From: An Ultrasound Probe Holder for Image-Guided Surgery Date of download: 10/29/2017 Copyright © ASME. All rights reserved. From: An Ultrasound Probe Holder for Image-Guided Surgery J. Med. Devices. 2008;2(2):021002-021002-7. doi:10.1115/1.2912817 Figure Legend: (a) The actual constructed prototype of the US probe holder positioned at a target point i and the {origin} reference frame is attached to the table; (b) for each target point i, the coordinates of three arbitrary points were determined and used to define a frame {act} that describes the actual orientation of the end effector