Figures & data
Figure 1 Medical images; (a) US for liver phantom, (b) CT for ear, and (c) MRI for abdomen (color figure available online).
![Figure 1 Medical images; (a) US for liver phantom, (b) CT for ear, and (c) MRI for abdomen (color figure available online).](/cms/asset/6b4e5363-ba5c-4619-903e-df09bccc0d16/uopt_a_633210_o_f0001g.jpg)
Figure 2 Intra-operative MRI and surgical bed installed in the operating room (color figure available online).
![Figure 2 Intra-operative MRI and surgical bed installed in the operating room (color figure available online).](/cms/asset/6c037c20-a087-410a-991d-a67e02f26f0a/uopt_a_633210_o_f0002g.jpg)
Figure 4 The surgical navigation; (a) configuration of image guidance for surgery, (b) display of surgical navigation for ear surgery (color figure available online).
![Figure 4 The surgical navigation; (a) configuration of image guidance for surgery, (b) display of surgical navigation for ear surgery (color figure available online).](/cms/asset/4a805d94-dfdc-47dd-be8f-0dcccf4b9b20/uopt_a_633210_o_f0004g.jpg)
Figure 5 Tool tracking system; (a) optical system vs. (b) electromagnetic system (color figure available online).
![Figure 5 Tool tracking system; (a) optical system vs. (b) electromagnetic system (color figure available online).](/cms/asset/aafd93fd-269a-4036-be45-c469e01bc99e/uopt_a_633210_o_f0005g.jpg)
Figure 6 Fiducial markers for registration; (a) skin markers, (b) template, and (c) anatomical landmarks on the temporal bone (color figure available online).
![Figure 6 Fiducial markers for registration; (a) skin markers, (b) template, and (c) anatomical landmarks on the temporal bone (color figure available online).](/cms/asset/95c24929-e10a-4ecc-b1de-d6dd038094ac/uopt_a_633210_o_f0006g.jpg)
Table 1. Advantages and drawbacks of registration methods
Figure 7 The display methods for image guided surgery; (a) multi-planar, (b) 3-D graphic, (c) augmented reality mode (color figure available online).
![Figure 7 The display methods for image guided surgery; (a) multi-planar, (b) 3-D graphic, (c) augmented reality mode (color figure available online).](/cms/asset/ffa06b9e-428b-4f47-9b62-20d2cd3a52a6/uopt_a_633210_o_f0007g.jpg)
Figure 10 Forceps robot for endoscopic fetus surgery; small diameter, 2DOF, rigid forceps robot with LASER fiber (color figure available online).
![Figure 10 Forceps robot for endoscopic fetus surgery; small diameter, 2DOF, rigid forceps robot with LASER fiber (color figure available online).](/cms/asset/795c9479-e21b-4b7a-9fee-48e7484ff8f0/uopt_a_633210_o_f0010g.jpg)