Fig. 4

Sample load and motion data. The left panel shows an anatomical trial (032_CMULTIS012-1_UL_PC_A-1) and the right panel shows an indentation trial (033_CMULTIS012-1_UL_PC_I-1). From top to bottom are ultrasound images, forces, moments, and motion of ultrasound probe (position and angle). The forces and moments were reported in a probe tip coordinate system originating on the center face of the ultrasound probe (the Z-axis is aligned perpendicular to the face and in the direction of applied load). The motion was reported in global motion capture coordinate system. The triangle shapes on the force plot represent the time instance in which the respective ultrasound image was taken.