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In addition, virtual arthroscopic images were generated from the updated preoperative model to provide the anatomical information of the operation area. Experimental results demonstrated that virtual arthroscopic images could reflect the correct structure information with a mean error of 0.32 mm. Compared with 2D arthroscopic navigation, the proposed augmented reality navigation reduced the targeting errors by 2.10 mm and 2.70 mm for the experiments of knee phantom and in-vitro swine knee, respectively. Our navigation method is helpful f
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