasoning results

Fig. 11 Filter algorithm result data: ( a ) raw data, ( b ) intermediate results, and ( c ) filtered results More about this image found in Filter algorithm result data: ( a ) raw data, ( b ) intermediate results, a...

Fig. 12 Surgical guidance effect More about this image found in Surgical guidance effect

Fig. 13 Simulating surgical outcomes More about this image found in Simulating surgical outcomes