Figure 4

Planning of the trajectories for the biopsy punch. (a) Target points in both remote area and area with high MPIO density are manually selected using the R2* maps. (b) The trajectories normal to the heart surface are automatically calculated. (c) The trajectories to the target points are converted to 3D models of the biopsy punch. (d) The final 3D model contains the heart surface and cylindrical guides to each target point for the biopsy punch. (e) Digital model of the punch with exchangeable spacers to define the insertion depth of the punch.