Fig. 2

Surgical setup. A After the surgeon marks identifiable landmarks, the software calibrates and displays the intended access route. B The interoperative images displayed on the stereotactic navigation screen portray the calculated access route for probe placement. C As the navigation arm guides probe placement, repeat images show the current position of the probe (red) relative to the target positioning (green). D The photo shows the mounting of the navigated arm on the operation table. E shows a closer view of the guidance sheaths positioned by the arm. F shows the navigated arm with RFA probe inserted to perform the ablation