“…Our freehand 3DUS system consisted of a conventional ultrasound machine (SonixTouch, Ultrasonix, Richmond, BC, Canada) and a five-camera optical tracking system (V100:R2, Tracking Tools v 2.5.2, NaturalPoint, Corvallis, OR, USA) that enabled synchronous recording of 2D brightnessmode (B-mode) ultrasound images with 3D position and orientation of the transducer determined from four reflective markers rigidly affixed to the probe (see Obst et al, 2014a). Prior to data acquisition, the relationship between the image coordinate system and the marker coordinate system was determined using a single wall phantom calibration procedure (Prager et al, 1998).…”