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  2. Real-time Freehand 3D Ultrasound Calibration P-W. Hsu, R. W. ...

    mi.eng.cam.ac.uk/reports/svr-ftp/hsu_tr565.pdf
    19 Feb 2007: As a result, the structures beneath themembrane appear clearly in the B-scans. ... Ultrasound in Medicine & Biology, 20(9):923–936, 1994. A. Fenster, D. B.

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