Fig. 6: Scoring and classification of thyroid nodules based on ACR-TIRADS. | Nature Communications

Fig. 6: Scoring and classification of thyroid nodules based on ACR-TIRADS.

From: A fully autonomous robotic ultrasound system for thyroid scanning

Fig. 6

a Indicative nodules identified with FARUS and the respective US images provided by doctors. b Examples of two separate nodules, with accompanying explanations of their TIRADS scores. c Correlation between number of pixels over brightness in thyroid image. Source data are provided as a Source Data file.

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