Figure 2

Results from the automated needle tracking studies. The two orthogonal views, (O(y, z)) and E(x, y)) of the thoracic phantom, captured with DFLAPS MRI and the superimposed passage of the needle (point-based and Kallman smoothed trajectories) are shown. The horizontal and vertical positions of the respective views (units in mm) provide 2D co-ordinates of the needle at a given point in time. Mutually shared information between the views gives the co-ordinates of the needle in 3D space.